mirror of
https://github.com/eddyem/small_tel.git
synced 2026-01-31 12:25:16 +03:00
some work done
This commit is contained in:
Edward Emelianov
parent
c8449c916a
commit
50cbaea550
@ -1,3 +1,3 @@
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||||
1. PID: slew2
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2. add model & config "model ON"
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fix encoders opening for several tries
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encoderthread2() - change main cycle (remove pause, read data independently, ask for new only after timeout after last request)
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Read HW config even in model mode
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@ -34,7 +34,9 @@ typedef struct{
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static hardware_configuration_t HW = {0};
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static parameters G = {0};
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static parameters G = {
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.conffile = "servo.conf",
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};
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static sl_option_t cmdlnopts[] = {
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{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&G.help), "show this help"},
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@ -53,7 +55,7 @@ static sl_option_t confopts[] = {
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static void dumpaxis(char axis, axis_config_t *c){
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#define STRUCTPAR(p) (c)->p
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#define DUMP(par) do{printf("%c%s=%g\n", axis, #par, STRUCTPAR(par));}while(0)
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#define DUMP(par) do{printf("%c%s=%.10g\n", axis, #par, STRUCTPAR(par));}while(0)
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#define DUMPD(par) do{printf("%c%s=%g\n", axis, #par, RAD2DEG(STRUCTPAR(par)));}while(0)
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DUMPD(accel);
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DUMPD(backlash);
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@ -64,6 +66,8 @@ static void dumpaxis(char axis, axis_config_t *c){
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DUMP(outplimit);
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DUMP(currlimit);
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DUMP(intlimit);
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DUMP(motor_stepsperrev);
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DUMP(axis_stepsperrev);
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#undef DUMP
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#undef DUMPD
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}
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@ -83,6 +83,8 @@ static sl_option_t opts[] = {
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{"MaxPointingErr", NEED_ARG, NULL, 0, arg_double, APTR(&Config.MaxPointingErr), "if angle < this, change state from \"slewing\" to \"pointing\" (coarse pointing): 8 degrees"},
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{"MaxFinePointingErr",NEED_ARG, NULL, 0, arg_double, APTR(&Config.MaxFinePointingErr), "if angle < this, chane state from \"pointing\" to \"guiding\" (fine poinging): 1.5 deg"},
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{"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''"},
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{"XEncZero", NEED_ARG, NULL, 0, arg_int, APTR(&Config.XEncZero), "X axis encoder approximate zero position"},
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{"YEncZero", NEED_ARG, NULL, 0, arg_int, APTR(&Config.YEncZero), "Y axis encoder approximate zero position"},
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// {"",NEED_ARG, NULL, 0, arg_double, APTR(&Config.), ""},
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end_option
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};
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@ -110,3 +112,17 @@ void dumpConf(){
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void confHelp(){
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sl_conf_showhelp(-1, opts);
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}
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const char* errcodes[MCC_E_AMOUNT] = {
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[MCC_E_OK] = "OK",
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[MCC_E_FATAL] = "Fatal error",
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[MCC_E_BADFORMAT] = "Wrong data format",
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[MCC_E_ENCODERDEV] = "Encoder error",
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[MCC_E_MOUNTDEV] = "Mount error",
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[MCC_E_FAILED] = "Failed to run"
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};
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// return string with error code
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const char *EcodeStr(mcc_errcodes_t e){
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if(e >= MCC_E_AMOUNT) return "Wrong error code";
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return errcodes[e];
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}
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@ -25,3 +25,4 @@
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void confHelp();
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conf_t *readServoConf(const char *filename);
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void dumpConf();
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const char *EcodeStr(mcc_errcodes_t e);
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@ -120,7 +120,11 @@ int main(int _U_ argc, char _U_ **argv){
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}
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printf("Moving to X=%gdeg, Y=%gdeg\n", G.X, G.Y);
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tag.X = DEG2RAD(G.X); tag.Y = DEG2RAD(G.Y);
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Mount.moveTo(&tag);
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mcc_errcodes_t e = Mount.moveTo(&tag);
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if(MCC_E_OK != e){
