260 lines
8.6 KiB
C
260 lines
8.6 KiB
C
/*
|
|
* This file is part of the SSII project.
|
|
* Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
|
|
*
|
|
* 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 <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <math.h>
|
|
#include <stdint.h>
|
|
|
|
#include "sidservo.h"
|
|
|
|
/*********** base commands ***********/
|
|
// 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_MOTXYS "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"
|
|
// lower speed -> drag&track or slew&track
|
|
#define CMD_STOPTRACKX "XNT"
|
|
#define CMD_STOPTRACKY "YNT"
|
|
// emergency stop
|
|
#define CMD_EMSTOPX "XG"
|
|
#define CMD_EMSTOPY "YG"
|
|
// get/set X/Ybits
|
|
#define CMD_BITSX "XB"
|
|
#define CMD_BITSY "YB"
|
|
|
|
/*********** getters/setters without "Y" variant ***********/
|
|
// get handpad status (decimal)
|
|
#define CMD_HANDPAD "XK"
|
|
// get TCPU (deg F)
|
|
#define CMD_TCPU "XH"
|
|
// get firmware version *10
|
|
#define CMD_FIRMVER "XV"
|
|
// get motor voltage *10
|
|
#define CMD_MOTVOLTAGE "XJ"
|
|
// get/set current CPU clock (milliseconds)
|
|
#define CMD_MILLIS "XY"
|
|
// reset servo
|
|
#define CMD_RESET "XQ"
|
|
// clear to factory defaults
|
|
#define CMD_CLRDEFAULTS "XU"
|
|
// save configuration to flash ROM
|
|
#define CMD_WRITEFLASH "XW"
|
|
// read config from flash to RAM
|
|
#define CMD_READFLASH "XT"
|
|
// write to flash following full config (128 bytes + 2 bytes of checksum)
|
|
#define CMD_PROGFLASH "FC"
|
|
// read configuration (-//-)
|
|
#define CMD_DUMPFLASH "SC"
|
|
// get serial number
|
|
#define CMD_SERIAL "YV"
|
|
|
|
/*********** extended commands ***********/
|
|
// get/set latitute
|
|
#define CMD_LATITUDE "XXL"
|
|
// getters/setters of motor's encoders per rev
|
|
#define CMD_MEPRX "XXU"
|
|
#define CMD_MEPRY "XXV"
|
|
// -//- axis encoders
|
|
#define CMD_AEPRX "XXT"
|
|
#define CMD_AEPRY "XXZ"
|
|
// get/set slew rate
|
|
#define CMD_SLEWRATEX "XXA"
|
|
#define CMD_SLEWRATEY "XXB"
|
|
// get/set pan rate
|
|
#define CMD_PANRATEX "XXC"
|
|
#define CMD_PANRATEY "XXD"
|
|
// get/set platform tracking rate
|
|
#define CMD_PLATRATE "XXE"
|
|
// get/set platform up/down adjuster
|
|
#define CMD_PLATADJ "XXF"
|
|
// get/set platform goal
|
|
#define CMD_PLATGOAL "XXG"
|
|
// get/set guide rate
|
|
#define CMD_GUIDERATEX "XXH"
|
|
#define CMD_GUIDERATEY "XXI"
|
|
// get/set picservo timeout (seconds)
|
|
#define CMD_PICTMOUT "XXJ"
|
|
// get/set digital outputs of radio handpad
|
|
#define CMD_RADIODIGOUT "XXQ"
|
|
// get/set argo navis mode
|
|
#define CMD_ARGONAVIS "XXN"
|
|
// get/set local search distance
|
|
#define CMD_LOSCRCHDISTX "XXM"
|
|
#define CMD_LOSCRCHDISTY "XXO"
|
|
// get/set backlash
|
|
#define CMD_BACKLASHX "XXO"
|
|
#define CMD_BACKLASHY "XXP"
|
|
|
|
|
|
// get binary data of all statistics
|
|
#define CMD_GETSTAT "XXS"
|
|
// send short command
|
|
#define CMD_SHORTCMD "XXR"
|
|
// send long command
|
|
#define CMD_LONGCMD "YXR"
|
|
|
|
|
|
/*********** special ***********/
|
|
// 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_GETSTATTEXT "\r"
|
|
|
|
|
|
|
|
// steps per revolution
|
|
//#define X_MOT_STEPSPERREV (3325440.)
|
|
#define X_MOT_STEPSPERREV (3325952.)
|
|
//#define Y_MOT_STEPSPERREV (4394496.)
|
|
#define Y_MOT_STEPSPERREV (4394960.)
|
|
|
|
// maximal speeds in rad/s: 10deg/s by X and 8deg/s by Y
|
|
#define X_SPEED_MAX (0.17453)
|
|
#define Y_SPEED_MAX (0.13963)
|
|
|
|
// 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.)
|
|
|
|
|
|
// 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 SSsetterI(const char *cmd, int32_t ival);
|
|
int SSstop(int emerg);
|
|
int SSshortCmd(SSscmd *cmd);
|