/* * This file is part of the SSII project. * Copyright 2022 Edward V. Emelianov . * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program. If not, see . */ #pragma once #include #include #include "sidservo.h" #if 0 // ASCII commands #define U8P(x) ((uint8_t*)x) // get binary data of all statistics #define CMD_GETSTAT U8P("XXS") // send short command #define CMD_SHORTCMD U8P("XXR") // send long command #define CMD_LONGCMD U8P("YXR") // get/set X/Y in motsteps #define CMD_MOTX U8P("X") #define CMD_MOTY U8P("Y") // -//- in encoders' ticks #define CMD_ENCX U8P("XZ") #define CMD_ENCY U8P("YZ") // normal stop X/Y #define CMD_STOPX U8P("XN") #define CMD_STOPY U8P("YN") // emergency stop #define CMD_EMSTOPX U8P("XG") #define CMD_EMSTOPY U8P("YG") // getters of motor's encoders per rev #define CMD_GETXMEPR U8P("XXU") #define CMD_GETYMEPR U8P("XXV") // -//- axis encoders #define CMD_GETXAEPR U8P("XXT") #define CMD_GETYAEPR U8P("XXZ") // exit ASCII checksum mode #define CMD_EXITACM U8P("YXY0\r\xb8") #endif // get binary data of all statistics #define CMD_GETSTAT ("XXS") // send short command #define CMD_SHORTCMD ("XXR") // send long command #define CMD_LONGCMD ("YXR") // get/set X/Y in motsteps #define CMD_MOTX ("X") #define CMD_MOTY ("Y") // -//- in encoders' ticks #define CMD_ENCX ("XZ") #define CMD_ENCY ("YZ") // normal stop X/Y #define CMD_STOPX ("XN") #define CMD_STOPY ("YN") // emergency stop #define CMD_EMSTOPX ("XG") #define CMD_EMSTOPY ("YG") // getters of motor's encoders per rev #define CMD_GETXMEPR ("XXU") #define CMD_GETYMEPR ("XXV") // -//- axis encoders #define CMD_GETXAEPR ("XXT") #define CMD_GETYAEPR ("XXZ") // exit ASCII checksum mode #define CMD_EXITACM ("YXY0\r\xb8") // steps per revolution //#define X_MOT_STEPSPERREV (3325440.) #define X_MOT_STEPSPERREV (3325952.) //#define Y_MOT_STEPSPERREV (4394496.) #define Y_MOT_STEPSPERREV (4394960.) // motor position to radians and back #define X_MOT2RAD(n) (2.*M_PI * (double)n / X_MOT_STEPSPERREV) #define Y_MOT2RAD(n) (2.*M_PI * (double)n / Y_MOT_STEPSPERREV) #define X_RAD2MOT(r) ((uint32_t)(r / 2./M_PI * X_MOT_STEPSPERREV)) #define Y_RAD2MOT(r) ((uint32_t)(r / 2./M_PI * Y_MOT_STEPSPERREV)) // motor speed in rad/s and back #define X_MOTSPD2RS(n) (X_MOT2RAD(n)/65536.*1953.) #define X_RS2MOTSPD(r) ((uint32_t)(X_RAD2MOT(r)*65536./1953.)) #define Y_MOTSPD2RS(n) (Y_MOT2RAD(n)/65536.*1953.) #define Y_RS2MOTSPD(r) ((uint32_t)(Y_RAD2MOT(r)*65536./1953.)) // adder time to seconds vice versa #define ADDER2S(a) (a*1953.) #define S2ADDER(s) (s/1953.) // encoder per revolution #define X_ENC_STEPSPERREV (67108864.) #define Y_ENC_STEPSPERREV (67108864.) // encoder position to radians and back #define X_ENC2RAD(n) (2.*M_PI * (double)n / X_ENC_STEPSPERREV) #define Y_ENC2RAD(n) (2.*M_PI * (double)n / 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)) // encoder's tolerance (ticks) #define YencTOL (25.) #define XencTOL (25.) // all need data in one typedef struct{ // 41 bytes uint8_t ctrlAddr; // 0 a8 + controller address int32_t Xmot; // 1 Dec/HA motor position int32_t Ymot; // 5 int32_t Xenc; // 9 Dec/HA encoder position int32_t Yenc; // 13 uint8_t keypad; // 17 keypad status uint8_t XBits; // 18 uint8_t YBits; // 19 uint8_t ExtraBits; // 20 uint16_t ain0; // 21 analog inputs uint16_t ain1; // 23 uint32_t millis; // 25 milliseconds clock int8_t tF; // 29 temperature (degF) uint8_t voltage; // 30 input voltage *10 (RA worm phase?) uint32_t XLast; // 31 Alt/Dec motor location at last Alt/Dec scope encoder location change uint32_t YLast; // 35 Az/RA motor location at last Az/RA scope encoder location change uint16_t checksum; // 39 checksum, H inverted }__attribute__((packed)) SSstat; typedef struct{ int32_t Xmot; // 0 X motor position int32_t Xspeed; // 4 X speed int32_t Ymot; // 8 int32_t Yspeed; // 12 uint8_t xychange; // 16 change Xbits/Ybits value uint8_t XBits; // 17 uint8_t YBits; // 18 uint16_t checksum; // 19 } __attribute__((packed)) SSscmd; // short command typedef struct{ int32_t Xmot; // 0 X motor position int32_t Xspeed; // 4 X speed int32_t Ymot; // 8 int32_t Yspeed; // 12 int32_t Xadder; // 16 - X adder int32_t Yadder; // 20 int32_t Xatime; // 24 X adder time (1953 == 1s) int32_t Yatime; // 28 uint16_t checksum; // 32 } __attribute__((packed)) SSlcmd; // long command uint16_t SScalcChecksum(uint8_t *buf, int len); void SSconvstat(const SSstat *status, mountdata_t *mountdata, struct timeval *tdat); int SStextcmd(const char *cmd, data_t *answer); int SSgetint(const char *cmd, int64_t *ans); int SSXmoveto(double pos); int SSYmoveto(double pos); int SSemergStop(); int SSshortCmd(SSscmd *cmd);