eddy/mountcontrol
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

change macros to config parameters

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

220
LibSidServo/.qtcreator/libsidservo.creator.user Normal file
View File

@ -0,0 +1,220 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 18.0.1, 2026-01-20T23:16:00. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
<value type="QByteArray">{7bd84e39-ca37-46d3-be9d-99ebea85bc0d}</value>
</data>
<data>
<variable>ProjectExplorer.Project.ActiveTarget</variable>
<value type="qlonglong">0</value>
</data>
<data>
<variable>ProjectExplorer.Project.EditorSettings</variable>
<valuemap type="QVariantMap">
<value type="bool" key="EditorConfiguration.AutoDetect">true</value>
<value type="bool" key="EditorConfiguration.AutoIndent">true</value>
<value type="bool" key="EditorConfiguration.CamelCaseNavigation">true</value>
<valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
<value type="QString" key="language">Cpp</value>
<valuemap type="QVariantMap" key="value">
<value type="QByteArray" key="CurrentPreferences">CppGlobal</value>
</valuemap>
</valuemap>
<valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.1">
<value type="QString" key="language">QmlJS</value>
<valuemap type="QVariantMap" key="value">
<value type="QByteArray" key="CurrentPreferences">QmlJSGlobal</value>
</valuemap>
</valuemap>
<value type="qlonglong" key="EditorConfiguration.CodeStyle.Count">2</value>
<value type="QByteArray" key="EditorConfiguration.Codec">KOI8-R</value>
<value type="bool" key="EditorConfiguration.ConstrainTooltips">false</value>
<value type="int" key="EditorConfiguration.IndentSize">4</value>
<value type="bool" key="EditorConfiguration.KeyboardTooltips">false</value>
<value type="int" key="EditorConfiguration.LineEndingBehavior">0</value>
<value type="int" key="EditorConfiguration.MarginColumn">80</value>
<value type="bool" key="EditorConfiguration.MouseHiding">true</value>
<value type="bool" key="EditorConfiguration.MouseNavigation">true</value>
<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.ShowMargin">false</value>
<value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</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>
<value type="int" key="EditorConfiguration.TabSize">8</value>
<value type="bool" key="EditorConfiguration.UseGlobal">true</value>
<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.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.skipTrailingWhitespace">true</value>
<value type="bool" key="EditorConfiguration.tintMarginArea">true</value>
</valuemap>
</data>
<data>
<variable>ProjectExplorer.Project.PluginSettings</variable>
<valuemap type="QVariantMap">
<valuemap type="QVariantMap" key="AutoTest.ActiveFrameworks">
<value type="bool" key="AutoTest.Framework.Boost">true</value>
<value type="bool" key="AutoTest.Framework.CTest">false</value>
<value type="bool" key="AutoTest.Framework.Catch">true</value>
<value type="bool" key="AutoTest.Framework.GTest">true</value>
<value type="bool" key="AutoTest.Framework.QtQuickTest">true</value>
<value type="bool" key="AutoTest.Framework.QtTest">true</value>
</valuemap>
<value type="bool" key="AutoTest.ApplyFilter">false</value>
<valuemap type="QVariantMap" key="AutoTest.CheckStates"/>
<valuelist type="QVariantList" key="AutoTest.PathFilters"/>
<value type="int" key="AutoTest.RunAfterBuild">0</value>
<value type="bool" key="AutoTest.UseGlobal">true</value>
<valuemap type="QVariantMap" key="ClangTools">
<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="bool" key="ClangTools.PreferConfigFile">true</value>
<valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
<valuelist type="QVariantList" key="ClangTools.SelectedFiles"/>
<valuelist type="QVariantList" key="ClangTools.SuppressedDiagnostics"/>
<value type="bool" key="ClangTools.UseGlobalSettings">true</value>
</valuemap>
<value type="int" key="RcSync">0</value>
</valuemap>
</data>
<data>
<variable>ProjectExplorer.Project.Target.0</variable>
<valuemap type="QVariantMap">
<value type="QString" key="DeviceType">Desktop</value>
<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="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>
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
<valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
<value type="QString">all</value>
</valuelist>
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
</valuemap>
<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Build</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Build</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value>
</valuemap>
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.1">
<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
<valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
<value type="QString">clean</value>
</valuelist>
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
</valuemap>
<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Clean</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Clean</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
</valuemap>
<value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
<value type="bool" key="ProjectExplorer.BuildConfiguration.ClearSystemEnvironment">false</value>
<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.Id">GenericProjectManager.GenericBuildConfiguration</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.DeployConfiguration.0">
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Deploy</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
</valuemap>
<value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
<valuemap type="QVariantMap" key="ProjectExplorer.DeployConfiguration.CustomData"/>
<value type="bool" key="ProjectExplorer.DeployConfiguration.CustomDataEnabled">false</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
</valuemap>
<value type="qlonglong" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
<value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
<value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
<value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
<value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
<value type="QList&lt;int&gt;" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
<valuelist type="QVariantList" key="CustomOutputParsers"/>
<value type="int" key="PE.EnvironmentAspect.Base">2</value>
<valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
<value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
<value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
<value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
<value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
<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>
<value type="qlonglong" key="ProjectExplorer.Target.BuildConfigurationCount">1</value>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Deploy</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
</valuemap>
<value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
<valuemap type="QVariantMap" key="ProjectExplorer.DeployConfiguration.CustomData"/>
<value type="bool" key="ProjectExplorer.DeployConfiguration.CustomDataEnabled">false</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
</valuemap>
<value type="qlonglong" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
<value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
<value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
<value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
<value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
<value type="QList&lt;int&gt;" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
<valuelist type="QVariantList" key="CustomOutputParsers"/>
<value type="int" key="PE.EnvironmentAspect.Base">2</value>
<valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
<value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
<value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
<value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
<value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
<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>
</data>
<data>
<variable>ProjectExplorer.Project.TargetCount</variable>
<value type="qlonglong">1</value>
</data>
<data>
<variable>Version</variable>
<value type="int">22</value>
</data>
</qtcreator>

