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add LibSidServo - pre-pre-...-pre-alpha
This commit is contained in:
Edward Emelianov
parent
1d7c7b7d0e
commit
04c98ed557
87
Auxiliary_utils/LibSidServo/CMakeLists.txt
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87
Auxiliary_utils/LibSidServo/CMakeLists.txt
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cmake_minimum_required(VERSION 3.30)
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set(PROJ sidservo)
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set(MINOR_VERSION "1")
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set(MID_VERSION "0")
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set(MAJOR_VERSION "0")
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set(VERSION "${MAJOR_VERSION}.${MID_VERSION}.${MINOR_VERSION}")
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project(${PROJ} VERSION ${VERSION} LANGUAGES C)
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# default flags
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set(CMAKE_C_FLAGS "${CFLAGS} -O2")
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set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS}")
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set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS} -Wextra -Wall -Werror -W")
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set(CMAKE_COLOR_MAKEFILE ON)
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option(DEBUG "Compile in debug mode" OFF)
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option(EXAMPLES "Compile also some examples" ON)
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# cmake -DDEBUG=on -> debugging
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if(NOT CMAKE_BUILD_TYPE STREQUAL "Debug")
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if(DEBUG)
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set(CMAKE_BUILD_TYPE "Debug")
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else()
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set(CMAKE_BUILD_TYPE "Release")
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endif()
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endif()
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if(CMAKE_BUILD_TYPE STREQUAL "Debug")
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add_definitions(-DEBUG)
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set(CMAKE_VERBOSE_MAKEFILE true)
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if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
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message("install to ${CMAKE_CURRENT_SOURCE_DIR}/install ")
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set(CMAKE_INSTALL_PREFIX ${CMAKE_CURRENT_SOURCE_DIR}/install)
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endif()
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set(CMAKE_C_FLAGS ${CMAKE_C_FLAGS_DEBUG})
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else()
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set(CMAKE_C_FLAGS ${CMAKE_C_FLAGS_RELEASE})
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endif()
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message("Build type: ${CMAKE_BUILD_TYPE}, cflags: ${CMAKE_C_FLAGS}")
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aux_source_directory(${CMAKE_CURRENT_SOURCE_DIR} SOURCES)
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###### pkgconfig ######
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# pkg-config modules (for pkg-check-modules)
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#set(MODULES cfitsio fftw3)
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# find packages:
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#find_package(PkgConfig REQUIRED)
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#pkg_check_modules(${PROJ} REQUIRED ${MODULES})
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###### additional flags ######
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#list(APPEND ${PROJ}_LIBRARIES "-lfftw3_threads")
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# library
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add_library(${PROJ} SHARED ${SOURCES})
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# library header files
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set(LIBHEADER "sidservo.h")
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# -I
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include_directories(${${PROJ}_INCLUDE_DIRS})
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# -L
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link_directories(${${PROJ}_LIBRARY_DIRS})
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# -D
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add_definitions(
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-DPACKAGE_VERSION=\"${VERSION}\" -DMINOR_VERSION=\"${MINOR_VERSION}\"
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-DMID_VERSION=\"${MID_VERSION}\" -DMAJOR_VERSION=\"${MAJOR_VESION}\"
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)
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# -l
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target_link_libraries(${PROJ} ${${PROJ}_LIBRARIES})
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set(PCFILE "${CMAKE_BINARY_DIR}/${PROJ}.pc")
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configure_file("${PROJ}.pc.in" ${PCFILE} @ONLY)
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set_target_properties(${PROJ} PROPERTIES VERSION ${VERSION})
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set_target_properties(${PROJ} PROPERTIES PUBLIC_HEADER ${LIBHEADER})
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# Installation of the program
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include(GNUInstallDirs)
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#install(TARGETS ${PROJ} DESTINATION "bin")
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install(TARGETS ${PROJ} LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
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PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
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install(FILES ${PCFILE} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/pkgconfig)
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# EXAMPLES
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if(EXAMPLES)
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add_subdirectory(examples)
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endif()
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64
Auxiliary_utils/LibSidServo/dbg.h
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64
Auxiliary_utils/LibSidServo/dbg.h
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/*
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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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#pragma once
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#include <stdlib.h>
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#include "sidservo.h"
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extern conf_t Conf;
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// unused arguments of functions
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#define _U_ __attribute__((__unused__))
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// break absent in `case`
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#define FALLTHRU __attribute__ ((fallthrough))
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// and synonym for FALLTHRU
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#define NOBREAKHERE __attribute__ ((fallthrough))
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// weak functions
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#define WEAK __attribute__ ((weak))
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#ifndef DBL_EPSILON
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#define DBL_EPSILON (2.2204460492503131e-16)
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#endif
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#ifndef FALSE
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#define FALSE (0)
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#endif
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#ifndef TRUE
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#define TRUE (1)
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#endif
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#ifdef EBUG
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#include <stdio.h>
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#define COLOR_RED "\033[1;31;40m"
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#define COLOR_GREEN "\033[1;32;40m"
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#define COLOR_OLD "\033[0;0;0m"
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#define FNAME() do{ fprintf(stderr, COLOR_GREEN "\n%s " COLOR_OLD, __func__); \
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fprintf(stderr, "(%s, line %d)\n", __FILE__, __LINE__);} while(0)
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#define DBG(...) do{ fprintf(stderr, COLOR_RED "\n%s " COLOR_OLD, __func__); \
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fprintf(stderr, "(%s, line %d): ", __FILE__, __LINE__); \
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fprintf(stderr, __VA_ARGS__); \
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fprintf(stderr, "\n");} while(0)
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#else // EBUG
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#define FNAME() do{}while(0)
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#define DBG(...) do{}while(0)
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#endif // EBUG
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12
Auxiliary_utils/LibSidServo/examples/CMakeLists.txt
Normal file
12
Auxiliary_utils/LibSidServo/examples/CMakeLists.txt
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project(examples)
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# common includes & library
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include_directories(../)
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link_libraries(sidservo usefull_macros -lm)
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# exe list
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add_executable(goto goto.c dump.c)
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add_executable(dump dumpmoving.c dump.c)
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add_executable(dump_s dumpmoving_scmd.c dump.c)
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add_executable(dumpswing dumpswing.c dump.c)
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add_executable(traectory_s scmd_traectory.c dump.c traectories.c)
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144
Auxiliary_utils/LibSidServo/examples/dump.c
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144
Auxiliary_utils/LibSidServo/examples/dump.c
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@ -0,0 +1,144 @@
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/*
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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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// logging of mount position
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#include <usefull_macros.h>
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#include "dump.h"
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#include "simpleconv.h"
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/**
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* @brief logmnt - log mount data into file
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* @param fcoords - file to dump
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* @param m - mount data
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*/
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void logmnt(FILE *fcoords, mountdata_t *m){
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if(!fcoords) return;
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//DBG("LOG %s", m ? "data" : "header");
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static double t0 = -1.;
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if(!m){ // write header
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fprintf(fcoords, "# time Xmot(deg) Ymot(deg) Xenc(deg) Yenc(deg) millis T V\n");
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return;
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}
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if(t0 < 0.) t0 = m->motposition.msrtime.tv_sec + (double)(m->motposition.msrtime.tv_usec) / 1e6;
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double t = m->motposition.msrtime.tv_sec + (double)(m->motposition.msrtime.tv_usec) / 1e6 - t0;
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// write data
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fprintf(fcoords, "%12.6f %10.6f %10.6f %10.6f %10.6f %10u %6.1f %4.1f\n",
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t, RAD2DEG(m->motposition.X), RAD2DEG(m->motposition.Y),
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RAD2DEG(m->encposition.X), RAD2DEG(m->encposition.Y),
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m->millis, m->temperature, m->voltage);
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fflush(fcoords);
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}
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/**
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* @brief dumpmoving - dump conf while moving
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* @param fcoords - dump file
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* @param t - max waiting time
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* @param N - number of cycles to wait while motors aren't moving
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*/
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void dumpmoving(FILE *fcoords, double t, int N){
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if(!fcoords) return;
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mountdata_t mdata;
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DBG("Start dump");
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int ntries = 0;
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for(; ntries < 10; ++ntries){
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if(MCC_E_OK == Mount.getMountData(&mdata)) break;
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}
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if(ntries == 10){
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WARNX("Can't get mount data");
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LOGWARN("Can't get mount data");
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}
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uint32_t millis = mdata.millis;
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int ctr = -1;
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double xlast = mdata.motposition.X, ylast = mdata.motposition.Y;
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double t0 = sl_dtime();
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//DBG("millis = %u", millis);
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while(sl_dtime() - t0 < t && ctr < N){
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usleep(10000);
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if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
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if(mdata.millis == millis) continue;
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//DBG("Got new data, posX=%g, posY=%g", mdata.motposition.X, mdata.motposition.Y);
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millis = mdata.millis;
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if(fcoords) logmnt(fcoords, &mdata);
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if(mdata.motposition.X != xlast || mdata.motposition.Y != ylast){
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xlast = mdata.motposition.X;
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ylast = mdata.motposition.Y;
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ctr = 0;
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}else ++ctr;
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}
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}
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/**
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* @brief waitmoving - wait until moving by both axes stops at least for N cycles
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* @param N - amount of stopped cycles
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*/
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void waitmoving(int N){
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mountdata_t mdata;
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int ctr = -1;
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uint32_t millis = 0;
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double xlast = 0., ylast = 0.;
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while(ctr < N){
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usleep(10000);
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if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
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if(mdata.millis == millis) continue;
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millis = mdata.millis;
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if(mdata.motposition.X != xlast || mdata.motposition.Y != ylast){
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xlast = mdata.motposition.X;
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ylast = mdata.motposition.Y;
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ctr = 0;
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}else ++ctr;
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}
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||||||
|
}
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||||||
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|
||||||
|
/**
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* @brief getMotPos - get current
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||||||
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* @param mot (o) - motor position (or NULL)
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* @param Y (o) - encoder position (or NULL)
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||||||
|
* @return FALSE if failed
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||||||
|
*/
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int getPos(coords_t *mot, coords_t *enc){
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mountdata_t mdata;
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int errcnt = 0;
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do{
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|
if(MCC_E_OK != Mount.getMountData(&mdata)) ++errcnt;
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|
else{
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errcnt = 0;
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|
if(mdata.millis) break;
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||||||
|
}
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||||||
|
}while(errcnt < 10);
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||||||
|
if(errcnt >= 10){
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|
WARNX("Can't read mount status");
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||||||
|
return FALSE;
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||||||
|
}
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||||||
|
if(mot) *mot = mdata.motposition;
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|
if(enc) *enc = mdata.encposition;
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||||||
|
return TRUE;
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||||||
|
}
|
||||||
|
|
||||||
|
// check current position and go to 0 if non-zero
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void chk0(int ncycles){
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coords_t M;
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||||||
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if(!getPos(&M, NULL)) signals(2);
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||||||
|
if(M.X || M.Y){
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|
WARNX("Mount position isn't @ zero; moving");
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||||||
|
Mount.moveTo(0., 0.);
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||||||
|
waitmoving(ncycles);
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||||||
|
green("Now mount @ zero\n");
|
||||||
|
}
|
||||||
|
}
|
||||||
29
Auxiliary_utils/LibSidServo/examples/dump.h
Normal file
29
Auxiliary_utils/LibSidServo/examples/dump.h
Normal file
@ -0,0 +1,29 @@
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|||||||
|
/*
|
||||||
|
* This file is part of the libsidservo project.
|
||||||
|
* Copyright 2025 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 <stdio.h>
|
||||||
|
|
||||||
|
#include "sidservo.h"
|
||||||
|
|
||||||
|
void logmnt(FILE *fcoords, mountdata_t *m);
|
||||||
|
void dumpmoving(FILE *fcoords, double t, int N);
|
||||||
|
void waitmoving(int N);
|
||||||
|
int getPos(coords_t *mot, coords_t *enc);
|
||||||
|
void chk0(int ncycles);
|
||||||
105
Auxiliary_utils/LibSidServo/examples/dumpmoving.c
Normal file
105
Auxiliary_utils/LibSidServo/examples/dumpmoving.c
Normal file
@ -0,0 +1,105 @@
|
|||||||
|
/*
|
||||||
|
* This file is part of the libsidservo project.
|
||||||
|
* Copyright 2025 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/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
// dump telescope moving using simplest goto command
|
||||||
|
|
||||||
|
#include <math.h>
|
||||||
|
#include <signal.h>
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <time.h>
|
||||||
|
#include <usefull_macros.h>
|
||||||
|
|
||||||
|
#include "dump.h"
|
||||||
|
#include "sidservo.h"
|
||||||
|
#include "simpleconv.h"
|
||||||
|
|
||||||
|
typedef struct{
|
||||||
|
int help;
|
||||||
|
int verbose;
|
||||||
|
int Ncycles;
|
||||||
|
char *logfile;
|
||||||
|
char *coordsoutput;
|
||||||
|
} parameters;
|
||||||
|
|
||||||
|
static parameters G = {
|
||||||
|
.Ncycles = 40,
|
||||||
|
};
|
||||||
|
static FILE *fcoords = NULL;
|
||||||
|
|
||||||
|
static sl_option_t cmdlnopts[] = {
|
||||||
|
{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&G.help), "show this help"},
|
||||||
|
{"verbose", NO_ARGS, NULL, 'v', arg_none, APTR(&G.verbose), "verbose level (each -v adds 1)"},
|
||||||
|
{"logfile", NEED_ARG, NULL, 'l', arg_string, APTR(&G.logfile), "log file name"},
|
||||||
|
{"ncycles", NEED_ARG, NULL, 'n', arg_int, APTR(&G.Ncycles), "N cycles in stopped state (default: 40)"},
|
||||||
|
{"coordsfile", NEED_ARG, NULL, 'o', arg_string, APTR(&G.coordsoutput),"output file with coordinates log"},
|
||||||
|
end_option
|
||||||
|
};
|
||||||
|
|
||||||
|
void signals(int sig){
|
||||||
|
if(sig){
|
||||||
|
signal(sig, SIG_IGN);
|
||||||
|
DBG("Get signal %d, quit.\n", sig);
|
||||||
|
}
|
||||||
|
LOGERR("Exit with status %d", sig);
|
||||||
|
Mount.quit();
|
||||||
|
exit(sig);
|
||||||
|
}
|
||||||
|
|
||||||
|
static conf_t Config = {
|
||||||
|
.MountDevPath = "/dev/ttyUSB0",
|
||||||
|
.MountDevSpeed = 19200,
|
||||||
|
//.EncoderDevPath = "/dev/ttyUSB1",
|
||||||
|
//.EncoderDevSpeed = 153000,
|
||||||
|
.MountReqInterval = 0.1,
|
||||||
|
.SepEncoder = 0
|
||||||
|
};
|
||||||
|
|
||||||
|
int main(int argc, char **argv){
|
||||||
|
sl_init();
|
||||||
|
sl_parseargs(&argc, &argv, cmdlnopts);
|
||||||
|
if(G.help) sl_showhelp(-1, cmdlnopts);
|
||||||
|
sl_loglevel_e lvl = G.verbose + LOGLEVEL_ERR;
|
||||||
|
if(lvl >= LOGLEVEL_AMOUNT) lvl = LOGLEVEL_AMOUNT - 1;
|
||||||
|
if(G.logfile) OPENLOG(G.logfile, lvl, 1);
|
||||||
|
if(G.coordsoutput){
|
||||||
|
if(!(fcoords = fopen(G.coordsoutput, "w")))
|
||||||
|
ERRX("Can't open %s", G.coordsoutput);
|
||||||
|
}else fcoords = stdout;
|
||||||
|
logmnt(fcoords, NULL);
|
||||||
|
time_t curtime = time(NULL);
|
||||||
|
LOGMSG("Started @ %s", ctime(&curtime));
|
||||||
|
LOGMSG("Mount device %s @ %d", Config.MountDevPath, Config.MountDevSpeed);
|
||||||
|
LOGMSG("Encoder device %s @ %d", Config.EncoderDevPath, Config.EncoderDevSpeed);
|
||||||
|
mcc_errcodes_t e = Mount.init(&Config);
|
||||||
|
if(e != MCC_E_OK){
|
||||||
|
WARNX("Can't init devices");
|
||||||
|
return 1;
|
||||||
|
}
|
||||||
|
signal(SIGTERM, signals); // kill (-15) - quit
|
||||||
|
signal(SIGHUP, SIG_IGN); // hup - ignore
|
||||||
|
signal(SIGINT, signals); // ctrl+C - quit
|
||||||
|
signal(SIGQUIT, signals); // ctrl+\ - quit
|
||||||
|
signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
|
||||||
|
if(MCC_E_OK != Mount.moveTo(DEG2RAD(45.), DEG2RAD(45.)))
