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add LibSidServo - pre-pre-...-pre-alpha

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This commit is contained in:
Edward Emelianov 2025-02-19 23:09:17 +03:00
parent 1d7c7b7d0e
commit 04c98ed557
30 changed files with 2932 additions and 0 deletions
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87
Auxiliary_utils/LibSidServo/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.30)
set(PROJ sidservo)
set(MINOR_VERSION "1")
set(MID_VERSION "0")
set(MAJOR_VERSION "0")
set(VERSION "${MAJOR_VERSION}.${MID_VERSION}.${MINOR_VERSION}")
project(${PROJ} VERSION ${VERSION} LANGUAGES C)
# default flags
set(CMAKE_C_FLAGS "${CFLAGS} -O2")
set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS}")
set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS} -Wextra -Wall -Werror -W")
set(CMAKE_COLOR_MAKEFILE ON)
option(DEBUG "Compile in debug mode" OFF)
option(EXAMPLES "Compile also some examples" ON)
# cmake -DDEBUG=on -> debugging
if(NOT CMAKE_BUILD_TYPE STREQUAL "Debug")
if(DEBUG)
set(CMAKE_BUILD_TYPE "Debug")
else()
set(CMAKE_BUILD_TYPE "Release")
endif()
endif()
if(CMAKE_BUILD_TYPE STREQUAL "Debug")
add_definitions(-DEBUG)
set(CMAKE_VERBOSE_MAKEFILE true)
if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
message("install to ${CMAKE_CURRENT_SOURCE_DIR}/install ")
set(CMAKE_INSTALL_PREFIX ${CMAKE_CURRENT_SOURCE_DIR}/install)
endif()
set(CMAKE_C_FLAGS ${CMAKE_C_FLAGS_DEBUG})
else()
set(CMAKE_C_FLAGS ${CMAKE_C_FLAGS_RELEASE})
endif()
message("Build type: ${CMAKE_BUILD_TYPE}, cflags: ${CMAKE_C_FLAGS}")
aux_source_directory(${CMAKE_CURRENT_SOURCE_DIR} SOURCES)
###### pkgconfig ######
# pkg-config modules (for pkg-check-modules)
#set(MODULES cfitsio fftw3)
# find packages:
#find_package(PkgConfig REQUIRED)
#pkg_check_modules(${PROJ} REQUIRED ${MODULES})
###### additional flags ######
#list(APPEND ${PROJ}_LIBRARIES "-lfftw3_threads")
# library
add_library(${PROJ} SHARED ${SOURCES})
# library header files
set(LIBHEADER "sidservo.h")
# -I
include_directories(${${PROJ}_INCLUDE_DIRS})
# -L
link_directories(${${PROJ}_LIBRARY_DIRS})
# -D
add_definitions(
-DPACKAGE_VERSION=\"${VERSION}\" -DMINOR_VERSION=\"${MINOR_VERSION}\"
-DMID_VERSION=\"${MID_VERSION}\" -DMAJOR_VERSION=\"${MAJOR_VESION}\"
)
# -l
target_link_libraries(${PROJ} ${${PROJ}_LIBRARIES})
set(PCFILE "${CMAKE_BINARY_DIR}/${PROJ}.pc")
configure_file("${PROJ}.pc.in" ${PCFILE} @ONLY)
set_target_properties(${PROJ} PROPERTIES VERSION ${VERSION})
set_target_properties(${PROJ} PROPERTIES PUBLIC_HEADER ${LIBHEADER})
# Installation of the program
include(GNUInstallDirs)
#install(TARGETS ${PROJ} DESTINATION "bin")
install(TARGETS ${PROJ} LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
install(FILES ${PCFILE} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/pkgconfig)
# EXAMPLES
if(EXAMPLES)
add_subdirectory(examples)
endif()

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Auxiliary_utils/LibSidServo/dbg.h Normal file
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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 <stdlib.h>
#include "sidservo.h"
extern conf_t Conf;
// unused arguments of functions
#define _U_ __attribute__((__unused__))
// break absent in `case`
#define FALLTHRU __attribute__ ((fallthrough))
// and synonym for FALLTHRU
#define NOBREAKHERE __attribute__ ((fallthrough))
// weak functions
#define WEAK __attribute__ ((weak))
#ifndef DBL_EPSILON
#define DBL_EPSILON (2.2204460492503131e-16)
#endif
#ifndef FALSE
#define FALSE (0)
#endif
#ifndef TRUE
#define TRUE (1)
#endif
#ifdef EBUG
#include <stdio.h>
#define COLOR_RED "\033[1;31;40m"
#define COLOR_GREEN "\033[1;32;40m"
#define COLOR_OLD "\033[0;0;0m"
#define FNAME() do{ fprintf(stderr, COLOR_GREEN "\n%s " COLOR_OLD, __func__); \
fprintf(stderr, "(%s, line %d)\n", __FILE__, __LINE__);} while(0)
#define DBG(...) do{ fprintf(stderr, COLOR_RED "\n%s " COLOR_OLD, __func__); \
fprintf(stderr, "(%s, line %d): ", __FILE__, __LINE__); \
fprintf(stderr, __VA_ARGS__); \
fprintf(stderr, "\n");} while(0)
#else // EBUG
#define FNAME() do{}while(0)
#define DBG(...) do{}while(0)
#endif // EBUG

12
Auxiliary_utils/LibSidServo/examples/CMakeLists.txt Normal file
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project(examples)
# common includes & library
include_directories(../)
link_libraries(sidservo usefull_macros -lm)
# exe list
add_executable(goto goto.c dump.c)
add_executable(dump dumpmoving.c dump.c)
add_executable(dump_s dumpmoving_scmd.c dump.c)
add_executable(dumpswing dumpswing.c dump.c)
add_executable(traectory_s scmd_traectory.c dump.c traectories.c)