218
LibSidServo/.qtcreator/libsidservo.creator.user.cf63021 Normal file
View File

@ -0,0 +1,218 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 18.0.0, 2025-11-27T17:22:09. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
<value type="QByteArray">{cf63021e-ef53-49b0-b03b-2f2570cdf3b6}</value>
</data>
<data>
<variable>ProjectExplorer.Project.ActiveTarget</variable>
<value type="qlonglong">0</value>
</data>
<data>
<variable>ProjectExplorer.Project.EditorSettings</variable>
<valuemap type="QVariantMap">
<value type="bool" key="EditorConfiguration.AutoDetect">true</value>
<value type="bool" key="EditorConfiguration.AutoIndent">true</value>
<value type="bool" key="EditorConfiguration.CamelCaseNavigation">true</value>
<valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
<value type="QString" key="language">Cpp</value>
<valuemap type="QVariantMap" key="value">
<value type="QByteArray" key="CurrentPreferences">CppGlobal</value>
</valuemap>
</valuemap>
<valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.1">
<value type="QString" key="language">QmlJS</value>
<valuemap type="QVariantMap" key="value">
<value type="QByteArray" key="CurrentPreferences">QmlJSGlobal</value>
</valuemap>
</valuemap>
<value type="qlonglong" key="EditorConfiguration.CodeStyle.Count">2</value>
<value type="QByteArray" key="EditorConfiguration.Codec">KOI8-R</value>
<value type="bool" key="EditorConfiguration.ConstrainTooltips">false</value>
<value type="int" key="EditorConfiguration.IndentSize">4</value>
<value type="bool" key="EditorConfiguration.KeyboardTooltips">false</value>
<value type="int" key="EditorConfiguration.LineEndingBehavior">0</value>
<value type="int" key="EditorConfiguration.MarginColumn">80</value>
<value type="bool" key="EditorConfiguration.MouseHiding">true</value>
<value type="bool" key="EditorConfiguration.MouseNavigation">true</value>
<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">false</value>
<value type="bool" key="EditorConfiguration.ShowMargin">false</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>
<value type="int" key="EditorConfiguration.TabSize">8</value>
<value type="bool" key="EditorConfiguration.UseGlobal">true</value>
<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">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">true</value>
<value type="bool" key="EditorConfiguration.skipTrailingWhitespace">true</value>
<value type="bool" key="EditorConfiguration.tintMarginArea">true</value>
</valuemap>
</data>
<data>
<variable>ProjectExplorer.Project.PluginSettings</variable>
<valuemap type="QVariantMap">
<valuemap type="QVariantMap" key="AutoTest.ActiveFrameworks">
<value type="bool" key="AutoTest.Framework.Boost">true</value>
<value type="bool" key="AutoTest.Framework.CTest">false</value>
<value type="bool" key="AutoTest.Framework.Catch">true</value>
<value type="bool" key="AutoTest.Framework.GTest">true</value>
<value type="bool" key="AutoTest.Framework.QtQuickTest">true</value>
<value type="bool" key="AutoTest.Framework.QtTest">true</value>
</valuemap>
<value type="bool" key="AutoTest.ApplyFilter">false</value>
<valuemap type="QVariantMap" key="AutoTest.CheckStates"/>
<valuelist type="QVariantList" key="AutoTest.PathFilters"/>
<value type="int" key="AutoTest.RunAfterBuild">0</value>
<value type="bool" key="AutoTest.UseGlobal">true</value>
<valuemap type="QVariantMap" key="ClangTools">
<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">4</value>
<value type="bool" key="ClangTools.PreferConfigFile">true</value>
<valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
<valuelist type="QVariantList" key="ClangTools.SelectedFiles"/>
<valuelist type="QVariantList" key="ClangTools.SuppressedDiagnostics"/>
<value type="bool" key="ClangTools.UseGlobalSettings">true</value>
</valuemap>
<value type="int" key="RcSync">0</value>
</valuemap>
</data>
<data>
<variable>ProjectExplorer.Project.Target.0</variable>
<valuemap type="QVariantMap">
<value type="QString" key="DeviceType">Desktop</value>
<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">{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">/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">