|
||||||
|
ERRX("Can't move to 45, 45");
|
||||||
|
dumpmoving(fcoords, 30., G.Ncycles);
|
||||||
|
Mount.moveTo(0., 0.);
|
||||||
|
dumpmoving(fcoords, 30., G.Ncycles);
|
||||||
|
signals(0);
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
174
Auxiliary_utils/LibSidServo/examples/dumpmoving_scmd.c
Normal file
174
Auxiliary_utils/LibSidServo/examples/dumpmoving_scmd.c
Normal file
@ -0,0 +1,174 @@
|
|||||||
|
/*
|
||||||
|
* This file is part of the libsidservo project.
|
||||||
|
* Copyright 2025 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/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
// dump telescope moving using short binary commands
|
||||||
|
|
||||||
|
#include <math.h>
|
||||||
|
#include <pthread.h>
|
||||||
|
#include <signal.h>
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <string.h>
|
||||||
|
#include <time.h>
|
||||||
|
#include <usefull_macros.h>
|
||||||
|
|
||||||
|
#include "dump.h"
|
||||||
|
#include "sidservo.h"
|
||||||
|
#include "simpleconv.h"
|
||||||
|
|
||||||
|
typedef struct{
|
||||||
|
int help;
|
||||||
|
int Ncycles;
|
||||||
|
double reqint;
|
||||||
|
char *coordsoutput;
|
||||||
|
char *axis;
|
||||||
|
} parameters;
|
||||||
|
|
||||||
|
static parameters G = {
|
||||||
|
.Ncycles = 40,
|
||||||
|
.reqint = 0.1,
|
||||||
|
.axis = "X",
|
||||||
|
};
|
||||||
|
static FILE *fcoords = NULL;
|
||||||
|
|
||||||
|
static sl_option_t cmdlnopts[] = {
|
||||||
|
{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&G.help), "show this help"},
|
||||||
|
{"ncycles", NEED_ARG, NULL, 'n', arg_int, APTR(&G.Ncycles), "N cycles in stopped state (default: 40)"},
|
||||||
|
{"coordsfile", NEED_ARG, NULL, 'o', arg_string, APTR(&G.coordsoutput),"output file with coordinates log"},
|
||||||
|
{"reqinterval", NEED_ARG, NULL, 'i', arg_double, APTR(&G.reqint), "mount requests interval (default: 0.1)"},
|
||||||
|
{"axis", NEED_ARG, NULL, 'a', arg_string, APTR(&G.axis), "axis to move (X or Y)"},
|
||||||
|
end_option
|
||||||
|
};
|
||||||
|
|
||||||
|
void signals(int sig){
|
||||||
|
if(sig){
|
||||||
|
signal(sig, SIG_IGN);
|
||||||
|
DBG("Get signal %d, quit.\n", sig);
|
||||||
|
}
|
||||||
|
Mount.quit();
|
||||||
|
exit(sig);
|
||||||
|
}
|
||||||
|
|
||||||
|
static conf_t Config = {
|
||||||
|
.MountDevPath = "/dev/ttyUSB0",
|
||||||
|
.MountDevSpeed = 19200,
|
||||||
|
//.EncoderDevPath = "/dev/ttyUSB1",
|
||||||
|
//.EncoderDevSpeed = 153000,
|
||||||
|
.MountReqInterval = 0.1,
|
||||||
|
.SepEncoder = 0
|
||||||
|
};
|
||||||
|
|
||||||
|
// dump thread
|
||||||
|
static void *dumping(void _U_ *u){
|
||||||
|
dumpmoving(fcoords, 3600., G.Ncycles);
|
||||||
|
return NULL;
|
||||||
|
}
|
||||||
|
|
||||||
|
// return TRUE if motor position is reached +- 0.1 degrees
|
||||||
|
#define XYcount (DEG2RAD(0.1))
|
||||||
|
static int Wait(double tag){
|
||||||
|
mountdata_t mdata;
|
||||||
|
red("Wait for %g degrees\n", RAD2DEG(tag));
|
||||||
|
int errcnt = 0;
|
||||||
|
double sign = 0.;
|
||||||
|
uint32_t millis = 0;
|
||||||
|
double curpos = 0.;
|
||||||
|
do{
|
||||||
|
if(MCC_E_OK != Mount.getMountData(&mdata)) ++errcnt;
|
||||||
|
else{
|
||||||
|
errcnt = 0;
|
||||||
|
if(mdata.millis == millis) continue;
|
||||||
|
millis = mdata.millis;
|
||||||
|
if(*G.axis == 'X') curpos = mdata.motposition.X;
|
||||||
|
else curpos = mdata.motposition.Y;
|
||||||
|
if(sign == 0.) sign = (curpos > tag) ? 1. : -1.;
|
||||||
|
//printf("%s=%g deg, need %g deg; delta=%g arcmin\n", G.axis, RAD2DEG(curpos),
|
||||||
|
// RAD2DEG(tag), RAD2DEG(sign*(curpos - tag))*60.);
|
||||||
|
}
|
||||||
|
}while(sign*(curpos - tag) > XYcount && errcnt < 10);
|
||||||
|
if(errcnt >= 10){
|
||||||
|
WARNX("Too much errors");
|
||||||
|
return FALSE;
|
||||||
|
}
|
||||||
|
green("%s reached position %g degrees\n", G.axis, RAD2DEG(tag));
|
||||||
|
return TRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
// move X to 40 degr with given speed until given coord
|
||||||
|
static void move(double target, double limit, double speed){
|
||||||
|
#define SCMD() do{if(MCC_E_OK != Mount.shortCmd(&cmd)) ERRX("Can't run command"); }while(0)
|
||||||
|
green("Move %s to %g until %g with %gdeg/s\n", G.axis, target, limit, speed);
|
||||||
|
short_command_t cmd = {0};
|
||||||
|
if(*G.axis == 'X'){
|
||||||
|
cmd.Xmot = DEG2RAD(target);
|
||||||
|
cmd.Xspeed = DEG2RAD(speed);
|
||||||
|
}else{
|
||||||
|
cmd.Ymot = DEG2RAD(target);
|
||||||
|
cmd.Yspeed = DEG2RAD(speed);
|
||||||
|
}
|
||||||
|
SCMD();
|
||||||
|
if(!Wait(DEG2RAD(limit))) signals(9);
|
||||||
|
#undef SCMD
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
int main(int argc, char **argv){
|
||||||
|
sl_init();
|
||||||
|
sl_parseargs(&argc, &argv, cmdlnopts);
|
||||||
|
if(G.help) sl_showhelp(-1, cmdlnopts);
|
||||||
|
if(strcmp(G.axis, "X") && strcmp(G.axis, "Y")){
|
||||||
|
WARNX("\"Axis\" should be X or Y");
|
||||||
|
return 1;
|
||||||
|
}
|
||||||
|
if(G.coordsoutput){
|
||||||
|
if(!(fcoords = fopen(G.coordsoutput, "w")))
|
||||||
|
ERRX("Can't open %s", G.coordsoutput);
|
||||||
|
}else fcoords = stdout;
|
||||||
|
Config.MountReqInterval = G.reqint;
|
||||||
|
mcc_errcodes_t e = Mount.init(&Config);
|
||||||
|
if(e != MCC_E_OK){
|
||||||
|
WARNX("Can't init devices");
|
||||||
|
return 1;
|
||||||
|
}
|
||||||
|
signal(SIGTERM, signals); // kill (-15) - quit
|
||||||
|
signal(SIGHUP, SIG_IGN); // hup - ignore
|
||||||
|
signal(SIGINT, signals); // ctrl+C - quit
|
||||||
|
signal(SIGQUIT, signals); // ctrl+\ - quit
|
||||||
|
signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
|
||||||
|
// move to X=40 degr with different speeds
|
||||||
|
pthread_t dthr;
|
||||||
|
chk0(G.Ncycles);
|
||||||
|
logmnt(fcoords, NULL);
|
||||||
|
if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
|
||||||
|
// goto 1 degr with 1'/s
|
||||||
|
move(10., 1., 1./60.);
|
||||||
|
// goto 2 degr with 2'/s
|
||||||
|
move(10., 2., 2./60.);
|
||||||
|
// goto 3 degr with 5'/s
|
||||||
|
move(10., 3., 5./60.);
|
||||||
|
// goto 4 degr with 10'/s
|
||||||
|
move(10., 4., 10./60.);
|
||||||
|
// and go back with 5deg/s
|
||||||
|
move(0., 0., 5.);
|
||||||
|
// be sure to move @ 0,0
|
||||||
|
Mount.moveTo(0., 0.);
|
||||||
|
// wait moving ends
|
||||||
|
pthread_join(dthr, NULL);
|
||||||
|
#undef SCMD
|
||||||
|
signals(0);
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
172
Auxiliary_utils/LibSidServo/examples/dumpswing.c
Normal file
172
Auxiliary_utils/LibSidServo/examples/dumpswing.c
Normal file
@ -0,0 +1,172 @@
|
|||||||
|
/*
|
||||||
|
* This file is part of the libsidservo project.
|
||||||
|
* Copyright 2025 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/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <pthread.h>
|
||||||
|
#include <signal.h>
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <string.h>
|
||||||
|
#include <usefull_macros.h>
|
||||||
|
|
||||||
|
#include "dump.h"
|
||||||
|
#include "sidservo.h"
|
||||||
|
#include "simpleconv.h"
|
||||||
|
|
||||||
|
// swing telescope by given axis with given period and max amplitude, reqinterval=0.05 (min)
|
||||||
|
|
||||||
|
typedef struct{
|
||||||
|
int help;
|
||||||
|
int Ncycles;
|
||||||
|
int Nswings;
|
||||||
|
double period;
|
||||||
|
double amplitude;
|
||||||
|
char *coordsoutput;
|
||||||
|
char *axis;
|
||||||
|
} parameters;
|
||||||
|
|
||||||
|
static parameters G = {
|
||||||
|
.Ncycles = 20,
|
||||||
|
.axis = "X",
|
||||||
|
.Nswings = 10,
|
||||||
|
.period = 1.,
|
||||||
|
.amplitude = 5.,
|
||||||
|
};
|
||||||
|
static FILE *fcoords = NULL;
|
||||||
|
|
||||||
|
static sl_option_t cmdlnopts[] = {
|
||||||
|
{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&G.help), "show this help"},
|
||||||
|
{"ncycles", NEED_ARG, NULL, 'n', arg_int, APTR(&G.Ncycles), "N cycles in stopped state (default: 20)"},
|
||||||
|
{"coordsfile", NEED_ARG, NULL, 'o', arg_string, APTR(&G.coordsoutput),"output file with coordinates log"},
|
||||||
|
{"axis", NEED_ARG, NULL, 'a', arg_string, APTR(&G.axis), "axis to move (X or Y)"},
|
||||||
|
{"period", NEED_ARG, NULL, 'p', arg_double, APTR(&G.period), "swinging period (could be not reached if amplitude is too small) - not more than 900s (default: 1)"},
|
||||||
|
{"amplitude", NEED_ARG, NULL, 'A', arg_double, APTR(&G.amplitude), "max amplitude (could be not reaced if period is too small) - not more than 45deg (default: 5)"},
|
||||||
|
{"nswings", NEED_ARG, NULL, 'N', arg_int, APTR(&G.Nswings), "amount of swing periods (default: 10)"},
|
||||||
|
end_option
|
||||||
|
};
|
||||||
|
|
||||||
|
void signals(int sig){
|
||||||
|
if(sig){
|
||||||
|
signal(sig, SIG_IGN);
|
||||||
|
DBG("Get signal %d, quit.\n", sig);
|
||||||
|
}
|
||||||
|
Mount.quit();
|
||||||
|
exit(sig);
|
||||||
|
}
|
||||||
|
|
||||||
|
static conf_t Config = {
|
||||||
|
.MountDevPath = "/dev/ttyUSB0",
|
||||||
|
.MountDevSpeed = 19200,
|
||||||
|
//.EncoderDevPath = "/dev/ttyUSB1",
|
||||||
|
//.EncoderDevSpeed = 153000,
|
||||||
|
.MountReqInterval = 0.05,
|
||||||
|
.SepEncoder = 0
|
||||||
|
};
|
||||||
|
|
||||||
|
// dump thread
|
||||||
|
static void *dumping(void _U_ *u){
|
||||||
|
dumpmoving(fcoords, 3600., G.Ncycles);
|
||||||
|
return NULL;
|
||||||
|
}
|
||||||
|
|
||||||
|
// wait until mount is stopped within 5 cycles or until time reached t
|
||||||
|
void waithalf(double t){
|
||||||
|
mountdata_t mdata;
|
||||||
|
int ctr = -1;
|
||||||
|
uint32_t millis = 0;
|
||||||
|
double xlast = 0., ylast = 0.;
|
||||||
|
while(ctr < 5){
|
||||||
|
if(sl_dtime() >= t) return;
|
||||||
|
usleep(1000);
|
||||||
|
if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
|
||||||
|
if(mdata.millis == millis) continue;
|
||||||
|
millis = mdata.millis;
|
||||||
|
if(mdata.motposition.X != xlast || mdata.motposition.Y != ylast){
|
||||||
|
DBG("NEQ: old=%g, now=%g", RAD2DEG(ylast), RAD2DEG(mdata.motposition.Y));
|
||||||
|
xlast = mdata.motposition.X;
|
||||||
|
ylast = mdata.motposition.Y;
|
||||||
|
ctr = 0;
|
||||||
|
}else{
|
||||||
|
DBG("EQ: old=%g, now=%g", RAD2DEG(ylast), RAD2DEG(mdata.motposition.Y));
|
||||||
|
++ctr;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
int main(int argc, char **argv){
|
||||||
|
sl_init();
|
||||||
|
sl_parseargs(&argc, &argv, cmdlnopts);
|
||||||
|
if(G.help) sl_showhelp(-1, cmdlnopts);
|
||||||
|
if(strcmp(G.axis, "X") && strcmp(G.axis, "Y")){
|
||||||
|
WARNX("\"Axis\" should be X or Y");
|
||||||
|
return 1;
|
||||||
|
}
|
||||||
|
if(G.coordsoutput){
|
||||||
|
if(!(fcoords = fopen(G.coordsoutput, "w")))
|
||||||
|
ERRX("Can't open %s", G.coordsoutput);
|
||||||
|
}else fcoords = stdout;
|
||||||
|
if(G.Ncycles < 7) ERRX("Ncycles should be >7");
|
||||||
|
if(G.amplitude < 0.01 || G.amplitude > 45.)
|
||||||
|
ERRX("Amplitude should be from 0.01 to 45 degrees");
|
||||||
|
if(G.period < 0.1 || G.period > 900.)
|
||||||
|
ERRX("Period should be from 0.1 to 900s");
|
||||||
|
if(G.Nswings < 1) ERRX("Nswings should be more than 0");
|
||||||
|
mcc_errcodes_t e = Mount.init(&Config);
|
||||||
|
if(e != MCC_E_OK){
|
||||||
|
WARNX("Can't init devices");
|
||||||
|
return 1;
|
||||||
|
}
|
||||||
|
signal(SIGTERM, signals); // kill (-15) - quit
|
||||||
|
signal(SIGHUP, SIG_IGN); // hup - ignore
|
||||||
|
signal(SIGINT, signals); // ctrl+C - quit
|
||||||
|
signal(SIGQUIT, signals); // ctrl+\ - quit
|
||||||
|
signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
|
||||||
|
pthread_t dthr;
|
||||||
|
chk0(G.Ncycles);
|
||||||
|
logmnt(fcoords, NULL);
|
||||||
|
if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
|
||||||
|
G.period /= 2.; // pause between commands
|
||||||
|
double tagX, tagY;
|
||||||
|
if(*G.axis == 'X'){
|
||||||
|
tagX = DEG2RAD(G.amplitude); tagY = 0.;
|
||||||
|
}else{
|
||||||
|
tagX = 0.; tagY = DEG2RAD(G.amplitude);
|
||||||
|
}
|
||||||
|
double t = sl_dtime(), t0 = t;
|
||||||
|
double divide = 2.;
|
||||||
|
for(int i = 0; i < G.Nswings; ++i){
|
||||||
|
Mount.moveTo(tagX, tagY);
|
||||||
|
DBG("CMD: %g", sl_dtime()-t0);
|
||||||
|
t += G.period / divide;
|
||||||
|
divide = 1.;
|
||||||
|
waithalf(t);
|
||||||
|
DBG("Moved to +, t=%g", t-t0);
|
||||||
|
DBG("CMD: %g", sl_dtime()-t0);
|
||||||
|
Mount.moveTo(-tagX, -tagY);
|
||||||
|
t += G.period;
|
||||||
|
waithalf(t);
|
||||||
|
DBG("Moved to -, t=%g", t-t0);
|
||||||
|
DBG("CMD: %g", sl_dtime()-t0);
|
||||||
|
}
|
||||||
|
// be sure to move @ 0,0
|
||||||
|
Mount.moveTo(0., 0.);
|
||||||
|
// wait moving ends
|
||||||
|
pthread_join(dthr, NULL);
|
||||||
|
#undef SCMD
|
||||||
|
signals(0);
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
117
Auxiliary_utils/LibSidServo/examples/goto.c
Normal file
117
Auxiliary_utils/LibSidServo/examples/goto.c
Normal file
@ -0,0 +1,117 @@
|
|||||||
|
/*
|
||||||
|
* This file is part of the libsidservo project.
