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fixed stupid bug

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This commit is contained in:
Edward V. Emelianov
2026-03-11 12:36:45 +03:00
parent 2eb7b214b2
commit e61146db69
6 changed files with 43 additions and 33 deletions
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22
LibSidServo/.qtcreator/libsidservo.creator.user
View File

@@ -1,10 +1,10 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 18.0.1, 2026-01-26T22:24:32. -->
<!-- Written by QtCreator 18.0.0, 2026-03-11T12:36:26. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
<value type="QByteArray">{7bd84e39-ca37-46d3-be9d-99ebea85bc0d}</value>
<value type="QByteArray">{cf63021e-ef53-49b0-b03b-2f2570cdf3b6}</value>
</data>
<data>
<variable>ProjectExplorer.Project.ActiveTarget</variable>
@@ -40,9 +40,9 @@
<value type="int" key="EditorConfiguration.PaddingMode">1</value>
<value type="int" key="EditorConfiguration.PreferAfterWhitespaceComments">0</value>
<value type="bool" key="EditorConfiguration.PreferSingleLineComments">false</value>
<value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
<value type="bool" key="EditorConfiguration.ScrollWheelZooming">false</value>
<value type="bool" key="EditorConfiguration.ShowMargin">false</value>
<value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value>
<value type="int" key="EditorConfiguration.SmartBackspaceBehavior">1</value>
<value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
<value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
<value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
@@ -51,10 +51,10 @@
<value type="bool" key="EditorConfiguration.UseIndenter">false</value>
<value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
<value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
<value type="bool" key="EditorConfiguration.cleanIndentation">false</value>
<value type="bool" key="EditorConfiguration.cleanIndentation">true</value>
<value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
<value type="QString" key="EditorConfiguration.ignoreFileTypes">*.md, *.MD, Makefile</value>
<value type="bool" key="EditorConfiguration.inEntireDocument">false</value>
<value type="bool" key="EditorConfiguration.inEntireDocument">true</value>
<value type="bool" key="EditorConfiguration.skipTrailingWhitespace">true</value>
<value type="bool" key="EditorConfiguration.tintMarginArea">true</value>
</valuemap>
@@ -79,7 +79,7 @@
<value type="bool" key="ClangTools.AnalyzeOpenFiles">true</value>
<value type="bool" key="ClangTools.BuildBeforeAnalysis">true</value>
<value type="QString" key="ClangTools.DiagnosticConfig">Builtin.DefaultTidyAndClazy</value>
<value type="int" key="ClangTools.ParallelJobs">8</value>
<value type="int" key="ClangTools.ParallelJobs">4</value>
<value type="bool" key="ClangTools.PreferConfigFile">true</value>
<valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
<valuelist type="QVariantList" key="ClangTools.SelectedFiles"/>
@@ -96,12 +96,12 @@
<value type="bool" key="HasPerBcDcs">true</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{65a14f9e-e008-4c1b-89df-4eaa4774b6e3}</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{91347f2c-5221-46a7-80b1-0a054ca02f79}</value>
<value type="qlonglong" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
<value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
<value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
<value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/tmp/robo5/mountcontrol.git/LibSidServo</value>
<value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/eddy/Docs/SAO/10micron/C-sources/erfa_functions</value>
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
<valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
@@ -133,7 +133,7 @@
<valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.CustomParsers"/>
<value type="bool" key="ProjectExplorer.BuildConfiguration.ParseStandardOutput">false</value>
<valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Default</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">По умолчанию</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericBuildConfiguration</value>
<value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
<value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
@@ -168,7 +168,6 @@
<value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
<value type="QString" key="RunConfiguration.WorkingDirectory.default">%{RunConfig:Executable:Path}</value>
</valuemap>
<value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
</valuemap>
@@ -204,7 +203,6 @@
<value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
<value type="QString" key="RunConfiguration.WorkingDirectory.default">%{RunConfig:Executable:Path}</value>
</valuemap>
<value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
</valuemap>