<value type="QString">all</value>
</valuelist>
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
</valuemap>
<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Build</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Build</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value>
</valuemap>
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.1">
<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
<valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
<value type="QString">clean</value>
</valuelist>
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
</valuemap>
<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Clean</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Clean</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
</valuemap>
<value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
<value type="bool" key="ProjectExplorer.BuildConfiguration.ClearSystemEnvironment">false</value>
<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">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>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Deploy</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
</valuemap>
<value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
<valuemap type="QVariantMap" key="ProjectExplorer.DeployConfiguration.CustomData"/>
<value type="bool" key="ProjectExplorer.DeployConfiguration.CustomDataEnabled">false</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
</valuemap>
<value type="qlonglong" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
<value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
<value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
<value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
<value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
<value type="QList&lt;int&gt;" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
<valuelist type="QVariantList" key="CustomOutputParsers"/>
<value type="int" key="PE.EnvironmentAspect.Base">2</value>
<valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
<value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
<value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
<value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
<value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
<value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
</valuemap>
<value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
</valuemap>
<value type="qlonglong" key="ProjectExplorer.Target.BuildConfigurationCount">1</value>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Deploy</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
</valuemap>
<value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
<valuemap type="QVariantMap" key="ProjectExplorer.DeployConfiguration.CustomData"/>
<value type="bool" key="ProjectExplorer.DeployConfiguration.CustomDataEnabled">false</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
</valuemap>
<value type="qlonglong" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
<value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
<value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
<value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
<value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
<value type="QList&lt;int&gt;" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
<valuelist type="QVariantList" key="CustomOutputParsers"/>
<value type="int" key="PE.EnvironmentAspect.Base">2</value>
<valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
<value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
<value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
<value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
<value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
<value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
</valuemap>
<value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
</valuemap>
</data>
<data>
<variable>ProjectExplorer.Project.TargetCount</variable>
<value type="qlonglong">1</value>
</data>
<data>
<variable>Version</variable>
<value type="int">22</value>
</data>
</qtcreator>

