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some work done

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This commit is contained in:
Edward Emelianov
2026-01-24 00:57:11 +03:00
parent c8449c916a
commit 50cbaea550
11 changed files with 239 additions and 106 deletions
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8
Auxiliary_utils/LibSidServo/examples/SSIIconf.c
View File

@@ -34,7 +34,9 @@ typedef struct{
static hardware_configuration_t HW = {0};
static parameters G = {0};
static parameters G = {
.conffile = "servo.conf",
};
static sl_option_t cmdlnopts[] = {
{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&G.help), "show this help"},
@@ -53,7 +55,7 @@ static sl_option_t confopts[] = {
static void dumpaxis(char axis, axis_config_t *c){
#define STRUCTPAR(p) (c)->p
#define DUMP(par) do{printf("%c%s=%g\n", axis, #par, STRUCTPAR(par));}while(0)
#define DUMP(par) do{printf("%c%s=%.10g\n", axis, #par, STRUCTPAR(par));}while(0)
#define DUMPD(par) do{printf("%c%s=%g\n", axis, #par, RAD2DEG(STRUCTPAR(par)));}while(0)
DUMPD(accel);
DUMPD(backlash);
@@ -64,6 +66,8 @@ static void dumpaxis(char axis, axis_config_t *c){
DUMP(outplimit);
DUMP(currlimit);
DUMP(intlimit);
DUMP(motor_stepsperrev);
DUMP(axis_stepsperrev);
#undef DUMP
#undef DUMPD
}

16
Auxiliary_utils/LibSidServo/examples/conf.c
View File

@@ -83,6 +83,8 @@ static sl_option_t opts[] = {
{"MaxPointingErr", NEED_ARG, NULL, 0, arg_double, APTR(&Config.MaxPointingErr), "if angle < this, change state from \"slewing\" to \"pointing\" (coarse pointing): 8 degrees"},
{"MaxFinePointingErr",NEED_ARG, NULL, 0, arg_double, APTR(&Config.MaxFinePointingErr), "if angle < this, chane state from \"pointing\" to \"guiding\" (fine poinging): 1.5 deg"},
{"MaxGuidingErr", NEED_ARG, NULL, 0, arg_double, APTR(&Config.MaxGuidingErr), "if error less than this value we suppose that target is captured and guiding is good (true guiding): 0.1''"},
{"XEncZero", NEED_ARG, NULL, 0, arg_int, APTR(&Config.XEncZero), "X axis encoder approximate zero position"},
{"YEncZero", NEED_ARG, NULL, 0, arg_int, APTR(&Config.YEncZero), "Y axis encoder approximate zero position"},
// {"",NEED_ARG, NULL, 0, arg_double, APTR(&Config.), ""},
end_option
};
@@ -110,3 +112,17 @@ void dumpConf(){
void confHelp(){
sl_conf_showhelp(-1, opts);
}
const char* errcodes[MCC_E_AMOUNT] = {
[MCC_E_OK] = "OK",
[MCC_E_FATAL] = "Fatal error",
[MCC_E_BADFORMAT] = "Wrong data format",
[MCC_E_ENCODERDEV] = "Encoder error",
[MCC_E_MOUNTDEV] = "Mount error",
[MCC_E_FAILED] = "Failed to run"
};
// return string with error code
const char *EcodeStr(mcc_errcodes_t e){
if(e >= MCC_E_AMOUNT) return "Wrong error code";
return errcodes[e];
}

1
Auxiliary_utils/LibSidServo/examples/conf.h
View File

@@ -25,3 +25,4 @@
void confHelp();
conf_t *readServoConf(const char *filename);
void dumpConf();
const char *EcodeStr(mcc_errcodes_t e);

10
Auxiliary_utils/LibSidServo/examples/goto.c
View File

@@ -120,7 +120,11 @@ int main(int _U_ argc, char _U_ **argv){
}
printf("Moving to X=%gdeg, Y=%gdeg\n", G.X, G.Y);
tag.X = DEG2RAD(G.X); tag.Y = DEG2RAD(G.Y);
Mount.moveTo(&tag);
mcc_errcodes_t e = Mount.moveTo(&tag);
if(MCC_E_OK != e){
WARNX("Cant go to given coordinates: %s\n", EcodeStr(e));
goto out;
}
if(G.wait){
sleep(1);
waitmoving(G.Ncycles);
@@ -132,7 +136,9 @@ out:
if(G.coordsoutput) pthread_join(dthr, NULL);
DBG("QUIT");
if(G.wait){
if(getPos(&M, NULL)) printf("Mount position: X=%g, Y=%g\n", RAD2DEG(M.X.val), RAD2DEG(M.Y.val));
usleep(250000); // pause to refresh coordinates
if(getPos(&M, &E)) printf("Mount position: X=%g, Y=%g; encoders: X=%g, Y=%g\n", RAD2DEG(M.X.val), RAD2DEG(M.Y.val),
RAD2DEG(E.X.val), RAD2DEG(E.Y.val));
Mount.quit();
}
return 0;