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seems like PID works on real telescope

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This commit is contained in:
Edward Emelianov
2026-03-23 17:22:58 +03:00
parent 6ea6bad008
commit 9f2e893f1a
15 changed files with 598 additions and 280 deletions
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39
Auxiliary_utils/LibSidServo/ssii.c
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@@ -26,8 +26,12 @@
#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.;
int X_ENC_ZERO = 0, Y_ENC_ZERO = 0; // will be filled later from config
// defaults until read from controller
double X_MOT_STEPSPERREV = 13312000.,
Y_MOT_STEPSPERREV = 17578668.,
X_ENC_STEPSPERREV = 67108864.,
Y_ENC_STEPSPERREV = 67108864.;
uint16_t SScalcChecksum(uint8_t *buf, int len){
uint16_t checksum = 0;
@@ -41,27 +45,36 @@ uint16_t SScalcChecksum(uint8_t *buf, int len){
}
// Next three functions runs under locked mountdata_t mutex and shouldn't call locked it again!!
static void chkstopstat(int32_t *prev, int32_t cur, int *nstopped, axis_status_t *stat){
static axis_status_t chkstopstat(int32_t *prev, int32_t cur, int32_t tag, int *nstopped, axis_status_t stat){
if(*prev == INT32_MAX){
*stat = AXIS_STOPPED;
stat = AXIS_STOPPED;
DBG("START");
}else if(*stat != AXIS_STOPPED){
if(*prev == cur && ++(*nstopped) > MOTOR_STOPPED_CNT){
*stat = AXIS_STOPPED;
DBG("AXIS stopped");
}
}else if(stat == AXIS_GONNASTOP || (stat != AXIS_STOPPED && cur == tag)){ // got command "stop" or motor is on target
if(*prev == cur){
DBG("Test for stop, nstopped=%d", *nstopped);
if(++(*nstopped) > MOTOR_STOPPED_CNT){
stat = AXIS_STOPPED;
DBG("AXIS stopped");
}
}else *nstopped = 0;
}else if(*prev != cur){
DBG("AXIS moving");
*nstopped = 0;
}
*prev = cur;
return stat;
}
// check for stopped/pointing states
static void ChkStopped(const SSstat *s, mountdata_t *m){
static int32_t Xmot_prev = INT32_MAX, Ymot_prev = INT32_MAX; // previous coordinates
static int Xnstopped = 0, Ynstopped = 0; // counters to get STOPPED state
chkstopstat(&Xmot_prev, s->Xmot, &Xnstopped, &m->Xstate);
chkstopstat(&Ymot_prev, s->Ymot, &Ynstopped, &m->Ystate);
axis_status_t Xstat, Ystat;
Xstat = chkstopstat(&Xmot_prev, s->Xmot, m->Xtarget, &Xnstopped, m->Xstate);
Ystat = chkstopstat(&Ymot_prev, s->Ymot, m->Ytarget, &Ynstopped, m->Ystate);
if(Xstat != m->Xstate || Ystat != m->Ystate){
DBG("Status changed");
setStat(Xstat, Ystat);
}
}
/**
@@ -78,6 +91,7 @@ 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){
DBG("ENCODER from SSII");
m->encXposition.val = Xenc2rad(s->Xenc);
DBG("encx: %g", m->encXposition.val);
m->encYposition.val = Yenc2rad(s->Yenc);
@@ -165,14 +179,17 @@ int SSsetterI(const char *cmd, int32_t ival){
}
int SSstop(int emerg){
FNAME();
int i = 0;
const char *cmdx = (emerg) ? CMD_EMSTOPX : CMD_STOPX;
const char *cmdy = (emerg) ? CMD_EMSTOPY : CMD_STOPY;
setStat(AXIS_GONNASTOP, AXIS_GONNASTOP);
for(; i < 10; ++i){
if(!SStextcmd(cmdx, NULL)) continue;
if(SStextcmd(cmdy, NULL)) break;
}
if(i == 10) return FALSE;
DBG("Stopped");
return TRUE;
}