/* * This file is part of the SSII project. * Copyright 2022 Edward V. Emelianov . * * 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 . */ #pragma once #include #include #include "sidservo.h" /*********** base commands ***********/ // get/set X/Y in motsteps #define CMD_MOTX "X" #define CMD_MOTY "Y" // set X/Y position with speed "sprintf(buf, "%s%d%s%d", CMD_MOTx, tagx, CMD_MOTxS, tags) #define CMD_MOTXYS "S" // reset current motor position to given value (and stop, if moving) #define CMD_MOTXSET "XF" #define CMD_MOTYSET "YF" // acceleration (per each loop, max: 3900) #define CMD_MOTXACCEL "XR" #define CMD_MOTYACCEL "YR" // PID regulator: // P: 0..32767 #define CMD_PIDPX "XP" #define CMD_PIDPY "YP" // I: 0..32767 #define CMD_PIDIX "XI" #define CMD_PIDIY "YI" // limit of I (doesn't work): 0:24000 (WTF???) #define CMD_PIDILX "XL" #define CMD_PIDILY "YL" // D: 0..32767 #define CMD_PIDDX "XD" #define CMD_PIDDY "YD" // current position error #define CMD_POSERRX "XE" #define CMD_POSERRY "YE" // max position error limit (X: E#, Y: e#) #define CMD_POSERRLIMX "XEL" #define CMD_POSERRLIMY "YEL" // current PWM output: 0..255 (or set max PWM out) #define CMD_PWMOUTX "XO" #define CMD_PWMOUTY "YO" // motor current *100 (or set current limit): 0..240 #define CMD_MOTCURNTX "XC" #define CMD_MOTCURNTY "YC" // change axis to Manual mode and set the PWM output: -255:255 #define CMD_MANUALPWMX "XM" #define CMD_MANUALPWMY "YM" // change axis to Auto mode #define CMD_AUTOX "XA" #define CMD_AUTOY "YA" // get positioin in encoders' ticks or reset it to given value #define CMD_ENCX "XZ" #define CMD_ENCY "YZ" // get/set speed (geter x: S#, getter y: s#) #define CMD_SPEEDX "XS" #define CMD_SPEEDY "YS" // normal stop X/Y #define CMD_STOPX "XN" #define CMD_STOPY "YN" // lower speed -> drag&track or slew&track #define CMD_STOPTRACKX "XNT" #define CMD_STOPTRACKY "YNT" // emergency stop #define CMD_EMSTOPX "XG" #define CMD_EMSTOPY "YG" // get/set X/Ybits #define CMD_BITSX "XB" #define CMD_BITSY "YB" /*********** getters/setters without "Y" variant ***********/ // get handpad status (decimal) #define CMD_HANDPAD "XK" // get TCPU (deg F) #define CMD_TCPU "XH" // get firmware version *10 #define CMD_FIRMVER "XV" // get motor voltage *10 #define CMD_MOTVOLTAGE "XJ" // get/set current CPU clock (milliseconds) #define CMD_MILLIS "XY" // reset servo #define CMD_RESET "XQ" // clear to factory defaults #define CMD_CLRDEFAULTS "XU" // save configuration to flash ROM #define CMD_WRITEFLASH "XW" // read config from flash to RAM #define CMD_READFLASH "XT" // write to flash following full config (128 bytes + 2 bytes of checksum) #define CMD_PROGFLASH "FC" // read configuration (-//-) #define CMD_DUMPFLASH "SC" // get serial number #define CMD_SERIAL "YV" /*********** extended commands ***********/ // get/set latitute #define CMD_LATITUDE "XXL" // getters/setters of motor's encoders per rev #define CMD_MEPRX "XXU" #define CMD_MEPRY "XXV" // -//- axis encoders #define CMD_AEPRX "XXT" #define CMD_AEPRY "XXZ" // get/set slew rate #define CMD_SLEWRATEX "XXA" #define CMD_SLEWRATEY "XXB" // get/set pan rate #define CMD_PANRATEX "XXC" #define CMD_PANRATEY "XXD" // get/set platform tracking rate #define CMD_PLATRATE "XXE" // get/set platform up/down adjuster #define CMD_PLATADJ "XXF" // get/set platform goal #define CMD_PLATGOAL "XXG" // get/set guide rate #define CMD_GUIDERATEX "XXH" #define CMD_GUIDERATEY "XXI" // get/set picservo timeout (seconds) #define CMD_PICTMOUT "XXJ" // get/set digital outputs of radio handpad #define CMD_RADIODIGOUT "XXQ" // get/set argo navis mode #define CMD_ARGONAVIS "XXN" // get/set local search distance #define CMD_LOSCRCHDISTX "XXM" #define CMD_LOSCRCHDISTY "XXO" // get/set backlash #define CMD_BACKLASHX "XXO" #define CMD_BACKLASHY "XXP" // get binary data of all statistics #define CMD_GETSTAT "XXS" // send short command #define CMD_SHORTCMD "XXR" // send long command #define CMD_LONGCMD "YXR" /*********** special ***********/ // exit ASCII checksum mode #define CMD_EXITACM "YXY0\r\xb8" // controller status: // X# Y# XZ# YZ# XC# YC# V# T# X[AM] Y[AM] K# // 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.) // amount of consequent same coordinates to detect stop #define MOTOR_STOPPED_CNT (20) // steps per revolution (SSI - x4 - for SSI) // 13312000 / 4 = 3328000 #define X_MOT_STEPSPERREV_SSI (13312000.) //#define X_MOT_STEPSPERREV (3325952.) #define X_MOT_STEPSPERREV (3328000.) // 17578668 / 4 = 4394667 #define Y_MOT_STEPSPERREV_SSI (17578668.) //#define Y_MOT_STEPSPERREV (4394960.) #define Y_MOT_STEPSPERREV (4394667.) // convert angle in radians to +-pi static inline double ang2half(double ang){ 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 double ang2full(double ang){ if(ang < 0.) ang += 2.