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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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8
Auxiliary_utils/LibSidServo/CMakeLists.txt
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@@ -15,6 +15,8 @@ set(CMAKE_COLOR_MAKEFILE ON)
option(DEBUG "Compile in debug mode" OFF)
option(EXAMPLES "Compile also some examples" ON)
option(BUILD_SHARED "Build shared libarary" OFF)
# cmake -DDEBUG=on -> debugging
if(NOT CMAKE_BUILD_TYPE STREQUAL "Debug")
@@ -52,7 +54,13 @@ aux_source_directory(${CMAKE_CURRENT_SOURCE_DIR} SOURCES)
#list(APPEND ${PROJ}_LIBRARIES "-lfftw3_threads")
# library
if(BUILD_SHARED)
add_library(${PROJ} SHARED ${SOURCES})
else()
add_library(${PROJ} STATIC ${SOURCES})
endif()
# library header files
set(LIBHEADER "sidservo.h")
# -I

130
Auxiliary_utils/LibSidServo/PID.c
View File

@@ -16,6 +16,7 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <float.h>
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
@@ -25,34 +26,70 @@
#include "PID.h"
#include "serial.h"
PIDController_t *pid_create(const PIDpar_t *gain, size_t Iarrsz){
typedef struct {
PIDpar_t gain; // PID gains
double prev_error; // Previous error
double prev_tagpos; // previous target position
double integral; // Integral term
double *pidIarray; // array for Integral
struct timespec prevT; // time of previous correction
size_t pidIarrSize; // it's size
size_t curIidx; // and index of current element
} PIDController_t;
typedef struct{
axis_status_t state;
coordval_t position;
coordval_t speed;
} axisdata_t;
static PIDController_t *pid_create(const PIDpar_t *gain, size_t Iarrsz){
if(!gain || Iarrsz < 3) return NULL;
PIDController_t *pid = (PIDController_t*)calloc(1, sizeof(PIDController_t));
pid->gain = *gain;
DBG("Created PID with P=%g, I=%g, D=%g\n", gain->P, gain->I, gain->D);
pid->pidIarrSize = Iarrsz;
pid->pidIarray = (double*)calloc(Iarrsz, sizeof(double));
curtime(&pid->prevT);
return pid;
}
// don't clear lastT!
void pid_clear(PIDController_t *pid){
static void pid_clear(PIDController_t *pid){
if(!pid) return;
DBG("CLEAR PID PARAMETERS");
bzero(pid->pidIarray, sizeof(double) * pid->pidIarrSize);
pid->integral = 0.;
pid->prev_error = 0.;
pid->curIidx = 0;
curtime(&pid->prevT);
}
void pid_delete(PIDController_t **pid){
/*
static void pid_delete(PIDController_t **pid){
if(!pid || !*pid) return;
if((*pid)->pidIarray) free((*pid)->pidIarray);
free(*pid);
*pid = NULL;
}
}*/
double pid_calculate(PIDController_t *pid, double error, double dt){
// calculate new motor speed
static double pid_calculate(PIDController_t *pid, double axispos, const coordval_t *target){
double dtpid = timediff(&target->t, &pid->prevT);
if(dtpid < 0 || dtpid > Conf.PIDMaxDt){
DBG("time diff too big: clear PID");
pid_clear(pid);
pid->prev_tagpos = target->val;
return 0.;
}
double dt = timediff(&target->t, &pid->prevT);
if(dt < FLT_EPSILON){
DBG("Target time in past");
return 0.;
}
pid->prevT = target->t;
double error = target->val - axispos;
double tagspeed = (target->val - pid->prev_tagpos) / dt;
pid->prev_tagpos = target->val;
// calculate flowing integral
double oldi = pid->pidIarray[pid->curIidx], newi = error * dt;
//DBG("oldi/new: %g, %g", oldi, newi);
@@ -61,43 +98,33 @@ double pid_calculate(PIDController_t *pid, double error, double dt){
pid->integral += newi - oldi;
double derivative = (error - pid->prev_error) / dt;
pid->prev_error = error;
double sum = pid->gain.P * error + pid->gain.I * pid->integral + pid->gain.D * derivative;
DBG("P=%g, I=%g, D=%g; sum=%g", pid->gain.P * error, pid->gain.I * pid->integral, pid->gain.D * derivative, sum);
DBG("pid pars: P=%g, I=%g, D=%f", pid->gain.P, pid->gain.I, pid->gain.D);
double sum = pid->gain.P * error + pid->gain.I * pid->integral + pid->gain.D * derivative + tagspeed;
DBG("tagspeed=%g, P=%g, I=%g, D=%g; sum=%g", tagspeed, pid->gain.P * error,
pid->gain.I * pid->integral, pid->gain.D * derivative, sum);
return sum;
}
typedef struct{
PIDController_t *PIDC;
PIDController_t *PIDV;
} PIDpair_t;
typedef struct{
axis_status_t state;
coordval_t position;
coordval_t speed;
} axisdata_t;
/**
* @brief process - Process PID for given axis
* @param tagpos - given coordinate of target position
* @param endpoint - endpoint for this coordinate
* @param pid - pid itself
* @return calculated new speed or -1 for max speed
* @return calculated NEW SPEED or NAN for max speed
*/
static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t *axis){
static double getspeed(const coordval_t *tagpos, PIDController_t *pid, axisdata_t *axis){
double dt = timediff(&tagpos->t, &axis->position.t);
if(dt < 0 || dt > Conf.PIDMaxDt){
DBG("target time: %ld, axis time: %ld - too big! (tag-ax=%g)", tagpos->t.tv_sec, axis->position.t.tv_sec, dt);
return axis->speed.val; // data is too old or wrong
}
double error = tagpos->val - axis->position.val, fe = fabs(error);
DBG("error: %g", error);
PIDController_t *pid = NULL;
DBG("error: %g'', cur speed: %g (deg/s)", error * 180. * 3600. / M_PI, axis->speed.val*180./M_PI);
switch(axis->state){
case AXIS_SLEWING:
if(fe < Conf.MaxPointingErr){
if(fe < Conf.MaxFinePointingErr){
axis->state = AXIS_POINTING;
DBG("--> Pointing");
pid = pidpair->PIDC;
}else{
DBG("Slewing...");
return NAN; // max speed for given axis
@@ -107,28 +134,26 @@ static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t
if(fe < Conf.MaxFinePointingErr){
axis->state = AXIS_GUIDING;
DBG("--> Guiding");
pid = pidpair->PIDV;
}else if(fe > Conf.MaxPointingErr){
DBG("--> Slewing");
axis->state = AXIS_SLEWING;
return NAN;
} else pid = pidpair->PIDC;
}
break;
case AXIS_GUIDING:
pid = pidpair->PIDV;
if(fe > Conf.MaxFinePointingErr){
DBG("--> Pointing");
axis->state = AXIS_POINTING;
pid = pidpair->PIDC;
}else if(fe < Conf.MaxGuidingErr){
DBG("At target");
// TODO: we can point somehow that we are at target or introduce new axis state
}else DBG("Current error: %g", fe);
}else DBG("Current abs error: %g", fe);
break;
case AXIS_GONNASTOP:
case AXIS_STOPPED: // start pointing to target; will change speed next time
DBG("AXIS STOPPED!!!! --> Slewing");
axis->state = AXIS_SLEWING;
return getspeed(tagpos, pidpair, axis);
return getspeed(tagpos, pid, axis);
case AXIS_ERROR:
DBG("Can't move from erroneous state");
return 0.;
@@ -137,17 +162,7 @@ static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t
DBG("WTF? Where is a PID?");
return axis->speed.val;
}
double dtpid = timediff(&tagpos->t, &pid->prevT);
if(dtpid < 0 || dtpid > Conf.PIDMaxDt){
DBG("time diff too big: clear PID");
pid_clear(pid);
}
if(dtpid > Conf.PIDMaxDt) dtpid = Conf.PIDCycleDt;
pid->prevT = tagpos->t;
DBG("CALC PID (er=%g, dt=%g), state=%d", error, dtpid, axis->state);
double tagspeed = pid_calculate(pid, error, dtpid);
if(axis->state == AXIS_GUIDING) return axis->speed.val + tagspeed / dtpid; // velocity-based
return tagspeed; // coordinate-based
return pid_calculate(pid, axis->position.val, tagpos);
}
/**
@@ -157,18 +172,14 @@ static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t
* @return error code
*/
mcc_errcodes_t correct2(const coordval_pair_t *target){
static PIDpair_t pidX = {0}, pidY = {0};
if(!pidX.PIDC){
pidX.PIDC = pid_create(&Conf.XPIDC, Conf.PIDCycleDt / Conf.PIDRefreshDt);
if(!pidX.PIDC) return MCC_E_FATAL;
pidX.PIDV = pid_create(&Conf.XPIDV, Conf.PIDCycleDt / Conf.PIDRefreshDt);
if(!pidX.PIDV) return MCC_E_FATAL;
static PIDController_t *pidX = NULL, *pidY = NULL;
if(!pidX){
pidX = pid_create(&Conf.XPIDV, Conf.PIDCycleDt / Conf.PIDRefreshDt);
if(!pidX) return MCC_E_FATAL;
}
if(!pidY.PIDC){
pidY.PIDC = pid_create(&Conf.YPIDC, Conf.PIDCycleDt / Conf.PIDRefreshDt);
if(!pidY.PIDC) return MCC_E_FATAL;
pidY.PIDV = pid_create(&Conf.YPIDV, Conf.PIDCycleDt / Conf.PIDRefreshDt);
if(!pidY.PIDV) return MCC_E_FATAL;
if(!pidY){
pidY = pid_create(&Conf.YPIDV, Conf.PIDCycleDt / Conf.PIDRefreshDt);
if(!pidY) return MCC_E_FATAL;
}
mountdata_t m;
coordpair_t tagspeed; // absolute value of speed
@@ -179,7 +190,7 @@ mcc_errcodes_t correct2(const coordval_pair_t *target){
axis.state = m.Xstate;
axis.position = m.encXposition;
axis.speed = m.encXspeed;
tagspeed.X = getspeed(&target->X, &pidX, &axis);
tagspeed.X = getspeed(&target->X, pidX, &axis);
if(isnan(tagspeed.X)){ // max speed
if(target->X.val < axis.position.val) Xsign = -1.;
tagspeed.X = Xlimits.max.speed;
@@ -191,7 +202,7 @@ mcc_errcodes_t correct2(const coordval_pair_t *target){
axis.state = m.Ystate;
axis.position = m.encYposition;
axis.speed = m.encYspeed;
tagspeed.Y = getspeed(&target->Y, &pidY, &axis);
tagspeed.Y = getspeed(&target->Y, pidY, &axis);
if(isnan(tagspeed.Y)){ // max speed
if(target->Y.val < axis.position.val) Ysign = -1.;
tagspeed.Y = Ylimits.max.speed;
@@ -205,6 +216,7 @@ mcc_errcodes_t correct2(const coordval_pair_t *target){
setStat(xstate, ystate);
}
coordpair_t endpoint;
#if 0
// allow at least PIDMaxDt moving with target speed
double dv = fabs(tagspeed.X - m.encXspeed.val);
double adder = dv/Xlimits.max.accel * (m.encXspeed.val + dv / 2.) // distanse with changing speed
@@ -216,6 +228,16 @@ mcc_errcodes_t correct2(const coordval_pair_t *target){
+ Conf.PIDMaxDt * tagspeed.Y
+ tagspeed.Y * tagspeed.Y / Ylimits.max.accel / 2.;
endpoint.Y = m.encYposition.val + Ysign * adder;
#endif
// allow 10s moving but not more than 10deg and not less than 1deg
double adder = fabs(tagspeed.X) * 10.;
if(adder > 0.17453) adder = 0.17453;
else if(adder < 0.017453) adder = 0.017453;
endpoint.X = m.encXposition.val + Xsign * adder;
adder = fabs(tagspeed.Y) * 10.;
if(adder > 0.17453) adder = 0.17453;
else if(adder < 0.017453) adder = 0.017453;
endpoint.Y = m.encYposition.val + Ysign * adder;
DBG("TAG speeds: %g/%g (deg/s); TAG pos: %g/%g (deg)", tagspeed.X/M_PI*180., tagspeed.Y/M_PI*180., endpoint.X/M_PI*180., endpoint.Y/M_PI*180.);
return Mount.moveWspeed(&endpoint, &tagspeed);
}

