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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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45
Auxiliary_utils/LibSidServo/ssii.c
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@@ -90,6 +90,19 @@ int SStextcmd(const char *cmd, data_t *answer){
return MountWriteRead(&d, answer);
}
// the same as SStextcmd, but not adding EOL - send raw 'cmd'
int SSrawcmd(const char *cmd, data_t *answer){
if(!cmd){
DBG("try to send empty command");
return FALSE;
}
data_t d;
d.buf = (uint8_t*) cmd;
d.len = d.maxlen = strlen(cmd);
DBG("send %zd bytes: %s", d.len, d.buf);
return MountWriteReadRaw(&d, answer);
}
/**
* @brief SSgetint - send text command and return integer answer
* @param cmd (i) - command to send
@@ -116,29 +129,25 @@ int SSgetint(const char *cmd, int64_t *ans){
return TRUE;
}
// commands to move X and Y to given motor position in radians; @return FALSE if failed
// BE CAREFUL: after each poweron X and Y are 0
// BE CAREFUL: angle isn't checking here
int SSXmoveto(double pos){
char buf[64];
int64_t target = X_RAD2MOT(pos);
DBG("move to angle %grad = %ld", pos, target);
snprintf(buf, 63, "%s%" PRIi64, CMD_MOTX, target);
return SStextcmd(buf, NULL);
}
int SSYmoveto(double pos){
char buf[64];
int64_t target = Y_RAD2MOT(pos);
DBG("move to angle %grad = %ld", pos, target);
snprintf(buf, 63, "%s%" PRIi64, CMD_MOTY, target);
/**
* @brief SSsetterI - integer setter
* @param cmd - command to send
* @param ival - value
* @return false if failed
*/
int SSsetterI(const char *cmd, int32_t ival){
char buf[128];
snprintf(buf, 127, "%s%" PRIi32, cmd, ival);
return SStextcmd(buf, NULL);
}
int SSemergStop(){
int SSstop(int emerg){
int i = 0;
const char *cmdx = (emerg) ? CMD_EMSTOPX : CMD_STOPX;
const char *cmdy = (emerg) ? CMD_EMSTOPY : CMD_STOPY;
for(; i < 10; ++i){
if(!SStextcmd(CMD_EMSTOPX, NULL)) continue;
if(SStextcmd(CMD_EMSTOPY, NULL)) break;
if(!SStextcmd(cmdx, NULL)) continue;
if(SStextcmd(cmdy, NULL)) break;
}
if(i == 10) return FALSE;
return TRUE;