|
||||||
|
* Copyright 2025 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/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
// move telescope to given MOTOR position in degrees
|
||||||
|
|
||||||
|
#include <signal.h>
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <time.h>
|
||||||
|
#include <usefull_macros.h>
|
||||||
|
|
||||||
|
#include "dump.h"
|
||||||
|
#include "sidservo.h"
|
||||||
|
#include "simpleconv.h"
|
||||||
|
|
||||||
|
typedef struct{
|
||||||
|
int help;
|
||||||
|
int Ncycles;
|
||||||
|
int wait;
|
||||||
|
char *coordsoutput;
|
||||||
|
double X;
|
||||||
|
double Y;
|
||||||
|
} parameters;
|
||||||
|
|
||||||
|
static parameters G = {
|
||||||
|
.Ncycles = 40,
|
||||||
|
.X = NAN,
|
||||||
|
.Y = NAN,
|
||||||
|
};
|
||||||
|
|
||||||
|
static sl_option_t cmdlnopts[] = {
|
||||||
|
{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&G.help), "show this help"},
|
||||||
|
{"ncycles", NEED_ARG, NULL, 'n', arg_int, APTR(&G.Ncycles), "N cycles of waiting in stopped state (default: 40)"},
|
||||||
|
{"newx", NEED_ARG, NULL, 'X', arg_double, APTR(&G.X), "new X coordinate"},
|
||||||
|
{"newy", NEED_ARG, NULL, 'Y', arg_double, APTR(&G.Y), "new Y coordinate"},
|
||||||
|
{"output", NEED_ARG, NULL, 'o', arg_string, APTR(&G.coordsoutput),"file to log coordinates"},
|
||||||
|
{"wait", NO_ARGS, NULL, 'w', arg_int, APTR(&G.wait), "wait until mowing stopped"},
|
||||||
|
end_option
|
||||||
|
};
|
||||||
|
|
||||||
|
static conf_t Config = {
|
||||||
|
.MountDevPath = "/dev/ttyUSB0",
|
||||||
|
.MountDevSpeed = 19200,
|
||||||
|
//.EncoderDevPath = "/dev/ttyUSB1",
|
||||||
|
//.EncoderDevSpeed = 153000,
|
||||||
|
.MountReqInterval = 0.1,
|
||||||
|
.SepEncoder = 0
|
||||||
|
};
|
||||||
|
|
||||||
|
static FILE* fcoords = NULL;
|
||||||
|
static pthread_t dthr;
|
||||||
|
|
||||||
|
void signals(int sig){
|
||||||
|
pthread_cancel(dthr);
|
||||||
|
if(sig){
|
||||||
|
signal(sig, SIG_IGN);
|
||||||
|
DBG("Get signal %d, quit.\n", sig);
|
||||||
|
}
|
||||||
|
Mount.quit();
|
||||||
|
if(fcoords) fclose(fcoords);
|
||||||
|
exit(sig);
|
||||||
|
}
|
||||||
|
|
||||||
|
// dump thread
|
||||||
|
static void *dumping(void _U_ *u){
|
||||||
|
dumpmoving(fcoords, 3600., G.Ncycles);
|
||||||
|
return NULL;
|
||||||
|
}
|
||||||
|
|
||||||
|
int main(int _U_ argc, char _U_ **argv){
|
||||||
|
sl_init();
|
||||||
|
sl_parseargs(&argc, &argv, cmdlnopts);
|
||||||
|
if(G.help) sl_showhelp(-1, cmdlnopts);
|
||||||
|
if(MCC_E_OK != Mount.init(&Config)) ERRX("Can't init mount");
|
||||||
|
coords_t M;
|
||||||
|
if(!getPos(&M, NULL)) ERRX("Can't get current position");
|
||||||
|
if(G.coordsoutput){
|
||||||
|
if(!G.wait) green("When logging I should wait until moving ends; added '-w'");
|
||||||
|
G.wait = 1;
|
||||||
|
}
|
||||||
|
if(G.coordsoutput){
|
||||||
|
if(!(fcoords = fopen(G.coordsoutput, "w")))
|
||||||
|
ERRX("Can't open %s", G.coordsoutput);
|
||||||
|
logmnt(fcoords, NULL);
|
||||||
|
if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
|
||||||
|
}
|
||||||
|
printf("Mount position: X=%g, Y=%g\n", RAD2DEG(M.X), RAD2DEG(M.Y));
|
||||||
|
if(isnan(G.X) && isnan(G.Y)) goto out;
|
||||||
|
if(isnan(G.X)) G.X = RAD2DEG(M.X);
|
||||||
|
if(isnan(G.Y)) G.Y = RAD2DEG(M.Y);
|
||||||
|
printf("Moving to X=%g deg, Y=%g deg\n", G.X, G.Y);
|
||||||
|
Mount.moveTo(DEG2RAD(G.X), DEG2RAD(G.Y));
|
||||||
|
if(G.wait){
|
||||||
|
sleep(1);
|
||||||
|
waitmoving(G.Ncycles);
|
||||||
|
if(!getPos(&M, NULL)) WARNX("Can't get current position");
|
||||||
|
else printf("New mount position: X=%g, Y=%g\n", RAD2DEG(M.X), RAD2DEG(M.Y));
|
||||||
|
}
|
||||||
|
out:
|
||||||
|
if(G.coordsoutput) pthread_join(dthr, NULL);
|
||||||
|
if(G.wait) Mount.quit();
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
159
Auxiliary_utils/LibSidServo/examples/scmd_traectory.c
Normal file
159
Auxiliary_utils/LibSidServo/examples/scmd_traectory.c
Normal file
@ -0,0 +1,159 @@
|
|||||||
|
/*
|
||||||
|
* This file is part of the libsidservo project.
|
||||||
|
* Copyright 2025 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/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <pthread.h>
|
||||||
|
#include <signal.h>
|
||||||
|
#include <usefull_macros.h>
|
||||||
|
|
||||||
|
#include "dump.h"
|
||||||
|
#include "sidservo.h"
|
||||||
|
#include "simpleconv.h"
|
||||||
|
#include "traectories.h"
|
||||||
|
|
||||||
|
// calculate some traectory and try to run over it
|
||||||
|
|
||||||
|
typedef struct{
|
||||||
|
int help;
|
||||||
|
int Ncycles; // n cycles to wait stop
|
||||||
|
double reqint; // requests interval (seconds)
|
||||||
|
double Xmax; // maximal X to stop
|
||||||
|
double Ymax; // maximal Y to stop
|
||||||
|
double tmax; // maximal time of emulation
|
||||||
|
double X0; // starting point of traectory (-30..30 degr)
|
||||||
|
double Y0; // -//-
|
||||||
|
char *coordsoutput; // dump file
|
||||||
|
char *tfn; // traectory function name
|
||||||
|
} parameters;
|
||||||
|
|
||||||
|
static FILE *fcoords = NULL;
|
||||||
|
static pthread_t dthr;
|
||||||
|
static parameters G = {
|
||||||
|
.Ncycles = 40,
|
||||||
|
.reqint = 0.1,
|
||||||
|
.tfn = "sincos",
|
||||||
|
.Xmax = 45.,
|
||||||
|
.Ymax = 45.,
|
||||||
|
.tmax = 300., // 5 minutes
|
||||||
|
.X0 = 10.,
|
||||||
|
.Y0 = 10.,
|
||||||
|
};
|
||||||
|
|
||||||
|
static sl_option_t cmdlnopts[] = {
|
||||||
|
{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&G.help), "show this help"},
|
||||||
|
{"ncycles", NEED_ARG, NULL, 'n', arg_int, APTR(&G.Ncycles), "N cycles in stopped state (default: 40)"},
|
||||||
|
{"coordsfile", NEED_ARG, NULL, 'o', arg_string, APTR(&G.coordsoutput),"output file with coordinates log"},
|
||||||
|
{"reqinterval", NEED_ARG, NULL, 'i', arg_double, APTR(&G.reqint), "mount requests interval (default: 0.1 second)"},
|
||||||
|
{"traectory", NEED_ARG, NULL, 't', arg_string, APTR(&G.tfn), "used traectory function (default: sincos)"},
|
||||||
|
{"xmax", NEED_ARG, NULL, 'X', arg_double, APTR(&G.Xmax), "maximal X coordinate for traectory (default: 45 degrees)"},
|
||||||
|
{"ymax", NEED_ARG, NULL, 'Y', arg_double, APTR(&G.Ymax), "maximal X coordinate for traectory (default: 45 degrees)"},
|
||||||
|
{"tmax", NEED_ARG, NULL, 'T', arg_double, APTR(&G.tmax), "maximal duration time of emulation (default: 300 seconds)"},
|
||||||
|
{"x0", NEED_ARG, NULL, '0', arg_double, APTR(&G.X0), "starting X-coordinate of traectory (default: 10 degrees)"},
|
||||||
|
{"y0", NEED_ARG, NULL, '1', arg_double, APTR(&G.Y0), "starting Y-coordinate of traectory (default: 10 degrees)"},
|
||||||
|
end_option
|
||||||
|
};
|
||||||
|
|
||||||
|
static conf_t Config = {
|
||||||
|
.MountDevPath = "/dev/ttyUSB0",
|
||||||
|
.MountDevSpeed = 19200,
|
||||||
|
//.EncoderDevPath = "/dev/ttyUSB1",
|
||||||
|
//.EncoderDevSpeed = 153000,
|
||||||
|
.MountReqInterval = 0.05,
|
||||||
|
.SepEncoder = 0
|
||||||
|
};
|
||||||
|
|
||||||
|
void signals(int sig){
|
||||||
|
pthread_cancel(dthr);
|
||||||
|
if(sig){
|
||||||
|
signal(sig, SIG_IGN);
|
||||||
|
DBG("Get signal %d, quit.\n", sig);
|
||||||
|
}
|
||||||
|
Mount.quit();
|
||||||
|
if(fcoords) fclose(fcoords);
|
||||||
|
exit(sig);
|
||||||
|
}
|
||||||
|
|
||||||
|
static void *dumping(void _U_ *u){
|
||||||
|
dumpmoving(fcoords, 3600., G.Ncycles);
|
||||||
|
return NULL;
|
||||||
|
}
|
||||||
|
|
||||||
|
// calculate
|
||||||
|
static void runtraectory(traectory_fn tfn){
|
||||||
|
if(!tfn) return;
|
||||||
|
coords_t telXY, traectXY;
|
||||||
|
double t0 = sl_dtime();
|
||||||
|
uint32_t susec_last = 0;
|
||||||
|
while(1){
|
||||||
|
if(!telpos(&telXY)){
|
||||||
|
WARNX("No next telescope position");
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
if(telXY.msrtime.tv_usec == susec_last) continue; // last measure - don't mind
|
||||||
|
susec_last = telXY.msrtime.tv_usec;
|
||||||
|
double t = sl_dtime();
|
||||||
|
if(telXY.X > G.Xmax || telXY.Y > G.Ymax || t - t0 > G.tmax) break;
|
||||||
|
if(!traectory_point(&traectXY, t)) break;
|
||||||
|
DBG("%g: dX=%.1f'', dY=%.1f''", t-t0, RAD2ASEC(traectXY.X-telXY.X), RAD2ASEC(traectXY.Y-telXY.Y));
|
||||||
|
}
|
||||||
|
WARNX("No next traectory point");
|
||||||
|
}
|
||||||
|
|
||||||
|
int main(int argc, char **argv){
|
||||||
|
sl_init();
|
||||||
|
sl_parseargs(&argc, &argv, cmdlnopts);
|
||||||
|
if(G.help) sl_showhelp(-1, cmdlnopts);
|
||||||
|
if(G.Xmax < 1. || G.Xmax > 90.) ERRX("Xmax should be 1..90 degrees");
|
||||||
|
if(G.Ymax < 1. || G.Ymax > 90.) ERRX("Ymax should be 1..90 degrees");
|
||||||
|
// convert to radians
|
||||||
|
G.Xmax = DEG2RAD(G.Xmax); G.Ymax = DEG2RAD(G.Ymax);
|
||||||
|
if(G.X0 < -30. || G.X0 > 30. || G.Y0 < -30. || G.Y0 > 30.)
|
||||||
|
ERRX("X0 and Y0 should be -30..30 degrees");
|
||||||
|
if(G.coordsoutput){
|
||||||
|
if(!(fcoords = fopen(G.coordsoutput, "w")))
|
||||||
|
ERRX("Can't open %s", G.coordsoutput);
|
||||||
|
}else fcoords = stdout;
|
||||||
|
Config.MountReqInterval = G.reqint;
|
||||||
|
traectory_fn tfn = traectory_by_name(G.tfn);
|
||||||
|
if(!tfn){
|
||||||
|
WARNX("Bad traectory name %s, should be one of", G.tfn);
|
||||||
|
print_tr_names();
|
||||||
|
return 1;
|
||||||
|
}
|
||||||
|
coords_t c = {.X = DEG2RAD(G.X0), .Y = DEG2RAD(G.Y0)};
|
||||||
|
if(!init_traectory(tfn, &c)){
|
||||||
|
ERRX("Can't init traectory");
|
||||||
|
return 1;
|
||||||
|
}
|
||||||
|
mcc_errcodes_t e = Mount.init(&Config);
|
||||||
|
if(e != MCC_E_OK){
|
||||||
|
WARNX("Can't init devices");
|
||||||
|
return 1;
|
||||||
|
}
|
||||||
|
signal(SIGTERM, signals); // kill (-15) - quit
|
||||||
|
signal(SIGHUP, SIG_IGN); // hup - ignore
|
||||||
|
signal(SIGINT, signals); // ctrl+C - quit
|
||||||
|
signal(SIGQUIT, signals); // ctrl+\ - quit
|
||||||
|
signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
|
||||||
|
chk0(G.Ncycles);
|
||||||
|
logmnt(fcoords, NULL);
|
||||||
|
if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
|
||||||
|
;
|
||||||
|
runtraectory(tfn);
|
||||||
|
signals(0);
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
29
Auxiliary_utils/LibSidServo/examples/simpleconv.h
Normal file
29
Auxiliary_utils/LibSidServo/examples/simpleconv.h
Normal file
@ -0,0 +1,29 @@
|
|||||||
|
/*
|
||||||
|
* This file is part of the libsidservo project.
|
||||||
|
* Copyright 2025 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/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
// simple conversion macros
|
||||||
|
|
||||||
|
#include <math.h>
|
||||||
|
|
||||||
|
#define DEG2RAD(d) (d/180.*M_PI)
|
||||||
|
#define ASEC2RAD(d) (d/180.*M_PI/3600.)
|
||||||
|
#define AMIN2RAD(d) (d/180.*M_PI/60.)
|
||||||
|
#define RAD2DEG(r) (r/M_PI*180.)
|
||||||
|
#define RAD2ASEC(r) (r/M_PI*180.*3600.)
|
||||||
|
#define RAD2AMIN(r) (r/M_PI*180.*60.)
|
||||||
|
|
||||||
143
Auxiliary_utils/LibSidServo/examples/traectories.c
Normal file
143
Auxiliary_utils/LibSidServo/examples/traectories.c
Normal file
@ -0,0 +1,143 @@
|
|||||||
|
/*
|
||||||
|
* This file is part of the libsidservo project.