13
Auxiliary_utils/LibSidServo/PID.h
View File

@@ -22,19 +22,10 @@
#include "sidservo.h"
typedef struct {
PIDpar_t gain; // PID gains
double prev_error; // Previous error
double integral; // Integral term
double *pidIarray; // array for Integral
struct timespec prevT; // time of previous correction
size_t pidIarrSize; // it's size
size_t curIidx; // and index of current element
} PIDController_t;
/*
PIDController_t *pid_create(const PIDpar_t *gain, size_t Iarrsz);
void pid_clear(PIDController_t *pid);
void pid_delete(PIDController_t **pid);
double pid_calculate(PIDController_t *pid, double error, double dt);
*/
mcc_errcodes_t correct2(const coordval_pair_t *target);

31
Auxiliary_utils/LibSidServo/examples/scmd_traectory.c
View File

@@ -109,17 +109,27 @@ static void runtraectory(traectory_fn tfn){
}
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;
if(fabs(telXY.X.val) > G.Xmax || fabs(telXY.Y.val) > G.Ymax || t - tstart > G.tmax){
if(fabs(telXY.X.val) > G.Xmax) DBG("X over maximal limit!");
if(fabs(telXY.Y.val) > G.Ymax) DBG("Y over maximal limit!");
if(t - tstart > G.tmax) DBG("Time over...");
break;
}
if(!traectory_point(&traectXY, t)){
DBG("Error in 'traectory_point', time from start=%g", t);
break;
}
DBG("\n\nTELPOS: %g'/%g' (%.6f/%.6f); traectory: %g'/%g' (%.6f/%.6f)",
RAD2AMIN(telXY.X.val), RAD2AMIN(telXY.Y.val), RAD2DEG(telXY.X.val), RAD2DEG(telXY.Y.val),
RAD2AMIN(traectXY.X), RAD2AMIN(traectXY.Y), RAD2DEG(traectXY.X), RAD2DEG(traectXY.Y));
target.X.val = traectXY.X; target.Y.val = traectXY.Y;
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-tstart, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
DBG("%g, target-telescope: 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", Mount.timeDiff(&telXY.X.t, &t0), RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
@@ -146,10 +156,12 @@ int main(int argc, char **argv){
ERRX("Can't open error log %s", G.errlog);
else
fprintf(errlog, "# time Xerr'' Yerr'' // target - real\n");
setbuf(errlog, NULL);
}
if(G.coordsoutput){
if(!(fcoords = fopen(G.coordsoutput, "w")))
ERRX("Can't open %s", G.coordsoutput);
setbuf(fcoords, NULL);
}else fcoords = stdout;
Config = readServoConf(G.conffile);
if(!Config || G.dumpconf){
@@ -164,21 +176,22 @@ int main(int argc, char **argv){
return 1;
}
coordpair_t c = {.X = DEG2RAD(G.X0), .Y = DEG2RAD(G.Y0)};
if(!init_traectory(tfn, &c)){
ERRX("Can't init traectory");
return 1;
}
mcc_errcodes_t e = Mount.init(Config);
if(e != MCC_E_OK){
WARNX("Can't init devices");
return 1;
}
// run this function only after mount inited!
if(!init_traectory(tfn, &c)){
ERRX("Can't init traectory");
return 1;
}
signal(SIGTERM, signals); // kill (-15) - quit
signal(SIGHUP, SIG_IGN); // hup - ignore
signal(SIGINT, signals); // ctrl+C - quit
signal(SIGQUIT, signals); // ctrl+\ - quit
signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
chk0(G.Ncycles);
// chk0(G.Ncycles);
logmnt(fcoords, NULL);
if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
;