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WARNX("Cant go to given coordinates: %s\n", EcodeStr(e));
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goto out;
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}
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if(G.wait){
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sleep(1);
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waitmoving(G.Ncycles);
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@ -132,7 +136,9 @@ out:
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if(G.coordsoutput) pthread_join(dthr, NULL);
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DBG("QUIT");
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if(G.wait){
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if(getPos(&M, NULL)) printf("Mount position: X=%g, Y=%g\n", RAD2DEG(M.X.val), RAD2DEG(M.Y.val));
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usleep(250000); // pause to refresh coordinates
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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),
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RAD2DEG(E.X.val), RAD2DEG(E.Y.val));
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Mount.quit();
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}
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return 0;
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@ -1,10 +1,10 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<!DOCTYPE QtCreatorProject>
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<!-- Written by QtCreator 18.0.0, 2025-12-08T13:32:37. -->
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||||
<!-- Written by QtCreator 18.0.1, 2026-01-22T21:17:18. -->
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<qtcreator>
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<data>
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<variable>EnvironmentId</variable>
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<value type="QByteArray">{cf63021e-ef53-49b0-b03b-2f2570cdf3b6}</value>
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<value type="QByteArray">{7bd84e39-ca37-46d3-be9d-99ebea85bc0d}</value>
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</data>
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||||
<data>
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||||
<variable>ProjectExplorer.Project.ActiveTarget</variable>
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@ -40,9 +40,9 @@
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||||
<value type="int" key="EditorConfiguration.PaddingMode">1</value>
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<value type="int" key="EditorConfiguration.PreferAfterWhitespaceComments">0</value>
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<value type="bool" key="EditorConfiguration.PreferSingleLineComments">false</value>
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<value type="bool" key="EditorConfiguration.ScrollWheelZooming">false</value>
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<value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
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<value type="bool" key="EditorConfiguration.ShowMargin">false</value>
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<value type="int" key="EditorConfiguration.SmartBackspaceBehavior">1</value>
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<value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value>
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<value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
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<value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
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<value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
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@ -51,10 +51,10 @@
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<value type="bool" key="EditorConfiguration.UseIndenter">false</value>
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<value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
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<value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
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<value type="bool" key="EditorConfiguration.cleanIndentation">true</value>
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<value type="bool" key="EditorConfiguration.cleanIndentation">false</value>
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<value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
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<value type="QString" key="EditorConfiguration.ignoreFileTypes">*.md, *.MD, Makefile</value>
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<value type="bool" key="EditorConfiguration.inEntireDocument">true</value>
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<value type="bool" key="EditorConfiguration.inEntireDocument">false</value>
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<value type="bool" key="EditorConfiguration.skipTrailingWhitespace">true</value>
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<value type="bool" key="EditorConfiguration.tintMarginArea">true</value>
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</valuemap>
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@ -79,7 +79,7 @@
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<value type="bool" key="ClangTools.AnalyzeOpenFiles">true</value>
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<value type="bool" key="ClangTools.BuildBeforeAnalysis">true</value>
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||||
<value type="QString" key="ClangTools.DiagnosticConfig">Builtin.DefaultTidyAndClazy</value>
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<value type="int" key="ClangTools.ParallelJobs">4</value>
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<value type="int" key="ClangTools.ParallelJobs">8</value>
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<value type="bool" key="ClangTools.PreferConfigFile">true</value>
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<valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
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<valuelist type="QVariantList" key="ClangTools.SelectedFiles"/>
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@ -96,12 +96,12 @@
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<value type="bool" key="HasPerBcDcs">true</value>