2
LibSidServo/TODO Normal file
View File

@ -0,0 +1,2 @@
check angle conversions
Read HW config even in model mode

8
LibSidServo/examples/SSIIconf.c
View File

@ -34,7 +34,9 @@ typedef struct{
static hardware_configuration_t HW = {0}; static hardware_configuration_t HW = {0};
static parameters G = {0}; static parameters G = {
.conffile = "servo.conf",
};
static sl_option_t cmdlnopts[] = { static sl_option_t cmdlnopts[] = {
{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&G.help), "show this help"}, {"help", NO_ARGS, NULL, 'h', arg_int, APTR(&G.help), "show this help"},
@ -53,7 +55,7 @@ static sl_option_t confopts[] = {
static void dumpaxis(char axis, axis_config_t *c){ static void dumpaxis(char axis, axis_config_t *c){
#define STRUCTPAR(p) (c)->p #define STRUCTPAR(p) (c)->p
#define DUMP(par) do{printf("%c%s=%g\n", axis, #par, STRUCTPAR(par));}while(0) #define DUMP(par) do{printf("%c%s=%.10g\n", axis, #par, STRUCTPAR(par));}while(0)
#define DUMPD(par) do{printf("%c%s=%g\n", axis, #par, RAD2DEG(STRUCTPAR(par)));}while(0) #define DUMPD(par) do{printf("%c%s=%g\n", axis, #par, RAD2DEG(STRUCTPAR(par)));}while(0)
DUMPD(accel); DUMPD(accel);
DUMPD(backlash); DUMPD(backlash);
@ -64,6 +66,8 @@ static void dumpaxis(char axis, axis_config_t *c){
DUMP(outplimit); DUMP(outplimit);
DUMP(currlimit); DUMP(currlimit);
DUMP(intlimit); DUMP(intlimit);
DUMP(motor_stepsperrev);
DUMP(axis_stepsperrev);
#undef DUMP #undef DUMP
#undef DUMPD #undef DUMPD
} }

2
LibSidServo/examples/conf.c
View File

@ -83,6 +83,8 @@ static sl_option_t opts[] = {
{"MaxPointingErr", NEED_ARG, NULL, 0, arg_double, APTR(&Config.MaxPointingErr), "if angle < this, change state from \"slewing\" to \"pointing\" (coarse pointing): 8 degrees"}, {"MaxPointingErr", NEED_ARG, NULL, 0, arg_double, APTR(&Config.MaxPointingErr), "if angle < this, change state from \"slewing\" to \"pointing\" (coarse pointing): 8 degrees"},
{"MaxFinePointingErr",NEED_ARG, NULL, 0, arg_double, APTR(&Config.MaxFinePointingErr), "if angle < this, chane state from \"pointing\" to \"guiding\" (fine poinging): 1.5 deg"}, {"MaxFinePointingErr",NEED_ARG, NULL, 0, arg_double, APTR(&Config.MaxFinePointingErr), "if angle < this, chane state from \"pointing\" to \"guiding\" (fine poinging): 1.5 deg"},
{"MaxGuidingErr", NEED_ARG, NULL, 0, arg_double, APTR(&Config.MaxGuidingErr), "if error less than this value we suppose that target is captured and guiding is good (true guiding): 0.1''"}, {"MaxGuidingErr", NEED_ARG, NULL, 0, arg_double, APTR(&Config.MaxGuidingErr), "if error less than this value we suppose that target is captured and guiding is good (true guiding): 0.1''"},
{"XEncZero", NEED_ARG, NULL, 0, arg_int, APTR(&Config.XEncZero), "X axis encoder approximate zero position"},
{"YEncZero", NEED_ARG, NULL, 0, arg_int, APTR(&Config.YEncZero), "Y axis encoder approximate zero position"},
// {"",NEED_ARG, NULL, 0, arg_double, APTR(&Config.), ""}, // {"",NEED_ARG, NULL, 0, arg_double, APTR(&Config.), ""},
end_option end_option
}; };

