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This commit is contained in:
Edward Emelianov
2025-12-08 21:04:06 +03:00
parent 2e9241f079
commit 74d9ebb75f
20 changed files with 386 additions and 314 deletions
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49
Auxiliary_utils/LibSidServo/examples/conf.c
View File

@@ -24,25 +24,32 @@
static conf_t Config = {
.MountDevPath = "/dev/ttyUSB0",
.MountDevSpeed = 19200,
.EncoderXDevPath = "/dev/encoderX0",
.EncoderYDevPath = "/dev/encoderY0",
.EncoderXDevPath = "/dev/encoder_X0",
.EncoderYDevPath = "/dev/encoder_Y0",
.EncoderDevSpeed = 153000,
.MountReqInterval = 0.1,
.EncoderReqInterval = 0.05,
.EncoderReqInterval = 0.001,
.SepEncoder = 2,
.EncoderSpeedInterval = 0.1,
.XPIDC.P = 0.8,
.EncoderSpeedInterval = 0.05,
.EncodersDisagreement = 1e-5, // 2''
.PIDMaxDt = 1.,
.PIDRefreshDt = 0.1,
.PIDCycleDt = 5.,
.XPIDC.P = 0.5,
.XPIDC.I = 0.1,
.XPIDC.D = 0.3,
.XPIDV.P = 1.,
.XPIDV.I = 0.01,
.XPIDV.D = 0.2,
.YPIDC.P = 0.8,
.XPIDC.D = 0.2,
.XPIDV.P = 0.09,
.XPIDV.I = 0.0,
.XPIDV.D = 0.05,
.YPIDC.P = 0.5,
.YPIDC.I = 0.1,
.YPIDC.D = 0.3,
.YPIDV.P = 0.5,
.YPIDV.I = 0.2,
.YPIDV.D = 0.5,
.YPIDC.D = 0.2,
.YPIDV.P = 0.09,
.YPIDV.I = 0.0,
.YPIDV.D = 0.05,
.MaxPointingErr = 0.13962634,
.MaxFinePointingErr = 0.026179939,
.MaxGuidingErr = 4.8481368e-7,
};
static sl_option_t opts[] = {
@@ -50,13 +57,17 @@ static sl_option_t opts[] = {
{"MountDevSpeed", NEED_ARG, NULL, 0, arg_int, APTR(&Config.MountDevSpeed), "serial speed of mount device"},
{"EncoderDevPath", NEED_ARG, NULL, 0, arg_string, APTR(&Config.EncoderDevPath), "path to encoder device"},
{"EncoderDevSpeed", NEED_ARG, NULL, 0, arg_int, APTR(&Config.EncoderDevSpeed), "serial speed of encoder device"},
{"MountReqInterval",NEED_ARG, NULL, 0, arg_double, APTR(&Config.MountReqInterval), "interval of mount requests (not less than 0.05s)"},
{"EncoderReqInterval",NEED_ARG, NULL, 0, arg_double, APTR(&Config.EncoderReqInterval),"interval of encoder requests (in case of sep=2)"},
{"SepEncoder", NEED_ARG, NULL, 0, arg_int, APTR(&Config.SepEncoder), "encoder is separate device (1 - one device, 2 - two devices)"},
{"EncoderXDevPath", NEED_ARG, NULL, 0, arg_string, APTR(&Config.EncoderXDevPath), "path to X encoder (/dev/encoderX0)"},
{"EncoderYDevPath", NEED_ARG, NULL, 0, arg_string, APTR(&Config.EncoderYDevPath), "path to Y encoder (/dev/encoderY0)"},