*M_PI; else if(ang > 2.*M_PI) ang -= 2.*M_PI; return ang; } // motor position to radians and back #define X_MOT2RAD(n) ang2half(2. * M_PI * ((double)(n)) / X_MOT_STEPSPERREV) #define Y_MOT2RAD(n) ang2half(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. * 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. * 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) / 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 (61245239) #define Y_ENC_ZERO (36999830) // encoder reversed (no: +1) #define X_ENC_SIGN (-1.) #define Y_ENC_SIGN (-1.) // encoder position to radians and back #define X_ENC2RAD(n) ang2half(X_ENC_SIGN * 2.*M_PI * ((double)(n-X_ENC_ZERO)) / X_ENC_STEPSPERREV) #define Y_ENC2RAD(n) ang2half(Y_ENC_SIGN * 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)) // encoder's tolerance (ticks) #define YencTOL (25.) #define XencTOL (25.) // all need data in one typedef struct{ // 41 bytes uint8_t ctrlAddr; // 0 a8 + controller address int32_t Xmot; // 1 Dec/HA motor position int32_t Ymot; // 5 int32_t Xenc; // 9 Dec/HA encoder position int32_t Yenc; // 13 uint8_t keypad; // 17 keypad status xbits_t XBits; // 18 ybits_t YBits; // 19 uint8_t ExtraBits; // 20 uint16_t ain0; // 21 analog inputs uint16_t ain1; // 23 uint32_t millis; // 25 milliseconds clock int8_t tF; // 29 temperature (degF) uint8_t voltage; // 30 input voltage *10 (RA worm phase?) uint32_t XLast; // 31 Alt/Dec motor location at last Alt/Dec scope encoder location change uint32_t YLast; // 35 Az/RA motor location at last Az/RA scope encoder location change uint16_t checksum; // 39 checksum, H inverted }__attribute__((packed)) SSstat; typedef struct{ int32_t Xmot; // 0 X motor position int32_t Xspeed; // 4 X speed int32_t Ymot; // 8 int32_t Yspeed; // 12 uint8_t xychange; // 16 change Xbits/Ybits value uint8_t XBits; // 17 uint8_t YBits; // 18 uint16_t checksum; // 19 } __attribute__((packed)) SSscmd; // short command typedef struct{ int32_t Xmot; // 0 X motor position int32_t Xspeed; // 4 X speed int32_t Ymot; // 8 int32_t Yspeed; // 12 int32_t Xadder; // 16 - X adder int32_t Yadder; // 20 int32_t Xatime; // 24 X adder time (1953 == 1s) int32_t Yatime; // 28 uint16_t checksum; // 32 } __attribute__((packed)) SSlcmd; // long command typedef struct{ uint32_t accel; // Default Acceleration (0..3900) uint32_t backlash; // Backlash (???) uint16_t errlimit; // Error Limit (0..32767) uint16_t propgain; // Proportional Gain (0..32767) uint16_t intgain; // Integral Gain (0..32767) uint16_t derivgain; // Derivative Gain (0..32767) uint16_t outplimit; // Output Limit, 0xFF = 100.0 (0..255) uint16_t currlimit; // Current Limit * 100 (0..240) uint16_t intlimit; // Integral Limit (0..24000) } __attribute__((packed)) AxeConfig; typedef struct{ AxeConfig Xconf; xbits_t xbits; uint8_t unused0; AxeConfig Yconf; ybits_t ybits; uint8_t unused1; uint8_t address; uint8_t unused2; uint32_t eqrate; // Equatorial Rate (platform?) (???) int32_t eqadj; // Equatorial UpDown adjust (???) uint32_t trackgoal; // Tracking Platform Goal (???) uint16_t latitude; // Latitude * 100, MSB FIRST!! uint32_t Ysetpr; // Azm Scope Encoder Ticks Per Rev, MSB FIRST!! uint32_t Xsetpr; // Alt Scope Encoder Ticks Per Rev, MSB FIRST!! uint32_t Ymetpr; // Azm Motor Ticks Per Rev, MSB FIRST!! uint32_t Xmetpr; // Alt Motor Ticks Per Rev, MSB FIRST!! int32_t Xslewrate; // Alt/Dec Slew Rate (rates are negative in "through the pole" mode!!!) int32_t Yslewrate; // Azm/RA Slew Rate int32_t Xpanrate; // Alt/Dec Pan Rate int32_t Ypanrate; // Azm/RA Pan Rate int32_t Xguiderate; // Alt/Dec Guide Rate int32_t Yguiderate; // Azm/RA Guide Rate uint8_t unknown0; // R/A PEC Auto Sync Enable (if low bit = 1), or PicServo Comm Timeout?? uint8_t unused3; uint8_t baudrate; // Baud Rate?? uint8_t unused4; uint8_t specmode; // 1 = Enable Argo Navis, 2 = Enable Sky Commander uint8_t unused5; uint32_t locsdeg; // Local Search Degrees * 100 uint32_t locsspeed; // Local Search Speed, arcsec per sec (???) uint32_t backlspd; // Backlash speed uint32_t pecticks; // RA/Azm PEC Ticks uint16_t unused6; uint16_t checksum; } __attribute__((packed)) SSconfig; uint16_t SScalcChecksum(uint8_t *buf, int len); 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); int SSsetterI(const char *cmd, int32_t ival); int SSstop(int emerg); int SSshortCmd(SSscmd *cmd); mcc_errcodes_t updateMotorPos();