22
Auxiliary_utils/LibSidServo/examples/traectories.c
View File

@@ -42,6 +42,7 @@ int init_traectory(traectory_fn f, coordpair_t *XY0){
cur_traectory = f;
XYstart = *XY0;
tstart = Mount.timeFromStart();
DBG("inited @ %gs from start", tstart);
mountdata_t mdata;
int ntries = 0;
for(; ntries < 10; ++ntries){
@@ -58,11 +59,21 @@ int init_traectory(traectory_fn f, coordpair_t *XY0){
* @return FALSE if something wrong (e.g. X not in -90..90 or Y not in -180..180)
*/
int traectory_point(coordpair_t *nextpt, double t){
if(t < 0. || !cur_traectory) return FALSE;
if(t < 0. || !cur_traectory){
if(t < 0.) DBG("time in past!");
else DBG("no current traectory selected!");
return FALSE;
}
coordpair_t pt;
if(!cur_traectory(&pt, t)) return FALSE;
if(!cur_traectory(&pt, t)){
DBG("error in cur_traectory");
return FALSE;
}
if(nextpt) *nextpt = pt;
if(pt.X < -M_PI_2 || pt.X > M_PI_2 || pt.Y < -M_PI || pt.Y > M_PI) return FALSE;
if(pt.X < -M_PI_2 || pt.X > M_PI_2 || pt.Y < -M_PI || pt.Y > M_PI){
DBG("some points is over limits, pt.x=%g, pt.y=%g degrees", RAD2DEG(pt.X), RAD2DEG(pt.Y));
return FALSE;
}
return TRUE;
}
@@ -88,6 +99,7 @@ int telpos(coordval_pair_t *curpos){
// X=X0+1'/s, Y=Y0+15''/s
int Linear(coordpair_t *nextpt, double t){
coordpair_t pt;
DBG("t=%g, tfromstart=%g, dt=%g", t, tstart, t-tstart);
pt.X = XYstart.X + ASEC2RAD(0.1) * (t - tstart);
pt.Y = XYstart.Y + ASEC2RAD(15.)* (t - tstart);
if(nextpt) *nextpt = pt;
@@ -98,7 +110,7 @@ int Linear(coordpair_t *nextpt, double t){
int SinCos(coordpair_t *nextpt, double t){
coordpair_t pt;
pt.X = XYstart.X + ASEC2RAD(5.) * sin((t-tstart)/30.*2*M_PI);
pt.Y = XYstart.Y + AMIN2RAD(10.)* cos((t-tstart)/200.*2*M_PI);
pt.Y = XYstart.Y + AMIN2RAD(1.)* cos((t-tstart)/10.*2*M_PI);
if(nextpt) *nextpt = pt;
return TRUE;
}
@@ -111,7 +123,7 @@ typedef struct{
static tr_names names[] = {
{Linear, "linear", "X=X0+0.1''/s, Y=Y0+15''/s"},
{SinCos, "sincos", "X=X0+5''*sin(t/30*2pi), Y=Y0+10'*cos(t/200*2pi)"},
{SinCos, "sincos", "X=X0+5''*sin(t/30*2pi), Y=Y0+1'*cos(t/10*2pi)"},
{NULL, NULL, NULL}
};

169
Auxiliary_utils/LibSidServo/kalman.c Normal file
View File

@@ -0,0 +1,169 @@
/*
* This file is part of the libsidservo project.
* Copyright 2026 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <math.h>
#include "kalman.h"
void kalman3_init(Kalman3 *kf, double dt, double enc_var){
kf->dt = dt;
kf->x[0] = 0;
kf->x[1] = 0;
kf->x[2] = 0;
for(int i=0;i<3;i++)
for(int j=0;j<3;j++)
kf->P[i][j] = 0;
kf->P[0][0] = 1;
kf->P[1][1] = 1;
kf->P[2][2] = 1;
// process noise
kf->Q[0][0] = 1e-6;
kf->Q[1][1] = 1e-4;
kf->Q[2][2] = 1e-3;
kf->R = enc_var; // encoder noise variance
}
void kalman3_set_jerk_noise(Kalman3 *kf, double sigma_j){
double dt = kf->dt;
double dt2 = dt*dt;
double dt3 = dt2*dt;
double dt4 = dt3*dt;
double dt5 = dt4*dt;
double q = sigma_j * sigma_j;
kf->Q[0][0] = q * dt5 / 20.0;
kf->Q[0][1] = q * dt4 / 8.0;
kf->Q[0][2] = q * dt3 / 6.0;
kf->Q[1][0] = q * dt4 / 8.0;
kf->Q[1][1] = q * dt3 / 3.0;
kf->Q[1][2] = q * dt2 / 2.0;
kf->Q[2][0] = q * dt3 / 6.0;
kf->Q[2][1] = q * dt2 / 2.0;
kf->Q[2][2] = q * dt;
}
void kalman3_predict(Kalman3 *kf){
double dt = kf->dt;
double dt2 = 0.5 * dt * dt;
double theta = kf->x[0];
double omega = kf->x[1];
double alpha = kf->x[2];
// state prediction
kf->x[0] = theta + omega*dt + alpha*dt2;
kf->x[1] = omega + alpha*dt;
kf->x[2] = alpha;
// transition matrix
double F[3][3] =
{
{1, dt, dt2},
{0, 1, dt},
{0, 0, 1}
};
// P = FPF^T + Q
double FP[3][3];
for(int i=0;i<3;i++)
for(int j=0;j<3;j++){
FP[i][j] =
F[i][0]*kf->P[0][j] +
F[i][1]*kf->P[1][j] +
F[i][2]*kf->P[2][j];
}
double Pnew[3][3];
for(int i=0;i<3;i++)
for(int j=0;j<3;j++){
Pnew[i][j] =
FP[i][0]*F[j][0] +
FP[i][1]*F[j][1] +
FP[i][2]*F[j][2] +
kf->Q[i][j];
}
for(int i=0;i<3;i++)
for(int j=0;j<3;j++)
kf->P[i][j] = Pnew[i][j];
}
void kalman3_update(Kalman3 *kf, double z){
// innovation
double y = z - kf->x[0];
// S = HPH^T + R
double S = kf->P[0][0] + kf->R;
// Kalman gain
double K[3];
K[0] = kf->P[0][0] / S;
K[1] = kf->P[1][0] / S;
K[2] = kf->P[2][0] / S;
// state update
kf->x[0] += K[0] * y;
kf->x[1] += K[1] * y;
kf->x[2] += K[2] * y;
// covariance update
double P00 = kf->P[0][0];
double P01 = kf->P[0][1];
double P02 = kf->P[0][2];
double P10 = kf->P[1][0];
double P11 = kf->P[1][1];
double P12 = kf->P[1][2];
double P20 = kf->P[2][0];
double P21 = kf->P[2][1];
double P22 = kf->P[2][2];
kf->P[0][0] = P00 - K[0]*P00;
kf->P[0][1] = P01 - K[0]*P01;
kf->P[0][2] = P02 - K[0]*P02;
kf->P[1][0] = P10 - K[1]*P00;
kf->P[1][1] = P11 - K[1]*P01;
kf->P[1][2] = P12 - K[1]*P02;
kf->P[2][0] = P20 - K[2]*P00;
kf->P[2][1] = P21 - K[2]*P01;
kf->P[2][2] = P22 - K[2]*P02;
}
// estimation of the R
double encoder_noise(int counts){
double d = 2.0*M_PI / counts;
return d*d / 12.0;
}

