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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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42
Auxiliary_utils/LibSidServo/ssii.h
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@@ -165,10 +165,13 @@
// X,Y - motor, XZ,YZ - encoder, XC,YC - current*100, V - voltage*10, T - temp (F), XA,YA - mode (A[uto]/M[anual]), K - handpad status bits
#define CMD_GETSTATTEXT "\r"
// Loop freq
#define SITECH_LOOP_FREQUENCY (1953.)
// steps per revolution
// 13312000 / 4 = 3328000
#define X_MOT_STEPSPERREV (3325952.)
// 17578668 / 4 = 4394667
#define Y_MOT_STEPSPERREV (4394960.)
// maximal speeds in rad/s: 10deg/s by X and 8deg/s by Y
@@ -176,31 +179,34 @@
#define Y_SPEED_MAX (0.13963)
// motor position to radians and back
#define X_MOT2RAD(n) (2.*M_PI * ((double)n) / X_MOT_STEPSPERREV)
#define Y_MOT2RAD(n) (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) (2. * M_PI * ((double)(n)) / X_MOT_STEPSPERREV)
#define Y_MOT2RAD(n) (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.*1953.)
#define X_RS2MOTSPD(r) ((int32_t)(X_RAD2MOT(r)*65536./1953.))
#define Y_MOTSPD2RS(n) (Y_MOT2RAD(n)/65536.*1953.)
#define Y_RS2MOTSPD(r) ((int32_t)(Y_RAD2MOT(r)*65536./1953.))
#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.*1953.*1953.)
#define X_RS2MOTACC(r) ((int32_t)(X_RAD2MOT(r)*65536./1953./1953.))
#define Y_MOTACC2RS(n) (Y_MOT2RAD(n)/65536.*1953.*1953.)
#define Y_RS2MOTACC(r) ((int32_t)(Y_RAD2MOT(r)*65536./1953./1953.))
#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)*1953.)
#define S2ADDER(s) ((s)/1953.)
#define ADDER2S(a) ((a) * SITECH_LOOP_FREQUENCY)
#define S2ADDER(s) ((s) / SITECH_LOOP_FREQUENCY)
// encoder per revolution
#define X_ENC_STEPSPERREV (67108864.)
#define Y_ENC_STEPSPERREV (67108864.)
// encoder zero position
#define X_ENC_ZERO (46033555)
#define Y_ENC_ZERO (36674010)
// encoder position to radians and back
#define X_ENC2RAD(n) (2.*M_PI * ((double)n) / X_ENC_STEPSPERREV)
#define Y_ENC2RAD(n) (2.*M_PI * ((double)n) / Y_ENC_STEPSPERREV)
#define X_ENC2RAD(n) (2.*M_PI * ((double)(n-X_ENC_ZERO)) / X_ENC_STEPSPERREV)
#define Y_ENC2RAD(n) (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))
@@ -303,7 +309,7 @@ typedef struct{
} __attribute__((packed)) SSconfig;
uint16_t SScalcChecksum(uint8_t *buf, int len);
void SSconvstat(const SSstat *status, mountdata_t *mountdata, struct timeval *tdat);
void SSconvstat(const SSstat *status, mountdata_t *mountdata, double t);
int SStextcmd(const char *cmd, data_t *answer);
int SSrawcmd(const char *cmd, data_t *answer);
int SSgetint(const char *cmd, int64_t *ans);