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start configurator

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This commit is contained in:
Edward Emelianov
2025-02-27 22:48:27 +03:00
parent 04c98ed557
commit e898642af9
19 changed files with 817 additions and 206 deletions
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74
Auxiliary_utils/LibSidServo/serial.c
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@@ -48,8 +48,8 @@ static struct timeval encRtmout = {0}, mntRtmout = {0};
// encoders raw data
typedef struct __attribute__((packed)){
uint8_t magick;
int32_t encX;
int32_t encY;
int32_t encX;
uint8_t CRC[4];
} enc_t;
@@ -82,6 +82,13 @@ static void gttime(){
*/
static void parse_encbuf(uint8_t databuf[ENC_DATALEN], struct timeval *tv){
enc_t *edata = (enc_t*) databuf;
/*
#ifdef EBUG
DBG("ENCBUF:");
for(int i = 0; i < ENC_DATALEN; ++i) printf("%02X ", databuf[i]);
printf("\n");
#endif
*/
if(edata->magick != ENC_MAGICK){
DBG("No magick");
return;
@@ -112,13 +119,13 @@ static void parse_encbuf(uint8_t databuf[ENC_DATALEN], struct timeval *tv){
mountdata.encposition.Y = Y_ENC2RAD(edata->encY);
mountdata.encposition.msrtime = *tv;
pthread_mutex_unlock(&datamutex);
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);
//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);
}
// 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) return -1;
uint8_t byte;
uint8_t byte = 0;
fd_set rfds;
struct timeval tv;
do{
@@ -181,10 +188,10 @@ static void *encoderthread(void _U_ *u){
if(b == -2) ++errctr;
if(b < 0) continue;
errctr = 0;
DBG("Got byte from Encoder: 0x%02X", b);
// DBG("Got byte from Encoder: 0x%02X", b);
if(wridx == 0){
if((uint8_t)b == ENC_MAGICK){
DBG("Got magic -> start filling packet");
// DBG("Got magic -> start filling packet");
databuf[wridx++] = (uint8_t) b;
gettimeofday(&tv, NULL);
}
@@ -239,7 +246,11 @@ static void *mountthread(void _U_ *u){
struct timeval tgot;
if(0 != gettimeofday(&tgot, NULL)) continue;
if(!MountWriteRead(cmd_getstat, &d) || d.len != sizeof(SSstat)){
#ifdef EBUG
DBG("Can't read SSstat, need %zd got %zd bytes", sizeof(SSstat), d.len);
for(size_t i = 0; i < d.len; ++i) printf("%02X ", d.buf[i]);
printf("\n");
#endif
++errctr; continue;
}
if(SScalcChecksum(buf, sizeof(SSstat)-2) != status->checksum){
@@ -375,13 +386,14 @@ static int wr(const data_t *out, data_t *in, int needeol){
(void) g;
}
}
if(in){
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;
}
uint8_t buf[256];
data_t dumb = {.buf = buf, .maxlen = 256};
if(!in) in = &dumb; // even if user don't ask for answer, try to read to clear trash
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 TRUE;
}
@@ -398,6 +410,13 @@ int MountWriteRead(const data_t *out, data_t *in){
pthread_mutex_unlock(&mntmutex);
return ret;
}
// send binary data - without EOL
int MountWriteReadRaw(const data_t *out, data_t *in){
pthread_mutex_lock(&mntmutex);
int ret = wr(out, in, 0);
pthread_mutex_unlock(&mntmutex);
return ret;
}
#ifdef EBUG
static void logscmd(SSscmd *c){
@@ -459,3 +478,34 @@ int cmdS(SSscmd *cmd){
int cmdL(SSlcmd *cmd){
return bincmd((uint8_t *)cmd, sizeof(SSlcmd));
}
// rw == 1 to write, 0 to read
int cmdC(SSconfig *conf, int rw){
static data_t *wcmd = NULL, *rcmd = NULL;
int ret = FALSE;
// dummy buffer to clear trash in input
char ans[300];
data_t a = {.buf = (uint8_t*)ans, .maxlen=299};
if(!wcmd) wcmd = cmd2dat(CMD_PROGFLASH);
if(!rcmd) rcmd = cmd2dat(CMD_DUMPFLASH);
pthread_mutex_lock(&mntmutex);
if(rw){ // write
if(!wr(wcmd, &a, 1)) goto rtn;
}else{ // read
data_t d;
d.buf = (uint8_t *) conf;
d.len = 0; d.maxlen = sizeof(SSconfig);
ret = wr(rcmd, &d, 1);
DBG("wr returned %s; got %zd bytes of %zd", ret ? "TRUE" : "FALSE", d.len, d.maxlen);
if(d.len != d.maxlen) return FALSE;
// simplest checksum
uint16_t sum = 0;
for(uint32_t i = 0; i < sizeof(SSconfig)-2; ++i) sum += d.buf[i];
if(sum != conf->checksum){
DBG("got sum: %u, need: %u", conf->checksum, sum);
return FALSE;
}
}
rtn:
pthread_mutex_unlock(&mntmutex);
return ret;
}