{"EncodersDisagreement", NEED_ARG,NULL, 0, arg_double, APTR(&Config.EncodersDisagreement),"acceptable disagreement between motor and axis encoders"},
{"MountReqInterval",NEED_ARG, NULL, 0, arg_double, APTR(&Config.MountReqInterval), "interval of mount requests (not less than 0.05s)"},
{"EncoderReqInterval",NEED_ARG, NULL, 0, arg_double, APTR(&Config.EncoderReqInterval),"interval of encoder requests (in case of sep=2)"},
{"EncoderSpeedInterval", NEED_ARG,NULL, 0, arg_double, APTR(&Config.EncoderSpeedInterval),"interval of speed calculations, s"},
{"RunModel", NEED_ARG, NULL, 0, arg_int, APTR(&Config.RunModel), "instead of real hardware run emulation"},
{"PIDMaxDt", NEED_ARG, NULL, 0, arg_double, APTR(&Config.PIDMaxDt), "maximal PID refresh time interval (if larger all old data will be cleared)"},
{"PIDRefreshDt", NEED_ARG, NULL, 0, arg_double, APTR(&Config.PIDRefreshDt), "normal PID refresh interval by master process"},
{"PIDCycleDt", NEED_ARG, NULL, 0, arg_double, APTR(&Config.PIDCycleDt), "PID I cycle time (analog of \"RC\" for PID on opamps)"},
{"XPIDCP", NEED_ARG, NULL, 0, arg_double, APTR(&Config.XPIDC.P), "P of X PID (coordinate driven)"},
{"XPIDCI", NEED_ARG, NULL, 0, arg_double, APTR(&Config.XPIDC.I), "I of X PID (coordinate driven)"},
{"XPIDCD", NEED_ARG, NULL, 0, arg_double, APTR(&Config.XPIDC.D), "D of X PID (coordinate driven)"},
@@ -69,6 +80,10 @@ static sl_option_t opts[] = {
{"YPIDVP", NEED_ARG, NULL, 0, arg_double, APTR(&Config.YPIDV.P), "P of Y PID (velocity driven)"},
{"YPIDVI", NEED_ARG, NULL, 0, arg_double, APTR(&Config.YPIDV.I), "I of Y PID (velocity driven)"},
{"YPIDVD", NEED_ARG, NULL, 0, arg_double, APTR(&Config.YPIDV.D), "D of Y PID (velocity driven)"},
{"MaxPointingErr", NEED_ARG, NULL, 0, arg_double, APTR(&Config.MaxPointingErr), "if angle < this, change state from \"slewing\" to \"pointing\" (coarse pointing): 8 degrees"},
{"MaxFinePointingErr",NEED_ARG, NULL, 0, arg_double, APTR(&Config.MaxFinePointingErr), "if angle < this, chane state from \"pointing\" to \"guiding\" (fine poinging): 1.5 deg"},
{"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''"},
// {"",NEED_ARG, NULL, 0, arg_double, APTR(&Config.), ""},
end_option
};
@@ -93,5 +108,5 @@ void dumpConf(){
}
void confHelp(){
sl_showhelp(-1, opts);
sl_conf_showhelp(-1, opts);
}