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||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
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||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
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||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{91347f2c-5221-46a7-80b1-0a054ca02f79}</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{65a14f9e-e008-4c1b-89df-4eaa4774b6e3}</value>
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||||
<value type="qlonglong" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
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||||
<value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
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||||
<value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
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<valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
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<value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/eddy/Docs/SAO/10micron/C-sources/erfa_functions</value>
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<value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/tmp/robo5/mountcontrol.git/LibSidServo</value>
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<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
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<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
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<valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
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@ -133,7 +133,7 @@
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<valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.CustomParsers"/>
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<value type="bool" key="ProjectExplorer.BuildConfiguration.ParseStandardOutput">false</value>
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<valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">По умолчанию</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Default</value>
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||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericBuildConfiguration</value>
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<value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
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||||
<value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
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@ -168,6 +168,7 @@
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<value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
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<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
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<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
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<value type="QString" key="RunConfiguration.WorkingDirectory.default">%{RunConfig:Executable:Path}</value>
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</valuemap>
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||||
<value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
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||||
</valuemap>
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@ -203,6 +204,7 @@
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<value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
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<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
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<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
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<value type="QString" key="RunConfiguration.WorkingDirectory.default">%{RunConfig:Executable:Path}</value>
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</valuemap>
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||||
<value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
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</valuemap>
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@ -25,6 +25,7 @@
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#include <time.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include "main.h"
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#include "movingmodel.h"
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@ -53,6 +54,7 @@ limits_t
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.max = {.coord = 3.1241, .speed = 0.139626, .accel = 0.165806}}
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;
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static mcc_errcodes_t shortcmd(short_command_t *cmd);
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static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig);
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/**
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* @brief curtime - monotonic time from first run
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@ -87,6 +89,7 @@ static int initstarttime(){
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curtime(&t0);
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return TRUE;
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}
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// return difference (in seconds) between time1 and time0
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double timediff(const struct timespec *time1, const struct timespec *time0){
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if(!time1 || !time0) return -1.;
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@ -220,7 +223,18 @@ static mcc_errcodes_t init(conf_t *c){
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}
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if(!SSrawcmd(CMD_EXITACM, NULL)) ret = MCC_E_FAILED;
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if(ret != MCC_E_OK) return ret;
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return updateMotorPos();
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// read HW config to update constants
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hardware_configuration_t HW;
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if(MCC_E_OK != get_hwconf(&HW)) return MCC_E_FAILED;
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// make a pause for actual encoder's values
