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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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70
Auxiliary_utils/LibSidServo/ssii.h
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@@ -175,62 +175,70 @@
// amount of consequent same coordinates to detect stop
#define MOTOR_STOPPED_CNT (19)
// replace macros with global variables inited when config read
extern int X_ENC_ZERO, Y_ENC_ZERO;
extern double X_MOT_STEPSPERREV, Y_MOT_STEPSPERREV, X_ENC_STEPSPERREV, Y_ENC_STEPSPERREV;
// TODO: take it from settings?
// steps per revolution (SSI - x4 - for SSI)
#define X_MOT_STEPSPERREV_SSI (13312000.)
// -> hwconf.Xconf.mot/enc_stepsperrev
//#define X_MOT_STEPSPERREV_SSI (13312000.)
// 13312000 / 4 = 3328000
#define X_MOT_STEPSPERREV (3328000.)
#define Y_MOT_STEPSPERREV_SSI (17578668.)
//#define X_MOT_STEPSPERREV (3328000.)
//#define Y_MOT_STEPSPERREV_SSI (17578668.)
// 17578668 / 4 = 4394667
#define Y_MOT_STEPSPERREV (4394667.)
//#define Y_MOT_STEPSPERREV (4394667.)
// encoder per revolution
#define X_ENC_STEPSPERREV (67108864.)
#define Y_ENC_STEPSPERREV (67108864.)
//#define X_ENC_STEPSPERREV (67108864.)
//#define Y_ENC_STEPSPERREV (67108864.)
// encoder zero position
#define X_ENC_ZERO (61245239)
#define Y_ENC_ZERO (36999830)
// encoder reversed (no: +1)
#define X_ENC_SIGN (-1.)
#define Y_ENC_SIGN (-1.)
// -> conf.XEncZero/YEncZero
//#define X_ENC_ZERO (61245239)
//#define Y_ENC_ZERO (36999830)
// encoder reversed (no: +1) -> sign of ...stepsperrev
//#define X_ENC_SIGN (-1.)
//#define Y_ENC_SIGN (-1.)
// encoder position to radians and back
#define X_ENC2RAD(n) ang2half(X_ENC_SIGN * 2.*M_PI * ((double)((n)-X_ENC_ZERO)) / X_ENC_STEPSPERREV)
#define Y_ENC2RAD(n) ang2half(Y_ENC_SIGN * 2.*M_PI * ((double)((n)-Y_ENC_ZERO)) / 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))
#define Xenc2rad(n) ang2half(2.*M_PI * ((double)((n)-(X_ENC_ZERO))) / (X_ENC_STEPSPERREV))
#define Yenc2rad(n) ang2half(2.*M_PI * ((double)((n)-(Y_ENC_ZERO))) / (Y_ENC_STEPSPERREV))
#define Xrad2enc(r) ((uint32_t)((r) / 2./M_PI * (X_ENC_STEPSPERREV)))
#define Yrad2enc(r) ((uint32_t)((r) / 2./M_PI * (Y_ENC_STEPSPERREV)))
// convert angle in radians to +-pi
static inline double ang2half(double ang){
static inline __attribute__((always_inline)) double ang2half(double ang){
if(ang < -M_PI) ang += 2.*M_PI;
else if(ang > M_PI) ang -= 2.*M_PI;
return ang;
}
// convert to only positive: 0..2pi
static inline double ang2full(double ang){
static inline __attribute__((always_inline)) double ang2full(double ang){
if(ang < 0.) ang += 2.*M_PI;
else if(ang > 2.*M_PI) ang -= 2.*M_PI;
return ang;
}
// motor position to radians and back
#define X_MOT2RAD(n) ang2half(2. * M_PI * ((double)(n)) / X_MOT_STEPSPERREV)
#define Y_MOT2RAD(n) ang2half(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))
#define X_MOT2RAD(n) ang2half(2. * M_PI * ((double)(n)) / (X_MOT_STEPSPERREV))
#define Y_MOT2RAD(n) ang2half(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. * SITECH_LOOP_FREQUENCY)
#define Y_MOTSPD2RS(n) (Y_MOT2RAD(n) / 65536. * SITECH_LOOP_FREQUENCY)
#define X_RS2MOTSPD(r) ((int32_t)(X_RAD2MOT(r) * 65536. / SITECH_LOOP_FREQUENCY))
#define Y_RS2MOTSPD(r) ((int32_t)(Y_RAD2MOT(r) * 65536. / SITECH_LOOP_FREQUENCY))
#define X_MOTSPD2RS(n) (X_MOT2RAD(n) / 65536. * (SITECH_LOOP_FREQUENCY))
#define Y_MOTSPD2RS(n) (Y_MOT2RAD(n) / 65536. * (SITECH_LOOP_FREQUENCY))
#define X_RS2MOTSPD(r) ((int32_t)(X_RAD2MOT(r) * 65536. / (SITECH_LOOP_FREQUENCY)))
#define Y_RS2MOTSPD(r) ((int32_t)(Y_RAD2MOT(r) * 65536. / (SITECH_LOOP_FREQUENCY)))
// motor acceleration -//-
#define X_MOTACC2RS(n) (X_MOT2RAD(n) / 65536. * SITECH_LOOP_FREQUENCY * SITECH_LOOP_FREQUENCY)
#define Y_MOTACC2RS(n) (Y_MOT2RAD(n) / 65536. * SITECH_LOOP_FREQUENCY * SITECH_LOOP_FREQUENCY)
#define X_RS2MOTACC(r) ((int32_t)(X_RAD2MOT(r) * 65536. / SITECH_LOOP_FREQUENCY / SITECH_LOOP_FREQUENCY))
#define Y_RS2MOTACC(r) ((int32_t)(Y_RAD2MOT(r) * 65536. / SITECH_LOOP_FREQUENCY / SITECH_LOOP_FREQUENCY))
#define X_MOTACC2RS(n) (X_MOT2RAD(n) / 65536. * (SITECH_LOOP_FREQUENCY) * (SITECH_LOOP_FREQUENCY))
#define Y_MOTACC2RS(n) (Y_MOT2RAD(n) / 65536. * (SITECH_LOOP_FREQUENCY) * (SITECH_LOOP_FREQUENCY))
#define X_RS2MOTACC(r) ((int32_t)(X_RAD2MOT(r) * 65536. / (SITECH_LOOP_FREQUENCY) / (SITECH_LOOP_FREQUENCY)))
#define Y_RS2MOTACC(r) ((int32_t)(Y_RAD2MOT(r) * 65536. / (SITECH_LOOP_FREQUENCY) / (SITECH_LOOP_FREQUENCY)))
// adder time to seconds vice versa
#define ADDER2S(a) ((a) / SITECH_LOOP_FREQUENCY)
#define S2ADDER(s) ((s) * SITECH_LOOP_FREQUENCY)
#define ADDER2S(a) ((a) / (SITECH_LOOP_FREQUENCY))
#define S2ADDER(s) ((s) * (SITECH_LOOP_FREQUENCY))
// encoder's tolerance (ticks)
#define YencTOL (25.)