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add LibSidServo - pre-pre-...-pre-alpha
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Edward Emelianov
169
Auxiliary_utils/LibSidServo/ssii.h
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169
Auxiliary_utils/LibSidServo/ssii.h
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/*
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* This file is part of the SSII project.
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* Copyright 2022 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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#pragma once
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#include <math.h>
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#include <stdint.h>
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#include "sidservo.h"
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#if 0
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// ASCII commands
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#define U8P(x) ((uint8_t*)x)
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// get binary data of all statistics
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#define CMD_GETSTAT U8P("XXS")
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// send short command
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#define CMD_SHORTCMD U8P("XXR")
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// send long command
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#define CMD_LONGCMD U8P("YXR")
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// get/set X/Y in motsteps
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#define CMD_MOTX U8P("X")
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#define CMD_MOTY U8P("Y")
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// -//- in encoders' ticks
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#define CMD_ENCX U8P("XZ")
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#define CMD_ENCY U8P("YZ")
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// normal stop X/Y
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#define CMD_STOPX U8P("XN")
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#define CMD_STOPY U8P("YN")
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// emergency stop
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#define CMD_EMSTOPX U8P("XG")
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#define CMD_EMSTOPY U8P("YG")
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// getters of motor's encoders per rev
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#define CMD_GETXMEPR U8P("XXU")
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#define CMD_GETYMEPR U8P("XXV")
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// -//- axis encoders
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#define CMD_GETXAEPR U8P("XXT")
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#define CMD_GETYAEPR U8P("XXZ")
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// exit ASCII checksum mode
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#define CMD_EXITACM U8P("YXY0\r\xb8")
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#endif
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// get binary data of all statistics
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#define CMD_GETSTAT ("XXS")
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// send short command
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#define CMD_SHORTCMD ("XXR")
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// send long command
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#define CMD_LONGCMD ("YXR")
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// get/set X/Y in motsteps
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#define CMD_MOTX ("X")
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#define CMD_MOTY ("Y")
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// -//- in encoders' ticks
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#define CMD_ENCX ("XZ")
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#define CMD_ENCY ("YZ")
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// normal stop X/Y
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#define CMD_STOPX ("XN")
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#define CMD_STOPY ("YN")
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// emergency stop
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#define CMD_EMSTOPX ("XG")
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#define CMD_EMSTOPY ("YG")
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// getters of motor's encoders per rev
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#define CMD_GETXMEPR ("XXU")
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#define CMD_GETYMEPR ("XXV")
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// -//- axis encoders
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#define CMD_GETXAEPR ("XXT")
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#define CMD_GETYAEPR ("XXZ")
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// exit ASCII checksum mode
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#define CMD_EXITACM ("YXY0\r\xb8")
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// steps per revolution
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//#define X_MOT_STEPSPERREV (3325440.)
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#define X_MOT_STEPSPERREV (3325952.)
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//#define Y_MOT_STEPSPERREV (4394496.)
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#define Y_MOT_STEPSPERREV (4394960.)
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// motor position to radians and back
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#define X_MOT2RAD(n) (2.*M_PI * (double)n / X_MOT_STEPSPERREV)
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#define Y_MOT2RAD(n) (2.*M_PI * (double)n / Y_MOT_STEPSPERREV)
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#define X_RAD2MOT(r) ((int32_t)(r / 2./M_PI * X_MOT_STEPSPERREV))
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#define Y_RAD2MOT(r) ((int32_t)(r / 2./M_PI * Y_MOT_STEPSPERREV))
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// motor speed in rad/s and back
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#define X_MOTSPD2RS(n) (X_MOT2RAD(n)/65536.*1953.)
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#define X_RS2MOTSPD(r) ((int32_t)(X_RAD2MOT(r)*65536./1953.))
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#define Y_MOTSPD2RS(n) (Y_MOT2RAD(n)/65536.*1953.)
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#define Y_RS2MOTSPD(r) ((int32_t)(Y_RAD2MOT(r)*65536./1953.))
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// adder time to seconds vice versa
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#define ADDER2S(a) (a*1953.)
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#define S2ADDER(s) (s/1953.)
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// encoder per revolution
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#define X_ENC_STEPSPERREV (67108864.)
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#define Y_ENC_STEPSPERREV (67108864.)
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// encoder position to radians and back
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#define X_ENC2RAD(n) (2.*M_PI * (double)n / X_ENC_STEPSPERREV)
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#define Y_ENC2RAD(n) (2.*M_PI * (double)n / Y_ENC_STEPSPERREV)
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#define X_RAD2ENC(r) ((uint32_t)(r / 2./M_PI * X_ENC_STEPSPERREV))
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#define Y_RAD2ENC(r) ((uint32_t)(r / 2./M_PI * Y_ENC_STEPSPERREV))
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// encoder's tolerance (ticks)
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#define YencTOL (25.)
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#define XencTOL (25.)
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// all need data in one
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typedef struct{ // 41 bytes
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uint8_t ctrlAddr; // 0 a8 + controller address
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int32_t Xmot; // 1 Dec/HA motor position
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int32_t Ymot; // 5
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int32_t Xenc; // 9 Dec/HA encoder position
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int32_t Yenc; // 13
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uint8_t keypad; // 17 keypad status
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uint8_t XBits; // 18
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uint8_t YBits; // 19
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uint8_t ExtraBits; // 20
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uint16_t ain0; // 21 analog inputs
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uint16_t ain1; // 23
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uint32_t millis; // 25 milliseconds clock
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int8_t tF; // 29 temperature (degF)
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uint8_t voltage; // 30 input voltage *10 (RA worm phase?)
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uint32_t XLast; // 31 Alt/Dec motor location at last Alt/Dec scope encoder location change
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uint32_t YLast; // 35 Az/RA motor location at last Az/RA scope encoder location change
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uint16_t checksum; // 39 checksum, H inverted
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}__attribute__((packed)) SSstat;
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typedef struct{
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int32_t Xmot; // 0 X motor position
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int32_t Xspeed; // 4 X speed
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int32_t Ymot; // 8
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int32_t Yspeed; // 12
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uint8_t xychange; // 16 change Xbits/Ybits value
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uint8_t XBits; // 17
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uint8_t YBits; // 18
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uint16_t checksum; // 19
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} __attribute__((packed)) SSscmd; // short command
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typedef struct{
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int32_t Xmot; // 0 X motor position
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int32_t Xspeed; // 4 X speed
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int32_t Ymot; // 8
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int32_t Yspeed; // 12
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int32_t Xadder; // 16 - X adder
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int32_t Yadder; // 20
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int32_t Xatime; // 24 X adder time (1953 == 1s)
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int32_t Yatime; // 28
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uint16_t checksum; // 32
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} __attribute__((packed)) SSlcmd; // long command
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uint16_t SScalcChecksum(uint8_t *buf, int len);
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void SSconvstat(const SSstat *status, mountdata_t *mountdata, struct timeval *tdat);
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int SStextcmd(const char *cmd, data_t *answer);
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int SSgetint(const char *cmd, int64_t *ans);
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int SSXmoveto(double pos);
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int SSYmoveto(double pos);
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int SSemergStop();
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int SSshortCmd(SSscmd *cmd);
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