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refactoring

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This commit is contained in:
Edward Emelianov
2025-07-23 00:01:33 +03:00
parent 89815e8981
commit 7634856967
23 changed files with 801 additions and 234 deletions
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156
Auxiliary_utils/LibSidServo/main.c
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@@ -49,16 +49,16 @@ static mcc_errcodes_t init(conf_t *c){
if(!Conf.MountDevPath || Conf.MountDevSpeed < 1200){
DBG("Define mount device path and speed");
ret = MCC_E_BADFORMAT;
}else if(!openMount(Conf.MountDevPath, Conf.MountDevSpeed)){
}else if(!openMount()){
DBG("Can't open %s with speed %d", Conf.MountDevPath, Conf.MountDevSpeed);
ret = MCC_E_MOUNTDEV;
}
if(Conf.SepEncoder){
if(!Conf.EncoderDevPath || Conf.EncoderDevSpeed < 1200){
DBG("Define encoder device path and speed");
if(!Conf.EncoderDevPath && !Conf.EncoderXDevPath){
DBG("Define encoder device path");
ret = MCC_E_BADFORMAT;
}else if(!openEncoder(Conf.EncoderDevPath, Conf.EncoderDevSpeed)){
DBG("Can't open %s with speed %d", Conf.EncoderDevPath, Conf.EncoderDevSpeed);
}else if(!openEncoder()){
DBG("Can't open encoder device");
ret = MCC_E_ENCODERDEV;
}
}
@@ -66,6 +66,10 @@ static mcc_errcodes_t init(conf_t *c){
DBG("Bad value of MountReqInterval");
ret = MCC_E_BADFORMAT;
}
if(Conf.EncoderSpeedInterval < Conf.EncoderReqInterval * MCC_CONF_MIN_SPEEDC || Conf.EncoderSpeedInterval > MCC_CONF_MAX_SPEEDINT){
DBG("Wrong speed interval");
ret = MCC_E_BADFORMAT;
}
uint8_t buf[1024];
data_t d = {.buf = buf, .len = 0, .maxlen = 1024};
// read input data as there may be some trash on start
@@ -93,6 +97,12 @@ static int chkYs(double s){
return TRUE;
}
static mcc_errcodes_t slew2(const coordpair_t *target, slewflags_t flags){
(void)target;
(void)flags;
return MCC_E_FAILED;
}
/**
* @brief move2 - simple move to given point and stop
@@ -144,7 +154,7 @@ static mcc_errcodes_t setspeed(const double *X, const double *Y){
* @param speed (i) - speed or NULL
* @return
*/
static mcc_errcodes_t move2s(const coords_t *target, const coords_t *speed){
static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed){
if(!target && !speed) return MCC_E_BADFORMAT;
if(!target) return setspeed(&speed->X, &speed->Y);
if(!speed) return move2(&target->X, &target->Y);
@@ -152,10 +162,10 @@ static mcc_errcodes_t move2s(const coords_t *target, const coords_t *speed){
return MCC_E_BADFORMAT;
char buf[128];
int32_t spd = X_RS2MOTSPD(speed->X), tag = X_RAD2MOT(target->X);
snprintf(buf, 127, "%s%" PRIi64 "%s%" PRIi64, CMD_MOTX, tag, CMD_MOTXYS, spd);
snprintf(buf, 127, "%s%" PRIi32 "%s%" PRIi32, CMD_MOTX, tag, CMD_MOTXYS, spd);
if(!SStextcmd(buf, NULL)) return MCC_E_FAILED;
spd = Y_RS2MOTSPD(speed->Y); tag = Y_RAD2MOT(target->Y);
snprintf(buf, 127, "%s%" PRIi64 "%s%" PRIi64, CMD_MOTY, tag, CMD_MOTXYS, spd);
snprintf(buf, 127, "%s%" PRIi32 "%s%" PRIi32, CMD_MOTY, tag, CMD_MOTXYS, spd);
if(!SStextcmd(buf, NULL)) return MCC_E_FAILED;
return MCC_E_OK;
}
@@ -230,20 +240,119 @@ static mcc_errcodes_t longcmd(long_command_t *cmd){
return MCC_E_OK;
}
mcc_errcodes_t get_hwconf(hardware_configuration_t *c){
if(!c) return MCC_E_BADFORMAT;
SSconfig conf;
if(!cmdC(&conf, FALSE)) return MCC_E_FAILED;
// and bored transformations
DBG("Xacc=%u", conf.Xconf.accel);
DBG("Yacc=%u", conf.Yconf.accel);
c->Xconf.accel = X_MOTACC2RS(conf.Xconf.accel);
DBG("cacc: %g", c->Xconf.accel);
c->Xconf.backlash = conf.Xconf.backlash;
// ...