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double t0 = timefromstart();
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while(timefromstart() - t0 < Conf.EncoderReqInterval) usleep(1000);
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mcc_errcodes_t e = updateMotorPos();
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// and refresh data after updating
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DBG("Wait for next mount reading");
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t0 = timefromstart();
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while(timefromstart() - t0 < Conf.MountReqInterval * 3.) usleep(1000);
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return e;
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}
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// check coordinates (rad) and speeds (rad/s); return FALSE if failed
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@ -242,7 +256,7 @@ static int chkYs(double s){
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return TRUE;
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}
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// set SLEWING state if axis was stopped later
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// set SLEWING state if axis was stopped
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static void setslewingstate(){
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//FNAME();
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mountdata_t d;
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@ -258,19 +272,6 @@ static void setslewingstate(){
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}else DBG("CAN't GET MOUNT DATA!");
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}
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/*
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static mcc_errcodes_t slew2(const coordpair_t *target, slewflags_t flags){
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(void)target;
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(void)flags;
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//if(Conf.RunModel) return ... ;
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if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
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//...
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setStat(AXIS_SLEWING, AXIS_SLEWING);
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//...
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return MCC_E_FAILED;
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}
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*/
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/**
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* @brief move2 - simple move to given point and stop
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* @param X - new X coordinate (radians: -pi..pi) or NULL
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@ -287,10 +288,11 @@ static mcc_errcodes_t move2(const coordpair_t *target){
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cmd.Ymot = target->Y;
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cmd.Xspeed = Xlimits.max.speed;
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cmd.Yspeed = Ylimits.max.speed;
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mcc_errcodes_t r = shortcmd(&cmd);
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/*mcc_errcodes_t r = shortcmd(&cmd);
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||||
if(r != MCC_E_OK) return r;
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||||
setslewingstate();
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||||
return MCC_E_OK;
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||||
return MCC_E_OK;*/
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return shortcmd(&cmd);
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}
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/**
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@ -427,6 +429,7 @@ static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
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if(!hwConfig) return MCC_E_BADFORMAT;
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if(Conf.RunModel) return MCC_E_FAILED;
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SSconfig config;
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DBG("Read HW configuration");
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if(!cmdC(&config, FALSE)) return MCC_E_FAILED;
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// Convert acceleration (ticks per loop^2 to rad/s^2)
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hwConfig->Xconf.accel = X_MOTACC2RS(config.Xconf.accel);
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@ -466,8 +469,8 @@ static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
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// Copy ticks per revolution
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hwConfig->Xsetpr = __bswap_32(config.Xsetpr);
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hwConfig->Ysetpr = __bswap_32(config.Ysetpr);
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hwConfig->Xmetpr = __bswap_32(config.Xmetpr) / 4; // as documentation said, real ticks are 4 times less
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hwConfig->Ymetpr = __bswap_32(config.Ymetpr) / 4;
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hwConfig->Xmetpr = __bswap_32(config.Xmetpr); // as documentation said, real ticks are 4 times less
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hwConfig->Ymetpr = __bswap_32(config.Ymetpr);
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// Convert slew rates (ticks per loop to rad/s)
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hwConfig->Xslewrate = X_MOTSPD2RS(config.Xslewrate);
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||||
hwConfig->Yslewrate = Y_MOTSPD2RS(config.Yslewrate);
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@ -485,6 +488,30 @@ static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
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hwConfig->locsspeed = (double)config.locsspeed * M_PI / (180.0 * 3600.0);
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||||
// Convert backlash speed (ticks per loop to rad/s)
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||||
hwConfig->backlspd = X_MOTSPD2RS(config.backlspd);
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||||