144
Auxiliary_utils/LibSidServo/examples/dump.c Normal file
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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/>.
*/
// logging of mount position
#include <usefull_macros.h>
#include "dump.h"
#include "simpleconv.h"
/**
* @brief logmnt - log mount data into file
* @param fcoords - file to dump
* @param m - mount data
*/
void logmnt(FILE *fcoords, mountdata_t *m){
if(!fcoords) return;
//DBG("LOG %s", m ? "data" : "header");
static double t0 = -1.;
if(!m){ // write header
fprintf(fcoords, "# time Xmot(deg) Ymot(deg) Xenc(deg) Yenc(deg) millis T V\n");
return;
}
if(t0 < 0.) t0 = m->motposition.msrtime.tv_sec + (double)(m->motposition.msrtime.tv_usec) / 1e6;
double t = m->motposition.msrtime.tv_sec + (double)(m->motposition.msrtime.tv_usec) / 1e6 - t0;
// write data
fprintf(fcoords, "%12.6f %10.6f %10.6f %10.6f %10.6f %10u %6.1f %4.1f\n",
t, RAD2DEG(m->motposition.X), RAD2DEG(m->motposition.Y),
RAD2DEG(m->encposition.X), RAD2DEG(m->encposition.Y),
m->millis, m->temperature, m->voltage);
fflush(fcoords);
}
/**
* @brief dumpmoving - dump conf while moving
* @param fcoords - dump file
* @param t - max waiting time
* @param N - number of cycles to wait while motors aren't moving
*/
void dumpmoving(FILE *fcoords, double t, int N){
if(!fcoords) return;
mountdata_t mdata;
DBG("Start dump");
int ntries = 0;
for(; ntries < 10; ++ntries){
if(MCC_E_OK == Mount.getMountData(&mdata)) break;
}
if(ntries == 10){
WARNX("Can't get mount data");
LOGWARN("Can't get mount data");
}
uint32_t millis = mdata.millis;
int ctr = -1;
double xlast = mdata.motposition.X, ylast = mdata.motposition.Y;
double t0 = sl_dtime();
//DBG("millis = %u", millis);
while(sl_dtime() - t0 < t && ctr < N){
usleep(10000);
if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
if(mdata.millis == millis) continue;
//DBG("Got new data, posX=%g, posY=%g", mdata.motposition.X, mdata.motposition.Y);
millis = mdata.millis;
if(fcoords) logmnt(fcoords, &mdata);
if(mdata.motposition.X != xlast || mdata.motposition.Y != ylast){
xlast = mdata.motposition.X;
ylast = mdata.motposition.Y;
ctr = 0;
}else ++ctr;
}
}
/**
* @brief waitmoving - wait until moving by both axes stops at least for N cycles
* @param N - amount of stopped cycles
*/
void waitmoving(int N){
mountdata_t mdata;
int ctr = -1;
uint32_t millis = 0;
double xlast = 0., ylast = 0.;
while(ctr < N){
usleep(10000);
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){
xlast = mdata.motposition.X;
ylast = mdata.motposition.Y;
ctr = 0;
}else ++ctr;
}
}
/**
* @brief getMotPos - get current
* @param mot (o) - motor position (or NULL)
* @param Y (o) - encoder position (or NULL)
* @return FALSE if failed
*/
int getPos(coords_t *mot, coords_t *enc){
mountdata_t mdata;
int errcnt = 0;
do{
if(MCC_E_OK != Mount.getMountData(&mdata)) ++errcnt;
else{
errcnt = 0;
if(mdata.millis) break;
}
}while(errcnt < 10);
if(errcnt >= 10){
WARNX("Can't read mount status");
return FALSE;
}
if(mot) *mot = mdata.motposition;
if(enc) *enc = mdata.encposition;
return TRUE;
}
// check current position and go to 0 if non-zero
void chk0(int ncycles){
coords_t M;
if(!getPos(&M, NULL)) signals(2);
if(M.X || M.Y){
WARNX("Mount position isn't @ zero; moving");
Mount.moveTo(0., 0.);
waitmoving(ncycles);
green("Now mount @ zero\n");
}
}

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Auxiliary_utils/LibSidServo/examples/dump.h Normal file
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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);

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Auxiliary_utils/LibSidServo/examples/dumpmoving.c Normal file
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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/>.
*/
// 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;
}

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Auxiliary_utils/LibSidServo/examples/dumpmoving_scmd.c Normal file
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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/>.
*/
// 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;
}

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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/>.
*/
#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;
}

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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/>.
*/
// 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;
}

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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/>.
*/
#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;
}

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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/>.
*/
// 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.)

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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/>.
*/
// 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);
}
}

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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 "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
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-std=c17

6
Auxiliary_utils/LibSidServo/libsidservo.config Normal file
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// 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
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[General]

184
Auxiliary_utils/LibSidServo/libsidservo.creator.user Normal file
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<?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>
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1
Auxiliary_utils/LibSidServo/libsidservo.cxxflags Normal file
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-std=c++17

19
Auxiliary_utils/LibSidServo/libsidservo.files Normal file
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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
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.
..

161
Auxiliary_utils/LibSidServo/main.c Normal file
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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/>.
*/
#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
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# 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
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@ -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));
}

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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 "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);

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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 <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
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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}

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Auxiliary_utils/LibSidServo/ssii.c Normal file
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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/>.
*/
#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;
}

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/*
* 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);