34
Auxiliary_utils/LibSidServo/kalman.h Normal file
View File

@@ -0,0 +1,34 @@
/*
* This file is part of the libsidservo project.
* Copyright 2026 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
typedef struct{
double x[3]; // [theta, omega, alpha]
double P[3][3]; // covariance
double Q[3][3]; // process noise
double R; // measurement noise
double dt;
} Kalman3;
double encoder_noise(int counts);
void kalman3_update(Kalman3 *kf, double z);
void kalman3_predict(Kalman3 *kf);
void kalman3_set_jerk_noise(Kalman3 *kf, double sigma_j);
void kalman3_init(Kalman3 *kf, double dt, double enc_var);

22
Auxiliary_utils/LibSidServo/libsidservo.creator.user
View File

@@ -1,10 +1,10 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 18.0.1, 2026-01-26T22:24:32. -->
<!-- Written by QtCreator 18.0.0, 2026-03-23T09:21:54. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
<value type="QByteArray">{7bd84e39-ca37-46d3-be9d-99ebea85bc0d}</value>
<value type="QByteArray">{cf63021e-ef53-49b0-b03b-2f2570cdf3b6}</value>
</data>
<data>
<variable>ProjectExplorer.Project.ActiveTarget</variable>
@@ -40,9 +40,9 @@
<value type="int" key="EditorConfiguration.PaddingMode">1</value>
<value type="int" key="EditorConfiguration.PreferAfterWhitespaceComments">0</value>
<value type="bool" key="EditorConfiguration.PreferSingleLineComments">false</value>
<value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
<value type="bool" key="EditorConfiguration.ScrollWheelZooming">false</value>
<value type="bool" key="EditorConfiguration.ShowMargin">false</value>
<value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value>
<value type="int" key="EditorConfiguration.SmartBackspaceBehavior">1</value>
<value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
<value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
<value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
@@ -51,10 +51,10 @@
<value type="bool" key="EditorConfiguration.UseIndenter">false</value>
<value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
<value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
<value type="bool" key="EditorConfiguration.cleanIndentation">false</value>
<value type="bool" key="EditorConfiguration.cleanIndentation">true</value>
<value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
<value type="QString" key="EditorConfiguration.ignoreFileTypes">*.md, *.MD, Makefile</value>
<value type="bool" key="EditorConfiguration.inEntireDocument">false</value>
<value type="bool" key="EditorConfiguration.inEntireDocument">true</value>
<value type="bool" key="EditorConfiguration.skipTrailingWhitespace">true</value>
<value type="bool" key="EditorConfiguration.tintMarginArea">true</value>
</valuemap>
@@ -79,7 +79,7 @@
<value type="bool" key="ClangTools.AnalyzeOpenFiles">true</value>
<value type="bool" key="ClangTools.BuildBeforeAnalysis">true</value>
<value type="QString" key="ClangTools.DiagnosticConfig">Builtin.DefaultTidyAndClazy</value>
<value type="int" key="ClangTools.ParallelJobs">8</value>
<value type="int" key="ClangTools.ParallelJobs">4</value>
<value type="bool" key="ClangTools.PreferConfigFile">true</value>
<valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
<valuelist type="QVariantList" key="ClangTools.SelectedFiles"/>
@@ -96,12 +96,12 @@
<value type="bool" key="HasPerBcDcs">true</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{65a14f9e-e008-4c1b-89df-4eaa4774b6e3}</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{91347f2c-5221-46a7-80b1-0a054ca02f79}</value>
<value type="qlonglong" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
<value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
<value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
<value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/tmp/robo5/mountcontrol.git/LibSidServo</value>
<value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/eddy/Docs/SAO/10micron/C-sources/erfa_functions</value>
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
<valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
@@ -133,7 +133,7 @@
<valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.CustomParsers"/>
<value type="bool" key="ProjectExplorer.BuildConfiguration.ParseStandardOutput">false</value>
<valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Default</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">По умолчанию</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericBuildConfiguration</value>
<value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
<value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
@@ -168,7 +168,6 @@
<value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
<value type="QString" key="RunConfiguration.WorkingDirectory.default">%{RunConfig:Executable:Path}</value>
</valuemap>
<value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
</valuemap>
@@ -204,7 +203,6 @@
<value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
<value type="QString" key="RunConfiguration.WorkingDirectory.default">%{RunConfig:Executable:Path}</value>
</valuemap>
<value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
</valuemap>

2
Auxiliary_utils/LibSidServo/libsidservo.files
View File

@@ -13,12 +13,14 @@ examples/dumpswing.c
examples/goto.c
examples/scmd_traectory.c
examples/simpleconv.h
kalman.c
main.c
sidservo.h
serial.c
examples/CMakeLists.txt
examples/traectories.c
examples/traectories.h
kalman.h
main.h
movingmodel.c
movingmodel.h