// now read text commands
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int64_t i64;
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||||
double Xticks, Yticks;
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||||
DBG("SERIAL");
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// motor's encoder ticks per rev
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||||
if(!SSgetint(CMD_MEPRX, &i64)) return MCC_E_FAILED;
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||||
Xticks = ((double) i64); // divide by 4 as these values stored ???
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||||
if(!SSgetint(CMD_MEPRY, &i64)) return MCC_E_FAILED;
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||||
Yticks = ((double) i64);
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||||
X_ENC_ZERO = Conf.XEncZero;
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||||
Y_ENC_ZERO = Conf.YEncZero;
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||||
DBG("xyrev: %d/%d", config.xbits.motrev, config.ybits.motrev);
|
||||
X_MOT_STEPSPERREV = hwConfig->Xconf.motor_stepsperrev = Xticks; // (config.xbits.motrev) ? -Xticks : Xticks;
|
||||
Y_MOT_STEPSPERREV = hwConfig->Yconf.motor_stepsperrev = Yticks; //(config.ybits.motrev) ? -Yticks : Yticks;
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||||
DBG("zero: %d/%d; motsteps: %.10g/%.10g", X_ENC_ZERO, Y_ENC_ZERO, X_MOT_STEPSPERREV, Y_MOT_STEPSPERREV);
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||||
// axis encoder ticks per rev
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||||
if(!SSgetint(CMD_AEPRX, &i64)) return MCC_E_FAILED;
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||||
Xticks = (double) i64;
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||||
if(!SSgetint(CMD_AEPRY, &i64)) return MCC_E_FAILED;
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||||
Yticks = (double) i64;
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DBG("xyencrev: %d/%d", config.xbits.encrev, config.ybits.encrev);
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||||
X_ENC_STEPSPERREV = hwConfig->Xconf.axis_stepsperrev = (config.xbits.encrev) ? -Xticks : Xticks;
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Y_ENC_STEPSPERREV = hwConfig->Yconf.axis_stepsperrev = (config.ybits.encrev) ? -Yticks : Yticks;
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DBG("encsteps: %.10g/%.10g", X_ENC_STEPSPERREV, Y_ENC_STEPSPERREV);
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return MCC_E_OK;
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||||
}
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||||
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||||
@ -538,8 +565,9 @@ static mcc_errcodes_t write_hwconf(hardware_configuration_t *hwConfig){
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||||
config.backlspd = X_RS2MOTSPD(hwConfig->backlspd);
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||||
config.Xsetpr = __bswap_32(hwConfig->Xsetpr);
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||||
config.Ysetpr = __bswap_32(hwConfig->Ysetpr);
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||||
config.Xmetpr = __bswap_32(hwConfig->Xmetpr * 4);
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||||
config.Ymetpr = __bswap_32(hwConfig->Ymetpr * 4);
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||||
config.Xmetpr = __bswap_32(hwConfig->Xmetpr);
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||||
config.Ymetpr = __bswap_32(hwConfig->Ymetpr);
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||||
// todo - also write text params
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||||
// TODO - next
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||||
(void) config;
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||||
return MCC_E_OK;
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||||
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||||
@ -48,7 +48,7 @@ static pthread_mutex_t mntmutex = PTHREAD_MUTEX_INITIALIZER,
|
||||
// encoders thread and mount thread
|
||||
static pthread_t encthread, mntthread;
|
||||
// max timeout for 1.5 bytes of encoder and 2 bytes of mount - for `select`
|
||||
static struct timeval encRtmout = {.tv_sec = 0, .tv_usec = 50000}, mntRtmout = {.tv_sec = 0, .tv_usec = 50000};
|
||||
static struct timeval encRtmout = {.tv_sec = 0, .tv_usec = 100}, mntRtmout = {.tv_sec = 0, .tv_usec = 50000};
|
||||
// encoders raw data
|
||||
typedef struct __attribute__((packed)){
|
||||
uint8_t magick;
|
||||
@ -131,8 +131,8 @@ static void parse_encbuf(uint8_t databuf[ENC_DATALEN], struct timespec *t){
|
||||
return;
|
||||
}
|
||||
pthread_mutex_lock(&datamutex);
|
||||
mountdata.encXposition.val = X_ENC2RAD(edata->encX);
|
||||
mountdata.encYposition.val = Y_ENC2RAD(edata->encY);
|
||||
mountdata.encXposition.val = Xenc2rad(edata->encX);
|
||||
mountdata.encYposition.val = Yenc2rad(edata->encY);
|
||||
DBG("Got positions X/Y= %.6g / %.6g", mountdata.encXposition.val, mountdata.encYposition.val);
|
||||
mountdata.encXposition.t = *t;
|
||||
mountdata.encYposition.t = *t;
|
||||
@ -151,32 +151,52 @@ static void parse_encbuf(uint8_t databuf[ENC_DATALEN], struct timespec *t){
|
||||
* @return amount of data read or 0 if problem
|
||||
*/
|
||||
static int getencval(int fd, double *val, struct timespec *t){
|
||||
if(fd < 0) return FALSE;
|
||||
if(fd < 0){
|
||||
DBG("Encoder fd < 0!");
|
||||
return FALSE;
|
||||
}
|
||||
char buf[128];
|
||||
int got = 0, Lmax = 127;
|
||||
double t0 = timefromstart();
|
||||
//DBG("start: %.6g", t0);
|
||||
do{
|
||||
fd_set rfds;
|
||||
FD_ZERO(&rfds);
|
||||
FD_SET(fd, &rfds);
|
||||
struct timeval tv = encRtmout;
|
||||
int retval = select(fd + 1, &rfds, NULL, NULL, &tv);
|
||||
if(!retval) continue;
|
||||
if(!retval){
|
||||
//DBG("select()==0 - timeout, %.6g", timefromstart());
|
||||
break;
|
||||
}
|
||||
if(retval < 0){
|
||||
if(errno == EINTR) continue;
|
||||
if(errno == EINTR){
|
||||
DBG("EINTR");
|
||||
continue;
|
||||
}
|
||||
DBG("select() < 0");
|
||||
return 0;
|
||||
}
|
||||
if(FD_ISSET(fd, &rfds)){
|
||||
ssize_t l = read(fd, &buf[got], Lmax);
|
||||
if(l < 1) return 0; // disconnected ??
|
||||
if(l < 1){
|
||||
DBG("read() < 0");
|
||||
return 0; // disconnected ??
|
||||
}
|
||||
got += l; Lmax -= l;
|
||||
buf[got] = 0;
|
||||
} else continue;
|
||||
if(strchr(buf, '\n')) break;
|
||||
}while(Lmax && timefromstart() - t0 < Conf.EncoderReqInterval);
|
||||
if(got == 0) return 0; // WTF?