22
LibSidServo/libsidservo.creator.user
View File

@@ -1,10 +1,10 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 18.0.1, 2026-01-26T22:24:32. -->
<!-- Written by QtCreator 18.0.0, 2026-03-11T12:36:26. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
<value type="QByteArray">{7bd84e39-ca37-46d3-be9d-99ebea85bc0d}</value>
<value type="QByteArray">{cf63021e-ef53-49b0-b03b-2f2570cdf3b6}</value>
</data>
<data>
<variable>ProjectExplorer.Project.ActiveTarget</variable>
@@ -40,9 +40,9 @@
<value type="int" key="EditorConfiguration.PaddingMode">1</value>
<value type="int" key="EditorConfiguration.PreferAfterWhitespaceComments">0</value>
<value type="bool" key="EditorConfiguration.PreferSingleLineComments">false</value>
<value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
<value type="bool" key="EditorConfiguration.ScrollWheelZooming">false</value>
<value type="bool" key="EditorConfiguration.ShowMargin">false</value>
<value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value>
<value type="int" key="EditorConfiguration.SmartBackspaceBehavior">1</value>
<value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
<value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
<value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
@@ -51,10 +51,10 @@
<value type="bool" key="EditorConfiguration.UseIndenter">false</value>
<value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
<value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
<value type="bool" key="EditorConfiguration.cleanIndentation">false</value>
<value type="bool" key="EditorConfiguration.cleanIndentation">true</value>
<value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
<value type="QString" key="EditorConfiguration.ignoreFileTypes">*.md, *.MD, Makefile</value>
<value type="bool" key="EditorConfiguration.inEntireDocument">false</value>
<value type="bool" key="EditorConfiguration.inEntireDocument">true</value>
<value type="bool" key="EditorConfiguration.skipTrailingWhitespace">true</value>
<value type="bool" key="EditorConfiguration.tintMarginArea">true</value>
</valuemap>
@@ -79,7 +79,7 @@
<value type="bool" key="ClangTools.AnalyzeOpenFiles">true</value>
<value type="bool" key="ClangTools.BuildBeforeAnalysis">true</value>
<value type="QString" key="ClangTools.DiagnosticConfig">Builtin.DefaultTidyAndClazy</value>
<value type="int" key="ClangTools.ParallelJobs">8</value>
<value type="int" key="ClangTools.ParallelJobs">4</value>
<value type="bool" key="ClangTools.PreferConfigFile">true</value>
<valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
<valuelist type="QVariantList" key="ClangTools.SelectedFiles"/>
@@ -96,12 +96,12 @@
<value type="bool" key="HasPerBcDcs">true</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{65a14f9e-e008-4c1b-89df-4eaa4774b6e3}</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{91347f2c-5221-46a7-80b1-0a054ca02f79}</value>
<value type="qlonglong" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
<value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
<value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
<value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/tmp/robo5/mountcontrol.git/LibSidServo</value>
<value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/eddy/Docs/SAO/10micron/C-sources/erfa_functions</value>
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
<valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
@@ -133,7 +133,7 @@
<valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.CustomParsers"/>
<value type="bool" key="ProjectExplorer.BuildConfiguration.ParseStandardOutput">false</value>
<valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Default</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">По умолчанию</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericBuildConfiguration</value>
<value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
<value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
@@ -168,7 +168,6 @@
<value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
<value type="QString" key="RunConfiguration.WorkingDirectory.default">%{RunConfig:Executable:Path}</value>
</valuemap>
<value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
</valuemap>
@@ -204,7 +203,6 @@
<value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
<value type="QString" key="RunConfiguration.WorkingDirectory.default">%{RunConfig:Executable:Path}</value>
</valuemap>
<value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
</valuemap>

4
LibSidServo/main.c
View File

@@ -161,6 +161,8 @@ double LS_calc_slope(less_square_t *l, double x, double t){
if(!l) return 0.;
size_t idx = l->idx;
double oldx = l->x[idx], oldt = l->t[idx], oldt2 = l->t2[idx], oldxt = l->xt[idx];
/*DBG("old: x=%g, t=%g, t2=%g, xt=%g; sum: %g, t=%g, t2=%g, xt=%g", oldx, oldt, oldt2, oldxt,
l->xsum, l->tsum, l->t2sum, l->xtsum);*/
double t2 = t * t, xt = x * t;
l->x[idx] = x; l->t2[idx] = t2;
l->t[idx] = t; l->xt[idx] = xt;
@@ -172,9 +174,9 @@ double LS_calc_slope(less_square_t *l, double x, double t){
l->xtsum += xt - oldxt;
double n = (double)l->arraysz;
double denominator = n * l->t2sum - l->tsum * l->tsum;
//DBG("idx=%zd, arrsz=%zd, den=%g", l->idx, l->arraysz, denominator);
if(fabs(denominator) < 1e-7) return 0.;
double numerator = n * l->xtsum - l->xsum * l->tsum;
//DBG("x=%g, t=%g; idx=%zd, arrsz=%zd, den=%g; xsum=%g, num=%g", x, t, l->idx, l->arraysz, denominator, l->xsum, numerator);
// point: (sum_x - slope * sum_t) / n;
return (numerator / denominator);
}