60
Auxiliary_utils/LibSidServo/main.c
View File

@@ -161,6 +161,8 @@ double LS_calc_slope(less_square_t *l, double x, double t){
if(!l) return 0.;
size_t idx = l->idx;
double oldx = l->x[idx], oldt = l->t[idx], oldt2 = l->t2[idx], oldxt = l->xt[idx];
/*DBG("old: x=%g, t=%g, t2=%g, xt=%g; sum: %g, t=%g, t2=%g, xt=%g", oldx, oldt, oldt2, oldxt,
l->xsum, l->tsum, l->t2sum, l->xtsum);*/
double t2 = t * t, xt = x * t;
l->x[idx] = x; l->t2[idx] = t2;
l->t[idx] = t; l->xt[idx] = xt;
@@ -172,9 +174,9 @@ double LS_calc_slope(less_square_t *l, double x, double t){
l->xtsum += xt - oldxt;
double n = (double)l->arraysz;
double denominator = n * l->t2sum - l->tsum * l->tsum;
//DBG("idx=%zd, arrsz=%zd, den=%g", l->idx, l->arraysz, denominator);
if(fabs(denominator) < 1e-7) return 0.;
double numerator = n * l->xtsum - l->xsum * l->tsum;
//DBG("x=%g, t=%g; idx=%zd, arrsz=%zd, den=%g; xsum=%g, num=%g", x, t, l->idx, l->arraysz, denominator, l->xsum, numerator);
// point: (sum_x - slope * sum_t) / n;
return (numerator / denominator);
}
@@ -200,6 +202,7 @@ static mcc_errcodes_t init(conf_t *c){
if(!Xmodel || !Ymodel || !openMount()) return MCC_E_FAILED;
return MCC_E_OK;
}
DBG("Try to open mount device");
if(!Conf.MountDevPath || Conf.MountDevSpeed < MOUNT_BAUDRATE_MIN){
DBG("Define mount device path and speed");
ret = MCC_E_BADFORMAT;
@@ -207,33 +210,53 @@ static mcc_errcodes_t init(conf_t *c){
DBG("Can't open %s with speed %d", Conf.MountDevPath, Conf.MountDevSpeed);
ret = MCC_E_MOUNTDEV;
}
if(Conf.SepEncoder){
if(!Conf.EncoderDevPath && !Conf.EncoderXDevPath){
DBG("Define encoder device path");
ret = MCC_E_BADFORMAT;
}else if(!openEncoder()){
DBG("Can't open encoder device");
ret = MCC_E_ENCODERDEV;
}
}
// TODO: read hardware configuration on init
if(Conf.EncoderSpeedInterval < Conf.EncoderReqInterval * MCC_CONF_MIN_SPEEDC || Conf.EncoderSpeedInterval > MCC_CONF_MAX_SPEEDINT){
DBG("Wrong speed interval");
ret = MCC_E_BADFORMAT;
}
if(!SSrawcmd(CMD_EXITACM, NULL)) ret = MCC_E_FAILED;
if(ret != MCC_E_OK) return ret;
DBG("Exit ACM, exit manual mode");
SSrawcmd(CMD_EXITACM, NULL);
SStextcmd(CMD_AUTOX, NULL);
SStextcmd(CMD_AUTOY, NULL);
// read HW config to update constants
hardware_configuration_t HW;
if(MCC_E_OK != get_hwconf(&HW)) return MCC_E_FAILED;
DBG("Read hardware configuration");
ret = MCC_E_FAILED;
for(int i = 0; i < MAX_ERR_CTR; ++i){
DBG("TRY %d..", i);
ret = get_hwconf(&HW);
if(ret == MCC_E_OK) break;
}
if(MCC_E_OK != ret) return ret;
// make a pause for actual encoder's values
DBG("Check encoders");
if(Conf.SepEncoder){
if(!Conf.EncoderDevPath && !Conf.EncoderXDevPath){
DBG("Define encoder device path");
ret = MCC_E_BADFORMAT;
}else{
ret = MCC_E_ENCODERDEV;
for(int i = 0; i < MAX_ERR_CTR; ++i){
if(openEncoder()){
ret = MCC_E_OK;
break;
}
}
}
}
if(MCC_E_OK != ret) return ret;
double t0 = timefromstart();
while(timefromstart() - t0 < Conf.EncoderReqInterval) usleep(1000);
DBG("Wait for first encoders' measurement");
while(timefromstart() - t0 < Conf.EncoderReqInterval * 15.) usleep(1000);
DBG("Update motor position");
mcc_errcodes_t e = updateMotorPos();
// and refresh data after updating
DBG("Wait for next mount reading");
t0 = timefromstart();
while(timefromstart() - t0 < Conf.MountReqInterval * 3.) usleep(1000);
while(timefromstart() - t0 < Conf.MountReqInterval * 5.) usleep(1000);
DBG("ALL READY!");
return e;
}
@@ -288,10 +311,6 @@ static mcc_errcodes_t move2(const coordpair_t *target){
cmd.Ymot = target->Y;
cmd.Xspeed = Xlimits.max.speed;
cmd.Yspeed = Ylimits.max.speed;
/*mcc_errcodes_t r = shortcmd(&cmd);
if(r != MCC_E_OK) return r;
setslewingstate();
return MCC_E_OK;*/
return shortcmd(&cmd);
}
@@ -328,10 +347,7 @@ static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed
cmd.Ymot = target->Y;
cmd.Xspeed = speed->X;
cmd.Yspeed = speed->Y;
mcc_errcodes_t r = shortcmd(&cmd);
if(r != MCC_E_OK) return r;
setslewingstate();
return MCC_E_OK;
return shortcmd(&cmd);
}
/**