|
||||
if(buf[got-1] == '\n') break; // got EOL as last symbol
|
||||
}while(Lmax && timefromstart() - t0 < Conf.EncoderReqInterval / 5.);
|
||||
if(got == 0){
|
||||
//DBG("No data from encoder, tfs=%.6g", timefromstart());
|
||||
return 0;
|
||||
}
|
||||
char *estr = strrchr(buf, '\n');
|
||||
if(!estr) return 0;
|
||||
if(!estr){
|
||||
DBG("No EOL");
|
||||
return 0;
|
||||
}
|
||||
*estr = 0;
|
||||
char *bgn = strrchr(buf, '\n');
|
||||
if(bgn) ++bgn;
|
||||
@ -188,7 +208,7 @@ static int getencval(int fd, double *val, struct timespec *t){
|
||||
return 0; // wrong number
|
||||
}
|
||||
if(val) *val = (double) data;
|
||||
if(t){ if(!curtime(t)) return 0; }
|
||||
if(t){ if(!curtime(t)){ DBG("Can't get time"); return 0; }}
|
||||
return got;
|
||||
}
|
||||
// try to read 1 byte from encoder; return -1 if nothing to read or -2 if device seems to be disconnected
|
||||
@ -312,40 +332,56 @@ static void *encoderthread2(void _U_ *u){
|
||||
int need2ask = 0; // need or not to ask encoder for new data
|
||||
while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR){
|
||||
struct timespec t;
|
||||
if(!curtime(&t)) continue;
|
||||
if(need2ask){
|
||||
//DBG("ASK for new data, tfs=%.6g", timefromstart());
|
||||
if(1 != write(encfd[0], req, 1)) { ++errctr; continue; }
|
||||
else if(1 != write(encfd[1], req, 1)) { ++errctr; continue; }
|
||||
//DBG("OK");
|
||||
need2ask = 0;
|
||||
usleep(100);
|
||||
}
|
||||
if(!curtime(&t)){
|
||||
DBG("Where is time?");
|
||||
continue;
|
||||
}
|
||||
double v;
|
||||
if(getencval(encfd[0], &v, &t)){
|
||||
pthread_mutex_lock(&datamutex);
|
||||
mountdata.encXposition.val = X_ENC2RAD(v);
|
||||
mountdata.encXposition.val = Xenc2rad(v);
|
||||
mountdata.encXposition.t = t;
|
||||
pthread_mutex_unlock(&datamutex);
|
||||
//DBG("MDXpos: %.10g/%g (xez=%d, xesr=%.10g), tfs=%.6g", v, mountdata.encXposition.val, X_ENC_ZERO, X_ENC_STEPSPERREV, timefromstart());
|
||||
getXspeed();
|
||||
if(getencval(encfd[1], &v, &t)){
|
||||
pthread_mutex_lock(&datamutex);
|
||||
mountdata.encYposition.val = Y_ENC2RAD(v);
|
||||
mountdata.encYposition.val = Yenc2rad(v);
|
||||
mountdata.encYposition.t = t;
|
||||
pthread_mutex_unlock(&datamutex);
|
||||
//DBG("MDYpos: %.10g/%g (yez=%d, yesr=%.10g)", v, mountdata.encYposition.val, Y_ENC_ZERO, Y_ENC_STEPSPERREV);
|
||||
getYspeed();
|
||||
errctr = 0;
|
||||
need2ask = 0;
|
||||
} else {
|
||||
if(need2ask) ++errctr;
|
||||
else need2ask = 1;
|
||||
continue;
|
||||
}
|
||||
} else {
|
||||
if(need2ask) ++errctr;
|
||||
else need2ask = 1;
|
||||
continue;
|
||||
}
|
||||
//DBG("tgot=%.6g", timefromstart());
|
||||
while(timefromstart() - t0 < Conf.EncoderReqInterval){ usleep(50); }
|
||||
t0 = timefromstart();
|
||||
}else{
|
||||
DBG("NO Y DATA!!!");
|
||||
/*if(need2ask) ++errctr;
|
||||
else need2ask = 1;
|
||||
continue;*/
|
||||
++errctr;
|
||||
need2ask = 1;
|
||||
}
|
||||
DBG("ERRCTR=%d", errctr);
|
||||
}else{ // no data - ask for new
|
||||
//DBG("Need new, tfs=%.6g", timefromstart());
|
||||
/*if(need2ask) ++errctr;
|
||||
else need2ask = 1;
|
||||
continue;*/
|
||||
++errctr;
|
||||
need2ask = 1;
|
||||
}
|
||||
}
|
||||
DBG("\n\nEXIT: ERRCTR=%d", errctr);
|
||||
for(int i = 0; i < 2; ++i){
|
||||
if(encfd[i] > -1){
|
