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This commit is contained in:
Edward Emelianov
2025-07-29 22:14:29 +03:00
parent e1f0a0804f
commit 46ff11df58
45 changed files with 1736 additions and 134 deletions
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107
Auxiliary_utils/LibSidServo/main.c
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@@ -26,6 +26,8 @@
conf_t Conf = {0};
static mcc_errcodes_t shortcmd(short_command_t *cmd);
/**
* @brief quit - close all opened and return to default state
*/
@@ -74,11 +76,11 @@ static mcc_errcodes_t init(conf_t *c){
data_t d = {.buf = buf, .len = 0, .maxlen = 1024};
// read input data as there may be some trash on start
if(!SSrawcmd(CMD_EXITACM, &d)) ret = MCC_E_FAILED;
if(ret != MCC_E_OK) quit();
return ret;
if(ret != MCC_E_OK) return ret;
return updateMotorPos();
}
// check coordinates and speeds; return FALSE if failed
// check coordinates (rad) and speeds (rad/s); return FALSE if failed
// TODO fix to real limits!!!
static int chkX(double X){
if(X > 2.*M_PI || X < -2.*M_PI) return FALSE;
@@ -89,17 +91,21 @@ static int chkY(double Y){
return TRUE;
}
static int chkXs(double s){
if(s < 0. || s > X_SPEED_MAX) return FALSE;
if(s < 0. || s > MCC_MAX_X_SPEED) return FALSE;
return TRUE;
}
static int chkYs(double s){
if(s < 0. || s > Y_SPEED_MAX) return FALSE;
if(s < 0. || s > MCC_MAX_Y_SPEED) return FALSE;
return TRUE;
}
static mcc_errcodes_t slew2(const coordpair_t *target, slewflags_t flags){
(void)target;
(void)flags;
if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
//...
setStat(MNT_SLEWING, MNT_SLEWING);
//...
return MCC_E_FAILED;
}
@@ -110,41 +116,34 @@ static mcc_errcodes_t slew2(const coordpair_t *target, slewflags_t flags){
* @param Y - new Y coordinate (radians: -pi..pi) or NULL
* @return error code
*/
static mcc_errcodes_t move2(const double *X, const double *Y){
if(!X && !Y) return MCC_E_BADFORMAT;
if(X){
if(!chkX(*X)) return MCC_E_BADFORMAT;
int32_t tag = X_RAD2MOT(*X);
DBG("X: %g, tag: %d", *X, tag);
if(!SSsetterI(CMD_MOTX, tag)) return MCC_E_FAILED;
}
if(Y){
if(!chkY(*Y)) return MCC_E_BADFORMAT;
int32_t tag = Y_RAD2MOT(*Y);
DBG("Y: %g, tag: %d", *Y, tag);
if(!SSsetterI(CMD_MOTY, tag)) return MCC_E_FAILED;
}
static mcc_errcodes_t move2(const coordpair_t *target){
if(!target) return MCC_E_BADFORMAT;
if(!chkX(target->X) || !chkY(target->Y)) return MCC_E_BADFORMAT;
if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
short_command_t cmd = {0};
DBG("x,y: %g, %g", target->X, target->Y);
cmd.Xmot = target->X;
cmd.Ymot = target->Y;
cmd.Xspeed = MCC_MAX_X_SPEED;
cmd.Yspeed = MCC_MAX_Y_SPEED;
mcc_errcodes_t r = shortcmd(&cmd);
if(r != MCC_E_OK) return r;
setStat(MNT_SLEWING, MNT_SLEWING);
return MCC_E_OK;
}
/**
* @brief setspeed - set maximal speed over axis
* @brief setspeed - set maximal speed over axis by text command
* @param X (i) - max speed or NULL
* @param Y (i) - -//-
* @return errcode
*/
static mcc_errcodes_t setspeed(const double *X, const double *Y){
if(!X && !Y) return MCC_E_BADFORMAT;
if(X){
if(!chkXs(*X)) return MCC_E_BADFORMAT;
int32_t spd = X_RS2MOTSPD(*X);
if(!SSsetterI(CMD_SPEEDX, spd)) return MCC_E_FAILED;
}
if(Y){
if(!chkYs(*Y)) return MCC_E_BADFORMAT;
int32_t spd = Y_RS2MOTSPD(*Y);
if(!SSsetterI(CMD_SPEEDY, spd)) return MCC_E_FAILED;
}
static mcc_errcodes_t setspeed(const coordpair_t *tagspeed){
if(!tagspeed || !chkXs(tagspeed->X) || !chkYs(tagspeed->Y)) return MCC_E_BADFORMAT;
int32_t spd = X_RS2MOTSPD(tagspeed->X);
if(!SSsetterI(CMD_SPEEDX, spd)) return MCC_E_FAILED;
spd = Y_RS2MOTSPD(tagspeed->Y);