|
||||||
|
* Copyright 2025 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/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
// some simplest traectories
|
||||||
|
// all traectories runs increasing X and Y from starting point
|
||||||
|
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <string.h>
|
||||||
|
#include <usefull_macros.h>
|
||||||
|
|
||||||
|
#include "simpleconv.h"
|
||||||
|
#include "traectories.h"
|
||||||
|
|
||||||
|
static traectory_fn cur_traectory = NULL;
|
||||||
|
// starting point of traectory
|
||||||
|
static coords_t XYstart = {0};
|
||||||
|
static double tstart = 0.;
|
||||||
|
// convert Xe/Ye to approximate motor coordinates:
|
||||||
|
// Xnew = Xcor+Xe; Ynew = Ycor+Ye; as Ye goes backwards to Ym, we have
|
||||||
|
// Xcor = Xm0 - Xe0; Ycor = Xm0 + Ye0
|
||||||
|
static coords_t XYcor = {0};
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief init_traectory - init traectory fn, sync starting positions of motor & encoders
|
||||||
|
* @param f - function calculating next point
|
||||||
|
* @param XY0 - starting point
|
||||||
|
* @return FALSE if failed
|
||||||
|
*/
|
||||||
|
int init_traectory(traectory_fn f, coords_t *XY0){
|
||||||
|
if(!f || !XY0) return FALSE;
|
||||||
|
cur_traectory = f;
|
||||||
|
XYstart = *XY0;
|
||||||
|
tstart = sl_dtime();
|
||||||
|
mountdata_t mdata;
|
||||||
|
int ntries = 0;
|
||||||
|
for(; ntries < 10; ++ntries){
|
||||||
|
if(MCC_E_OK == Mount.getMountData(&mdata)) break;
|
||||||
|
}
|
||||||
|
if(ntries == 10) return FALSE;
|
||||||
|
XYcor.X = mdata.motposition.X - mdata.encposition.X;
|
||||||
|
XYcor.Y = mdata.motposition.X + mdata.encposition.Y;
|
||||||
|
DBG("STARTING POINTS: x=%g, y=%g degrees", DEG2RAD(XYcor.X), DEG2RAD(XYcor.Y));
|
||||||
|
return TRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief traectory_point - get traectory point for given time
|
||||||
|
* @param nextpt (o) - next point coordinates
|
||||||
|
* @param t - UNIX-time of event
|
||||||
|
* @return FALSE if something wrong (e.g. X not in -90..90 or Y not in -180..180)
|
||||||
|
*/
|
||||||
|
int traectory_point(coords_t *nextpt, double t){
|
||||||
|
if(t < 0. || !cur_traectory) return FALSE;
|
||||||
|
coords_t pt;
|
||||||
|
if(!cur_traectory(&pt, t)) return FALSE;
|
||||||
|
pt.msrtime.tv_sec = floor(t);
|
||||||
|
pt.msrtime.tv_usec = (uint32_t) t - pt.msrtime.tv_sec;
|
||||||
|
if(nextpt) *nextpt = pt;
|
||||||
|
if(pt.X < -M_PI_2 || pt.X > M_PI_2 || pt.Y < -M_PI || pt.Y > M_PI) return FALSE;
|
||||||
|
return TRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
// current telescope position according to starting motor coordinates
|
||||||
|
// @return FALSE if failed to get current coordinates
|
||||||
|
int telpos(coords_t *curpos){
|
||||||
|
mountdata_t mdata;
|
||||||
|
int ntries = 0;
|
||||||
|
for(; ntries < 10; ++ntries){
|
||||||
|
if(MCC_E_OK == Mount.getMountData(&mdata)) break;
|
||||||
|
}
|
||||||
|
if(ntries == 10) return FALSE;
|
||||||
|
coords_t pt;
|
||||||
|
pt.X = XYcor.X + mdata.encposition.X;
|
||||||
|
pt.Y = XYcor.Y + mdata.encposition.Y;
|
||||||
|
pt.msrtime = mdata.encposition.msrtime;
|
||||||
|
if(curpos) *curpos = pt;
|
||||||
|
return TRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
// X=X0+1'/s, Y=Y0+15''/s
|
||||||
|
int Linear(coords_t *nextpt, double t){
|
||||||
|
coords_t pt;
|
||||||
|
pt.X = XYstart.X + ASEC2RAD(1.) * (t - tstart);
|
||||||
|
pt.Y = XYstart.Y + ASEC2RAD(15.)* (t - tstart);
|
||||||
|
if(nextpt) *nextpt = pt;
|
||||||
|
return TRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
// X=X0+5'*sin(t/30*2pi), Y=Y0+10'*cos(t/200*2pi)
|
||||||
|
int SinCos(coords_t *nextpt, double t){
|
||||||
|
coords_t pt;
|
||||||
|
pt.X = XYstart.X + AMIN2RAD(5.) * sin((t-tstart)/30.*2*M_PI);
|
||||||
|
pt.Y = XYstart.Y + AMIN2RAD(10.)* cos((t-tstart)/200.*2*M_PI);
|
||||||
|
if(nextpt) *nextpt = pt;
|
||||||
|
return TRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
typedef struct{
|
||||||
|
traectory_fn f;
|
||||||
|
const char *name;
|
||||||
|
const char *help;
|
||||||
|
} tr_names;
|
||||||
|
|
||||||
|
static tr_names names[] = {
|
||||||
|
{Linear, "linear", "X=X0+1'/s, Y=Y0+15''/s"},
|
||||||
|
{SinCos, "sincos", "X=X0+5'*sin(t/30*2pi), Y=Y0+10'*cos(t/200*2pi)"},
|
||||||
|
{NULL, NULL, NULL}
|
||||||
|
};
|
||||||
|
|
||||||
|
traectory_fn traectory_by_name(const char *name){
|
||||||
|
traectory_fn f = NULL;
|
||||||
|
for(int i = 0; ; ++i){
|
||||||
|
if(!names[i].f) break;
|
||||||
|
if(strcmp(names[i].name, name) == 0){
|
||||||
|
f = names[i].f;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return f;
|
||||||
|
}
|
||||||
|
|
||||||
|
// print all acceptable traectories names with help
|
||||||
|
void print_tr_names(){
|
||||||
|
for(int i = 0; ; ++i){
|
||||||
|
if(!names[i].f) break;
|
||||||
|
printf("%s: %s\n", names[i].name, names[i].help);
|
||||||
|
}
|
||||||
|
}
|
||||||
32
Auxiliary_utils/LibSidServo/examples/traectories.h
Normal file
32
Auxiliary_utils/LibSidServo/examples/traectories.h
Normal file
@ -0,0 +1,32 @@
|
|||||||
|
/*
|
||||||
|
* This file is part of the libsidservo project.
|
||||||
|
* Copyright 2025 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 "sidservo.h"
|
||||||
|
|
||||||
|
// traectory
|
||||||
|
typedef int (*traectory_fn)(coords_t *, double);
|
||||||
|
|
||||||
|
int init_traectory(traectory_fn f, coords_t *XY0);
|
||||||
|
traectory_fn traectory_by_name(const char *name);
|
||||||
|
void print_tr_names();
|
||||||
|
int traectory_point(coords_t *nextpt, double t);
|
||||||
|
int telpos(coords_t *curpos);
|
||||||
|
int Linear(coords_t *nextpt, double t);
|
||||||
|
int SinCos(coords_t *nextpt, double t);
|
||||||
1
Auxiliary_utils/LibSidServo/libsidservo.cflags
Normal file
1
Auxiliary_utils/LibSidServo/libsidservo.cflags
Normal file
@ -0,0 +1 @@
|
|||||||
|
-std=c17
|
||||||
6
Auxiliary_utils/LibSidServo/libsidservo.config
Normal file
6
Auxiliary_utils/LibSidServo/libsidservo.config
Normal file
@ -0,0 +1,6 @@
|
|||||||
|
// Add predefined macros for your project here. For example:
|
||||||
|
// #define THE_ANSWER 42
|
||||||
|
#define EBUG
|
||||||
|
#define _POSIX_C_SOURCE
|
||||||
|
#define PACKAGE_VERSION "0.0.1"
|
||||||
|
|
||||||
1
Auxiliary_utils/LibSidServo/libsidservo.creator
Normal file
1
Auxiliary_utils/LibSidServo/libsidservo.creator
Normal file
@ -0,0 +1 @@
|
|||||||
|
[General]
|
||||||
184
Auxiliary_utils/LibSidServo/libsidservo.creator.user
Normal file
184
Auxiliary_utils/LibSidServo/libsidservo.creator.user
Normal file
@ -0,0 +1,184 @@
|
|||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<!DOCTYPE QtCreatorProject>
|
||||||
|
<!-- Written by QtCreator 15.0.1, 2025-02-19T23:05:54. -->
|
||||||
|
<qtcreator>
|
||||||
|
<data>
|
||||||
|
<variable>EnvironmentId</variable>
|
||||||
|
<value type="QByteArray">{7bd84e39-ca37-46d3-be9d-99ebea85bc0d}</value>
|
||||||
|
</data>
|
||||||
|
<data>
|
||||||
|
<variable>ProjectExplorer.Project.ActiveTarget</variable>
|
||||||
|
<value type="qlonglong">0</value>
|
||||||
|
</data>
|
||||||
|
<data>
|
||||||
|
<variable>ProjectExplorer.Project.EditorSettings</variable>
|
||||||
|
<valuemap type="QVariantMap">
|
||||||
|
<value type="bool" key="EditorConfiguration.AutoIndent">true</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.AutoSpacesForTabs">false</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.CamelCaseNavigation">true</value>
|
||||||
|
<valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
|
||||||
|
<value type="QString" key="language">Cpp</value>
|
||||||
|
<valuemap type="QVariantMap" key="value">
|
||||||
|
<value type="QByteArray" key="CurrentPreferences">CppGlobal</value>
|
||||||
|
</valuemap>
|
||||||
|
</valuemap>
|
||||||
|
<valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.1">
|
||||||
|
<value type="QString" key="language">QmlJS</value>
|
||||||
|
<valuemap type="QVariantMap" key="value">
|
||||||
|
<value type="QByteArray" key="CurrentPreferences">QmlJSGlobal</value>
|
||||||
|
</valuemap>
|
||||||
|
</valuemap>
|
||||||
|
<value type="qlonglong" key="EditorConfiguration.CodeStyle.Count">2</value>
|
||||||
|
<value type="QByteArray" key="EditorConfiguration.Codec">KOI8-R</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.ConstrainTooltips">false</value>
|
||||||
|
<value type="int" key="EditorConfiguration.IndentSize">4</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.KeyboardTooltips">false</value>
|
||||||
|
<value type="int" key="EditorConfiguration.LineEndingBehavior">0</value>
|
||||||
|
<value type="int" key="EditorConfiguration.MarginColumn">80</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.MouseHiding">true</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.MouseNavigation">true</value>
|
||||||
|
<value type="int" key="EditorConfiguration.PaddingMode">1</value>
|
||||||
|
<value type="int" key="EditorConfiguration.PreferAfterWhitespaceComments">0</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.PreferSingleLineComments">false</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.ShowMargin">false</value>
|
||||||
|
<value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
|
||||||
|
<value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
|
||||||
|
<value type="int" key="EditorConfiguration.TabSize">8</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.UseGlobal">true</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.UseIndenter">false</value>
|
||||||
|
<value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.cleanIndentation">false</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
|
||||||
|
<value type="QString" key="EditorConfiguration.ignoreFileTypes">*.md, *.MD, Makefile</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.inEntireDocument">false</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.skipTrailingWhitespace">true</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.tintMarginArea">true</value>
|
||||||
|
</valuemap>
|
||||||
|
</data>
|
||||||
|
<data>
|
||||||
|
<variable>ProjectExplorer.Project.PluginSettings</variable>
|
||||||
|
<valuemap type="QVariantMap">
|
||||||
|
<valuemap type="QVariantMap" key="AutoTest.ActiveFrameworks">
|
||||||
|
<value type="bool" key="AutoTest.Framework.Boost">true</value>
|
||||||
|
<value type="bool" key="AutoTest.Framework.CTest">false</value>
|
||||||
|
<value type="bool" key="AutoTest.Framework.Catch">true</value>
|
||||||
|
<value type="bool" key="AutoTest.Framework.GTest">true</value>
|
||||||
|
<value type="bool" key="AutoTest.Framework.QtQuickTest">true</value>
|
||||||
|
<value type="bool" key="AutoTest.Framework.QtTest">true</value>
|
||||||
|
</valuemap>
|
||||||
|
<value type="bool" key="AutoTest.ApplyFilter">false</value>
|
||||||
|
<valuemap type="QVariantMap" key="AutoTest.CheckStates"/>
|
||||||
|
<valuelist type="QVariantList" key="AutoTest.PathFilters"/>
|
||||||
|
<value type="int" key="AutoTest.RunAfterBuild">0</value>
|
||||||
|
<value type="bool" key="AutoTest.UseGlobal">true</value>
|
||||||
|
<valuelist type="QVariantList" key="ClangCodeModel.CustomCommandLineKey"/>
|
||||||
|
<value type="bool" key="ClangCodeModel.UseGlobalConfig">true</value>
|
||||||
|
<valuemap type="QVariantMap" key="ClangTools">
|
||||||
|
<value type="bool" key="ClangTools.AnalyzeOpenFiles">true</value>
|
||||||
|
<value type="bool" key="ClangTools.BuildBeforeAnalysis">true</value>
|
||||||
|
<value type="QString" key="ClangTools.DiagnosticConfig">Builtin.DefaultTidyAndClazy</value>
|
||||||
|
<value type="int" key="ClangTools.ParallelJobs">8</value>
|
||||||
|
<value type="bool" key="ClangTools.PreferConfigFile">true</value>
|
||||||
|
<valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
|
||||||
|
<valuelist type="QVariantList" key="ClangTools.SelectedFiles"/>
|
||||||
|
<valuelist type="QVariantList" key="ClangTools.SuppressedDiagnostics"/>
|
||||||
|
<value type="bool" key="ClangTools.UseGlobalSettings">true</value>
|
||||||
|
</valuemap>
|
||||||
|
</valuemap>
|
||||||
|
</data>
|
||||||
|
<data>
|
||||||
|
<variable>ProjectExplorer.Project.Target.0</variable>
|
||||||
|
<valuemap type="QVariantMap">
|
||||||
|
<value type="QString" key="DeviceType">Desktop</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{65a14f9e-e008-4c1b-89df-4eaa4774b6e3}</value>
|
||||||
|
<value type="qlonglong" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
|
||||||
|
<value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
|
||||||
|
<value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
|
||||||
|
<value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/Big/Data/00__Small_tel/C-sources/erfa</value>
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
|
||||||
|
<valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
|
||||||
|
<value type="QString">all</value>
|
||||||
|
</valuelist>
|
||||||
|
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
|
||||||
|
</valuemap>
|
||||||
|
<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Build</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Build</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value>
|
||||||
|
</valuemap>
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.1">
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
|
||||||
|
<valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
|
||||||
|
<value type="QString">clean</value>
|
||||||
|
</valuelist>
|
||||||
|
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
|
||||||
|
</valuemap>
|
||||||
|
<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Clean</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Clean</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
|
||||||
|
</valuemap>
|
||||||
|
<value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
|
||||||
|
<value type="bool" key="ProjectExplorer.BuildConfiguration.ClearSystemEnvironment">false</value>
|
||||||
|
<valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.CustomParsers"/>
|
||||||
|
<value type="bool" key="ProjectExplorer.BuildConfiguration.ParseStandardOutput">false</value>
|
||||||
|
<valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">По умолчанию</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericBuildConfiguration</value>
|
||||||
|
</valuemap>
|
||||||
|
<value type="qlonglong" key="ProjectExplorer.Target.BuildConfigurationCount">1</value>
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
|
||||||
|
<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Deploy</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
|
||||||
|
</valuemap>
|
||||||
|
<value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.DeployConfiguration.CustomData"/>
|
||||||
|
<value type="bool" key="ProjectExplorer.DeployConfiguration.CustomDataEnabled">false</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
|
||||||
|
</valuemap>
|
||||||
|
<value type="qlonglong" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
|
||||||
|
<value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
|
||||||
|
<value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
|
||||||
|
<value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
|
||||||
|
<valuelist type="QVariantList" key="CustomOutputParsers"/>
|
||||||
|
<value type="int" key="PE.EnvironmentAspect.Base">2</value>
|
||||||
|
<valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
|
||||||
|
<value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
|
||||||
|
<value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
|
||||||
|
<value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
|
||||||
|
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
|
||||||
|
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
|
||||||
|
</valuemap>
|
||||||
|
<value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
|
||||||
|
</valuemap>
|
||||||
|
</data>
|
||||||
|
<data>
|
||||||
|
<variable>ProjectExplorer.Project.TargetCount</variable>
|
||||||
|
<value type="qlonglong">1</value>
|
||||||
|
</data>
|
||||||
|
<data>
|
||||||
|
<variable>ProjectExplorer.Project.Updater.FileVersion</variable>
|
||||||
|
<value type="int">22</value>
|
||||||
|
</data>
|
||||||
|
<data>
|
||||||
|
<variable>Version</variable>
|
||||||
|
<value type="int">22</value>
|
||||||
|
</data>
|
||||||
|
</qtcreator>
|
||||||
165
Auxiliary_utils/LibSidServo/libsidservo.creator.user.7bd84e3
Normal file
165
Auxiliary_utils/LibSidServo/libsidservo.creator.user.7bd84e3
Normal file
@ -0,0 +1,165 @@
|
|||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<!DOCTYPE QtCreatorProject>
|
||||||
|
<!-- Written by QtCreator 4.10.1, 2020-05-19T00:12:06. -->
|
||||||
|
<qtcreator>
|
||||||
|
<data>
|
||||||
|
<variable>EnvironmentId</variable>
|
||||||
|
<value type="QByteArray">{7bd84e39-ca37-46d3-be9d-99ebea85bc0d}</value>
|
||||||
|
</data>
|
||||||
|
<data>
|
||||||
|
<variable>ProjectExplorer.Project.ActiveTarget</variable>
|
||||||
|
<value type="int">0</value>
|
||||||
|
</data>
|
||||||
|
<data>
|
||||||
|
<variable>ProjectExplorer.Project.EditorSettings</variable>
|
||||||
|
<valuemap type="QVariantMap">
|
||||||
|
<value type="bool" key="EditorConfiguration.AutoIndent">true</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.AutoSpacesForTabs">false</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.CamelCaseNavigation">true</value>
|
||||||
|
<valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
|
||||||
|
<value type="QString" key="language">Cpp</value>
|
||||||
|
<valuemap type="QVariantMap" key="value">
|
||||||
|
<value type="QByteArray" key="CurrentPreferences">CppGlobal</value>
|
||||||
|
</valuemap>
|
||||||
|
</valuemap>
|
||||||
|
<valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.1">
|
||||||
|
<value type="QString" key="language">QmlJS</value>
|
||||||
|
<valuemap type="QVariantMap" key="value">
|
||||||
|
<value type="QByteArray" key="CurrentPreferences">QmlJSGlobal</value>
|
||||||
|
</valuemap>
|
||||||
|
</valuemap>
|
||||||
|
<value type="int" key="EditorConfiguration.CodeStyle.Count">2</value>
|
||||||
|