305
Auxiliary_utils/LibSidServo/serial.c
View File

@@ -31,6 +31,7 @@
#include <sys/stat.h>
#include <unistd.h>
#include "kalman.h"
#include "main.h"
#include "movingmodel.h"
#include "serial.h"
@@ -49,7 +50,13 @@ static pthread_mutex_t mntmutex = PTHREAD_MUTEX_INITIALIZER,
// encoders thread and mount thread
static pthread_t encthread, mntthread;
// max timeout for 1.5 bytes of encoder and 2 bytes of mount - for `select`
static struct timeval encRtmout = {.tv_sec = 0, .tv_usec = 100}, mntRtmout = {.tv_sec = 0, .tv_usec = 50000};
// this values will be modified later
static struct timeval encRtmout = {.tv_sec = 0, .tv_usec = 100}, // encoder reading timeout
mnt1Rtmout = {.tv_sec = 0, .tv_usec = 200000}, // first reading
mntRtmout = {.tv_sec = 0, .tv_usec = 50000}; // next readings
static volatile int GlobExit = 0;
// encoders raw data
typedef struct __attribute__((packed)){
uint8_t magick;
@@ -71,7 +78,6 @@ void getXspeed(){
mountdata.encXspeed.val = speed;
mountdata.encXspeed.t = mountdata.encXposition.t;
}
//DBG("Xspeed=%g", mountdata.encXspeed.val);
}
void getYspeed(){
static less_square_t *ls = NULL;
@@ -138,77 +144,6 @@ static void parse_encbuf(uint8_t databuf[ENC_DATALEN], struct timespec *t){
//DBG("time = %zd+%zd/1e6, X=%g deg, Y=%g deg", tv->tv_sec, tv->tv_usec, mountdata.encposition.X*180./M_PI, mountdata.encposition.Y*180./M_PI);
}
#if 0
/**
* @brief getencval - get uint64_t data from encoder
* @param fd - encoder fd
* @param val - value read
* @param t - measurement time
* @return amount of data read or 0 if problem
*/
static int getencval(int fd, double *val, struct timespec *t){
if(fd < 0){
DBG("Encoder fd < 0!");
return FALSE;
}
char buf[128];
int got = 0, Lmax = 127;
double t0 = timefromstart();
//DBG("start: %.6g", t0);
do{
fd_set rfds;
FD_ZERO(&rfds);
FD_SET(fd, &rfds);
struct timeval tv = encRtmout;
int retval = select(fd + 1, &rfds, NULL, NULL, &tv);
if(!retval){
//DBG("select()==0 - timeout, %.6g", timefromstart());
break;
}
if(retval < 0){
if(errno == EINTR){
DBG("EINTR");
continue;
}
DBG("select() < 0");
return 0;
}
if(FD_ISSET(fd, &rfds)){
ssize_t l = read(fd, &buf[got], Lmax);
if(l < 1){
DBG("read() < 0");
return 0; // disconnected ??
}
got += l; Lmax -= l;
buf[got] = 0;
} else continue;
if(buf[got-1] == '\n') break; // got EOL as last symbol
}while(Lmax && timefromstart() - t0 < Conf.EncoderReqInterval / 5.);
if(got == 0){
//DBG("No data from encoder, tfs=%.6g", timefromstart());
return 0;
}
char *estr = strrchr(buf, '\n');
if(!estr){
DBG("No EOL");
return 0;
}
*estr = 0;
char *bgn = strrchr(buf, '\n');
if(bgn) ++bgn;
else bgn = buf;
char *eptr;
long data = strtol(bgn, &eptr, 10);
if(eptr != estr){
DBG("NAN");
return 0; // wrong number
}
if(val) *val = (double) data;
if(t){ if(!curtime(t)){ DBG("Can't get time"); return 0; }}
return got;
}
#endif
// try to read 1 byte from encoder; return -1 if nothing to read or -2 if device seems to be disconnected
static int getencbyte(){
if(encfd[0] < 0) return -1;
@@ -232,43 +167,60 @@ static int getencbyte(){
}while(1);
return (int)byte;
}
// read 1 byte from mount; return -1 if nothing to read, -2 if disconnected
static int getmntbyte(){
if(mntfd < 0) return -1;
uint8_t byte;
/**
* @brief readmntdata - read data
* @param buffer - input buffer
* @param maxlen - maximal buffer length
* @return amount of bytes read or -1 in case of error
*/
static int readmntdata(uint8_t *buffer, int maxlen){
if(mntfd < 0){
DBG("mntfd non opened");
return -1;
}
if(!buffer || maxlen < 1) return 0;
//DBG("ask for %d bytes", maxlen);
int got = 0;
fd_set rfds;
/* ssize_t l = read(mntfd, &byte, 1);
//DBG("MNT read=%zd byte=0x%X", l, byte);
if(l == 0) return -1;
if(l != 1) return -2; // disconnected ??
return (int) byte;*/
struct timeval tv = mnt1Rtmout;
do{
FD_ZERO(&rfds);
FD_SET(mntfd, &rfds);
struct timeval tv = mntRtmout;
//DBG("select");
int retval = select(mntfd + 1, &rfds, NULL, NULL, &tv);
//DBG("returned %d", retval);
if(retval < 0){
if(errno == EINTR) continue;
DBG("Error in select()");
return -1;
}
//DBG("FD_ISSET = %d", FD_ISSET(mntfd, &rfds));
if(FD_ISSET(mntfd, &rfds)){
ssize_t l = read(mntfd, &byte, 1);
//DBG("MNT read=%zd byte=0x%X", l, byte);
if(l != 1){
ssize_t l = read(mntfd, buffer, maxlen);
if(l == 0){
DBG("read ZERO");
continue;
}
if(l < 0){
DBG("Mount disconnected?");
return -2; // disconnected ??
}
buffer += l;
maxlen -= l;
got += l;
}else{
DBG("no new data after %d bytes (%s)", got, buffer - got);
break;
} else return -1;
}while(1);
return (int)byte;
}
tv = mntRtmout;
}while(maxlen);
return got;
}
// clear data from input buffer
static void clrmntbuf(){
if(mntfd < 0) return;
uint8_t byte;
uint8_t bytes[256];
fd_set rfds;
do{
FD_ZERO(&rfds);
@@ -281,8 +233,9 @@ static void clrmntbuf(){
break;
}
if(FD_ISSET(mntfd, &rfds)){
ssize_t l = read(mntfd, &byte, 1);
if(l != 1) break;
ssize_t l = read(mntfd, &bytes, 256);
if(l < 1) break;
DBG("clr got %zd bytes: %s", l, bytes);
}else break;
}while(1);
}
@@ -293,7 +246,7 @@ static void *encoderthread1(void _U_ *u){
uint8_t databuf[ENC_DATALEN];
int wridx = 0, errctr = 0;
struct timespec tcur;
while(encfd[0] > -1 && errctr < MAX_ERR_CTR){
while(encfd[0] > -1 && errctr < MAX_ERR_CTR && !GlobExit){
int b = getencbyte();
if(b == -2) ++errctr;
if(b < 0) continue;
@@ -328,9 +281,12 @@ typedef struct{
// write to buffer next data portion; return FALSE in case of error
static int readstrings(buf_t *buf, int fd){
FNAME();
if(!buf){DBG("Empty buffer"); return FALSE;}
int L = XYBUFSZ - buf->len;
if(L < 0){
DBG("buf not initialized!");
buf->len = 0;
}
if(L == 0){
DBG("buffer overfull: %d!", buf->len);
char *lastn = strrchr(buf->buf, '\n');
@@ -344,6 +300,7 @@ static int readstrings(buf_t *buf, int fd){
}else buf->len = 0;
L = XYBUFSZ - buf->len;
}
//DBG("read %d bytes from %d", L, fd);
int got = read(fd, &buf->buf[buf->len], L);
if(got < 0){
DBG("read()");
@@ -351,13 +308,16 @@ static int readstrings(buf_t *buf, int fd){
}else if(got == 0){ DBG("NO data"); return TRUE; }
buf->len += got;
buf->buf[buf->len] = 0;
DBG("buf[%d]: %s", buf->len, buf->buf);
//DBG("buf[%d]: %s", buf->len, buf->buf);
return TRUE;
}
// return TRUE if got, FALSE if no data found
static int getdata(buf_t *buf, long *out){
if(!buf || buf->len < 1) return FALSE;
if(!buf || buf->len < 1 || buf->len > (XYBUFSZ+1)){
return FALSE;
}
// DBG("got data");
// read record between last '\n' and previous (or start of string)
char *last = &buf->buf[buf->len - 1];
//DBG("buf: _%s_", buf->buf);
@@ -378,7 +338,7 @@ static int getdata(buf_t *buf, long *out){
// try to write '\n' asking new data portion; return FALSE if failed
static int asknext(int fd){
FNAME();
//FNAME();
if(fd < 0) return FALSE;
int i = 0;
for(; i < 5; ++i){
@@ -399,12 +359,24 @@ static void *encoderthread2(void _U_ *u){
pfds[0].fd = encfd[0]; pfds[0].events = POLLIN;
pfds[1].fd = encfd[1]; pfds[1].events = POLLIN;
double t0[2], tstart;
buf_t strbuf[2];
buf_t strbuf[2] = {0};
long msrlast[2]; // last encoder data
double mtlast[2]; // last measurement time
asknext(encfd[0]); asknext(encfd[1]);
t0[0] = t0[1] = tstart = timefromstart();
int errctr = 0;
// init Kalman for both axes
Kalman3 kf[2];
double dt = Conf.EncoderReqInterval; // 1ms encoders step
double sigma_jx = 1e-6, sigma_jy = 1e-6; // "jerk" sigma
double xnoice = encoder_noise(X_ENC_STEPSPERREV);
double ynoice = encoder_noise(Y_ENC_STEPSPERREV);
kalman3_init(&kf[0], dt, xnoice);
kalman3_init(&kf[1], dt, ynoice);
kalman3_set_jerk_noise(&kf[0], sigma_jx);
kalman3_set_jerk_noise(&kf[1], sigma_jy);
do{ // main cycle
if(poll(pfds, 2, 0) < 0){
DBG("poll()");
@@ -414,6 +386,7 @@ static void *encoderthread2(void _U_ *u){
for(int i = 0; i < 2; ++i){
if(pfds[i].revents && POLLIN){
if(!readstrings(&strbuf[i], encfd[i])){
DBG("ERR");
++errctr;
break;
}
@@ -421,16 +394,37 @@ static void *encoderthread2(void _U_ *u){
double curt = timefromstart();
if(getdata(&strbuf[i], &msrlast[i])) mtlast[i] = curt;
if(curt - t0[i] >= Conf.EncoderReqInterval){ // get last records
//DBG("last rec %d, curt=%g, t0=%g, mtlast=%g", i, curt, t0[i], mtlast[i]);
if(curt - mtlast[i] < 1.5*Conf.EncoderReqInterval){
//DBG("time OK");
pthread_mutex_lock(&datamutex);
double pos = (double)msrlast[i];
if(i == 0){
mountdata.encXposition.val = Xenc2rad((double)msrlast[i]);
pos = Xenc2rad(pos);
// Kalman filtering
kalman3_predict(&kf[i]);
kalman3_update(&kf[i], pos);
//DBG("Got pos=%g, kalman: angle=%g, vel=%g, acc=%g",
// pos, kf[i].x[0], kf[i].x[1], kf[i].x[2]);
mountdata.encXposition.val = kf[i].x[0];
curtime(&mountdata.encXposition.t);
/*DBG("msrlast=%ld, Xpos.val=%g, t=%zd; XEzero=%d, SPR=%g",
msrlast[i], mountdata.encXposition.val, mountdata.encXposition.t.tv_sec,
X_ENC_ZERO, X_ENC_STEPSPERREV);*/
getXspeed();
//mountdata.encXspeed.val = kf[i].x[1];
//mountdata.encXspeed.t = mountdata.encXposition.t;
}else{
mountdata.encYposition.val = Yenc2rad((double)msrlast[i]);
pos = Yenc2rad(pos);
kalman3_predict(&kf[i]);
kalman3_update(&kf[i], pos);