if(!SSsetterI(CMD_SPEEDY, spd)) return MCC_E_FAILED;
return MCC_E_OK;
}
@@ -155,18 +154,18 @@ static mcc_errcodes_t setspeed(const double *X, const double *Y){
* @return
*/
static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed){
if(!target && !speed) return MCC_E_BADFORMAT;
if(!target) return setspeed(&speed->X, &speed->Y);
if(!speed) return move2(&target->X, &target->Y);
if(!chkX(target->X) || !chkY(target->Y) || !chkXs(speed->X) || !chkYs(speed->Y))
return MCC_E_BADFORMAT;
char buf[128];
int32_t spd = X_RS2MOTSPD(speed->X), tag = X_RAD2MOT(target->X);
snprintf(buf, 127, "%s%" PRIi32 "%s%" PRIi32, CMD_MOTX, tag, CMD_MOTXYS, spd);
if(!SStextcmd(buf, NULL)) return MCC_E_FAILED;
spd = Y_RS2MOTSPD(speed->Y); tag = Y_RAD2MOT(target->Y);
snprintf(buf, 127, "%s%" PRIi32 "%s%" PRIi32, CMD_MOTY, tag, CMD_MOTXYS, spd);
if(!SStextcmd(buf, NULL)) return MCC_E_FAILED;
if(!target || !speed) return MCC_E_BADFORMAT;
if(!chkX(target->X) || !chkY(target->Y)) return MCC_E_BADFORMAT;
if(!chkXs(speed->X) || !chkYs(speed->Y)) return MCC_E_BADFORMAT;
if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
short_command_t cmd = {0};
cmd.Xmot = target->X;
cmd.Ymot = target->Y;
cmd.Xspeed = speed->X;
cmd.Yspeed = speed->Y;
mcc_errcodes_t r = shortcmd(&cmd);
if(r != MCC_E_OK) return r;
setStat(MNT_SLEWING, MNT_SLEWING);
return MCC_E_OK;
}
@@ -192,7 +191,7 @@ static mcc_errcodes_t stop(){
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);
DBG("tag: xmot=%g rad, ymot=%g rad", cmd->Xmot, cmd->Ymot);
s.Xmot = X_RAD2MOT(cmd->Xmot);
s.Ymot = Y_RAD2MOT(cmd->Ymot);
s.Xspeed = X_RS2MOTSPD(cmd->Xspeed);
@@ -261,14 +260,14 @@ static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
hwConfig->address = config.address;
// TODO: What to do with eqrate, eqadj and trackgoal?
config.latitude = __bswap_16(config.latitude);
// Convert latitude (degrees * 100 to radians)
hwConfig->latitude = (double)config.latitude / 100.0 * M_PI / 180.0;
hwConfig->latitude = ((double)config.latitude) / 100.0 * M_PI / 180.0;
// Copy ticks per revolution
hwConfig->Xsetpr = config.Xsetpr;
hwConfig->Ysetpr = config.Ysetpr;
hwConfig->Xmetpr = config.Xmetpr;
hwConfig->Ymetpr = config.Ymetpr;
hwConfig->Xsetpr = __bswap_32(config.Xsetpr);
hwConfig->Ysetpr = __bswap_32(config.Ysetpr);
hwConfig->Xmetpr = __bswap_32(config.Xmetpr);
hwConfig->Ymetpr = __bswap_32(config.Ymetpr);
// Convert slew rates (ticks per loop to rad/s)
hwConfig->Xslewrate = X_MOTSPD2RS(config.Xslewrate);
hwConfig->Yslewrate = Y_MOTSPD2RS(config.Yslewrate);
@@ -320,7 +319,7 @@ static mcc_errcodes_t write_hwconf(hardware_configuration_t *hwConfig){
config.xbits = hwConfig->xbits;
config.ybits = hwConfig->ybits;
// Convert latitude (radians to degrees * 100)
config.latitude = (uint16_t)(hwConfig->latitude * 180.0 / M_PI * 100.0);
config.latitude = __bswap_16((uint16_t)(hwConfig->latitude * 180.0 / M_PI * 100.0));
// Convert slew rates (rad/s to ticks per loop)
config.Xslewrate = X_RS2MOTSPD(hwConfig->Xslewrate);
config.Yslewrate = Y_RS2MOTSPD(hwConfig->Yslewrate);
@@ -336,6 +335,10 @@ static mcc_errcodes_t write_hwconf(hardware_configuration_t *hwConfig){
config.locsspeed = (uint32_t)(hwConfig->locsspeed * 180.0 * 3600.0 / M_PI);
// Convert backlash speed (rad/s to ticks per loop)
config.backlspd = X_RS2MOTSPD(hwConfig->backlspd);
config.Xsetpr = __bswap_32(hwConfig->Xsetpr);
config.Ysetpr = __bswap_32(hwConfig->Ysetpr);
config.Xmetpr = __bswap_32(hwConfig->Xmetpr);
config.Ymetpr = __bswap_32(hwConfig->Ymetpr);
// TODO - next
(void) config;
return MCC_E_OK;