c->Yconf.accel = X_MOTACC2RS(conf.Yconf.accel);
c->Xconf.backlash = conf.Xconf.backlash;
// ...
static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
if(!hwConfig) return MCC_E_BADFORMAT;
SSconfig config;
if(!cmdC(&config, FALSE)) return MCC_E_FAILED;
// Convert acceleration (ticks per loop^2 to rad/s^2)
hwConfig->Xconf.accel = X_MOTACC2RS(config.Xconf.accel);
hwConfig->Yconf.accel = Y_MOTACC2RS(config.Yconf.accel);
// Convert backlash (ticks to radians)
hwConfig->Xconf.backlash = X_MOT2RAD(config.Xconf.backlash);
hwConfig->Yconf.backlash = Y_MOT2RAD(config.Yconf.backlash);
// Convert error limit (ticks to radians)
hwConfig->Xconf.errlimit = X_MOT2RAD(config.Xconf.errlimit);
hwConfig->Yconf.errlimit = Y_MOT2RAD(config.Yconf.errlimit);
// Proportional, integral, and derivative gains are unitless, so no conversion needed
hwConfig->Xconf.propgain = (double)config.Xconf.propgain;
hwConfig->Yconf.propgain = (double)config.Yconf.propgain;
hwConfig->Xconf.intgain = (double)config.Xconf.intgain;
hwConfig->Yconf.intgain = (double)config.Yconf.intgain;
hwConfig->Xconf.derivgain = (double)config.Xconf.derivgain;
hwConfig->Yconf.derivgain = (double)config.Yconf.derivgain;
// Output limit is a percentage (0-100)
hwConfig->Xconf.outplimit = (double)config.Xconf.outplimit / 255.0 * 100.0;
hwConfig->Yconf.outplimit = (double)config.Yconf.outplimit / 255.0 * 100.0;
// Current limit in amps
hwConfig->Xconf.currlimit = (double)config.Xconf.currlimit / 100.0;
hwConfig->Yconf.currlimit = (double)config.Yconf.currlimit / 100.0;
// Integral limit is unitless
hwConfig->Xconf.intlimit = (double)config.Xconf.intlimit;
hwConfig->Yconf.intlimit = (double)config.Yconf.intlimit;
// Copy XBits and YBits (no conversion needed)
hwConfig->xbits = config.xbits;
hwConfig->ybits = config.ybits;
// Copy address
hwConfig->address = config.address;
// TODO: What to do with eqrate, eqadj and trackgoal?
// Convert latitude (degrees * 100 to radians)
hwConfig->latitude = (double)config.latitude / 100.0 * M_PI / 180.0;
// Copy ticks per revolution
hwConfig->Xsetpr = config.Xsetpr;
hwConfig->Ysetpr = config.Ysetpr;
hwConfig->Xmetpr = config.Xmetpr;
hwConfig->Ymetpr = config.Ymetpr;
// Convert slew rates (ticks per loop to rad/s)
hwConfig->Xslewrate = X_MOTSPD2RS(config.Xslewrate);
hwConfig->Yslewrate = Y_MOTSPD2RS(config.Yslewrate);
// Convert pan rates (ticks per loop to rad/s)
hwConfig->Xpanrate = X_MOTSPD2RS(config.Xpanrate);
hwConfig->Ypanrate = Y_MOTSPD2RS(config.Ypanrate);
// Convert guide rates (ticks per loop to rad/s)
hwConfig->Xguiderate = X_MOTSPD2RS(config.Xguiderate);
hwConfig->Yguiderate = Y_MOTSPD2RS(config.Yguiderate);
// copy baudrate
hwConfig->baudrate = (uint32_t) config.baudrate;
// Convert local search degrees (degrees * 100 to radians)
hwConfig->locsdeg = (double)config.locsdeg / 100.0 * M_PI / 180.0;
// Convert local search speed (arcsec per second to rad/s)
hwConfig->locsspeed = (double)config.locsspeed * M_PI / (180.0 * 3600.0);
// Convert backlash speed (ticks per loop to rad/s)
hwConfig->backlspd = X_MOTSPD2RS(config.backlspd);
