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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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12
Auxiliary_utils/LibSidServo/sidservo.h
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@@ -48,6 +48,7 @@ typedef enum{
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_E_AMOUNT // Just amount of errors
} mcc_errcodes_t;
typedef struct{
@@ -74,9 +75,11 @@ typedef struct{
PIDpar_t XPIDV;
PIDpar_t YPIDC;
PIDpar_t YPIDV;
double MaxPointingErr; // if angle < this, change state from "slewing" to "pointing" (coarse pointing): 8 degrees
double MaxFinePointingErr; // if angle < this, chane state from "pointing" to "guiding" (fine poinging): 1.5 deg
double MaxGuidingErr; // if error less than this value we suppose that target is captured and guiding is good (true guiding): 0.1''
double MaxPointingErr; // if angle < this, change state from "slewing" to "pointing" (coarse pointing): 8 degrees
double MaxFinePointingErr; // if angle < this, chane state from "pointing" to "guiding" (fine poinging): 1.5 deg
double MaxGuidingErr; // if error less than this value we suppose that target is captured and guiding is good (true guiding): 0.1''
int XEncZero; // encoders' zero position
int YEncZero;
} conf_t;
// coordinates/speeds in degrees or d/s: X, Y
@@ -188,6 +191,9 @@ typedef struct{
double outplimit; // Output Limit, percent (0..100)
double currlimit; // Current Limit (A)
double intlimit; // Integral Limit (???)
// these params are taken from mount by text commands (don't save negative values - better save these marks in xybits
double motor_stepsperrev;// encoder's steps per revolution: motor and axis
double axis_stepsperrev; // negative sign of these values means reverse direction
} __attribute__((packed)) axis_config_t;
// hardware configuration