38
Auxiliary_utils/LibSidServo/examples/dump.c
View File

@@ -24,7 +24,7 @@
#include "simpleconv.h"
// starting dump time (to conform different logs)
static double dumpT0 = -1.;
static struct timespec dumpT0 = {0};
#if 0
// amount of elements used for encoders' data filtering
@@ -63,7 +63,9 @@ static double filter(double val, int idx){
#endif
// return starting time of dump
double dumpt0(){ return dumpT0; }
void dumpt0(struct timespec *t){
if(t) *t = dumpT0;
}
/**
@@ -75,12 +77,12 @@ void logmnt(FILE *fcoords, mountdata_t *m){
if(!fcoords) return;
//DBG("LOG %s", m ? "data" : "header");
if(!m){ // write header
fprintf(fcoords, "# time Xmot(deg) Ymot(deg) Xenc(deg) Yenc(deg) VX(d/s) VY(d/s) millis\n");
fprintf(fcoords, " time Xmot(deg) Ymot(deg) Xenc(deg) Yenc(deg) VX(d/s) VY(d/s) millis\n");
return;
}else if(dumpT0 < 0.) dumpT0 = m->encXposition.t;
}else if(dumpT0.tv_sec == 0) dumpT0 = m->encXposition.t;
// write data
fprintf(fcoords, "%12.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10u\n",
m->encXposition.t - dumpT0, RAD2DEG(m->motXposition.val), RAD2DEG(m->motYposition.val),
Mount.timeDiff(&m->encXposition.t, &dumpT0), RAD2DEG(m->motXposition.val), RAD2DEG(m->motYposition.val),
RAD2DEG(m->encXposition.val), RAD2DEG(m->encYposition.val),
RAD2DEG(m->encXspeed.val), RAD2DEG(m->encYspeed.val),
m->millis);
@@ -106,16 +108,17 @@ void dumpmoving(FILE *fcoords, double t, int N){
LOGWARN("Can't get mount data");
}
uint32_t mdmillis = mdata.millis;
double enct = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
struct timespec encXt = mdata.encXposition.t;
int ctr = -1;
double xlast = mdata.motXposition.val, ylast = mdata.motYposition.val;
double t0 = Mount.currentT();
while(Mount.currentT() - t0 < t && ctr < N){
double t0 = Mount.timeFromStart();
while(Mount.timeFromStart() - t0 < t && ctr < N){
usleep(1000);
if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
double tmsr = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
if(tmsr == enct) continue;
enct = tmsr;
//double tmsr = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
struct timespec msrt = mdata.encXposition.t;
if(msrt.tv_nsec == encXt.tv_nsec) continue;
encXt = msrt;
if(fcoords) logmnt(fcoords, &mdata);
if(mdata.millis == mdmillis) continue;
//DBG("ctr=%d, motpos=%g/%g", ctr, mdata.motXposition.val, mdata.motYposition.val);
@@ -126,7 +129,7 @@ void dumpmoving(FILE *fcoords, double t, int N){
ctr = 0;
}else ++ctr;
}
DBG("Exit dumping; tend=%g, tmon=%g", t, Mount.currentT() - t0);
DBG("Exit dumping; tend=%g, tmon=%g", t, Mount.timeFromStart() - t0);
}
/**
@@ -137,18 +140,15 @@ void waitmoving(int N){
mountdata_t mdata;
int ctr = -1;
uint32_t millis = 0;
double xlast = 0., ylast = 0.;
//double xlast = 0., ylast = 0.;
DBG("Wait moving for %d stopped times", N);
while(ctr < N){
usleep(10000);
if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
if(mdata.millis == millis) continue;
millis = mdata.millis;
if(mdata.motXposition.val != xlast || mdata.motYposition.val != ylast){
xlast = mdata.motXposition.val;
ylast = mdata.motYposition.val;
//DBG("x/y: %g/%g", RAD2DEG(xlast), RAD2DEG(ylast));
ctr = 0;
}else ++ctr;
if(mdata.Xstate != AXIS_STOPPED || mdata.Ystate != AXIS_STOPPED) ctr = 0;
else ++ctr;
}
}

2
Auxiliary_utils/LibSidServo/examples/dump.h
View File

@@ -27,4 +27,4 @@ void dumpmoving(FILE *fcoords, double t, int N);
void waitmoving(int N);
int getPos(coordval_pair_t *mot, coordval_pair_t *enc);
void chk0(int ncycles);
double dumpt0();
void dumpt0(struct timespec *t);

1
Auxiliary_utils/LibSidServo/examples/dumpmoving.c
View File

@@ -73,6 +73,7 @@ int main(int argc, char **argv){
conf_t *Config = readServoConf(G.conffile);
if(!Config){
dumpConf();
confHelp();
return 1;
}
if(G.coordsoutput){

6
Auxiliary_utils/LibSidServo/examples/dumpmoving_dragNtrack.c
View File

@@ -139,8 +139,10 @@ static mcc_errcodes_t return2zero(){
short_command_t cmd = {0};
DBG("Try to move to zero");
cmd.Xmot = 0.; cmd.Ymot = 0.;
cmd.Xspeed = MCC_MAX_X_SPEED;
cmd.Yspeed = MCC_MAX_Y_SPEED;
coordpair_t maxspd;
if(MCC_E_OK != Mount.getMaxSpeed(&maxspd)) return MCC_E_FAILED;
cmd.Xspeed = maxspd.X;
cmd.Yspeed = maxspd.Y;
/*cmd.xychange = 1;
cmd.XBits = 100;
cmd.YBits = 20;*/