//DBG("Got pos=%g, kalman: angle=%g, vel=%g, acc=%g",
// pos, kf[i].x[0], kf[i].x[1], kf[i].x[2]);
mountdata.encYposition.val = kf[i].x[0];
curtime(&mountdata.encYposition.t);
getYspeed();
//mountdata.encYspeed.val = kf[i].x[1];
//mountdata.encYspeed.t = mountdata.encYposition.t;
}
pthread_mutex_unlock(&datamutex);
}
@@ -443,7 +437,7 @@ static void *encoderthread2(void _U_ *u){
}
}
if(got == 2) errctr = 0;
}while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR);
}while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR && !GlobExit);
DBG("\n\nEXIT: ERRCTR=%d", errctr);
for(int i = 0; i < 2; ++i){
if(encfd[i] > -1){
@@ -490,7 +484,7 @@ static void chkModStopped(double *prev, double cur, int *nstopped, axis_status_t
// main mount thread
static void *mountthread(void _U_ *u){
int errctr = 0;
uint8_t buf[2*sizeof(SSstat)];
uint8_t buf[sizeof(SSstat)];
SSstat *status = (SSstat*) buf;
bzero(&mountdata, sizeof(mountdata));
double t0 = timefromstart(), tstart = t0, tcur = t0;
@@ -499,7 +493,7 @@ static void *mountthread(void _U_ *u){
if(Conf.RunModel){
double Xprev = NAN, Yprev = NAN; // previous coordinates
int xcnt = 0, ycnt = 0;
while(1){
while(!GlobExit){
coordpair_t c;
movestate_t xst, yst;
// now change data
@@ -508,20 +502,20 @@ static void *mountthread(void _U_ *u){
if(!curtime(&tnow) || (tcur = timefromstart()) < 0.) continue;
pthread_mutex_lock(&datamutex);
mountdata.encXposition.t = mountdata.encYposition.t = tnow;
mountdata.encXposition.val = c.X;
mountdata.encYposition.val = c.Y;
mountdata.encXposition.val = c.X + (drand48() - 0.5)*1e-6; // .2arcsec error
mountdata.encYposition.val = c.Y + (drand48() - 0.5)*1e-6;
//DBG("t=%g, X=%g, Y=%g", tnow, c.X.val, c.Y.val);
if(tcur - oldmt > Conf.MountReqInterval){
oldmillis = mountdata.millis = (uint32_t)((tcur - tstart) * 1e3);
mountdata.motYposition.t = mountdata.motXposition.t = tnow;
if(xst == ST_MOVE)
mountdata.motXposition.val = c.X + (c.X - mountdata.motXposition.val)*(drand48() - 0.5)/100.;
else
mountdata.motXposition.val = c.X;
//else
// mountdata.motXposition.val = c.X;
if(yst == ST_MOVE)
mountdata.motYposition.val = c.Y + (c.Y - mountdata.motYposition.val)*(drand48() - 0.5)/100.;
else
mountdata.motYposition.val = c.Y;
//else
// mountdata.motYposition.val = c.Y;
oldmt = tcur;
}else mountdata.millis = oldmillis;
chkModStopped(&Xprev, c.X, &xcnt, &mountdata.Xstate);
@@ -537,7 +531,7 @@ static void *mountthread(void _U_ *u){
// cmd to send
data_t *cmd_getstat = cmd2dat(CMD_GETSTAT);
if(!cmd_getstat) goto failed;
while(mntfd > -1 && errctr < MAX_ERR_CTR){
while(mntfd > -1 && errctr < MAX_ERR_CTR && !GlobExit){
// read data to status
struct timespec tcur;
if(!curtime(&tcur)) continue;
@@ -594,8 +588,8 @@ static int ttyopen(const char *path, speed_t speed){
tty.c_cflag = BOTHER | CS8 | CREAD | CLOCAL; // other speed, 8bit, RW, ignore line ctrl
tty.c_ispeed = speed;
tty.c_ospeed = speed;
//tty.c_cc[VMIN] = 0; // non-canonical mode
//tty.c_cc[VTIME] = 5;
tty.c_cc[VMIN] = 0; // non-canonical mode
tty.c_cc[VTIME] = 5;
if(ioctl(fd, TCSETS2, &tty)){
DBG("Can't set TTY settings");
close(fd);
@@ -610,15 +604,18 @@ static int ttyopen(const char *path, speed_t speed){
// return FALSE if failed
int openEncoder(){
// TODO: open real devices in "model" mode too!
if(Conf.RunModel) return TRUE;
if(!Conf.SepEncoder) return FALSE; // try to open separate encoder when it's absent
/*
encRtmout.tv_sec = 0;
encRtmout.tv_usec = 100000000 / Conf.EncoderDevSpeed; // 10 bytes
*/
if(Conf.SepEncoder == 1){ // only one device
DBG("One device");
if(encfd[0] > -1) close(encfd[0]);
encfd[0] = ttyopen(Conf.EncoderDevPath, (speed_t) Conf.EncoderDevSpeed);
if(encfd[0] < 0) return FALSE;
encRtmout.tv_sec = 0;
encRtmout.tv_usec = 100000000 / Conf.EncoderDevSpeed; // 10 bytes
if(pthread_create(&encthread, NULL, encoderthread1, NULL)){
close(encfd[0]);
encfd[0] = -1;
@@ -632,8 +629,6 @@ int openEncoder(){
encfd[i] = ttyopen(paths[i], (speed_t) Conf.EncoderDevSpeed);
if(encfd[i] < 0) return FALSE;
}
encRtmout.tv_sec = 0;
encRtmout.tv_usec = 100000000 / Conf.EncoderDevSpeed;
if(pthread_create(&encthread, NULL, encoderthread2, NULL)){
for(int i = 0; i < 2; ++i){
close(encfd[i]);
@@ -648,6 +643,7 @@ int openEncoder(){
// return FALSE if failed
int openMount(){
// TODO: open real devices in "model" mode too!
if(Conf.RunModel) goto create_thread;
if(mntfd > -1) close(mntfd);
DBG("Open mount %s @ %d", Conf.MountDevPath, Conf.MountDevSpeed);
@@ -655,16 +651,13 @@ int openMount(){
if(mntfd < 0) return FALSE;
DBG("mntfd=%d", mntfd);
// clear buffer
while(getmntbyte() > -1);
/*int g = write(mntfd, "XXS\r", 4);
DBG("Written %d", g);
uint8_t buf[100];
do{
ssize_t l = read(mntfd, buf, 100);
DBG("got %zd", l);
}while(1);*/
clrmntbuf();
/*
mnt1Rtmout.tv_sec = 0;
mnt1Rtmout.tv_usec = 500000000 / Conf.MountDevSpeed; // 50 bytes * 10bits / speed
mntRtmout.tv_sec = 0;
mntRtmout.tv_usec = 500000000 / Conf.MountDevSpeed; // 50 bytes * 10bits / speed
mntRtmout.tv_usec = mnt1Rtmout.tv_usec / 50;
*/
create_thread:
if(pthread_create(&mntthread, NULL, mountthread, NULL)){
DBG("Can't create mount thread");
@@ -680,15 +673,17 @@ create_thread:
// close all opened serial devices and quit threads
void closeSerial(){
// TODO: close devices in "model" mode too!
if(Conf.RunModel) return;
GlobExit = 1;
DBG("Give 100ms to proper close");
usleep(100000);
DBG("Force closed all devices");
if(mntfd > -1){
DBG("Cancel mount thread");
pthread_cancel(mntthread);
DBG("join mount thread");
pthread_join(mntthread, NULL);
DBG("close mount fd");
close(mntfd);
if(mntfd > -1) close(mntfd);
mntfd = -1;
}
if(encfd[0] > -1){
@@ -697,13 +692,14 @@ void closeSerial(){
DBG("join encoder thread");
pthread_join(encthread, NULL);
DBG("close encoder's fd");
close(encfd[0]);
if(encfd[0] > -1) close(encfd[0]);
encfd[0] = -1;
if(Conf.SepEncoder == 2 && encfd[1] > -1){
close(encfd[1]);
encfd[1] = -1;
}
}
GlobExit = 0;
}
// get fresh encoder information
@@ -731,26 +727,29 @@ static int wr(const data_t *out, data_t *in, int needeol){
DBG("Wrong arguments or no mount fd");
return FALSE;
}
//DBG("clrbuf");
clrmntbuf();
if(out){
//DBG("write %zd bytes (%s)", out->len, out->buf);
if(out->len != (size_t)write(mntfd, out->buf, out->len)){
DBG("written bytes not equal to need");
return FALSE;
}
//DBG("eol, mntfd=%d", mntfd);
if(needeol){
int g = write(mntfd, "\r", 1); // add EOL
(void) g;
}
usleep(50000); // add little pause so that the idiot has time to swallow
//usleep(50000); // add little pause so that the idiot has time to swallow
}
if(!in) return TRUE;
if(!in || in->maxlen < 1) return TRUE;
int got = readmntdata(in->buf, in->maxlen);
if(got < 0){
DBG("Error reading mount data!");
in->len = 0;
for(size_t i = 0; i < in->maxlen; ++i){
int b = getmntbyte();
if(b < 0) break; // nothing to read -> go out
in->buf[in->len++] = (uint8_t) b;
return FALSE;
}
while(getmntbyte() > -1);
in->len = got;
return TRUE;
}
@@ -761,22 +760,24 @@ static int wr(const data_t *out, data_t *in, int needeol){
* @return FALSE if failed
*/
int MountWriteRead(const data_t *out, data_t *in){
if(Conf.RunModel) return -1;
if(Conf.RunModel) return FALSE;
//double t0 = timefromstart();
pthread_mutex_lock(&mntmutex);
int ret = wr(out, in, 1);
pthread_mutex_unlock(&mntmutex);
//DBG("Got %gus", (timefromstart()-t0)*1e6);
return ret;
}
// send binary data - without EOL
int MountWriteReadRaw(const data_t *out, data_t *in){
if(Conf.RunModel) return -1;
if(Conf.RunModel) return FALSE;
pthread_mutex_lock(&mntmutex);
int ret = wr(out, in, 0);
pthread_mutex_unlock(&mntmutex);
return ret;
}
#ifdef EBUG
#if 0
static void logscmd(SSscmd *c){
printf("Xmot=%d, Ymot=%d, Xspeed=%d, Yspeed=%d\n", c->Xmot, c->Ymot, c->Xspeed, c->Yspeed);
printf("xychange=0x%02X, Xbits=0x%02X, Ybits=0x%02X\n", c->xychange, c->XBits, c->YBits);
@@ -799,31 +800,37 @@ static int bincmd(uint8_t *cmd, int len){
if(!dlcmd) dlcmd = cmd2dat(CMD_LONGCMD);
int ret = FALSE;
pthread_mutex_lock(&mntmutex);
// dummy buffer to clear trash in input
//char ans[300];
//data_t a = {.buf = (uint8_t*)ans, .maxlen=299};
if(len == sizeof(SSscmd)){
((SSscmd*)cmd)->checksum = SScalcChecksum(cmd, len-2);
DBG("Short command");
#ifdef EBUG
//DBG("Short command");
#if 0
logscmd((SSscmd*)cmd);
#endif
if(!wr(dscmd, NULL, 1)) goto rtn;
}else if(len == sizeof(SSlcmd)){
((SSlcmd*)cmd)->checksum = SScalcChecksum(cmd, len-2);
DBG("Long command");
#ifdef EBUG
// DBG("Long command");
#if 0
loglcmd((SSlcmd*)cmd);
#endif
if(!wr(dlcmd, NULL, 1)) goto rtn;
}else{
goto rtn;
}
data_t d;
SSstat ans;
data_t d, in;
d.buf = cmd;
d.len = d.maxlen = len;
ret = wr(&d, NULL, 0);
in.buf = (uint8_t*)&ans; in.maxlen = sizeof(SSstat);
ret = wr(&d, &in, 0);
DBG("%s", ret ? "SUCCESS" : "FAIL");
if(ret){
SSscmd *sc = (SSscmd*)cmd;
mountdata.Xtarget = sc->Xmot;
mountdata.Ytarget = sc->Ymot;
DBG("ANS: Xmot/Ymot: %d/%d, Ylast/Ylast: %d/%d; Xtag/Ytag: %d/%d",
ans.Xmot, ans.Ymot, ans.XLast, ans.YLast, mountdata.Xtarget, mountdata.Ytarget);
}
rtn:
pthread_mutex_unlock(&mntmutex);
return ret;