return MCC_E_OK;
}
static mcc_errcodes_t write_hwconf(hardware_configuration_t *hwConfig){
SSconfig config;
// Convert acceleration (rad/s^2 to ticks per loop^2)
config.Xconf.accel = X_RS2MOTACC(hwConfig->Xconf.accel);
config.Yconf.accel = Y_RS2MOTACC(hwConfig->Yconf.accel);
// Convert backlash (radians to ticks)
config.Xconf.backlash = X_RAD2MOT(hwConfig->Xconf.backlash);
config.Yconf.backlash = Y_RAD2MOT(hwConfig->Yconf.backlash);
// Convert error limit (radians to ticks)
config.Xconf.errlimit = X_RAD2MOT(hwConfig->Xconf.errlimit);
config.Yconf.errlimit = Y_RAD2MOT(hwConfig->Yconf.errlimit);
// Proportional, integral, and derivative gains are unitless, so no conversion needed
config.Xconf.propgain = (uint16_t)hwConfig->Xconf.propgain;
config.Yconf.propgain = (uint16_t)hwConfig->Yconf.propgain;
config.Xconf.intgain = (uint16_t)hwConfig->Xconf.intgain;
config.Yconf.intgain = (uint16_t)hwConfig->Yconf.intgain;
config.Xconf.derivgain = (uint16_t)hwConfig->Xconf.derivgain;
config.Yconf.derivgain = (uint16_t)hwConfig->Yconf.derivgain;
// Output limit is a percentage (0-100), so convert back to 0-255
config.Xconf.outplimit = (uint8_t)(hwConfig->Xconf.outplimit / 100.0 * 255.0);
config.Yconf.outplimit = (uint8_t)(hwConfig->Yconf.outplimit / 100.0 * 255.0);
// Current limit is in amps (convert back to *100)
config.Xconf.currlimit = (uint16_t)(hwConfig->Xconf.currlimit * 100.0);
config.Yconf.currlimit = (uint16_t)(hwConfig->Yconf.currlimit * 100.0);
// Integral limit is unitless, so no conversion needed
config.Xconf.intlimit = (uint16_t)hwConfig->Xconf.intlimit;
config.Yconf.intlimit = (uint16_t)hwConfig->Yconf.intlimit;
// Copy XBits and YBits (no conversion needed)
config.xbits = hwConfig->xbits;
config.ybits = hwConfig->ybits;
// Convert latitude (radians to degrees * 100)
config.latitude = (uint16_t)(hwConfig->latitude * 180.0 / M_PI * 100.0);
// Convert slew rates (rad/s to ticks per loop)
config.Xslewrate = X_RS2MOTSPD(hwConfig->Xslewrate);
config.Yslewrate = Y_RS2MOTSPD(hwConfig->Yslewrate);
// Convert pan rates (rad/s to ticks per loop)
config.Xpanrate = X_RS2MOTSPD(hwConfig->Xpanrate);
config.Ypanrate = Y_RS2MOTSPD(hwConfig->Ypanrate);
// Convert guide rates (rad/s to ticks per loop)
config.Xguiderate = X_RS2MOTSPD(hwConfig->Xguiderate);
config.Yguiderate = Y_RS2MOTSPD(hwConfig->Yguiderate);
// Convert local search degrees (radians to degrees * 100)
config.locsdeg = (uint32_t)(hwConfig->locsdeg * 180.0 / M_PI * 100.0);
// Convert local search speed (rad/s to arcsec per second)
config.locsspeed = (uint32_t)(hwConfig->locsspeed * 180.0 * 3600.0 / M_PI);
// Convert backlash speed (rad/s to ticks per loop)
config.backlspd = X_RS2MOTSPD(hwConfig->backlspd);
// TODO - next
(void) config;
return MCC_E_OK;
}
@@ -252,6 +361,7 @@ mount_t Mount = {
.init = init,
.quit = quit,
.getMountData = getMD,
.slewTo = slew2,
.moveTo = move2,
.moveWspeed = move2s,
.setSpeed = setspeed,
@@ -260,4 +370,6 @@ mount_t Mount = {
.shortCmd = shortcmd,
.longCmd = longcmd,
.getHWconfig = get_hwconf,
.saveHWconfig = write_hwconf,
.currentT = dtime,
};