12
Auxiliary_utils/LibSidServo/examples/dumpswing.c
View File

@@ -83,7 +83,7 @@ void waithalf(double t){
uint32_t millis = 0;
double xlast = 0., ylast = 0.;
while(ctr < 5){
if(Mount.currentT() >= t) return;
if(Mount.timeFromStart() >= t) return;
usleep(1000);
if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
if(mdata.millis == millis) continue;
@@ -158,24 +158,24 @@ int main(int argc, char **argv){
}else{
tagX = 0.; tagY = DEG2RAD(G.amplitude);
}
double t = Mount.currentT(), t0 = t;
double t = Mount.timeFromStart(), t0 = t;
coordpair_t tag = {.X = tagX, .Y = tagY}, rtag = {.X = -tagX, .Y = -tagY};
double divide = 2.;
for(int i = 0; i < G.Nswings; ++i){
Mount.moveTo(&tag);
DBG("CMD: %g", Mount.currentT()-t0);
DBG("CMD: %g", Mount.timeFromStart()-t0);
t += G.period / divide;
divide = 1.;
waithalf(t);
DBG("Moved to +, t=%g", t-t0);
DBG("CMD: %g", Mount.currentT()-t0);
DBG("CMD: %g", Mount.timeFromStart()-t0);
Mount.moveTo(&rtag);
t += G.period;
waithalf(t);
DBG("Moved to -, t=%g", t-t0);
DBG("CMD: %g", Mount.currentT()-t0);
DBG("CMD: %g", Mount.timeFromStart()-t0);
}
green("Move to zero @ %g\n", Mount.currentT());
green("Move to zero @ %g\n", Mount.timeFromStart());
tag = (coordpair_t){0};
// be sure to move @ 0,0
if(MCC_E_OK != Mount.moveTo(&tag)){

3
Auxiliary_utils/LibSidServo/examples/goto.c
View File

@@ -91,8 +91,7 @@ int main(int _U_ argc, char _U_ **argv){
if(MCC_E_OK != Mount.init(Config)) ERRX("Can't init mount");
coordval_pair_t M, E;
if(!getPos(&M, &E)) ERRX("Can't get current position");
printf("Current time: %.10f\n", Mount.currentT());
DBG("xt: %g, x: %g", M.X.t, M.X.val);
printf("Current time: %.10f\n", Mount.timeFromStart());
if(G.coordsoutput){
if(!G.wait) green("When logging I should wait until moving ends; added '-w'\n");
G.wait = 1;

