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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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36
LibSidServo/ssii.h
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@@ -175,29 +175,35 @@
// amount of consequent same coordinates to detect stop
#define MOTOR_STOPPED_CNT (19)
// replace macros with global variables inited when config read
extern int X_ENC_ZERO, Y_ENC_ZERO;
extern double X_MOT_STEPSPERREV, Y_MOT_STEPSPERREV, X_ENC_STEPSPERREV, Y_ENC_STEPSPERREV;
// TODO: take it from settings?
// steps per revolution (SSI - x4 - for SSI)
#define X_MOT_STEPSPERREV_SSI (13312000.)
// -> hwconf.Xconf.mot/enc_stepsperrev
//#define X_MOT_STEPSPERREV_SSI (13312000.)
// 13312000 / 4 = 3328000
#define X_MOT_STEPSPERREV (3328000.)
#define Y_MOT_STEPSPERREV_SSI (17578668.)
//#define X_MOT_STEPSPERREV (3328000.)
//#define Y_MOT_STEPSPERREV_SSI (17578668.)
// 17578668 / 4 = 4394667
#define Y_MOT_STEPSPERREV (4394667.)
//#define Y_MOT_STEPSPERREV (4394667.)
// encoder per revolution
#define X_ENC_STEPSPERREV (67108864.)
#define Y_ENC_STEPSPERREV (67108864.)
//#define X_ENC_STEPSPERREV (67108864.)
//#define Y_ENC_STEPSPERREV (67108864.)
// encoder zero position
#define X_ENC_ZERO (61245239)
#define Y_ENC_ZERO (36999830)
// encoder reversed (no: +1)
#define X_ENC_SIGN (-1.)
#define Y_ENC_SIGN (-1.)
// -> conf.XEncZero/YEncZero
//#define X_ENC_ZERO (61245239)
//#define Y_ENC_ZERO (36999830)
// encoder reversed (no: +1) -> sign of ...stepsperrev
//#define X_ENC_SIGN (-1.)
//#define Y_ENC_SIGN (-1.)
// encoder position to radians and back
#define X_ENC2RAD(n) ang2half(X_ENC_SIGN * 2.*M_PI * ((double)((n)-X_ENC_ZERO)) / X_ENC_STEPSPERREV)
#define Y_ENC2RAD(n) ang2half(Y_ENC_SIGN * 2.*M_PI * ((double)((n)-Y_ENC_ZERO)) / Y_ENC_STEPSPERREV)
#define X_RAD2ENC(r) ((uint32_t)((r) / 2./M_PI * X_ENC_STEPSPERREV))
#define Y_RAD2ENC(r) ((uint32_t)((r) / 2./M_PI * Y_ENC_STEPSPERREV))
#define Xenc2rad(n) ang2half(2.*M_PI * ((double)((n)-X_ENC_ZERO)) / X_ENC_STEPSPERREV)
#define Yenc2rad(n) ang2half(2.*M_PI * ((double)((n)-Y_ENC_ZERO)) / Y_ENC_STEPSPERREV)
#define Xrad2enc(r) ((uint32_t)((r) / 2./M_PI * X_ENC_STEPSPERREV))
#define Yrad2enc(r) ((uint32_t)((r) / 2./M_PI * Y_ENC_STEPSPERREV))
// convert angle in radians to +-pi
static inline double ang2half(double ang){