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rewrite Asibfm700Mount::initMount

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This commit is contained in:
Timur A. Fatkhullin
2026-03-03 14:18:03 +03:00
parent 296f8e3b03
commit 34c3ecb0f4
1 changed files with 98 additions and 66 deletions
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164
asibfm700_mount.cpp
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@@ -60,8 +60,47 @@ Asibfm700Mount::error_t Asibfm700Mount::initMount()
logInfo(" leap seconds filename: {}", _mountConfig.leapSecondFilename()); logInfo(" leap seconds filename: {}", _mountConfig.leapSecondFilename());
logInfo(" IERS Bulletin A filename: {}", _mountConfig.bulletinAFilename()); logInfo(" IERS Bulletin A filename: {}", _mountConfig.bulletinAFilename());
logInfo("{:-^80}", "Initializing ERFA-engine with values above:");
auto ccte_state = mcc::impl::MccSkyPoint::cctEngine.getStateERFA();
mcc::impl::MccSkyPoint::cctEngine.setStateERFA({.meteo = ccte_state.meteo, // just use of previous values
.wavelength = _mountConfig.refractWavelength(),
.lat = _mountConfig.siteLatitude(),
.lon = _mountConfig.siteLongitude(),
.elev = _mountConfig.siteElevation()});
if (_mountConfig.leapSecondFilename().size()) { // load leap seconds file
logInfo("Loading leap second file: '{}' ...", _mountConfig.leapSecondFilename());
bool ok = ccte_state._leapSeconds.load(_mountConfig.leapSecondFilename());
if (ok) {
logInfo("Leap second file was loaded successfully (expire date: {})", ccte_state._leapSeconds.expireDate());
} else {
logError("Leap second file loading failed! Using hardcoded defauls (expire date: {})",
ccte_state._leapSeconds.expireDate());
}
} else {
logInfo("Using hardcoded leap seconds defauls (expire date: {})", ccte_state._leapSeconds.expireDate());
}
if (_mountConfig.bulletinAFilename().size()) { // load IERS Bulletin A file
logInfo("Loading IERS Bulletin A file: '{}' ...", _mountConfig.bulletinAFilename());
bool ok = ccte_state._bulletinA.load(_mountConfig.bulletinAFilename());
if (ok) {
logInfo("IERS Bulletin A file was loaded successfully (date range: {} - {})",
ccte_state._bulletinA.dateRange().begin, ccte_state._bulletinA.dateRange().end);
} else {
logError("IERS Bulletin A file loading failed! Using hardcoded defauls (date range: {} - {})",
ccte_state._bulletinA.dateRange().begin, ccte_state._bulletinA.dateRange().end);
}
} else {
logInfo("Using hardcoded IERS Bulletin A defauls (date range: {} - {})",
ccte_state._bulletinA.dateRange().begin, ccte_state._bulletinA.dateRange().end);
}
logInfo("{:-^80}", "ERFA-engine was initialized");
logInfo(""); logInfo("");
logDebug("Delete previously defined prohobited zones"); logDebug("Delete previously defined prohibited zones");
clearPZones(); clearPZones();
logInfo("Add prohibited zones ..."); logInfo("Add prohibited zones ...");
@@ -88,9 +127,11 @@ Asibfm700Mount::error_t Asibfm700Mount::initMount()
}; };
auto hw_cfg = _mountConfig.servoControllerConfig(); auto hw_cfg = _mountConfig.servoControllerConfig();
auto eeprom_cfg = hw_cfg.hwConfig;
logInfo(""); logInfo("");
logInfo("Hardware initialization ..."); logInfo("Hardware initialization ...");
logInfo(" set hardware configuration:"); logInfo(" set encoder device paths, PIDs configuration and rough encoder zero-points:");
logInfo(" RunModel: {}", hw_cfg.devConfig.RunModel == 1 ? "MODEL-MODE" : "REAL-MODE"); logInfo(" RunModel: {}", hw_cfg.devConfig.RunModel == 1 ? "MODEL-MODE" : "REAL-MODE");
logInfo(" mount dev path: {}", hw_cfg.MountDevPath); logInfo(" mount dev path: {}", hw_cfg.MountDevPath);
logInfo(" encoder dev path: {}", hw_cfg.EncoderDevPath); logInfo(" encoder dev path: {}", hw_cfg.EncoderDevPath);
@@ -117,13 +158,21 @@ Asibfm700Mount::error_t Asibfm700Mount::initMount()
logInfo(" XEncZero: {}", hw_cfg.devConfig.XEncZero); logInfo(" XEncZero: {}", hw_cfg.devConfig.XEncZero);
logInfo(" YEncZero: {}", hw_cfg.devConfig.YEncZero); logInfo(" YEncZero: {}", hw_cfg.devConfig.YEncZero);
// actually, only set this->_hardwareConfig.devConfig part and paths!!! // actually, only set _servolController._hardwareConfig.devConfig part and paths!!!