22
LibSidServo/libsidservo.creator.user
View File

@ -1,10 +1,10 @@
<?xml version="1.0" encoding="UTF-8"?> <?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject> <!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 18.0.0, 2025-11-27T17:22:09. --> <!-- Written by QtCreator 18.0.1, 2026-01-20T23:16:00. -->
<qtcreator> <qtcreator>
<data> <data>
<variable>EnvironmentId</variable> <variable>EnvironmentId</variable>
<value type="QByteArray">{cf63021e-ef53-49b0-b03b-2f2570cdf3b6}</value> <value type="QByteArray">{7bd84e39-ca37-46d3-be9d-99ebea85bc0d}</value>
</data> </data>
<data> <data>
<variable>ProjectExplorer.Project.ActiveTarget</variable> <variable>ProjectExplorer.Project.ActiveTarget</variable>
@ -40,9 +40,9 @@
<value type="int" key="EditorConfiguration.PaddingMode">1</value> <value type="int" key="EditorConfiguration.PaddingMode">1</value>
<value type="int" key="EditorConfiguration.PreferAfterWhitespaceComments">0</value> <value type="int" key="EditorConfiguration.PreferAfterWhitespaceComments">0</value>
<value type="bool" key="EditorConfiguration.PreferSingleLineComments">false</value> <value type="bool" key="EditorConfiguration.PreferSingleLineComments">false</value>
<value type="bool" key="EditorConfiguration.ScrollWheelZooming">false</value> <value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
<value type="bool" key="EditorConfiguration.ShowMargin">false</value> <value type="bool" key="EditorConfiguration.ShowMargin">false</value>
<value type="int" key="EditorConfiguration.SmartBackspaceBehavior">1</value> <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value>
<value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value> <value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
<value type="bool" key="EditorConfiguration.SpacesForTabs">true</value> <value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
<value type="int" key="EditorConfiguration.TabKeyBehavior">0</value> <value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
@ -51,10 +51,10 @@
<value type="bool" key="EditorConfiguration.UseIndenter">false</value> <value type="bool" key="EditorConfiguration.UseIndenter">false</value>
<value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value> <value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
<value type="bool" key="EditorConfiguration.addFinalNewLine">true</value> <value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
<value type="bool" key="EditorConfiguration.cleanIndentation">true</value> <value type="bool" key="EditorConfiguration.cleanIndentation">false</value>
<value type="bool" key="EditorConfiguration.cleanWhitespace">true</value> <value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
<value type="QString" key="EditorConfiguration.ignoreFileTypes">*.md, *.MD, Makefile</value> <value type="QString" key="EditorConfiguration.ignoreFileTypes">*.md, *.MD, Makefile</value>
<value type="bool" key="EditorConfiguration.inEntireDocument">true</value> <value type="bool" key="EditorConfiguration.inEntireDocument">false</value>
<value type="bool" key="EditorConfiguration.skipTrailingWhitespace">true</value> <value type="bool" key="EditorConfiguration.skipTrailingWhitespace">true</value>
<value type="bool" key="EditorConfiguration.tintMarginArea">true</value> <value type="bool" key="EditorConfiguration.tintMarginArea">true</value>
</valuemap> </valuemap>
@ -79,7 +79,7 @@
<value type="bool" key="ClangTools.AnalyzeOpenFiles">true</value> <value type="bool" key="ClangTools.AnalyzeOpenFiles">true</value>
<value type="bool" key="ClangTools.BuildBeforeAnalysis">true</value> <value type="bool" key="ClangTools.BuildBeforeAnalysis">true</value>
<value type="QString" key="ClangTools.DiagnosticConfig">Builtin.DefaultTidyAndClazy</value> <value type="QString" key="ClangTools.DiagnosticConfig">Builtin.DefaultTidyAndClazy</value>
<value type="int" key="ClangTools.ParallelJobs">4</value> <value type="int" key="ClangTools.ParallelJobs">8</value>
<value type="bool" key="ClangTools.PreferConfigFile">true</value> <value type="bool" key="ClangTools.PreferConfigFile">true</value>
<valuelist type="QVariantList" key="ClangTools.SelectedDirs"/> <valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
<valuelist type="QVariantList" key="ClangTools.SelectedFiles"/> <valuelist type="QVariantList" key="ClangTools.SelectedFiles"/>
@ -96,12 +96,12 @@
<value type="bool" key="HasPerBcDcs">true</value> <value type="bool" key="HasPerBcDcs">true</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</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.DisplayName">Desktop</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{91347f2c-5221-46a7-80b1-0a054ca02f79}</value> <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{65a14f9e-e008-4c1b-89df-4eaa4774b6e3}</value>
<value type="qlonglong" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</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.ActiveDeployConfiguration">0</value>
<value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value> <value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0"> <valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
<value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/eddy/Docs/SAO/10micron/C-sources/erfa_functions</value> <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/tmp/robo5/mountcontrol.git/LibSidServo</value>
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0"> <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0"> <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
<valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets"> <valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
@ -133,7 +133,7 @@
<valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.CustomParsers"/> <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.CustomParsers"/>
<value type="bool" key="ProjectExplorer.BuildConfiguration.ParseStandardOutput">false</value> <value type="bool" key="ProjectExplorer.BuildConfiguration.ParseStandardOutput">false</value>
<valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/> <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">По умолчанию</value> <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Default</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericBuildConfiguration</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.ActiveDeployConfiguration">0</value>
<value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value> <value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
@ -168,6 +168,7 @@
<value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value> <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value> <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value> <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
<value type="QString" key="RunConfiguration.WorkingDirectory.default">%{RunConfig:Executable:Path}</value>
</valuemap> </valuemap>
<value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value> <value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
</valuemap> </valuemap>
@ -203,6 +204,7 @@
<value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value> <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value> <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value> <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
<value type="QString" key="RunConfiguration.WorkingDirectory.default">%{RunConfig:Executable:Path}</value>
</valuemap> </valuemap>
<value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value> <value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
</valuemap> </valuemap>

