98 lines
4.8 KiB
C
98 lines
4.8 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 <stdio.h>
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#include <usefull_macros.h>
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#include "conf.h"
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static conf_t Config = {
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.MountDevPath = "/dev/ttyUSB0",
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.MountDevSpeed = 19200,
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.EncoderXDevPath = "/dev/encoderX0",
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.EncoderYDevPath = "/dev/encoderY0",
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.EncoderDevSpeed = 153000,
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.MountReqInterval = 0.1,
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.EncoderReqInterval = 0.05,
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.SepEncoder = 2,
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.EncoderSpeedInterval = 0.1,
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.XPIDC.P = 0.8,
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.XPIDC.I = 0.1,
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.XPIDC.D = 0.3,
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.XPIDV.P = 1.,
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.XPIDV.I = 0.01,
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.XPIDV.D = 0.2,
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.YPIDC.P = 0.8,
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.YPIDC.I = 0.1,
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.YPIDC.D = 0.3,
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.YPIDV.P = 0.5,
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.YPIDV.I = 0.2,
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.YPIDV.D = 0.5,
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};
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static sl_option_t opts[] = {
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{"MountDevPath", NEED_ARG, NULL, 0, arg_string, APTR(&Config.MountDevPath), "path to mount device"},
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{"MountDevSpeed", NEED_ARG, NULL, 0, arg_int, APTR(&Config.MountDevSpeed), "serial speed of mount device"},
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{"EncoderDevPath", NEED_ARG, NULL, 0, arg_string, APTR(&Config.EncoderDevPath), "path to encoder device"},
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{"EncoderDevSpeed", NEED_ARG, NULL, 0, arg_int, APTR(&Config.EncoderDevSpeed), "serial speed of encoder device"},
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{"MountReqInterval",NEED_ARG, NULL, 0, arg_double, APTR(&Config.MountReqInterval), "interval of mount requests (not less than 0.05s)"},
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{"EncoderReqInterval",NEED_ARG, NULL, 0, arg_double, APTR(&Config.EncoderReqInterval),"interval of encoder requests (in case of sep=2)"},
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{"SepEncoder", NO_ARGS, NULL, 0, arg_int, APTR(&Config.SepEncoder), "encoder is separate device (1 - one device, 2 - two devices)"},
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{"EncoderXDevPath", NEED_ARG, NULL, 0, arg_string, APTR(&Config.EncoderXDevPath), "path to X encoder (/dev/encoderX0)"},
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{"EncoderYDevPath", NEED_ARG, NULL, 0, arg_string, APTR(&Config.EncoderYDevPath), "path to Y encoder (/dev/encoderY0)"},
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{"EncoderSpeedInterval", NEED_ARG,NULL, 0, arg_double, APTR(&Config.EncoderSpeedInterval),"interval of speed calculations, s"},
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{"RunModel", NEED_ARG, NULL, 0, arg_int, APTR(&Config.RunModel), "instead of real hardware run emulation"},
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{"XPIDCP", NEED_ARG, NULL, 0, arg_double, APTR(&Config.XPIDC.P), "P of X PID (coordinate driven)"},
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{"XPIDCI", NEED_ARG, NULL, 0, arg_double, APTR(&Config.XPIDC.I), "I of X PID (coordinate driven)"},
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{"XPIDCD", NEED_ARG, NULL, 0, arg_double, APTR(&Config.XPIDC.D), "D of X PID (coordinate driven)"},
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{"YPIDCP", NEED_ARG, NULL, 0, arg_double, APTR(&Config.YPIDC.P), "P of Y PID (coordinate driven)"},
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{"YPIDCI", NEED_ARG, NULL, 0, arg_double, APTR(&Config.YPIDC.I), "I of Y PID (coordinate driven)"},
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{"YPIDCD", NEED_ARG, NULL, 0, arg_double, APTR(&Config.YPIDC.D), "D of Y PID (coordinate driven)"},
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{"XPIDVP", NEED_ARG, NULL, 0, arg_double, APTR(&Config.XPIDV.P), "P of X PID (velocity driven)"},
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{"XPIDVI", NEED_ARG, NULL, 0, arg_double, APTR(&Config.XPIDV.I), "I of X PID (velocity driven)"},
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{"XPIDVD", NEED_ARG, NULL, 0, arg_double, APTR(&Config.XPIDV.D), "D of X PID (velocity driven)"},
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{"YPIDVP", NEED_ARG, NULL, 0, arg_double, APTR(&Config.YPIDV.P), "P of Y PID (velocity driven)"},
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{"YPIDVI", NEED_ARG, NULL, 0, arg_double, APTR(&Config.YPIDV.I), "I of Y PID (velocity driven)"},
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{"YPIDVD", NEED_ARG, NULL, 0, arg_double, APTR(&Config.YPIDV.D), "D of Y PID (velocity driven)"},
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end_option
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};
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conf_t *readServoConf(const char *filename){
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if(!filename) filename = DEFCONFFILE;
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int n = sl_conf_readopts(filename, opts);
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if(n < 0){
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WARNX("Can't read file %s", filename);
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return NULL;
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}
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if(n == 0){
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WARNX("Got ZERO parameters from %s", filename);
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return NULL;
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}
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return &Config;
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}
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void dumpConf(){
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char *c = sl_print_opts(opts, TRUE);
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printf("Current configuration:\n%s\n", c);
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FREE(c);
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}
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void confHelp(){
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sl_showhelp(-1, opts);
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}
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