18
LibSidServo/serial.c
View File

@@ -71,7 +71,6 @@ void getXspeed(){
mountdata.encXspeed.val = speed;
mountdata.encXspeed.t = mountdata.encXposition.t;
}
//DBG("Xspeed=%g", mountdata.encXspeed.val);
}
void getYspeed(){
static less_square_t *ls = NULL;
@@ -328,9 +327,12 @@ typedef struct{
// write to buffer next data portion; return FALSE in case of error
static int readstrings(buf_t *buf, int fd){
FNAME();
if(!buf){DBG("Empty buffer"); return FALSE;}
int L = XYBUFSZ - buf->len;
if(L < 0){
DBG("buf not initialized!");
buf->len = 0;
}
if(L == 0){
DBG("buffer overfull: %d!", buf->len);
char *lastn = strrchr(buf->buf, '\n');
@@ -344,6 +346,7 @@ static int readstrings(buf_t *buf, int fd){
}else buf->len = 0;
L = XYBUFSZ - buf->len;
}
//DBG("read %d bytes from %d", L, fd);
int got = read(fd, &buf->buf[buf->len], L);
if(got < 0){
DBG("read()");
@@ -351,13 +354,13 @@ static int readstrings(buf_t *buf, int fd){
}else if(got == 0){ DBG("NO data"); return TRUE; }
buf->len += got;
buf->buf[buf->len] = 0;
DBG("buf[%d]: %s", buf->len, buf->buf);
//DBG("buf[%d]: %s", buf->len, buf->buf);
return TRUE;
}
// return TRUE if got, FALSE if no data found
static int getdata(buf_t *buf, long *out){
if(!buf || buf->len < 1) return FALSE;
if(!buf || buf->len < 1 || buf->len > (XYBUFSZ+1)) return FALSE;
// read record between last '\n' and previous (or start of string)
char *last = &buf->buf[buf->len - 1];
//DBG("buf: _%s_", buf->buf);
@@ -378,7 +381,7 @@ static int getdata(buf_t *buf, long *out){
// try to write '\n' asking new data portion; return FALSE if failed
static int asknext(int fd){
FNAME();
//FNAME();
if(fd < 0) return FALSE;
int i = 0;
for(; i < 5; ++i){
@@ -399,7 +402,7 @@ static void *encoderthread2(void _U_ *u){
pfds[0].fd = encfd[0]; pfds[0].events = POLLIN;
pfds[1].fd = encfd[1]; pfds[1].events = POLLIN;
double t0[2], tstart;
buf_t strbuf[2];
buf_t strbuf[2] = {0};
long msrlast[2]; // last encoder data
double mtlast[2]; // last measurement time
asknext(encfd[0]); asknext(encfd[1]);
@@ -426,6 +429,9 @@ static void *encoderthread2(void _U_ *u){
if(i == 0){
mountdata.encXposition.val = Xenc2rad((double)msrlast[i]);
curtime(&mountdata.encXposition.t);
/*DBG("msrlast=%ld, Xpos.val=%g, t=%zd; XEzero=%d, SPR=%g",
msrlast[i], mountdata.encXposition.val, mountdata.encXposition.t.tv_sec,
X_ENC_ZERO, X_ENC_STEPSPERREV);*/
getXspeed();
}else{
mountdata.encYposition.val = Yenc2rad((double)msrlast[i]);

8
LibSidServo/ssii.c
View File

@@ -26,8 +26,12 @@
#include "serial.h"
#include "ssii.h"
int X_ENC_ZERO, Y_ENC_ZERO;
double X_MOT_STEPSPERREV = 1., Y_MOT_STEPSPERREV = 1., X_ENC_STEPSPERREV = 1., Y_ENC_STEPSPERREV = 1.;
int X_ENC_ZERO = 0, Y_ENC_ZERO = 0;
// defaults until read from controller
double X_MOT_STEPSPERREV = 13312000.,
Y_MOT_STEPSPERREV = 17578668.,
X_ENC_STEPSPERREV = 67108864.,
Y_ENC_STEPSPERREV = 67108864.;
uint16_t SScalcChecksum(uint8_t *buf, int len){
uint16_t checksum = 0;

2
LibSidServo/ssii.h
View File

@@ -209,12 +209,14 @@ extern double X_MOT_STEPSPERREV, Y_MOT_STEPSPERREV, X_ENC_STEPSPERREV, Y_ENC_STE
// convert angle in radians to +-pi
static inline __attribute__((always_inline)) double ang2half(double ang){
ang = fmod(ang, 2.*M_PI);
if(ang < -M_PI) ang += 2.*M_PI;
else if(ang > M_PI) ang -= 2.*M_PI;
return ang;
}
// convert to only positive: 0..2pi
static inline __attribute__((always_inline)) double ang2full(double ang){
ang = fmod(ang, 2.*M_PI);
if(ang < 0.) ang += 2.*M_PI;
else if(ang > 2.*M_PI) ang -= 2.*M_PI;
return ang;