40
LibSidServo/main.c
View File

@ -53,6 +53,7 @@ limits_t
.max = {.coord = 3.1241, .speed = 0.139626, .accel = 0.165806}} .max = {.coord = 3.1241, .speed = 0.139626, .accel = 0.165806}}
; ;
static mcc_errcodes_t shortcmd(short_command_t *cmd); 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 * @brief curtime - monotonic time from first run
@ -87,6 +88,7 @@ static int initstarttime(){
curtime(&t0); curtime(&t0);
return TRUE; return TRUE;
} }
// return difference (in seconds) between time1 and time0 // return difference (in seconds) between time1 and time0
double timediff(const struct timespec *time1, const struct timespec *time0){ double timediff(const struct timespec *time1, const struct timespec *time0){
if(!time1 || !time0) return -1.; 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(!SSrawcmd(CMD_EXITACM, NULL)) ret = MCC_E_FAILED;
if(ret != MCC_E_OK) return ret; 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(); return updateMotorPos();
} }
@ -258,19 +263,6 @@ static void setslewingstate(){
}else DBG("CAN't GET MOUNT DATA!"); }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 * @brief move2 - simple move to given point and stop
* @param X - new X coordinate (radians: -pi..pi) or NULL * @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(!hwConfig) return MCC_E_BADFORMAT;
if(Conf.RunModel) return MCC_E_FAILED; if(Conf.RunModel) return MCC_E_FAILED;
SSconfig config; SSconfig config;
DBG("Read HW configuration");
if(!cmdC(&config, FALSE)) return MCC_E_FAILED; if(!cmdC(&config, FALSE)) return MCC_E_FAILED;
// Convert acceleration (ticks per loop^2 to rad/s^2) // Convert acceleration (ticks per loop^2 to rad/s^2)
hwConfig->Xconf.accel = X_MOTACC2RS(config.Xconf.accel); 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); hwConfig->locsspeed = (double)config.locsspeed * M_PI / (180.0 * 3600.0);
// Convert backlash speed (ticks per loop to rad/s) // Convert backlash speed (ticks per loop to rad/s)
hwConfig->backlspd = X_MOTSPD2RS(config.backlspd); 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; 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.Ysetpr = __bswap_32(hwConfig->Ysetpr);
config.Xmetpr = __bswap_32(hwConfig->Xmetpr * 4); config.Xmetpr = __bswap_32(hwConfig->Xmetpr * 4);
config.Ymetpr = __bswap_32(hwConfig->Ymetpr * 4); config.Ymetpr = __bswap_32(hwConfig->Ymetpr * 4);
// todo - also write text params
// TODO - next // TODO - next
(void) config; (void) config;
return MCC_E_OK; return MCC_E_OK;

18
LibSidServo/serial.c
View File

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

11
LibSidServo/sidservo.h
View File

@ -74,9 +74,11 @@ typedef struct{
PIDpar_t XPIDV; PIDpar_t XPIDV;
PIDpar_t YPIDC; PIDpar_t YPIDC;
PIDpar_t YPIDV; PIDpar_t YPIDV;
double MaxPointingErr; // if angle < this, change state from "slewing" to "pointing" (coarse pointing): 8 degrees double MaxPointingErr; // if angle < this, change state from "slewing" to "pointing" (coarse pointing): 8 degrees
double MaxFinePointingErr; // if angle < this, chane state from "pointing" to "guiding" (fine poinging): 1.5 deg double MaxFinePointingErr; // if angle < this, chane state from "pointing" to "guiding" (fine poinging): 1.5 deg
double MaxGuidingErr; // if error less than this value we suppose that target is captured and guiding is good (true guiding): 0.1'' double MaxGuidingErr; // if error less than this value we suppose that target is captured and guiding is good (true guiding): 0.1''
int XEncZero; // encoders' zero position
int YEncZero;
} conf_t; } conf_t;
// coordinates/speeds in degrees or d/s: X, Y // coordinates/speeds in degrees or d/s: X, Y
@ -188,6 +190,9 @@ typedef struct{
double outplimit; // Output Limit, percent (0..100) double outplimit; // Output Limit, percent (0..100)
double currlimit; // Current Limit (A) double currlimit; // Current Limit (A)
double intlimit; // Integral Limit (???) double intlimit; // Integral Limit (???)
// these params are taken from mount by text commands (don't save negative values - better save these marks in xybits
double motor_stepsperrev;// encoder's steps per revolution: motor and axis
double axis_stepsperrev; // negative sign of these values means reverse direction
} __attribute__((packed)) axis_config_t; } __attribute__((packed)) axis_config_t;
// hardware configuration // hardware configuration

