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change macros to config parameters

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This commit is contained in:
Edward V. Emelianov
2026-01-20 23:18:36 +03:00
parent fd96dc395b
commit f7cb279841
11 changed files with 533 additions and 51 deletions
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40
LibSidServo/main.c
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@@ -53,6 +53,7 @@ limits_t
.max = {.coord = 3.1241, .speed = 0.139626, .accel = 0.165806}}
;
static mcc_errcodes_t shortcmd(short_command_t *cmd);
static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig);
/**
* @brief curtime - monotonic time from first run
@@ -87,6 +88,7 @@ static int initstarttime(){
curtime(&t0);
return TRUE;
}
// return difference (in seconds) between time1 and time0
double timediff(const struct timespec *time1, const struct timespec *time0){
if(!time1 || !time0) return -1.;
@@ -220,6 +222,9 @@ static mcc_errcodes_t init(conf_t *c){
}
if(!SSrawcmd(CMD_EXITACM, NULL)) ret = MCC_E_FAILED;
if(ret != MCC_E_OK) return ret;
// read HW config to update constants
hardware_configuration_t HW;
if(MCC_E_OK != get_hwconf(&HW)) return MCC_E_FAILED;
return updateMotorPos();
}
@@ -258,19 +263,6 @@ static void setslewingstate(){
}else DBG("CAN't GET MOUNT DATA!");
}
/*
static mcc_errcodes_t slew2(const coordpair_t *target, slewflags_t flags){
(void)target;
(void)flags;
//if(Conf.RunModel) return ... ;
if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
//...
setStat(AXIS_SLEWING, AXIS_SLEWING);
//...
return MCC_E_FAILED;
}
*/
/**
* @brief move2 - simple move to given point and stop
* @param X - new X coordinate (radians: -pi..pi) or NULL
@@ -427,6 +419,7 @@ static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
if(!hwConfig) return MCC_E_BADFORMAT;
if(Conf.RunModel) return MCC_E_FAILED;
SSconfig config;
DBG("Read HW configuration");
if(!cmdC(&config, FALSE)) return MCC_E_FAILED;
// Convert acceleration (ticks per loop^2 to rad/s^2)
hwConfig->Xconf.accel = X_MOTACC2RS(config.Xconf.accel);
@@ -485,6 +478,26 @@ static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
hwConfig->locsspeed = (double)config.locsspeed * M_PI / (180.0 * 3600.0);
// Convert backlash speed (ticks per loop to rad/s)
hwConfig->backlspd = X_MOTSPD2RS(config.backlspd);
// now read text commands
int64_t i64;
double Xticks, Yticks;
DBG("SERIAL");
// motor's encoder ticks per rev
if(!SSgetint(CMD_MEPRX, &i64)) return MCC_E_FAILED;
Xticks = ((double) i64) / 4.; // divide by 4 as these values stored
if(!SSgetint(CMD_MEPRY, &i64)) return MCC_E_FAILED;
Yticks = ((double) i64) / 4.;
X_ENC_ZERO = Conf.XEncZero;
Y_ENC_ZERO = Conf.YEncZero;
X_MOT_STEPSPERREV = hwConfig->Xconf.motor_stepsperrev = (config.xbits.motrev) ? -Xticks : Xticks;
Y_MOT_STEPSPERREV = hwConfig->Yconf.motor_stepsperrev = (config.ybits.motrev) ? -Yticks : Yticks;
// axis encoder ticks per rev
if(!SSgetint(CMD_AEPRX, &i64)) return MCC_E_FAILED;
Xticks = (double) i64;
if(!SSgetint(CMD_AEPRY, &i64)) return MCC_E_FAILED;
Yticks = (double) i64;
X_ENC_STEPSPERREV = hwConfig->Xconf.axis_stepsperrev = (config.xbits.encrev) ? -Xticks : Xticks;
Y_ENC_STEPSPERREV = hwConfig->Yconf.axis_stepsperrev = (config.ybits.encrev) ? -Yticks : Yticks;
return MCC_E_OK;
}
@@ -540,6 +553,7 @@ static mcc_errcodes_t write_hwconf(hardware_configuration_t *hwConfig){
config.Ysetpr = __bswap_32(hwConfig->Ysetpr);
config.Xmetpr = __bswap_32(hwConfig->Xmetpr * 4);
config.Ymetpr = __bswap_32(hwConfig->Ymetpr * 4);
// todo - also write text params
// TODO - next
(void) config;
return MCC_E_OK;