23
Auxiliary_utils/LibSidServo/servo_real.conf Normal file
View File

@@ -0,0 +1,23 @@
MountDevPath=/dev/ttyUSB0
MountDevSpeed=19200
EncoderDevSpeed=1000000
MountReqInterval=0.1
EncoderReqInterval=0.001
SepEncoder=2
EncoderXDevPath=/dev/encoder_X0
EncoderYDevPath=/dev/encoder_Y0
EncoderSpeedInterval=0.05
RunModel=0
# telescope is in "pointing state" when coordinate error less than MaxFinePointingErr and goes to "slewing state"
# when this error greater than MaxPointingErr
MaxPointingErr = 0.3490658504 # "pointing zone" - 20 degr
MaxFinePointingErr = 0.1745329252 # "guiding zone" - 10 degr
MaxGuidingErr = 4.8481368e-6 # "on target zone" - 1 arcsec
XPIDVP=0.9
XPIDVI=0.0005
XPIDVD=0.0
YPIDVP=0.5
YPIDVI=0.005
YPIDVD=0.
XEncZero=36627112
YEncZero=36067741

12
Auxiliary_utils/LibSidServo/sidservo.h
View File

@@ -136,10 +136,11 @@ typedef struct{
} extradata_t;
typedef enum{
AXIS_STOPPED,
AXIS_SLEWING,
AXIS_POINTING,
AXIS_GUIDING,
AXIS_STOPPED, // stop
AXIS_GONNASTOP, // stop command run
AXIS_SLEWING, // go to target with maximal speed
AXIS_POINTING, // axis is in pointing zone, use PID
AXIS_GUIDING, // near target
AXIS_ERROR,
} axis_status_t;
@@ -157,6 +158,9 @@ typedef struct{
uint32_t millis;
double temperature;
double voltage;
// target X/Y position by last `short` or `long` command
int32_t Xtarget; // in SidServo's counts
int32_t Ytarget; // -//-
} mountdata_t;
typedef struct{

35
Auxiliary_utils/LibSidServo/ssii.c
View File

@@ -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;
}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;
}

2
Auxiliary_utils/LibSidServo/ssii.h
View File

@@ -209,12 +209,14 @@ extern double X_MOT_STEPSPERREV, Y_MOT_STEPSPERREV, X_ENC_STEPSPERREV, Y_ENC_STE
// convert angle in radians to +-pi
static inline __attribute__((always_inline)) double ang2half(double ang){
ang = fmod(ang, 2.*M_PI);
if(ang < -M_PI) ang += 2.*M_PI;
else if(ang > M_PI) ang -= 2.*M_PI;
return ang;
}
// convert to only positive: 0..2pi
static inline __attribute__((always_inline)) double ang2full(double ang){
ang = fmod(ang, 2.*M_PI);
if(ang < 0.) ang += 2.*M_PI;
else if(ang > 2.*M_PI) ang -= 2.*M_PI;
return ang;