/* * 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" // set X/Y position with speed "sprintf(buf, "%s%d%s%d", CMD_MOTx, tagx, CMD_MOTxS, tags) #define CMD_MOTXS "S" // reset current motor position to given value (and stop, if moving) #define CMD_MOTXSET "XF" #define CMD_MOTYSET "YF" // acceleration (per each loop, max: 3900) #define CMD_MOTXACCEL "XR" #define CMD_MOTYACCEL "YR" // PID regulator: // P: 0..32767 #define CMD_PIDPX "XP" #define CMD_PIDPY "YP" // I: 0..32767 #define CMD_PIDIX "XI" #define CMD_PIDIY "YI" // limit of I (doesn't work): 0:24000 (WTF???) #define CMD_PIDILX "XL" #define CMD_PIDILY "YL" // D: 0..32767 #define CMD_PIDDX "XD" #define CMD_PIDDY "YD" // current position error #define CMD_POSERRX "XE" #define CMD_POSERRY "YE" // max position error limit (X: E#, Y: e#) #define CMD_POSERRLIMX "XEL" #define CMD_POSERRLIMY "YEL" // current PWM output: 0..255 (or set max PWM out) #define CMD_PWMOUTX "XO" #define CMD_PWMOUTY "YO" // motor current *100 (or set current limit): 0..240 #define CMD_MOTCURNTX "XC" #define CMD_MOTCURNTY "YC" // change axis to Manual mode and set the PWM output: -255:255 #define CMD_MANUALPWMX "XM" #define CMD_MANUALPWMY "YM" // change axis to Auto mode #define CMD_AUTOX "XA" #define CMD_AUTOY "YA" // get positioin in encoders' ticks or reset it to given value #define CMD_ENCX "XZ" #define CMD_ENCY "YZ" // get/set speed (geter x: S#, getter y: s#) #define CMD_SPEEDX "XS" #define CMD_SPEEDY "YS" // normal stop X/Y #define CMD_STOPX "XN" #define CMD_STOPY "YN" // emergency stop #define CMD_EMSTOPX "XG" #define CMD_EMSTOPY "YG" // get/set X/Ybits #define CMD_BITSX "XB" #define CMD_BITSY "YB" // 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" // controller status: // X# Y# XZ# YZ# XC# YC# V# T# X[AM] Y[AM] K# // X,Y - motor, XZ,YZ - encoder, XC,YC - current*100, V - voltage*10, T - temp (F), XA,YA - mode (A[uto]/M[anual]), K - handpad status bits #define CMD_GETSTAT "\r" // 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) ((int32_t)(r / 2./M_PI * X_MOT_STEPSPERREV)) #define Y_RAD2MOT(r) ((int32_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) ((int32_t)(X_RAD2MOT(r)*65536./1953.)) #define Y_MOTSPD2RS(n) (Y_MOT2RAD(n)/65536.*1953.) #define Y_RS2MOTSPD(r) ((int32_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.) typedef struct{ uint8_t motrev :1; // If 1, the motor encoder is incremented in the opposite direction uint8_t motpolarity :1; // If 1, the motor polarity is reversed uint8_t encrev :1; // If 1, the axis encoder is reversed uint8_t dragtrack :1; // If 1, we are in computerless Drag and Track mode uint8_t trackplat :1; // If 1, we are in the tracking platform mode uint8_t handpaden :1; // If 1, hand paddle is enabled uint8_t newpad :1; // If 1, hand paddle is compatible with New hand paddle, which allows slewing in two directions and guiding uint8_t guidemode :1; // If 1, we are in guide mode. The pan rate is added or subtracted from the current tracking rate } xbits_t; typedef struct{ uint8_t motrev :1; // If 1, the motor encoder is incremented in the opposite direction uint8_t motpolarity :1; // If 1, the motor polarity is reversed uint8_t encrev :1; // If 1, the axis encoder is reversed /* If 1, we are in computerless Slew and Track mode (no clutches; use handpad to slew; must be in Drag and Track mode too) */ uint8_t slewtrack :1; uint8_t digin_sens :1; // Digital input from radio handpad receiver, or RA PEC Sensor sync uint8_t digin :3; // Digital input from radio handpad receiver } ybits_t; // 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 xbits_t XBits; // 18 ybits_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 SSrawcmd(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);