7
LibSidServo/ssii.c
View File

@ -26,6 +26,9 @@
#include "serial.h" #include "serial.h"
#include "ssii.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.;
uint16_t SScalcChecksum(uint8_t *buf, int len){ uint16_t SScalcChecksum(uint8_t *buf, int len){
uint16_t checksum = 0; uint16_t checksum = 0;
for(int i = 0; i < len; i++){ for(int i = 0; i < len; i++){
@ -75,8 +78,8 @@ void SSconvstat(const SSstat *s, mountdata_t *m, struct timespec *t){
m->motXposition.t = m->motYposition.t = *t; m->motXposition.t = m->motYposition.t = *t;
// fill encoder data from here, as there's no separate enc thread // fill encoder data from here, as there's no separate enc thread
if(!Conf.SepEncoder){ if(!Conf.SepEncoder){
m->encXposition.val = X_ENC2RAD(s->Xenc); m->encXposition.val = Xenc2rad(s->Xenc);
m->encYposition.val = Y_ENC2RAD(s->Yenc); m->encYposition.val = Yenc2rad(s->Yenc);
m->encXposition.t = m->encYposition.t = *t; m->encXposition.t = m->encYposition.t = *t;
getXspeed(); getYspeed(); getXspeed(); getYspeed();
} }

36
LibSidServo/ssii.h
View File

@ -175,29 +175,35 @@
// amount of consequent same coordinates to detect stop // amount of consequent same coordinates to detect stop
#define MOTOR_STOPPED_CNT (19) #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? // TODO: take it from settings?
// steps per revolution (SSI - x4 - for SSI) // 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 // 13312000 / 4 = 3328000
#define X_MOT_STEPSPERREV (3328000.) //#define X_MOT_STEPSPERREV (3328000.)
#define Y_MOT_STEPSPERREV_SSI (17578668.) //#define Y_MOT_STEPSPERREV_SSI (17578668.)
// 17578668 / 4 = 4394667 // 17578668 / 4 = 4394667
#define Y_MOT_STEPSPERREV (4394667.) //#define Y_MOT_STEPSPERREV (4394667.)
// encoder per revolution // encoder per revolution
#define X_ENC_STEPSPERREV (67108864.) //#define X_ENC_STEPSPERREV (67108864.)
#define Y_ENC_STEPSPERREV (67108864.) //#define Y_ENC_STEPSPERREV (67108864.)
// encoder zero position // encoder zero position
#define X_ENC_ZERO (61245239) // -> conf.XEncZero/YEncZero
#define Y_ENC_ZERO (36999830) //#define X_ENC_ZERO (61245239)
// encoder reversed (no: +1) //#define Y_ENC_ZERO (36999830)
#define X_ENC_SIGN (-1.) // encoder reversed (no: +1) -> sign of ...stepsperrev
#define Y_ENC_SIGN (-1.) //#define X_ENC_SIGN (-1.)
//#define Y_ENC_SIGN (-1.)
// encoder position to radians and back // 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 Xenc2rad(n) ang2half(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 Yenc2rad(n) ang2half(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 Xrad2enc(r) ((uint32_t)((r) / 2./M_PI * X_ENC_STEPSPERREV))
#define Y_RAD2ENC(r) ((uint32_t)((r) / 2./M_PI * Y_ENC_STEPSPERREV)) #define Yrad2enc(r) ((uint32_t)((r) / 2./M_PI * Y_ENC_STEPSPERREV))
// convert angle in radians to +-pi // convert angle in radians to +-pi
static inline double ang2half(double ang){ static inline double ang2half(double ang){