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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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18
LibSidServo/serial.c
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@@ -48,7 +48,7 @@ static pthread_mutex_t mntmutex = PTHREAD_MUTEX_INITIALIZER,
// encoders thread and mount thread
static pthread_t encthread, mntthread;
// max timeout for 1.5 bytes of encoder and 2 bytes of mount - for `select`
static struct timeval encRtmout = {.tv_sec = 0, .tv_usec = 50000}, mntRtmout = {.tv_sec = 0, .tv_usec = 50000};
static struct timeval encRtmout = {.tv_sec = 0, .tv_usec = 5000}, mntRtmout = {.tv_sec = 0, .tv_usec = 50000};
// encoders raw data
typedef struct __attribute__((packed)){
uint8_t magick;
@@ -131,8 +131,8 @@ static void parse_encbuf(uint8_t databuf[ENC_DATALEN], struct timespec *t){
return;
}
pthread_mutex_lock(&datamutex);
mountdata.encXposition.val = X_ENC2RAD(edata->encX);
mountdata.encYposition.val = Y_ENC2RAD(edata->encY);
mountdata.encXposition.val = Xenc2rad(edata->encX);
mountdata.encYposition.val = Yenc2rad(edata->encY);
DBG("Got positions X/Y= %.6g / %.6g", mountdata.encXposition.val, mountdata.encYposition.val);
mountdata.encXposition.t = *t;
mountdata.encYposition.t = *t;
@@ -320,13 +320,13 @@ static void *encoderthread2(void _U_ *u){
double v;
if(getencval(encfd[0], &v, &t)){
pthread_mutex_lock(&datamutex);
mountdata.encXposition.val = X_ENC2RAD(v);
mountdata.encXposition.val = Xenc2rad(v);
mountdata.encXposition.t = t;
pthread_mutex_unlock(&datamutex);
getXspeed();
if(getencval(encfd[1], &v, &t)){
pthread_mutex_lock(&datamutex);
mountdata.encYposition.val = Y_ENC2RAD(v);
mountdata.encYposition.val = Yenc2rad(v);
mountdata.encYposition.t = t;
pthread_mutex_unlock(&datamutex);
getYspeed();
@@ -740,7 +740,13 @@ int cmdC(SSconfig *conf, int rw){
}else{ // read
data_t d;
d.buf = (uint8_t *) conf;
d.len = 0; d.maxlen = sizeof(SSconfig);
d.len = 0; d.maxlen = 0;
ret = wr(rcmd, &d, 1);
DBG("write command: %s", ret ? "TRUE" : "FALSE");
if(!ret) goto rtn;
// make a huge pause for stupid SSII
usleep(100000);
d.len = 0; d.maxlen = sizeof(SSconfig);
ret = wr(rcmd, &d, 1);
DBG("wr returned %s; got %zd bytes of %zd", ret ? "TRUE" : "FALSE", d.len, d.maxlen);
if(d.len != d.maxlen){ ret = FALSE; goto rtn; }