38
Auxiliary_utils/LibSidServo/examples/scmd_traectory.c
View File

@@ -44,6 +44,7 @@ typedef struct{
char *conffile;
} parameters;
static conf_t *Config = NULL;
static FILE *fcoords = NULL, *errlog = NULL;
static pthread_t dthr;
static parameters G = {
@@ -96,38 +97,35 @@ static void runtraectory(traectory_fn tfn){
if(!tfn) return;
coordval_pair_t telXY;
coordval_pair_t target;
coordpair_t traectXY, endpoint;
endpoint.X = G.Xmax, endpoint.Y = G.Ymax;
double t0 = dumpt0(), tlast = 0., tstart = Mount.currentT();
double tlastX = 0., tlastY = 0.;
coordpair_t traectXY;
double tlast = 0., tstart = Mount.timeFromStart();
long tlastXnsec = 0, tlastYnsec = 0;
struct timespec tcur, t0 = {0};
dumpt0(&t0);
while(1){
if(!telpos(&telXY)){
WARNX("No next telescope position");
return;
}
if(telXY.X.t == tlastX && telXY.Y.t == tlastY) continue; // last measure - don't mind
DBG("\n\nTELPOS: %g'/%g' (%.6f/%.6f) measured @ %.6f/%.6f", RAD2AMIN(telXY.X.val), RAD2AMIN(telXY.Y.val), RAD2DEG(telXY.X.val), RAD2DEG(telXY.Y.val), telXY.X.t, telXY.Y.t);
tlastX = telXY.X.t; tlastY = telXY.Y.t;
double t = Mount.currentT();
if(!Mount.currentT(&tcur)) continue;
if(telXY.X.t.tv_nsec == tlastXnsec && telXY.Y.t.tv_nsec == tlastYnsec) continue; // last measure - don't mind
DBG("\n\nTELPOS: %g'/%g' (%.6f/%.6f)", RAD2AMIN(telXY.X.val), RAD2AMIN(telXY.Y.val), RAD2DEG(telXY.X.val), RAD2DEG(telXY.Y.val));
tlastXnsec = telXY.X.t.tv_nsec; tlastYnsec = telXY.Y.t.tv_nsec;
double t = Mount.timeFromStart();
if(fabs(telXY.X.val) > G.Xmax || fabs(telXY.Y.val) > G.Ymax || t - tstart > G.tmax) break;
if(!traectory_point(&traectXY, t)) break;
target.X.val = traectXY.X; target.Y.val = traectXY.Y;
target.X.t = target.Y.t = t;
// check whether we should change direction
if(telXY.X.val > traectXY.X) endpoint.X = -G.Xmax;
else if(telXY.X.val < traectXY.X) endpoint.X = G.Xmax;
if(telXY.Y.val > traectXY.Y) endpoint.Y = -G.Ymax;
else if(telXY.Y.val < traectXY.Y) endpoint.Y = G.Ymax;
if(t0 < 0.) t0 = dumpt0();
target.X.t = target.Y.t = tcur;
if(t0.tv_nsec == 0 && t0.tv_sec == 0) dumpt0(&t0);
else{
//DBG("target: %g'/%g'", RAD2AMIN(traectXY.X), RAD2AMIN(traectXY.Y));
DBG("%g: dX=%.4f'', dY=%.4f''", t-t0, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
DBG("%g: dX=%.4f'', dY=%.4f''", t-tstart, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
//DBG("Correct to: %g/%g with EP %g/%g", RAD2DEG(target.X.val), RAD2DEG(target.Y.val), RAD2DEG(endpoint.X), RAD2DEG(endpoint.Y));
if(errlog)
fprintf(errlog, "%10.4f %10.4f %10.4f\n", telXY.X.t-t0, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
fprintf(errlog, "%10.4f %10.4f %10.4f\n", Mount.timeDiff(&telXY.X.t, &t0), RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
}
if(MCC_E_OK != Mount.correctTo(&target, &endpoint)) WARNX("Error of correction!");
while((t = Mount.currentT()) - tlast < MCC_PID_REFRESH_DT) usleep(50);
if(MCC_E_OK != Mount.correctTo(&target)) WARNX("Error of correction!");
while((t = Mount.timeFromStart()) - tlast < Config->PIDRefreshDt) usleep(500);
tlast = t;
}
WARNX("No next traectory point or emulation ends");
@@ -153,7 +151,7 @@ int main(int argc, char **argv){
if(!(fcoords = fopen(G.coordsoutput, "w")))
ERRX("Can't open %s", G.coordsoutput);
}else fcoords = stdout;
conf_t *Config = readServoConf(G.conffile);
Config = readServoConf(G.conffile);
if(!Config || G.dumpconf){
dumpConf();
return 1;

2
Auxiliary_utils/LibSidServo/examples/traectories.c
View File

@@ -41,7 +41,7 @@ int init_traectory(traectory_fn f, coordpair_t *XY0){
if(!f || !XY0) return FALSE;
cur_traectory = f;
XYstart = *XY0;
tstart = Mount.currentT();
tstart = Mount.timeFromStart();
mountdata_t mdata;
int ntries = 0;
for(; ntries < 10; ++ntries){