<value type="QByteArray" key="EditorConfiguration.Codec">KOI8-R</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.ConstrainTooltips">false</value>
|
||||||
|
<value type="int" key="EditorConfiguration.IndentSize">4</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.KeyboardTooltips">false</value>
|
||||||
|
<value type="int" key="EditorConfiguration.MarginColumn">80</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.MouseHiding">true</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.MouseNavigation">true</value>
|
||||||
|
<value type="int" key="EditorConfiguration.PaddingMode">1</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.ShowMargin">false</value>
|
||||||
|
<value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
|
||||||
|
<value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
|
||||||
|
<value type="int" key="EditorConfiguration.TabSize">8</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.UseGlobal">true</value>
|
||||||
|
<value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.cleanIndentation">false</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.inEntireDocument">false</value>
|
||||||
|
</valuemap>
|
||||||
|
</data>
|
||||||
|
<data>
|
||||||
|
<variable>ProjectExplorer.Project.PluginSettings</variable>
|
||||||
|
<valuemap type="QVariantMap">
|
||||||
|
<valuelist type="QVariantList" key="ClangCodeModel.CustomCommandLineKey"/>
|
||||||
|
<value type="bool" key="ClangCodeModel.UseGlobalConfig">true</value>
|
||||||
|
</valuemap>
|
||||||
|
</data>
|
||||||
|
<data>
|
||||||
|
<variable>ProjectExplorer.Project.Target.0</variable>
|
||||||
|
<valuemap type="QVariantMap">
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{65a14f9e-e008-4c1b-89df-4eaa4774b6e3}</value>
|
||||||
|
<value type="int" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
|
||||||
|
<value type="int" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
|
||||||
|
<value type="int" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
|
||||||
|
<value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/Big/Data/00__Small_tel/C-sources/erfa</value>
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
|
||||||
|
<valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
|
||||||
|
<value type="QString">all</value>
|
||||||
|
</valuelist>
|
||||||
|
<value type="bool" key="GenericProjectManager.GenericMakeStep.Clean">false</value>
|
||||||
|
<value type="QString" key="GenericProjectManager.GenericMakeStep.MakeArguments"></value>
|
||||||
|
<value type="QString" key="GenericProjectManager.GenericMakeStep.MakeCommand"></value>
|
||||||
|
<value type="bool" key="GenericProjectManager.GenericMakeStep.OverrideMakeflags">false</value>
|
||||||
|
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Сборка</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
|
||||||
|
</valuemap>
|
||||||
|
<value type="int" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Сборка</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value>
|
||||||
|
</valuemap>
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.1">
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
|
||||||
|
<valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
|
||||||
|
<value type="QString">clean</value>
|
||||||
|
</valuelist>
|
||||||
|
<value type="bool" key="GenericProjectManager.GenericMakeStep.Clean">false</value>
|
||||||
|
<value type="QString" key="GenericProjectManager.GenericMakeStep.MakeArguments"></value>
|
||||||
|
<value type="QString" key="GenericProjectManager.GenericMakeStep.MakeCommand"></value>
|
||||||
|
<value type="bool" key="GenericProjectManager.GenericMakeStep.OverrideMakeflags">false</value>
|
||||||
|
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Сборка</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
|
||||||
|
</valuemap>
|
||||||
|
<value type="int" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Очистка</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
|
||||||
|
</valuemap>
|
||||||
|
<value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
|
||||||
|
<value type="bool" key="ProjectExplorer.BuildConfiguration.ClearSystemEnvironment">false</value>
|
||||||
|
<valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">По умолчанию</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">По умолчанию</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericBuildConfiguration</value>
|
||||||
|
</valuemap>
|
||||||
|
<value type="int" key="ProjectExplorer.Target.BuildConfigurationCount">1</value>
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
|
||||||
|
<value type="int" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Развёртывание</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
|
||||||
|
</valuemap>
|
||||||
|
<value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Конфигурация развёртывания</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
|
||||||
|
</valuemap>
|
||||||
|
<value type="int" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.Target.PluginSettings"/>
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
|
||||||
|
<value type="int" key="PE.EnvironmentAspect.Base">2</value>
|
||||||
|
<valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
|
||||||
|
<value type="QString" key="ProjectExplorer.CustomExecutableRunConfiguration.Executable"></value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Особая программа</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
|
||||||
|
<value type="QString" key="RunConfiguration.Arguments"></value>
|
||||||
|
<value type="uint" key="RunConfiguration.QmlDebugServerPort">3768</value>
|
||||||
|
<value type="bool" key="RunConfiguration.UseCppDebugger">false</value>
|
||||||
|
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
|
||||||
|
<value type="bool" key="RunConfiguration.UseMultiProcess">false</value>
|
||||||
|
<value type="bool" key="RunConfiguration.UseQmlDebugger">false</value>
|
||||||
|
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
|
||||||
|
<value type="QString" key="RunConfiguration.WorkingDirectory"></value>
|
||||||
|
<value type="QString" key="RunConfiguration.WorkingDirectory.default"></value>
|
||||||
|
</valuemap>
|
||||||
|
<value type="int" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
|
||||||
|
</valuemap>
|
||||||
|
</data>
|
||||||
|
<data>
|
||||||
|
<variable>ProjectExplorer.Project.TargetCount</variable>
|
||||||
|
<value type="int">1</value>
|
||||||
|
</data>
|
||||||
|
<data>
|
||||||
|
<variable>ProjectExplorer.Project.Updater.FileVersion</variable>
|
||||||
|
<value type="int">22</value>
|
||||||
|
</data>
|
||||||
|
<data>
|
||||||
|
<variable>Version</variable>
|
||||||
|
<value type="int">22</value>
|
||||||
|
</data>
|
||||||
|
</qtcreator>
|
||||||
184
Auxiliary_utils/LibSidServo/libsidservo.creator.user.cf63021
Normal file
184
Auxiliary_utils/LibSidServo/libsidservo.creator.user.cf63021
Normal file
@ -0,0 +1,184 @@
|
|||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<!DOCTYPE QtCreatorProject>
|
||||||
|
<!-- Written by QtCreator 15.0.0, 2025-01-27T14:56:12. -->
|
||||||
|
<qtcreator>
|
||||||
|
<data>
|
||||||
|
<variable>EnvironmentId</variable>
|
||||||
|
<value type="QByteArray">{cf63021e-ef53-49b0-b03b-2f2570cdf3b6}</value>
|
||||||
|
</data>
|
||||||
|
<data>
|
||||||
|
<variable>ProjectExplorer.Project.ActiveTarget</variable>
|
||||||
|
<value type="qlonglong">0</value>
|
||||||
|
</data>
|
||||||
|
<data>
|
||||||
|
<variable>ProjectExplorer.Project.EditorSettings</variable>
|
||||||
|
<valuemap type="QVariantMap">
|
||||||
|
<value type="bool" key="EditorConfiguration.AutoIndent">true</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.AutoSpacesForTabs">false</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.CamelCaseNavigation">true</value>
|
||||||
|
<valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
|
||||||
|
<value type="QString" key="language">Cpp</value>
|
||||||
|
<valuemap type="QVariantMap" key="value">
|
||||||
|
<value type="QByteArray" key="CurrentPreferences">CppGlobal</value>
|
||||||
|
</valuemap>
|
||||||
|
</valuemap>
|
||||||
|
<valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.1">
|
||||||
|
<value type="QString" key="language">QmlJS</value>
|
||||||
|
<valuemap type="QVariantMap" key="value">
|
||||||
|
<value type="QByteArray" key="CurrentPreferences">QmlJSGlobal</value>
|
||||||
|
</valuemap>
|
||||||
|
</valuemap>
|
||||||
|
<value type="qlonglong" key="EditorConfiguration.CodeStyle.Count">2</value>
|
||||||
|
<value type="QByteArray" key="EditorConfiguration.Codec">KOI8-R</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.ConstrainTooltips">false</value>
|
||||||
|
<value type="int" key="EditorConfiguration.IndentSize">4</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.KeyboardTooltips">false</value>
|
||||||
|
<value type="int" key="EditorConfiguration.LineEndingBehavior">0</value>
|
||||||
|
<value type="int" key="EditorConfiguration.MarginColumn">80</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.MouseHiding">true</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.MouseNavigation">true</value>
|
||||||
|
<value type="int" key="EditorConfiguration.PaddingMode">1</value>
|
||||||
|
<value type="int" key="EditorConfiguration.PreferAfterWhitespaceComments">0</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.PreferSingleLineComments">false</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.ScrollWheelZooming">false</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.ShowMargin">false</value>
|
||||||
|
<value type="int" key="EditorConfiguration.SmartBackspaceBehavior">1</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
|
||||||
|
<value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
|
||||||
|
<value type="int" key="EditorConfiguration.TabSize">8</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.UseGlobal">true</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.UseIndenter">false</value>
|
||||||
|
<value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.cleanIndentation">true</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
|
||||||
|
<value type="QString" key="EditorConfiguration.ignoreFileTypes">*.md, *.MD, Makefile</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.inEntireDocument">true</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.skipTrailingWhitespace">true</value>
|
||||||
|
<value type="bool" key="EditorConfiguration.tintMarginArea">true</value>
|
||||||
|
</valuemap>
|
||||||
|
</data>
|
||||||
|
<data>
|
||||||
|
<variable>ProjectExplorer.Project.PluginSettings</variable>
|
||||||
|
<valuemap type="QVariantMap">
|
||||||
|
<valuemap type="QVariantMap" key="AutoTest.ActiveFrameworks">
|
||||||
|
<value type="bool" key="AutoTest.Framework.Boost">true</value>
|
||||||
|
<value type="bool" key="AutoTest.Framework.CTest">false</value>
|
||||||
|
<value type="bool" key="AutoTest.Framework.Catch">true</value>
|
||||||
|
<value type="bool" key="AutoTest.Framework.GTest">true</value>
|
||||||
|
<value type="bool" key="AutoTest.Framework.QtQuickTest">true</value>
|
||||||
|
<value type="bool" key="AutoTest.Framework.QtTest">true</value>
|
||||||
|
</valuemap>
|
||||||
|
<value type="bool" key="AutoTest.ApplyFilter">false</value>
|
||||||
|
<valuemap type="QVariantMap" key="AutoTest.CheckStates"/>
|
||||||
|
<valuelist type="QVariantList" key="AutoTest.PathFilters"/>
|
||||||
|
<value type="int" key="AutoTest.RunAfterBuild">0</value>
|
||||||
|
<value type="bool" key="AutoTest.UseGlobal">true</value>
|
||||||
|
<valuemap type="QVariantMap" key="ClangTools">
|
||||||
|
<value type="bool" key="ClangTools.AnalyzeOpenFiles">true</value>
|
||||||
|
<value type="bool" key="ClangTools.BuildBeforeAnalysis">true</value>
|
||||||
|
<value type="QString" key="ClangTools.DiagnosticConfig">Builtin.DefaultTidyAndClazy</value>
|
||||||
|
<value type="int" key="ClangTools.ParallelJobs">4</value>
|
||||||
|
<value type="bool" key="ClangTools.PreferConfigFile">true</value>
|
||||||
|
<valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
|
||||||
|
<valuelist type="QVariantList" key="ClangTools.SelectedFiles"/>
|
||||||
|
<valuelist type="QVariantList" key="ClangTools.SuppressedDiagnostics"/>
|
||||||
|
<value type="bool" key="ClangTools.UseGlobalSettings">true</value>
|
||||||
|
</valuemap>
|
||||||
|
</valuemap>
|
||||||
|
</data>
|
||||||
|
<data>
|
||||||
|
<variable>ProjectExplorer.Project.Target.0</variable>
|
||||||
|
<valuemap type="QVariantMap">
|
||||||
|
<value type="QString" key="DeviceType">Desktop</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{91347f2c-5221-46a7-80b1-0a054ca02f79}</value>
|
||||||
|
<value type="qlonglong" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
|
||||||
|
<value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
|
||||||
|
<value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
|
||||||
|
<value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/eddy/Docs/SAO/10micron/C-sources/erfa_functions</value>
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
|
||||||
|
<valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
|
||||||
|
<value type="QString">all</value>
|
||||||
|
</valuelist>
|
||||||
|
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
|
||||||
|
</valuemap>
|
||||||
|
<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Сборка</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Сборка</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value>
|
||||||
|
</valuemap>
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.1">
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
|
||||||
|
<valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
|
||||||
|
<value type="QString">clean</value>
|
||||||
|
</valuelist>
|
||||||
|
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
|
||||||
|
</valuemap>
|
||||||
|
<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Очистка</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Очистка</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
|
||||||
|
</valuemap>
|
||||||
|
<value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
|
||||||
|
<value type="bool" key="ProjectExplorer.BuildConfiguration.ClearSystemEnvironment">false</value>
|
||||||
|
<valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.CustomParsers"/>
|
||||||
|
<value type="bool" key="ProjectExplorer.BuildConfiguration.ParseStandardOutput">false</value>
|
||||||
|
<valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">По умолчанию</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericBuildConfiguration</value>
|
||||||
|
</valuemap>
|
||||||
|
<value type="qlonglong" key="ProjectExplorer.Target.BuildConfigurationCount">1</value>
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
|
||||||
|
<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Развёртывание</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Развёртывание</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
|
||||||
|
</valuemap>
|
||||||
|
<value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.DeployConfiguration.CustomData"/>
|
||||||
|
<value type="bool" key="ProjectExplorer.DeployConfiguration.CustomDataEnabled">false</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
|
||||||
|
</valuemap>
|
||||||
|
<value type="qlonglong" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
|
||||||
|
<valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
|
||||||
|
<value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
|
||||||
|
<value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
|
||||||
|
<value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
|
||||||
|
<value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
|
||||||
|
<value type="QList<int>" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
|
||||||
|
<valuelist type="QVariantList" key="CustomOutputParsers"/>
|
||||||
|
<value type="int" key="PE.EnvironmentAspect.Base">2</value>
|
||||||
|
<valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
|
||||||
|
<value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
|
||||||
|
<value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
|
||||||
|
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
|
||||||
|
<value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
|
||||||
|
<value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
|
||||||
|
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
|
||||||
|
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
|
||||||
|
</valuemap>
|
||||||
|
<value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
|
||||||
|
</valuemap>
|
||||||
|
</data>
|
||||||
|
<data>
|
||||||
|
<variable>ProjectExplorer.Project.TargetCount</variable>
|
||||||
|
<value type="qlonglong">1</value>
|
||||||
|
</data>
|
||||||
|
<data>
|
||||||
|
<variable>ProjectExplorer.Project.Updater.FileVersion</variable>
|
||||||
|
<value type="int">22</value>
|
||||||
|
</data>
|
||||||
|
<data>
|
||||||
|
<variable>Version</variable>
|
||||||
|
<value type="int">22</value>
|
||||||
|
</data>
|
||||||
|
</qtcreator>
|
||||||
1
Auxiliary_utils/LibSidServo/libsidservo.cxxflags
Normal file
1
Auxiliary_utils/LibSidServo/libsidservo.cxxflags
Normal file
@ -0,0 +1 @@
|
|||||||
|
-std=c++17
|
||||||
19
Auxiliary_utils/LibSidServo/libsidservo.files
Normal file
19
Auxiliary_utils/LibSidServo/libsidservo.files
Normal file
@ -0,0 +1,19 @@
|
|||||||
|
CMakeLists.txt
|
||||||
|
dbg.h
|
||||||
|
examples/dump.c
|
||||||
|
examples/dump.h
|
||||||
|
examples/dumpmoving.c
|
||||||
|
examples/dumpmoving_scmd.c
|
||||||
|
examples/dumpswing.c
|
||||||
|
examples/goto.c
|
||||||
|
examples/scmd_traectory.c
|
||||||
|
examples/simpleconv.h
|
||||||
|
main.c
|
||||||
|
sidservo.h
|
||||||
|
serial.c
|
||||||
|
examples/CMakeLists.txt
|
||||||
|
examples/traectories.c
|
||||||
|
examples/traectories.h
|
||||||
|
serial.h
|
||||||
|
ssii.c
|
||||||
|
ssii.h
|
||||||
2
Auxiliary_utils/LibSidServo/libsidservo.includes
Normal file
2
Auxiliary_utils/LibSidServo/libsidservo.includes
Normal file
@ -0,0 +1,2 @@
|
|||||||
|
.
