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

...

Browse Source
This commit is contained in:
Timur A. Fatkhullin
2025-07-23 19:44:05 +03:00
parent 14f3bb7a83
commit fd67d04ca2
8 changed files with 423 additions and 163 deletions
Download Patch File Download Diff File Expand all files Collapse all files

24
cxx/asibfm700_hardware.cpp
View File

@@ -108,19 +108,29 @@ AsibFM700Hardware::error_t AsibFM700Hardware::getPos(AsibFM700Hardware::axes_pos
auto err = static_cast<AsibFM700HardwareErrorCode>(Mount.getMountData(&data));
if (err == AsibFM700HardwareErrorCode::ERROR_OK) {
// time point from sidservo library is 'struct timeval', i.e., seconds and
// microseconds ellapsed from UNIX time epoch
// time point from sidservo library is 'double' number represented UNIXTIME with
// microseconds/nanoseconds precision (must be equal for encXposition and encYposition)
using secs_t = std::chrono::duration<double>;
secs_t secs = secs_t{1.0 * data.encposition.msrtime.tv_sec + 1.0E-6 * data.encposition.msrtime.tv_usec};
secs_t secs = secs_t{data.encXposition.t};
pos.time_point = time_point_t{std::chrono::duration_cast<time_point_t::duration>(secs)};
// according to hardware configuration (encoders pins (Eddy said)) X is DEC-axis and Y is HA-axis
pos.x = data.encposition.Y;
pos.y = data.encposition.X;
// according to "SiTech protocol notes" X is DEC-axis and Y is HA-axis
pos.x = data.encYposition.val;
pos.y = data.encXposition.val;
// ERROR: how can I get rates?!!!!!!!!!!
pos.xrate = data.encYspeed.val;
pos.yrate = data.encXspeed.val;
// mount state
// are both motors stopped?
bool stop_motors = (data.extradata.ExtraBits & XMOTOR_STOP_BIT) && (data.extradata.ExtraBits & YMOTOR_STOP_BIT);
if (stop_motors) {
pos.state = hw_state_t::HW_STATE_STOP;
return AsibFM700HardwareErrorCode::ERROR_OK;
}
}
return err;