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is moving model really works?

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This commit is contained in:
Edward Emelianov
2025-08-06 15:09:07 +03:00
parent 46ff11df58
commit 581cdc60f9
31 changed files with 1557 additions and 396 deletions
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88
Auxiliary_utils/LibSidServo/sidservo.h
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@@ -16,6 +16,11 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* This file contains all need for external usage
*/
#pragma once
#ifdef __cplusplus
@@ -27,14 +32,37 @@ extern "C"
#include <stdint.h>
#include <sys/time.h>
// acceptable position error - 0.1''
#define MCC_POSITION_ERROR (5e-7)
// acceptable disagreement between motor and axis encoders - 2''
#define MCC_ENCODERS_ERROR (1e-7)
// max speeds (rad/s): xs=10 deg/s, ys=8 deg/s
#define MCC_MAX_X_SPEED (0.174533)
#define MCC_MAX_Y_SPEED (0.139626)
// accelerations by both axis (for model); TODO: move speeds/accelerations into config?
// xa=12.6 deg/s^2, ya= 9.5 deg/s^2
#define MCC_X_ACCELERATION (0.219911)
#define MCC_Y_ACCELERATION (0.165806)
// max speed interval, seconds
#define MCC_CONF_MAX_SPEEDINT (2.)
// minimal speed interval in parts of EncoderReqInterval
#define MCC_CONF_MIN_SPEEDC (3.)
// PID I cycle time (analog of "RC" for PID on opamps)
#define MCC_PID_CYCLE_TIME (5.)
// maximal PID refresh time interval (if larger all old data will be cleared)
#define MCC_PID_MAX_DT (1.)
// normal PID refresh interval
#define MCC_PID_REFRESH_DT (0.1)
// boundary conditions for axis state: "slewing/pointing/guiding"
// if angle < MCC_MAX_POINTING_ERR, change state from "slewing" to "pointing": 5 degrees
//#define MCC_MAX_POINTING_ERR (0.20943951)
#define MCC_MAX_POINTING_ERR (0.08726646)
// if angle < MCC_MAX_GUIDING_ERR, chane state from "pointing" to "guiding": 1.5 deg
#define MCC_MAX_GUIDING_ERR (0.026179939)
// if error less than this value we suppose that target is captured and guiding is good: 0.1''
#define MCC_MAX_ATTARGET_ERR (4.8481368e-7)
// error codes
typedef enum{
@@ -47,16 +75,25 @@ typedef enum{
} mcc_errcodes_t;
typedef struct{
char* MountDevPath; // path to mount device
int MountDevSpeed; // serial speed
char* EncoderDevPath; // path to encoder device
int EncoderDevSpeed; // serial speed
int SepEncoder; // ==1 if encoder works as separate serial device, ==2 if there's new version with two devices
char* EncoderXDevPath; // paths to new controller devices
double P, I, D;
} PIDpar_t;
typedef struct{
char* MountDevPath; // path to mount device
int MountDevSpeed; // serial speed
char* EncoderDevPath; // path to encoder device
int EncoderDevSpeed; // serial speed
int SepEncoder; // ==1 if encoder works as separate serial device, ==2 if there's new version with two devices
char* EncoderXDevPath; // paths to new controller devices
char* EncoderYDevPath;
double MountReqInterval; // interval between subsequent mount requests (seconds)
double EncoderReqInterval; // interval between subsequent encoder requests (seconds)
double EncoderSpeedInterval;// interval between speed calculations
double MountReqInterval; // interval between subsequent mount requests (seconds)
double EncoderReqInterval; // interval between subsequent encoder requests (seconds)
double EncoderSpeedInterval; // interval between speed calculations
int RunModel; // == 1 if you want to use model instead of real mount
PIDpar_t XPIDC; // gain parameters of PID for both axiss (C - coordinate driven, V - velocity driven)
PIDpar_t XPIDV;
PIDpar_t YPIDC;
PIDpar_t YPIDV;
} conf_t;
// coordinates/speeds in degrees or d/s: X, Y
@@ -113,16 +150,16 @@ typedef struct{
} extradata_t;
typedef enum{
MNT_STOPPED,
MNT_SLEWING,
MNT_POINTING,
MNT_GUIDING,
MNT_ERROR,
} mnt_status_t;
AXIS_STOPPED,
AXIS_SLEWING,
AXIS_POINTING,
AXIS_GUIDING,
AXIS_ERROR,
} axis_status_t;
typedef struct{
mnt_status_t Xstatus;
mnt_status_t Ystatus;
axis_status_t Xstate;
axis_status_t Ystate;
coordval_t motXposition;
coordval_t motYposition;
coordval_t encXposition;
@@ -157,7 +194,7 @@ typedef struct{
double Yatime; // 28
} long_command_t; // long command
// hardware axe configuration
// hardware axis configuration
typedef struct{
double accel; // Default Acceleration, rad/s^2
double backlash; // Backlash (???)
@@ -168,13 +205,13 @@ typedef struct{
double outplimit; // Output Limit, percent (0..100)
double currlimit; // Current Limit (A)
double intlimit; // Integral Limit (???)
} __attribute__((packed)) axe_config_t;
} __attribute__((packed)) axis_config_t;
// hardware configuration
typedef struct{
axe_config_t Xconf;
axis_config_t Xconf;
xbits_t xbits;
axe_config_t Yconf;
axis_config_t Yconf;
ybits_t ybits;
uint8_t address;
double eqrate; // Equatorial Rate (???)
@@ -197,19 +234,19 @@ typedef struct{
double backlspd; // Backlash speed (rad/s)
} hardware_configuration_t;
// flags for slew function
/* flags for slew function
typedef struct{
uint32_t slewNguide : 1; // ==1 to guide after slewing
} slewflags_t;
*/
// mount class
typedef struct{
// TODO: on init/quit clear all XY-bits to default`
mcc_errcodes_t (*init)(conf_t *c); // init device
void (*quit)(); // deinit
mcc_errcodes_t (*getMountData)(mountdata_t *d); // get last data
mcc_errcodes_t (*slewTo)(const coordpair_t *target, slewflags_t flags);
mcc_errcodes_t (*correctTo)(coordval_pair_t *target);
// mcc_errcodes_t (*slewTo)(const coordpair_t *target, slewflags_t flags);
mcc_errcodes_t (*correctTo)(const coordval_pair_t *target, const coordpair_t *endpoint);
mcc_errcodes_t (*moveTo)(const coordpair_t *target); // move to given position and stop
mcc_errcodes_t (*moveWspeed)(const coordpair_t *target, const coordpair_t *speed); // move with given max speed
mcc_errcodes_t (*setSpeed)(const coordpair_t *tagspeed); // set speed
@@ -224,7 +261,6 @@ typedef struct{
extern mount_t Mount;
#ifdef __cplusplus
}
#endif