276 lines
7.9 KiB
C
276 lines
7.9 KiB
C
/*
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* This file is part of the libsidservo project.
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* Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <asm-generic/termbits.h>
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#include <errno.h>
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#include <fcntl.h>
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#include <math.h>
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#include <pthread.h>
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#include <stdint.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <sys/ioctl.h>
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#include <sys/stat.h>
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#include <time.h>
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#include <unistd.h>
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#include "dbg.h"
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#include "serial.h"
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#include "ssii.h"
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// serial devices FD
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static int encfd = -1, mntfd = -1;
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// main mount data
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static mountdata_t mountdata = {0};
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// mutexes for RW operations with mount device and data
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static pthread_mutex_t mntmutex = PTHREAD_MUTEX_INITIALIZER,
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datamutex = PTHREAD_MUTEX_INITIALIZER;
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// encoders thread and mount thread
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static pthread_t encthread, mntthread;
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// encoders raw data
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typedef struct __attribute__((packed)){
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uint8_t magick;
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int32_t encX;
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int32_t encY;
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uint8_t CRC[4];
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} enc_t;
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#define Xpos2rad(pos) (2. * (double)pos / ENC_TURN_XTICKS * M_PI)
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#define Ypos2rad(pos) (2. * (double)pos / ENC_TURN_YTICKS * M_PI)
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#if 0
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/**
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* @brief dtime - UNIX time with microsecond
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* @return value
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*/
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static double dtime(){
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double t;
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struct timeval tv;
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gettimeofday(&tv, NULL);
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t = tv.tv_sec + ((double)tv.tv_usec)/1e6;
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return t;
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}
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// init start time
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static void gttime(){
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struct timeval tv;
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gettimeofday(&tv, NULL);
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tv_sec_got = tv.tv_sec;
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tv_usec_got = tv.tv_usec;
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}
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#endif
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/**
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* @brief parse_encbuf - check encoder buffer (for separate encoder) and fill fresh data
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* @param databuf - input buffer with 13 bytes of data
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* @param nexttime - time when databuf[0] got
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*/
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static void parse_encbuf(uint8_t databuf[ENC_DATALEN], struct timeval *tv){
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enc_t *edata = (enc_t*) databuf;
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if(edata->magick != ENC_MAGICK){
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DBG("No magick");
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return;
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}
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if(edata->CRC[3]){
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DBG("No 0 @ end: 0x%02x", edata->CRC[3]);
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return;
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}
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uint32_t POS_SUM = 0;
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for(int i = 1; i < 9; ++i) POS_SUM += databuf[i];
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uint8_t x = POS_SUM >> 8;
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if(edata->CRC[0] != x){
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DBG("CRC[0] = 0x%02x, need 0x%02x", edata->CRC[0], x);
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return;
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}
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uint8_t y = ((0xFFFF - POS_SUM) & 0xFF) - x;
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if(edata->CRC[1] != y){
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DBG("CRC[1] = 0x%02x, need 0x%02x", edata->CRC[1], y);
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return;
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}
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y = (0xFFFF - POS_SUM) >> 8;
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if(edata->CRC[2] != y){
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DBG("CRC[2] = 0x%02x, need 0x%02x", edata->CRC[2], y);
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return;
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}
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pthread_mutex_lock(&datamutex);
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mountdata.position.X = Xpos2rad(edata->encX);
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mountdata.position.Y = Ypos2rad(edata->encY);
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mountdata.position.msrtime = *tv;
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pthread_mutex_unlock(&datamutex);
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DBG("time = %zd+%zd/1e6, X=%g deg, Y=%g deg", tv->tv_sec, tv->tv_usec, mountdata.position.X*180./M_PI, mountdata.position.Y*180./M_PI);
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}
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// try to read 1 byte from encoder; return -1 if nothing to read or -2 if device seems to be disconnected
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static int getbyte(){
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if(encfd < 0) return -1;
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uint8_t byte;
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fd_set rfds;
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// default timeot = 100us, 1.5 bytes
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struct timeval tv, tvdeflt = {.tv_sec = 0, .tv_usec = 100};
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do{
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FD_ZERO(&rfds);
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FD_SET(encfd, &rfds);
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tv = tvdeflt;
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int retval = select(encfd + 1, &rfds, NULL, NULL, &tv);
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if(!retval) break;
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if(retval < 0){
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if(errno == EINTR) continue;
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return -1;
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}
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if(FD_ISSET(encfd, &rfds)){
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ssize_t l = read(encfd, &byte, 1);
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if(l != 1) return -2; // disconnected ??