|
||||||
|
..
|
||||||
161
Auxiliary_utils/LibSidServo/main.c
Normal file
161
Auxiliary_utils/LibSidServo/main.c
Normal file
@ -0,0 +1,161 @@
|
|||||||
|
/*
|
||||||
|
* This file is part of the libsidservo project.
|
||||||
|
* Copyright 2025 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/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <stdlib.h>
|
||||||
|
|
||||||
|
#include "dbg.h"
|
||||||
|
#include "serial.h"
|
||||||
|
#include "ssii.h"
|
||||||
|
|
||||||
|
conf_t Conf = {0};
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief quit - close all opened and return to default state
|
||||||
|
*/
|
||||||
|
static void quit(){
|
||||||
|
DBG("Close serial devices");
|
||||||
|
for(int i = 0; i < 10; ++i) if(SSemergStop()) break;
|
||||||
|
closeSerial();
|
||||||
|
DBG("Exit");
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief init - open serial devices and do other job
|
||||||
|
* @param c - initial configuration
|
||||||
|
* @return error code
|
||||||
|
*/
|
||||||
|
static mcc_errcodes_t init(conf_t *c){
|
||||||
|
FNAME();
|
||||||
|
if(!c) return MCC_E_BADFORMAT;
|
||||||
|
Conf = *c;
|
||||||
|
mcc_errcodes_t ret = MCC_E_OK;
|
||||||
|
if(!Conf.MountDevPath || Conf.MountDevSpeed < 1200){
|
||||||
|
DBG("Define mount device path and speed");
|
||||||
|
ret = MCC_E_BADFORMAT;
|
||||||
|
}else if(!openMount(Conf.MountDevPath, Conf.MountDevSpeed)){
|
||||||
|
DBG("Can't open %s with speed %d", Conf.MountDevPath, Conf.MountDevSpeed);
|
||||||
|
ret = MCC_E_MOUNTDEV;
|
||||||
|
}
|
||||||
|
if(Conf.SepEncoder){
|
||||||
|
if(!Conf.EncoderDevPath || Conf.EncoderDevSpeed < 1200){
|
||||||
|
DBG("Define encoder device path and speed");
|
||||||
|
ret = MCC_E_BADFORMAT;
|
||||||
|
}else if(!openEncoder(Conf.EncoderDevPath, Conf.EncoderDevSpeed)){
|
||||||
|
DBG("Can't open %s with speed %d", Conf.EncoderDevPath, Conf.EncoderDevSpeed);
|
||||||
|
ret = MCC_E_ENCODERDEV;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if(Conf.MountReqInterval > 1. || Conf.MountReqInterval < 0.001){
|
||||||
|
DBG("Bad value of MountReqInterval");
|
||||||
|
ret = MCC_E_BADFORMAT;
|
||||||
|
}
|
||||||
|
if(ret != MCC_E_OK) quit();
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief move2 - simple move to given point and stop
|
||||||
|
* @param X - new X coordinate (radians: -pi..pi)
|
||||||
|
* @param Y - new Y coordinate (radians: -pi..pi)
|
||||||
|
* @return error code
|
||||||
|
*/
|
||||||
|
static mcc_errcodes_t move2(double X, double Y){
|
||||||
|
if(X > M_PI || X < -M_PI || Y > M_PI || Y < -M_PI){
|
||||||
|
DBG("Wrong coords: X=%g, Y=%g", X, Y);
|
||||||
|
return MCC_E_BADFORMAT;
|
||||||
|
}
|
||||||
|
if(!SSXmoveto(X) || !SSYmoveto(Y)) return MCC_E_FAILED;
|
||||||
|
return MCC_E_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief emstop - emergency stop
|
||||||
|
* @return errcode
|
||||||
|
*/
|
||||||
|
static mcc_errcodes_t emstop(){
|
||||||
|
if(!SSemergStop()) return MCC_E_FAILED;
|
||||||
|
return MCC_E_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief shortcmd - send and receive short binary command
|
||||||
|
* @param cmd (io) - command
|
||||||
|
* @return errcode
|
||||||
|
*/
|
||||||
|
static mcc_errcodes_t shortcmd(short_command_t *cmd){
|
||||||
|
if(!cmd) return MCC_E_BADFORMAT;
|
||||||
|
SSscmd s = {0};
|
||||||
|
DBG("xmot=%g, ymot=%g", cmd->Xmot, cmd->Ymot);
|
||||||
|
s.Xmot = X_RAD2MOT(cmd->Xmot);
|
||||||
|
s.Ymot = Y_RAD2MOT(cmd->Ymot);
|
||||||
|
s.Xspeed = X_RS2MOTSPD(cmd->Xspeed);
|
||||||
|
s.Yspeed = Y_RS2MOTSPD(cmd->Yspeed);
|
||||||
|
s.xychange = cmd->xychange;
|
||||||
|
s.XBits = cmd->XBits;
|
||||||
|
s.YBits = cmd->YBits;
|
||||||
|
DBG("X->%d, Y->%d, Xs->%d, Ys->%d", s.Xmot, s.Ymot, s.Xspeed, s.Yspeed);
|
||||||
|
if(!cmdS(&s)) return MCC_E_FAILED;
|
||||||
|
cmd->Xmot = X_MOT2RAD(s.Xmot);
|
||||||
|
cmd->Ymot = Y_MOT2RAD(s.Ymot);
|
||||||
|
cmd->Xspeed = X_MOTSPD2RS(s.Xspeed);
|
||||||
|
cmd->Yspeed = Y_MOTSPD2RS(s.Yspeed);
|
||||||
|
cmd->xychange = s.xychange;
|
||||||
|
cmd->XBits = s.XBits;
|
||||||
|
cmd->YBits = s.YBits;
|
||||||
|
return MCC_E_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief shortcmd - send and receive long binary command
|
||||||
|
* @param cmd (io) - command
|
||||||
|
* @return errcode
|
||||||
|
*/
|
||||||
|
static mcc_errcodes_t longcmd(long_command_t *cmd){
|
||||||
|
if(!cmd) return MCC_E_BADFORMAT;
|
||||||
|
SSlcmd l = {0};
|
||||||
|
l.Xmot = X_RAD2MOT(cmd->Xmot);
|
||||||
|
l.Ymot = Y_RAD2MOT(cmd->Ymot);
|
||||||
|
l.Xspeed = X_RS2MOTSPD(cmd->Xspeed);
|
||||||
|
l.Yspeed = Y_RS2MOTSPD(cmd->Yspeed);
|
||||||
|
l.Xadder = X_RS2MOTSPD(cmd->Xadder);
|
||||||
|
l.Yadder = Y_RS2MOTSPD(cmd->Yadder);
|
||||||
|
l.Xatime = S2ADDER(cmd->Xatime);
|
||||||
|
l.Yatime = S2ADDER(cmd->Yatime);
|
||||||
|
if(!cmdL(&l)) return MCC_E_FAILED;
|
||||||
|
cmd->Xmot = X_MOT2RAD(l.Xmot);
|
||||||
|
cmd->Ymot = Y_MOT2RAD(l.Ymot);
|
||||||
|
cmd->Xspeed = X_MOTSPD2RS(l.Xspeed);
|
||||||
|
cmd->Yspeed = Y_MOTSPD2RS(l.Yspeed);
|
||||||
|
cmd->Xadder = X_MOTSPD2RS(l.Xadder);
|
||||||
|
cmd->Yadder = Y_MOTSPD2RS(l.Yadder);
|
||||||
|
cmd->Xatime = ADDER2S(l.Xatime);
|
||||||
|
cmd->Yatime = ADDER2S(l.Yatime);
|
||||||
|
return MCC_E_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
// init mount class
|
||||||
|
mount_t Mount = {
|
||||||
|
.init = init,
|
||||||
|
.quit = quit,
|
||||||
|
.getMountData = getMD,
|
||||||
|
.moveTo = move2,
|
||||||
|
.emergStop = emstop,
|
||||||
|
.shortCmd = shortcmd,
|
||||||
|
.longCmd = longcmd,
|
||||||
|
};
|
||||||
7
Auxiliary_utils/LibSidServo/mainconf.conf
Normal file
7
Auxiliary_utils/LibSidServo/mainconf.conf
Normal file
@ -0,0 +1,7 @@
|
|||||||
|
# configuration file for SSII driven equatorial mount
|
||||||
|
verbose = 5
|
||||||
|
mountpath = /dev/ttyS1
|
||||||
|
mountspeed = 19200
|
||||||
|
encoderpath = /dev/ttyUSB0
|
||||||
|
encoderspeed = 153000
|
||||||
|
|
||||||
461
Auxiliary_utils/LibSidServo/serial.c
Normal file
461
Auxiliary_utils/LibSidServo/serial.c
Normal file
@ -0,0 +1,461 @@
|
|||||||
|
/*
|
||||||
|
* This file is part of the libsidservo project.
|
||||||
|
* Copyright 2025 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/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <asm-generic/termbits.h>
|
||||||
|
#include <errno.h>
|
||||||
|
#include <fcntl.h>
|
||||||
|
#include <math.h>
|
||||||
|
#include <pthread.h>
|
||||||
|
#include <stdint.h>
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <stdlib.h>
|
||||||
|
#include <string.h>
|
||||||
|
#include <sys/ioctl.h>
|
||||||
|
#include <sys/stat.h>
|
||||||
|
#include <time.h>
|
||||||
|
#include <unistd.h>
|
||||||
|
|
||||||
|
#include "dbg.h"
|
||||||
|
#include "serial.h"
|
||||||
|
|
||||||
|
// serial devices FD
|
||||||
|
static int encfd = -1, mntfd = -1;
|
||||||
|
// main mount data
|
||||||
|
static mountdata_t mountdata = {0};
|
||||||
|
|
||||||
|
// mutexes for RW operations with mount device and data
|
||||||
|
static pthread_mutex_t mntmutex = PTHREAD_MUTEX_INITIALIZER,
|
||||||
|
datamutex = PTHREAD_MUTEX_INITIALIZER;
|
||||||
|
// encoders thread and mount thread
|
||||||
|
static pthread_t encthread, mntthread;
|
||||||
|
// max timeout for 1.5 bytes of encoder and 2 bytes of mount
|
||||||
|
static struct timeval encRtmout = {0}, mntRtmout = {0};
|
||||||
|
// encoders raw data
|
||||||
|
typedef struct __attribute__((packed)){
|
||||||
|
uint8_t magick;
|
||||||
|
int32_t encX;
|
||||||
|
int32_t encY;
|
||||||
|
uint8_t CRC[4];
|
||||||
|
} enc_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief dtime - UNIX time with microsecond
|
||||||
|
* @return value
|
||||||
|
*/
|
||||||
|
double dtime(){
|
||||||
|
double t;
|
||||||
|
struct timeval tv;
|
||||||
|
gettimeofday(&tv, NULL);
|
||||||
|
t = tv.tv_sec + ((double)tv.tv_usec)/1e6;
|
||||||
|
return t;
|
||||||
|
}
|
||||||
|
|
||||||
|
#if 0
|
||||||
|
// init start time
|
||||||
|
static void gttime(){
|
||||||
|
struct timeval tv;
|
||||||
|
gettimeofday(&tv, NULL);
|
||||||
|
tv_sec_got = tv.tv_sec;
|
||||||
|
tv_usec_got = tv.tv_usec;
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief parse_encbuf - check encoder buffer (for separate encoder) and fill fresh data
|
||||||
|
* @param databuf - input buffer with 13 bytes of data
|
||||||
|
* @param nexttime - time when databuf[0] got
|
||||||
|
*/
|
||||||
|
static void parse_encbuf(uint8_t databuf[ENC_DATALEN], struct timeval *tv){
|
||||||
|
enc_t *edata = (enc_t*) databuf;
|
||||||
|
if(edata->magick != ENC_MAGICK){
|
||||||
|
DBG("No magick");
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
if(edata->CRC[3]){
|
||||||
|
DBG("No 0 @ end: 0x%02x", edata->CRC[3]);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
uint32_t POS_SUM = 0;
|
||||||
|
for(int i = 1; i < 9; ++i) POS_SUM += databuf[i];
|
||||||
|
uint8_t x = POS_SUM >> 8;
|
||||||
|
if(edata->CRC[0] != x){
|
||||||
|
DBG("CRC[0] = 0x%02x, need 0x%02x", edata->CRC[0], x);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
uint8_t y = ((0xFFFF - POS_SUM) & 0xFF) - x;
|
||||||
|
if(edata->CRC[1] != y){
|
||||||
|
DBG("CRC[1] = 0x%02x, need 0x%02x", edata->CRC[1], y);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
y = (0xFFFF - POS_SUM) >> 8;
|
||||||
|
if(edata->CRC[2] != y){
|
||||||
|
DBG("CRC[2] = 0x%02x, need 0x%02x", edata->CRC[2], y);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
pthread_mutex_lock(&datamutex);
|
||||||
|
mountdata.encposition.X = X_ENC2RAD(edata->encX);
|
||||||
|
mountdata.encposition.Y = Y_ENC2RAD(edata->encY);
|
||||||
|
mountdata.encposition.msrtime = *tv;
|
||||||
|
pthread_mutex_unlock(&datamutex);
|
||||||
|
DBG("time = %zd+%zd/1e6, X=%g deg, Y=%g deg", tv->tv_sec, tv->tv_usec, mountdata.encposition.X*180./M_PI, mountdata.encposition.Y*180./M_PI);
|
||||||
|
}
|
||||||
|
|
||||||
|
// try to read 1 byte from encoder; return -1 if nothing to read or -2 if device seems to be disconnected
|
||||||
|
static int getencbyte(){
|
||||||
|
if(encfd < 0) return -1;
|
||||||
|
uint8_t byte;
|
||||||
|
fd_set rfds;
|
||||||
|
struct timeval tv;
|
||||||
|
do{
|
||||||
|
FD_ZERO(&rfds);
|
||||||
|
FD_SET(encfd, &rfds);
|
||||||
|
tv = encRtmout;
|
||||||
|
int retval = select(encfd + 1, &rfds, NULL, NULL, &tv);
|
||||||
|
if(!retval) break;
|
||||||
|
if(retval < 0){
|
||||||
|
if(errno == EINTR) continue;
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
if(FD_ISSET(encfd, &rfds)){
|
||||||
|
ssize_t l = read(encfd, &byte, 1);
|
||||||
|
if(l != 1) return -2; // disconnected ??
