eddy/small_tel
1
0
Fork 0
mirror of https://github.com/eddyem/small_tel.git synced 2026-03-22 09:41:00 +03:00
Code Issues Packages Projects Releases Wiki Activity

some work done

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

16
Auxiliary_utils/LibSidServo/ssii.c
View File

@@ -26,6 +26,9 @@
#include "serial.h"
#include "ssii.h"
int X_ENC_ZERO, Y_ENC_ZERO;
double X_MOT_STEPSPERREV = 1., Y_MOT_STEPSPERREV = 1., X_ENC_STEPSPERREV = 1., Y_ENC_STEPSPERREV = 1.;
uint16_t SScalcChecksum(uint8_t *buf, int len){
uint16_t checksum = 0;
for(int i = 0; i < len; i++){
@@ -75,8 +78,9 @@ void SSconvstat(const SSstat *s, mountdata_t *m, struct timespec *t){
m->motXposition.t = m->motYposition.t = *t;
// fill encoder data from here, as there's no separate enc thread
if(!Conf.SepEncoder){
m->encXposition.val = X_ENC2RAD(s->Xenc);
m->encYposition.val = Y_ENC2RAD(s->Yenc);
m->encXposition.val = Xenc2rad(s->Xenc);
DBG("encx: %g", m->encXposition.val);
m->encYposition.val = Yenc2rad(s->Yenc);
m->encXposition.t = m->encYposition.t = *t;
getXspeed(); getYspeed();
}
@@ -185,9 +189,10 @@ mcc_errcodes_t updateMotorPos(){
usleep(10000);
continue;
}
//DBG("XENC2RAD: %g (xez=%d, xesr=%.10g)", Xenc2rad(32424842), X_ENC_ZERO, X_ENC_STEPSPERREV);
if(MCC_E_OK == getMD(&md)){
if(md.encXposition.t.tv_sec == 0 || md.encYposition.t.tv_sec == 0){
DBG("Just started, t-t0 = %g!", t - t0);
DBG("Just started? t-t0 = %g!", t - t0);
usleep(10000);
continue;
}
@@ -195,14 +200,15 @@ mcc_errcodes_t updateMotorPos(){
DBG("got; t pos x/y: %ld/%ld; tnow: %ld", md.encXposition.t.tv_sec, md.encYposition.t.tv_sec, curt.tv_sec);
mcc_errcodes_t OK = MCC_E_OK;
if(fabs(md.motXposition.val - md.encXposition.val) > Conf.EncodersDisagreement && md.Xstate == AXIS_STOPPED){
DBG("NEED to sync X: motors=%g, axiss=%g", md.motXposition.val, md.encXposition.val);
DBG("NEED to sync X: motors=%g, axis=%g", md.motXposition.val, md.encXposition.val);
DBG("new motsteps: %d", X_RAD2MOT(md.encXposition.val));
if(!SSsetterI(CMD_MOTXSET, X_RAD2MOT(md.encXposition.val))){
DBG("Xpos sync failed!");
OK = MCC_E_FAILED;
}else DBG("Xpos sync OK, Dt=%g", t - t0);
}
if(fabs(md.motYposition.val - md.encYposition.val) > Conf.EncodersDisagreement && md.Ystate == AXIS_STOPPED){
DBG("NEED to sync Y: motors=%g, axiss=%g", md.motYposition.val, md.encYposition.val);
DBG("NEED to sync Y: motors=%g, axis=%g", md.motYposition.val, md.encYposition.val);
if(!SSsetterI(CMD_MOTYSET, Y_RAD2MOT(md.encYposition.val))){
DBG("Ypos sync failed!");
OK = MCC_E_FAILED;