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break;
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}
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}while(1);
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return (int)byte;
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}
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// main encoder thread (for separate encoder): read next data and make parsing
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static void *encoderthread(void _U_ *u){
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uint8_t databuf[ENC_DATALEN];
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int wridx = 0, errctr = 0;
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struct timeval tv;
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while(encfd > -1 && errctr < MAX_ERR_CTR){
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int b = getbyte();
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if(b == -2) ++errctr;
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if(b < 0) continue;
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errctr = 0;
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DBG("Got byte from Encoder: 0x%02X", b);
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if(wridx == 0){
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if((uint8_t)b == ENC_MAGICK){
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DBG("Got magic -> start filling packet");
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databuf[wridx++] = (uint8_t) b;
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gettimeofday(&tv, NULL);
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}
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continue;
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}else databuf[wridx++] = (uint8_t) b;
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if(wridx == ENC_DATALEN){
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parse_encbuf(databuf, &tv);
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wridx = 0;
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}
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}
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if(encfd > -1){
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close(encfd);
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encfd = -1;
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}
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return NULL;
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}
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// main mount thread
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static void *mountthread(void _U_ *u){
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int errctr = 0;
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while(mntfd > -1 && errctr < MAX_ERR_CTR){
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;
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pthread_mutex_lock(&mntmutex);
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;
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if(!Conf.SepEncoder){ // fill encoder data from here, as there's no separate enc thread
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;
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}
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;
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pthread_mutex_unlock(&mntmutex);
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}
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if(mntfd > -1){
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close(mntfd);
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mntfd = -1;
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}
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return NULL;
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}
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// open device and return its FD or -1
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static int ttyopen(const char *path, int speed){
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int fd = -1;
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struct termios2 tty;
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DBG("Try to open %s @ %d", path, speed);
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if((fd = open(path, O_RDWR|O_NOCTTY)) < 0) return -1;
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if(ioctl(fd, TCGETS2, &tty)){ close(fd); return -1; }
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tty.c_lflag = 0; // ~(ICANON | ECHO | ECHOE | ISIG)
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tty.c_iflag = 0; // don't do any changes in input stream
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tty.c_oflag = 0; // don't do any changes in output stream
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tty.c_cflag = BOTHER | CS8 | CREAD | CLOCAL; // other speed, 8bit, RW, ignore line ctrl
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tty.c_ispeed = speed;
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tty.c_ospeed = speed;
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tty.c_cc[VMIN] = 0; // non-canonical mode
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tty.c_cc[VTIME] = 5;
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if(ioctl(fd, TCSETS2, &tty)){ close(fd); return -1; }
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DBG("Check speed");
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if(tty.c_ispeed != (speed_t) speed || tty.c_ospeed != (speed_t)speed){ close(fd); return -1; }
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// try to set exclusive
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ioctl(fd, TIOCEXCL);
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return fd;
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}
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// return FALSE if failed
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int openEncoder(const char *path, int speed){
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if(!Conf.SepEncoder) return FALSE; // try to open separate encoder when it's absent
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if(encfd > -1) close(encfd);
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encfd = ttyopen(path, speed);
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if(encfd < 0) return FALSE;
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if(pthread_create(&encthread, NULL, encoderthread, NULL)){
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close(encfd);
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encfd = -1;
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return FALSE;
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}
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DBG("Encoder opened, thread started");
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return TRUE;
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}
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// return FALSE if failed
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int openMount(const char *path, int speed){
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if(mntfd > -1) close(mntfd);
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mntfd = ttyopen(path, speed);
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if(mntfd < 0) return FALSE;
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if(pthread_create(&mntthread, NULL, mountthread, NULL)){
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close(mntfd);
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mntfd = -1;
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return FALSE;
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}
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DBG("Mount opened, thread started");
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return TRUE;
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}
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// close all opened serial devices and quit threads
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void closeSerial(){
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if(mntfd > -1){
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DBG("Close mount");
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pthread_mutex_lock(&mntmutex);
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close(mntfd);
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mntfd = -1;
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pthread_mutex_unlock(&mntmutex);
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}
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if(encfd > -1){
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DBG("Close encoder");
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pthread_cancel(encthread);
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pthread_join(encthread, NULL);
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close(encfd);
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encfd = -1;
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}
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}
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// get fresh encoder information
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mcc_errcodes_t getMD(mountdata_t *d){
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if(!d) return MCC_E_BADFORMAT;
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pthread_mutex_lock(&datamutex);
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*d = mountdata;
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pthread_mutex_unlock(&datamutex);
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return MCC_E_OK;
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}
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