|
||||||
|
break;
|
||||||
|
} else return -1;
|
||||||
|
}while(1);
|
||||||
|
return (int)byte;
|
||||||
|
}
|
||||||
|
// read 1 byte from mount; return -1 if nothing to read, -2 if disconnected
|
||||||
|
static int getmntbyte(){
|
||||||
|
if(mntfd < 0) return -1;
|
||||||
|
uint8_t byte;
|
||||||
|
fd_set rfds;
|
||||||
|
struct timeval tv;
|
||||||
|
/* ssize_t l = read(mntfd, &byte, 1);
|
||||||
|
//DBG("MNT read=%zd byte=0x%X", l, byte);
|
||||||
|
if(l == 0) return -1;
|
||||||
|
if(l != 1) return -2; // disconnected ??
|
||||||
|
return (int) byte;*/
|
||||||
|
do{
|
||||||
|
FD_ZERO(&rfds);
|
||||||
|
FD_SET(mntfd, &rfds);
|
||||||
|
tv = mntRtmout;
|
||||||
|
int retval = select(mntfd + 1, &rfds, NULL, NULL, &tv);
|
||||||
|
if(retval < 0){
|
||||||
|
if(errno == EINTR) continue;
|
||||||
|
DBG("Error in select()");
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
//DBG("FD_ISSET = %d", FD_ISSET(mntfd, &rfds));
|
||||||
|
if(FD_ISSET(mntfd, &rfds)){
|
||||||
|
ssize_t l = read(mntfd, &byte, 1);
|
||||||
|
//DBG("MNT read=%zd byte=0x%X", l, byte);
|
||||||
|
if(l != 1) return -2; // disconnected ??
|
||||||
|
break;
|
||||||
|
} else return -1;
|
||||||
|
}while(1);
|
||||||
|
return (int)byte;
|
||||||
|
}
|
||||||
|
|
||||||
|
// main encoder thread (for separate encoder): read next data and make parsing
|
||||||
|
static void *encoderthread(void _U_ *u){
|
||||||
|
uint8_t databuf[ENC_DATALEN];
|
||||||
|
int wridx = 0, errctr = 0;
|
||||||
|
struct timeval tv;
|
||||||
|
while(encfd > -1 && errctr < MAX_ERR_CTR){
|
||||||
|
int b = getencbyte();
|
||||||
|
if(b == -2) ++errctr;
|
||||||
|
if(b < 0) continue;
|
||||||
|
errctr = 0;
|
||||||
|
DBG("Got byte from Encoder: 0x%02X", b);
|
||||||
|
if(wridx == 0){
|
||||||
|
if((uint8_t)b == ENC_MAGICK){
|
||||||
|
DBG("Got magic -> start filling packet");
|
||||||
|
databuf[wridx++] = (uint8_t) b;
|
||||||
|
gettimeofday(&tv, NULL);
|
||||||
|
}
|
||||||
|
continue;
|
||||||
|
}else databuf[wridx++] = (uint8_t) b;
|
||||||
|
if(wridx == ENC_DATALEN){
|
||||||
|
parse_encbuf(databuf, &tv);
|
||||||
|
wridx = 0;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if(encfd > -1){
|
||||||
|
close(encfd);
|
||||||
|
encfd = -1;
|
||||||
|
}
|
||||||
|
return NULL;
|
||||||
|
}
|
||||||
|
|
||||||
|
data_t *cmd2dat(const char *cmd){
|
||||||
|
if(!cmd) return NULL;
|
||||||
|
data_t *d = calloc(1, sizeof(data_t));
|
||||||
|
if(!d) return NULL;
|
||||||
|
d->buf = (uint8_t*)strdup(cmd);
|
||||||
|
d->len = strlen(cmd);
|
||||||
|
d->maxlen = d->len + 1;
|
||||||
|
return d;
|
||||||
|
}
|
||||||
|
void data_free(data_t **x){
|
||||||
|
if(!x || !*x) return;
|
||||||
|
free((*x)->buf);
|
||||||
|
free(*x);
|
||||||
|
*x = NULL;
|
||||||
|
}
|
||||||
|
|
||||||
|
// main mount thread
|
||||||
|
static void *mountthread(void _U_ *u){
|
||||||
|
int errctr = 0;
|
||||||
|
uint8_t buf[2*sizeof(SSstat)];
|
||||||
|
SSstat *status = (SSstat*) buf;
|
||||||
|
// data to get
|
||||||
|
data_t d = {.buf = buf, .maxlen = sizeof(buf)};
|
||||||
|
// cmd to send
|
||||||
|
data_t *cmd_getstat = cmd2dat(CMD_GETSTAT);
|
||||||
|
if(!cmd_getstat) goto failed;
|
||||||
|
double t0 = dtime();
|
||||||
|
/*
|
||||||
|
#ifdef EBUG
|
||||||
|
double t00 = t0;
|
||||||
|
#endif
|
||||||
|
*/
|
||||||
|
while(mntfd > -1 && errctr < MAX_ERR_CTR){
|
||||||
|
// read data to status
|
||||||
|
struct timeval tgot;
|
||||||
|
if(0 != gettimeofday(&tgot, NULL)) continue;
|
||||||
|
if(!MountWriteRead(cmd_getstat, &d) || d.len != sizeof(SSstat)){
|
||||||
|
DBG("Can't read SSstat, need %zd got %zd bytes", sizeof(SSstat), d.len);
|
||||||
|
++errctr; continue;
|
||||||
|
}
|
||||||
|
if(SScalcChecksum(buf, sizeof(SSstat)-2) != status->checksum){
|
||||||
|
DBG("BAD checksum of SSstat, need %d", status->checksum);
|
||||||
|
++errctr; continue;
|
||||||
|
}
|
||||||
|
errctr = 0;
|
||||||
|
pthread_mutex_lock(&datamutex);
|
||||||
|
// now change data
|
||||||
|
SSconvstat(status, &mountdata, &tgot);
|
||||||
|
pthread_mutex_unlock(&datamutex);
|
||||||
|
// allow writing & getters
|
||||||
|
//DBG("t0=%g, tnow=%g", t0-t00, dtime()-t00);
|
||||||
|
if(dtime() - t0 >= Conf.MountReqInterval) usleep(50);
|
||||||
|
while(dtime() - t0 < Conf.MountReqInterval);
|
||||||
|
t0 = dtime();
|
||||||
|
}
|
||||||
|
data_free(&cmd_getstat);
|
||||||
|
failed:
|
||||||
|
if(mntfd > -1){
|
||||||
|
close(mntfd);
|
||||||
|
mntfd = -1;
|
||||||
|
}
|
||||||
|
return NULL;
|
||||||
|
}
|
||||||
|
|
||||||
|
// open device and return its FD or -1
|
||||||
|
static int ttyopen(const char *path, speed_t speed){
|
||||||
|
int fd = -1;
|
||||||
|
struct termios2 tty;
|
||||||
|
DBG("Try to open %s @ %d", path, speed);
|
||||||
|
if((fd = open(path, O_RDWR|O_NOCTTY)) < 0) return -1;
|
||||||
|
if(ioctl(fd, TCGETS2, &tty)){ close(fd); return -1; }
|
||||||
|
tty.c_lflag = 0; // ~(ICANON | ECHO | ECHOE | ISIG)
|
||||||
|
tty.c_iflag = 0; // don't do any changes in input stream
|
||||||
|
tty.c_oflag = 0; // don't do any changes in output stream
|
||||||
|
tty.c_cflag = BOTHER | CS8 | CREAD | CLOCAL; // other speed, 8bit, RW, ignore line ctrl
|
||||||
|
tty.c_ispeed = speed;
|
||||||
|
tty.c_ospeed = speed;
|
||||||
|
//tty.c_cc[VMIN] = 0; // non-canonical mode
|
||||||
|
//tty.c_cc[VTIME] = 5;
|
||||||
|
if(ioctl(fd, TCSETS2, &tty)){ close(fd); return -1; }
|
||||||
|
DBG("Check speed");
|
||||||
|
if(tty.c_ispeed != (speed_t) speed || tty.c_ospeed != (speed_t)speed){ close(fd); return -1; }
|
||||||
|
// try to set exclusive
|
||||||
|
if(ioctl(fd, TIOCEXCL)){DBG("Can't make exclusive");}
|
||||||
|
return fd;
|
||||||
|
}
|
||||||
|
|
||||||
|
// return FALSE if failed
|
||||||
|
int openEncoder(const char *path, int speed){
|
||||||
|
if(!Conf.SepEncoder) return FALSE; // try to open separate encoder when it's absent
|
||||||
|
if(encfd > -1) close(encfd);
|
||||||
|
encfd = ttyopen(path, (speed_t) speed);
|
||||||
|
if(encfd < 0) return FALSE;
|
||||||
|
encRtmout.tv_sec = 0;
|
||||||
|
encRtmout.tv_usec = 200000000 / speed; // 20 bytes
|
||||||
|
if(pthread_create(&encthread, NULL, encoderthread, NULL)){
|
||||||
|
close(encfd);
|
||||||
|
encfd = -1;
|
||||||
|
return FALSE;
|
||||||
|
}
|
||||||
|
DBG("Encoder opened, thread started");
|
||||||
|
return TRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
// return FALSE if failed
|
||||||
|
int openMount(const char *path, int speed){
|
||||||
|
if(mntfd > -1) close(mntfd);
|
||||||
|
DBG("Open mount %s @ %d", path, speed);
|
||||||
|
mntfd = ttyopen(path, (speed_t) speed);
|
||||||
|
if(mntfd < 0) return FALSE;
|
||||||
|
DBG("mntfd=%d", mntfd);
|
||||||
|
// clear buffer
|
||||||
|
while(getmntbyte() > -1);
|
||||||
|
/*int g = write(mntfd, "XXS\r", 4);
|
||||||
|
DBG("Written %d", g);
|
||||||
|
uint8_t buf[100];
|
||||||
|
do{
|
||||||
|
ssize_t l = read(mntfd, buf, 100);
|
||||||
|
DBG("got %zd", l);
|
||||||
|
}while(1);*/
|
||||||
|
mntRtmout.tv_sec = 0;
|
||||||
|
mntRtmout.tv_usec = 500000000 / speed; // 50 bytes
|
||||||
|
if(pthread_create(&mntthread, NULL, mountthread, NULL)){
|
||||||
|
DBG("Can't create thread");
|
||||||
|
close(mntfd);
|
||||||
|
mntfd = -1;
|
||||||
|
return FALSE;
|
||||||
|
}
|
||||||
|
DBG("Mount opened, thread started");
|
||||||
|
return TRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
// close all opened serial devices and quit threads
|
||||||
|
void closeSerial(){
|
||||||
|
if(mntfd > -1){
|
||||||
|
DBG("Kill mount thread");
|
||||||
|
pthread_cancel(mntthread);
|
||||||
|
DBG("close fd");
|
||||||
|
close(mntfd);
|
||||||
|
mntfd = -1;
|
||||||
|
}
|
||||||
|
if(encfd > -1){
|
||||||
|
DBG("Kill encoder thread");
|
||||||
|
pthread_cancel(encthread);
|
||||||
|
DBG("close fd");
|
||||||
|
close(encfd);
|
||||||
|
encfd = -1;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// get fresh encoder information
|
||||||
|
mcc_errcodes_t getMD(mountdata_t *d){
|
||||||
|
if(!d) return MCC_E_BADFORMAT;
|
||||||
|
pthread_mutex_lock(&datamutex);
|
||||||
|
*d = mountdata;
|
||||||
|
pthread_mutex_unlock(&datamutex);
|
||||||
|
return MCC_E_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
// write-read without locking mutex (to be used inside other functions)
|
||||||
|
static int wr(const data_t *out, data_t *in, int needeol){
|
||||||
|
if((!out && !in) || mntfd < 0) return FALSE;
|
||||||
|
if(out){
|
||||||
|
if(out->len != (size_t)write(mntfd, out->buf, out->len)){
|
||||||
|
DBG("written bytes not equal to need");
|
||||||
|
return FALSE;
|
||||||
|
}
|
||||||
|
//DBG("Send to mount %zd bytes: %s", out->len, out->buf);
|
||||||
|
if(needeol){
|
||||||
|
int g = write(mntfd, "\r", 1); // add EOL
|
||||||
|
(void) g;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if(in){
|
||||||
|
in->len = 0;
|
||||||
|
for(size_t i = 0; i < in->maxlen; ++i){
|
||||||
|
int b = getmntbyte();
|
||||||
|
if(b < 0) break; // nothing to read -> go out
|
||||||
|
in->buf[in->len++] = (uint8_t) b;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return TRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief MountWriteRead - write and read @ once (or only read/write)
|
||||||
|
* @param out (o) - data to write or NULL if not need
|
||||||
|
* @param in (i) - data to read or NULL if not need
|
||||||
|
* @return FALSE if failed
|
||||||
|
*/
|
||||||
|
int MountWriteRead(const data_t *out, data_t *in){
|
||||||
|
pthread_mutex_lock(&mntmutex);
|
||||||
|
int ret = wr(out, in, 1);
|
||||||
|
pthread_mutex_unlock(&mntmutex);
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
#ifdef EBUG
|
||||||
|
static void logscmd(SSscmd *c){
|
||||||
|
printf("Xmot=%d, Ymot=%d, Xspeed=%d, Yspeed=%d\n", c->Xmot, c->Ymot, c->Xspeed, c->Yspeed);
|
||||||
|
printf("xychange=0x%02X, Xbits=0x%02X, Ybits=0x%02X\n", c->xychange, c->XBits, c->YBits);
|
||||||
|
if(c->checksum != SScalcChecksum((uint8_t*)c, sizeof(SSscmd)-2)) printf("Checksum failed\n");
|
||||||
|
else printf("Checksum OK\n");
|
||||||
|
}
|
||||||
|
static void loglcmd(SSlcmd *c){
|
||||||
|
printf("Xmot=%d, Ymot=%d, Xspeed=%d, Yspeed=%d\n", c->Xmot, c->Ymot, c->Xspeed, c->Yspeed);
|
||||||
|
printf("Xadder=%d, Yadder=%d, Xatime=%d, Yatime=%d\n", c->Xadder, c->Yadder, c->Xatime, c->Yatime);
|
||||||
|
if(c->checksum != SScalcChecksum((uint8_t*)c, sizeof(SSlcmd)-2)) printf("Checksum failed\n");
|
||||||
|
else printf("Checksum OK\n");
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// send short/long binary command; return FALSE if failed
|
||||||
|
static int bincmd(uint8_t *cmd, int len){
|
||||||
|
static data_t *dscmd = NULL, *dlcmd = NULL;
|
||||||
|
if(!dscmd) dscmd = cmd2dat(CMD_SHORTCMD);
|
||||||
|
if(!dlcmd) dlcmd = cmd2dat(CMD_LONGCMD);
|
||||||
|
int ret = FALSE;
|
||||||
|
pthread_mutex_lock(&mntmutex);
|
||||||
|
// dummy buffer to clear trash in input
|
||||||
|
char ans[300];
|
||||||
|
data_t a = {.buf = (uint8_t*)ans, .maxlen=299};
|
||||||
|
if(len == sizeof(SSscmd)){
|
||||||
|
((SSscmd*)cmd)->checksum = SScalcChecksum(cmd, len-2);
|
||||||
|
DBG("Short command");
|
||||||
|
logscmd((SSscmd*)cmd);
|
||||||
|
if(!wr(dscmd, &a, 1)) goto rtn;
|
||||||
|
}else if(len == sizeof(SSlcmd)){
|
||||||
|
((SSlcmd*)cmd)->checksum = SScalcChecksum(cmd, len-2);
|
||||||
|
DBG("Long command");
|
||||||
|
loglcmd((SSlcmd*)cmd);
|
||||||
|
if(!wr(dlcmd, &a, 1)) goto rtn;
|
||||||
|
}else{
|
||||||
|
goto rtn;
|
||||||
|
}
|
||||||
|
DBG("Write %d bytes and wait for ans", len);
|
||||||
|
data_t d;
|
||||||
|
d.buf = cmd;
|
||||||
|
d.len = d.maxlen = len;
|
||||||
|
ret = wr(&d, &d, 0);
|
||||||
|
#ifdef EBUG
|
||||||
|
if(len == sizeof(SSscmd)) logscmd((SSscmd*)cmd);
|
||||||
|
else loglcmd((SSlcmd*)cmd);
|
||||||
|
#endif
|
||||||
|
DBG("%s", ret ? "SUCCESS" : "FAIL");
|
||||||
|
rtn:
|
||||||
|
pthread_mutex_unlock(&mntmutex);
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
// return TRUE if OK
|
||||||
|
int cmdS(SSscmd *cmd){
|
||||||
|
return bincmd((uint8_t *)cmd, sizeof(SSscmd));
|
||||||
|
}
|
||||||
|
int cmdL(SSlcmd *cmd){
|
||||||
|
return bincmd((uint8_t *)cmd, sizeof(SSlcmd));
|
||||||
|
}
|
||||||
40
Auxiliary_utils/LibSidServo/serial.h
Normal file
40
Auxiliary_utils/LibSidServo/serial.h
Normal file
@ -0,0 +1,40 @@
|
|||||||
|
/*
|
||||||
|
* This file is part of the libsidservo project.