||||
close(encfd[i]);
|
||||
@ -480,8 +516,15 @@ static int ttyopen(const char *path, speed_t speed){
|
||||
int fd = -1;
|
||||
struct termios2 tty;
|
||||
DBG("Try to open %s @ %d", path, speed);
|
||||
if((fd = open(path, O_RDWR|O_NOCTTY)) < 0) return -1;
|
||||
if(ioctl(fd, TCGETS2, &tty)){ close(fd); return -1; }
|
||||
if((fd = open(path, O_RDWR|O_NOCTTY)) < 0){
|
||||
DBG("Can't open device %s: %s", path, strerror(errno));
|
||||
return -1;
|
||||
}
|
||||
if(ioctl(fd, TCGETS2, &tty)){
|
||||
DBG("Can't read TTY settings");
|
||||
close(fd);
|
||||
return -1;
|
||||
}
|
||||
tty.c_lflag = 0; // ~(ICANON | ECHO | ECHOE | ISIG)
|
||||
tty.c_iflag = 0; // don't do any changes in input stream
|
||||
tty.c_oflag = 0; // don't do any changes in output stream
|
||||
@ -490,7 +533,11 @@ static int ttyopen(const char *path, speed_t speed){
|
||||
tty.c_ospeed = speed;
|
||||
//tty.c_cc[VMIN] = 0; // non-canonical mode
|
||||
//tty.c_cc[VTIME] = 5;
|
||||
if(ioctl(fd, TCSETS2, &tty)){ close(fd); return -1; }
|
||||
if(ioctl(fd, TCSETS2, &tty)){
|
||||
DBG("Can't set TTY settings");
|
||||
close(fd);
|
||||
return -1;
|
||||
}
|
||||
DBG("Check speed: i=%d, o=%d", tty.c_ispeed, tty.c_ospeed);
|
||||
if(tty.c_ispeed != (speed_t) speed || tty.c_ospeed != (speed_t)speed){ close(fd); return -1; }
|
||||
// try to set exclusive
|
||||
@ -523,7 +570,7 @@ int openEncoder(){
|
||||
if(encfd[i] < 0) return FALSE;
|
||||
}
|
||||
encRtmout.tv_sec = 0;
|
||||
encRtmout.tv_usec = 1000; // 1ms
|
||||
encRtmout.tv_usec = 100000000 / Conf.EncoderDevSpeed;
|
||||
if(pthread_create(&encthread, NULL, encoderthread2, NULL)){
|
||||
for(int i = 0; i < 2; ++i){
|
||||
close(encfd[i]);
|
||||
@ -602,6 +649,8 @@ mcc_errcodes_t getMD(mountdata_t *d){
|
||||
pthread_mutex_lock(&datamutex);
|
||||
*d = mountdata;
|
||||
pthread_mutex_unlock(&datamutex);
|
||||
//DBG("ENCpos: %.10g/%.10g", d->encXposition.val, d->encYposition.val);
|
||||
//DBG("millis: %u, encxt: %zd (time: %zd)", d->millis, d->encXposition.t.tv_sec, time(NULL));
|
||||
return MCC_E_OK;
|
||||
}
|
||||
|
||||
@ -629,6 +678,7 @@ static int wr(const data_t *out, data_t *in, int needeol){
|
||||
int g = write(mntfd, "\r", 1); // add EOL
|
||||
(void) g;
|
||||
}
|
||||
usleep(50000); // add little pause so that the idiot has time to swallow
|
||||
}
|
||||
if(!in) return TRUE;
|
||||
in->len = 0;
|
||||
@ -740,6 +790,12 @@ int cmdC(SSconfig *conf, int rw){
|
||||
}else{ // read
|
||||
data_t d;
|
||||
d.buf = (uint8_t *) conf;
|
||||
d.len = 0; d.maxlen = 0;
|
||||
ret = wr(rcmd, &d, 1);
|
||||
DBG("write command: %s", ret ? "TRUE" : "FALSE");
|
||||
if(!ret) goto rtn;
|
||||
// make a huge pause for stupid SSII
|
||||
usleep(100000);
|
||||
d.len = 0; d.maxlen = sizeof(SSconfig);
|
||||
ret = wr(rcmd, &d, 1);
|
||||
DBG("wr returned %s; got %zd bytes of %zd", ret ? "TRUE" : "FALSE", d.len, d.maxlen);
|
||||
|
||||
@ -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{
|
||||
@ -77,6 +78,8 @@ typedef struct{
|
||||
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
|
||||
|
||||
@ -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;
|
||||
|
||||
@ -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.)
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user