|
||||||
|
* Copyright 2025 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 "sidservo.h"
|
||||||
|
#include "ssii.h"
|
||||||
|
|
||||||
|
// magick starting sequence
|
||||||
|
#define ENC_MAGICK (204)
|
||||||
|
// encoder data sequence length
|
||||||
|
#define ENC_DATALEN (13)
|
||||||
|
// max error counter (when read() returns -1)
|
||||||
|
#define MAX_ERR_CTR (100)
|
||||||
|
|
||||||
|
double dtime();
|
||||||
|
data_t *cmd2dat(const char *cmd);
|
||||||
|
void data_free(data_t **x);
|
||||||
|
int openEncoder(const char *path, int speed);
|
||||||
|
int openMount(const char *path, int speed);
|
||||||
|
void closeSerial();
|
||||||
|
mcc_errcodes_t getMD(mountdata_t *d);
|
||||||
|
int MountWriteRead(const data_t *out, data_t *in);
|
||||||
|
int cmdS(SSscmd *cmd);
|
||||||
|
int cmdL(SSlcmd *cmd);
|
||||||
108
Auxiliary_utils/LibSidServo/sidservo.h
Normal file
108
Auxiliary_utils/LibSidServo/sidservo.h
Normal file
@ -0,0 +1,108 @@
|
|||||||
|
/*
|
||||||
|
* This file is part of the libsidservo project.
|
||||||
|
* Copyright 2025 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 <stddef.h>
|
||||||
|
#include <stdint.h>
|
||||||
|
#include <sys/time.h>
|
||||||
|
|
||||||
|
// error codes
|
||||||
|
typedef enum{
|
||||||
|
MCC_E_OK = 0, // all OK
|
||||||
|
MCC_E_FATAL, // some fatal error
|
||||||
|
MCC_E_BADFORMAT, // wrong arguments of function
|
||||||
|
MCC_E_ENCODERDEV, // encoder device error or can't open
|
||||||
|
MCC_E_MOUNTDEV, // mount device error or can't open
|
||||||
|
MCC_E_FAILED, // failed to run command - protocol error
|
||||||
|
} mcc_errcodes_t;
|
||||||
|
|
||||||
|
typedef struct{
|
||||||
|
char* MountDevPath; // path to mount device
|
||||||
|
int MountDevSpeed; // serial speed
|
||||||
|
char* EncoderDevPath; // path to encoder device
|
||||||
|
int EncoderDevSpeed; // serial speed
|
||||||
|
int SepEncoder; // ==1 if encoder works as separate serial device
|
||||||
|
double MountReqInterval; // maximal interval between subsequent mount requests (seconds)
|
||||||
|
;
|
||||||
|
} conf_t;
|
||||||
|
|
||||||
|
// coordinates in degrees: X, Y and time when they were reached
|
||||||
|
typedef struct{
|
||||||
|
double X; double Y; struct timeval msrtime;
|
||||||
|
} coords_t;
|
||||||
|
|
||||||
|
// data to read/write
|
||||||
|
typedef struct{
|
||||||
|
uint8_t *buf; // data buffer
|
||||||
|
size_t len; // its length
|
||||||
|
size_t maxlen; // maximal buffer size
|
||||||
|
} data_t;
|
||||||
|
|
||||||
|
typedef struct{
|
||||||
|
uint8_t XBits;
|
||||||
|
uint8_t YBits;
|
||||||
|
uint8_t ExtraBits;
|
||||||
|
uint16_t ain0;
|
||||||
|
uint16_t ain1;
|
||||||
|
} extradata_t;
|
||||||
|
|
||||||
|
typedef struct{
|
||||||
|
coords_t motposition;
|
||||||
|
coords_t encposition;
|
||||||
|
coords_t lastmotposition;
|
||||||
|
uint8_t keypad;
|
||||||
|
extradata_t extradata;
|
||||||
|
uint32_t millis;
|
||||||
|
double temperature;
|
||||||
|
double voltage;
|
||||||
|
} mountdata_t;
|
||||||
|
|
||||||
|
typedef struct{
|
||||||
|
double Xmot; // 0 X motor position (rad)
|
||||||
|
double Xspeed; // 4 X speed (rad/s)
|
||||||
|
double Ymot; // 8
|
||||||
|
double Yspeed; // 12
|
||||||
|
uint8_t xychange; // 16 change Xbits/Ybits value
|
||||||
|
uint8_t XBits; // 17
|
||||||
|
uint8_t YBits; // 18
|
||||||
|
} short_command_t; // short command
|
||||||
|
|
||||||
|
typedef struct{
|
||||||
|
double Xmot; // 0 X motor position (rad)
|
||||||
|
double Xspeed; // 4 X speed (rad/s)
|
||||||
|
double Ymot; // 8
|
||||||
|
double Yspeed; // 12
|
||||||
|
double Xadder; // 16 - X adder (rad/s)
|
||||||
|
double Yadder; // 20
|
||||||
|
double Xatime; // 24 X adder time, sec
|
||||||
|
double Yatime; // 28
|
||||||
|
} long_command_t; // long command
|
||||||
|
|
||||||
|
// mount class
|
||||||
|
typedef struct{
|
||||||
|
mcc_errcodes_t (*init)(conf_t *c); // init device
|
||||||
|
void (*quit)(); // deinit
|
||||||
|
mcc_errcodes_t (*getMountData)(mountdata_t *d); // get last data
|
||||||
|
mcc_errcodes_t (*moveTo)(double X, double Y); // move to given position ans stop
|
||||||
|
mcc_errcodes_t (*emergStop)(); // emergency stop
|
||||||
|
mcc_errcodes_t (*shortCmd)(short_command_t *cmd); // send/get short command
|
||||||
|
mcc_errcodes_t (*longCmd)(long_command_t *cmd); // send/get long command
|
||||||
|
} mount_t;
|
||||||
|
|
||||||
|
extern mount_t Mount;
|
||||||
10
Auxiliary_utils/LibSidServo/sidservo.pc.in
Normal file
10
Auxiliary_utils/LibSidServo/sidservo.pc.in
Normal file
@ -0,0 +1,10 @@
|
|||||||
|
prefix=@CMAKE_INSTALL_PREFIX@
|
||||||
|
exec_prefix=${prefix}
|
||||||
|
libdir=${exec_prefix}/lib
|
||||||
|
includedir=${prefix}/include
|
||||||
|
|
||||||
|
Name: @PROJ@
|
||||||
|
Description: library for managing SiderealServo II based equatorial mount
|
||||||
|
Version: @VERSION@
|
||||||
|
Libs: -L${libdir} -l@PROJ@
|
||||||
|
Cflags: -I${includedir}
|
||||||
146
Auxiliary_utils/LibSidServo/ssii.c
Normal file
146
Auxiliary_utils/LibSidServo/ssii.c
Normal file
@ -0,0 +1,146 @@
|
|||||||
|
/*
|
||||||
|
* This file is part of the libsidservo project.
|
||||||
|
* Copyright 2025 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/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <ctype.h>
|
||||||
|
#include <inttypes.h>
|
||||||
|
#include <string.h>
|
||||||
|
|
||||||
|
#include "dbg.h"
|
||||||
|
#include "serial.h"
|
||||||
|
#include "ssii.h"
|
||||||
|
|
||||||
|
uint16_t SScalcChecksum(uint8_t *buf, int len){
|
||||||
|
uint16_t checksum = 0;
|
||||||
|
for(int i = 0; i < len; i++){
|
||||||
|
//DBG("data[%d]=0x%X", i, *buf);
|
||||||
|
checksum += *buf++;
|
||||||
|
}
|
||||||
|
checksum ^= 0xFF00; // invert high byte
|
||||||
|
//DBG("Checksum of %d bytes: 0x%04x", len, checksum);
|
||||||
|
return checksum;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief SSconvstat - convert stat from SSII format to human
|
||||||
|
* @param status (i) - just read data
|
||||||
|
* @param mountdata (o) - output
|
||||||
|
*/
|
||||||
|
void SSconvstat(const SSstat *s, mountdata_t *m, struct timeval *tdat){
|
||||||
|
if(!s || !m || !tdat) return;
|
||||||
|
/*
|
||||||
|
#ifdef EBUG
|
||||||
|
static double t0 = -1.;
|
||||||
|
if(t0 < 0.) t0 = dtime();
|
||||||
|
#endif
|
||||||
|
DBG("Convert, t=%g", dtime()-t0);
|
||||||
|
*/
|
||||||
|
m->motposition.X = X_MOT2RAD(s->Xmot);
|
||||||
|
m->motposition.Y = Y_MOT2RAD(s->Ymot);
|
||||||
|
m->motposition.msrtime = *tdat;
|
||||||
|
// fill encoder data from here, as there's no separate enc thread
|
||||||
|
if(!Conf.SepEncoder){
|
||||||
|
m->encposition.X = X_ENC2RAD(s->Xenc);
|
||||||
|
m->encposition.Y = Y_ENC2RAD(s->Yenc);
|
||||||
|
m->encposition.msrtime = *tdat;
|
||||||
|
}
|
||||||
|
m->lastmotposition.X = X_MOT2RAD(s->XLast);
|
||||||
|
m->lastmotposition.Y = Y_MOT2RAD(s->YLast);
|
||||||
|
m->lastmotposition.msrtime = *tdat;
|
||||||
|
m->keypad = s->keypad;
|
||||||
|
m->extradata.ExtraBits = s->ExtraBits;
|
||||||
|
m->extradata.ain0 = s->ain0;
|
||||||
|
m->extradata.ain1 = s->ain1;
|
||||||
|
m->extradata.XBits = s->XBits;
|
||||||
|
m->extradata.YBits = s->YBits;
|
||||||
|
m->millis = s->millis;
|
||||||
|
m->voltage = (double)s->voltage / 10.;
|
||||||
|
m->temperature = ((double)s->tF - 32.) * 5. / 9.;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief SStextcmd - send simple text command to mount and return answer
|
||||||
|
* @param cmd (i) - command to send
|
||||||
|
* @param answer (o) - answer (or NULL)
|
||||||
|
* @return
|
||||||
|
*/
|
||||||
|
int SStextcmd(const char *cmd, data_t *answer){
|
||||||
|
if(!cmd){
|
||||||
|
DBG("try to send empty command");
|
||||||
|
return FALSE;
|
||||||
|
}
|
||||||
|
data_t d;
|
||||||
|
d.buf = (uint8_t*) cmd;
|
||||||
|
d.len = d.maxlen = strlen(cmd);
|
||||||
|
DBG("send %zd bytes: %s", d.len, d.buf);
|
||||||
|
return MountWriteRead(&d, answer);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief SSgetint - send text command and return integer answer
|
||||||
|
* @param cmd (i) - command to send
|
||||||
|
* @param ans (o) - intval (INT64_MAX if error)
|
||||||
|
* @return FALSE if failed
|
||||||
|
*/
|
||||||
|
int SSgetint(const char *cmd, int64_t *ans){
|
||||||
|
if(!cmd || !ans) return FALSE;
|
||||||
|
uint8_t buf[64];
|
||||||
|
data_t d = {.buf = buf, .len = 0, .maxlen = 64};
|
||||||
|
if(!SStextcmd(cmd, &d)) return FALSE;
|
||||||
|
int64_t retval = INT64_MAX;
|
||||||
|
if(d.len > 1){
|
||||||
|
char *ptr = (char*) buf;
|
||||||
|
size_t i = 0;
|
||||||
|
for(; i < d.len; ++i){
|
||||||
|
if(isdigit(*ptr)) break;
|
||||||
|
++ptr;
|
||||||
|
}
|
||||||
|
if(i < d.len) retval = atol(ptr);
|
||||||
|
}
|
||||||
|
DBG("read int: %" PRIi64, retval);
|
||||||
|
*ans = retval;
|
||||||
|
return TRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
// commands to move X and Y to given motor position in radians; @return FALSE if failed
|
||||||
|
// BE CAREFUL: after each poweron X and Y are 0
|
||||||
|
// BE CAREFUL: angle isn't checking here
|
||||||
|
int SSXmoveto(double pos){
|
||||||
|
char buf[64];
|
||||||
|
int64_t target = X_RAD2MOT(pos);
|
||||||
|
DBG("move to angle %grad = %ld", pos, target);
|
||||||
|
snprintf(buf, 63, "%s%" PRIi64, CMD_MOTX, target);
|
||||||
|
return SStextcmd(buf, NULL);
|
||||||
|
}
|
||||||
|
int SSYmoveto(double pos){
|
||||||
|
char buf[64];
|
||||||
|
int64_t target = Y_RAD2MOT(pos);
|
||||||
|
DBG("move to angle %grad = %ld", pos, target);
|
||||||
|
snprintf(buf, 63, "%s%" PRIi64, CMD_MOTY, target);
|
||||||
|
return SStextcmd(buf, NULL);
|
||||||
|
}
|
||||||
|
|
||||||
|
int SSemergStop(){
|
||||||
|
int i = 0;
|
||||||
|
for(; i < 10; ++i){
|
||||||
|
if(!SStextcmd(CMD_EMSTOPX, NULL)) continue;
|
||||||
|
if(SStextcmd(CMD_EMSTOPY, NULL)) break;
|
||||||
|
}
|
||||||
|
if(i == 10) return FALSE;
|
||||||
|
return TRUE;
|
||||||
|
}
|
||||||
|
|
||||||
169
Auxiliary_utils/LibSidServo/ssii.h
Normal file
169
Auxiliary_utils/LibSidServo/ssii.h
Normal file
@ -0,0 +1,169 @@
|
|||||||
|
/*
|
||||||
|
* 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"
|
||||||
|
|
||||||
|
#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")
|
||||||
|
// -//- in encoders' ticks
|
||||||
|
#define CMD_ENCX ("XZ")
|
||||||
|
#define CMD_ENCY ("YZ")
|
||||||
|
// normal stop X/Y
|
||||||
|
#define CMD_STOPX ("XN")
|
||||||
|
#define CMD_STOPY ("YN")
|
||||||
|
// emergency stop
|
||||||
|
#define CMD_EMSTOPX ("XG")
|
||||||
|
#define CMD_EMSTOPY ("YG")
|
||||||
|
// 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")
|
||||||
|
|
||||||
|
// 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.)
|
||||||
|
|
||||||
|
|
||||||
|
// 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
|
||||||
|
uint8_t XBits; // 18
|
||||||
|
uint8_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 SSgetint(const char *cmd, int64_t *ans);
|
||||||
|
int SSXmoveto(double pos);
|
||||||
|
int SSYmoveto(double pos);
|
||||||
|
int SSemergStop();
|
||||||
|
int SSshortCmd(SSscmd *cmd);
|
||||||
Loading…
x
Reference in New Issue
Block a user