// this->_hardwareConfig = hw_cfg;
_servolController.hardwareUpdateConfig(hw_cfg.devConfig); _servolController.hardwareUpdateConfig(hw_cfg.devConfig);
logInfo(""); auto hw_ini_err = _servolController.hardwareInit();
logInfo(" EEPROM data:"); if (hw_ini_err) {
errorLogging(" cannot initialize hardware (paths, PIDs, zeros): ", hw_ini_err);
return hw_ini_err;
}
logInfo(" paths, PIDs, zeros were initialized successfully!");
logInfo("");
logInfo(" current hardware EEPROM data:");
mcc::impl::MccAngle ang;
if (hw_cfg.devConfig.RunModel != 1) { // load EEPROM only in REAL HARDWARE mode if (hw_cfg.devConfig.RunModel != 1) { // load EEPROM only in REAL HARDWARE mode
// load EEPROM part // load EEPROM part
auto cfg_err = _servolController.hardwareUpdateConfig(); auto cfg_err = _servolController.hardwareUpdateConfig();
@@ -134,7 +183,7 @@ Asibfm700Mount::error_t Asibfm700Mount::initMount()
hw_cfg = _servolController.getHardwareConfig(); hw_cfg = _servolController.getHardwareConfig();
mcc::impl::MccAngle ang{hw_cfg.hwConfig.Yconf.accel}; // Sidereal defines HA-axis as Y-axis ang = hw_cfg.hwConfig.Yconf.accel; // Sidereal defines HA-axis as Y-axis
logInfo(" HA-axis accel: {} degs/s^2", ang.degrees()); logInfo(" HA-axis accel: {} degs/s^2", ang.degrees());
ang = hw_cfg.hwConfig.Xconf.accel; // Sidereal defines DEC-axis as X-axis ang = hw_cfg.hwConfig.Xconf.accel; // Sidereal defines DEC-axis as X-axis
@@ -159,13 +208,52 @@ Asibfm700Mount::error_t Asibfm700Mount::initMount()
logWarn(" MODEL-MODE, no EEPROM data!"); logWarn(" MODEL-MODE, no EEPROM data!");
} }
logInfo("");
logInfo(" new hardware EEPROM data:");
eeprom_cfg.Xslewrate = _mountConfig.getValue<mcc::impl::MccAngle>("hwMaxRateDEC").value_or(0.0);
eeprom_cfg.Yslewrate = _mountConfig.getValue<mcc::impl::MccAngle>("hwMaxRateHA").value_or(0.0);
ang = eeprom_cfg.Yconf.accel; // Sidereal defines HA-axis as Y-axis
logInfo(" HA-axis accel: {} degs/s^2", ang.degrees());
ang = eeprom_cfg.Xconf.accel; // Sidereal defines DEC-axis as X-axis
logInfo(" DEC-axis accel: {} degs/s^2", ang.degrees());
logInfo(" HA-axis backlash: {}", (double)eeprom_cfg.Yconf.backlash);
logInfo(" DEC-axis backlash: {}", (double)eeprom_cfg.Xconf.backlash);
logInfo(" HA-axis encoder ticks per revolution: {}",
eeprom_cfg.Ysetpr); // Sidereal defines HA-axis as Y-axis
logInfo(" DEC-axis encoder ticks per revolution: {}",
eeprom_cfg.Xsetpr); // Sidereal defines DEC-axis as X-axis
logInfo(" HA-motor encoder ticks per revolution: {}",
eeprom_cfg.Ymetpr); // Sidereal defines HA-axis as Y-axis
logInfo(" DEC-motor encoder ticks per revolution: {}",
eeprom_cfg.Xmetpr); // Sidereal defines DEC-axis as X-axis
ang = eeprom_cfg.Yslewrate; // Sidereal defines HA-axis as Y-axis
logInfo(" HA-axis slew rate: {} degs/s", ang.degrees());
ang = eeprom_cfg.Xslewrate; // Sidereal defines DEC-axis as X-axis
logInfo(" DEC-axis slew rate: {} degs/s", ang.degrees());
// 03.03.2026: still do not save EEPROM!!!
// hw_ini_err = _servolController.hardwareUpdateConfig(eeprom_cfg);
// if (hw_ini_err) {
// errorLogging(" cannot initialize hardware (EEPROM data)!");
// return hw_ini_err;
// }
logInfo("{:-^80}", "Hardware initialization was performed successfully!");
logInfo(""); logInfo("");
logInfo("Setup slewing and tracking parameters ..."); logInfo("Setup slewing and tracking parameters ...");
mpars.slewRateX = _mountConfig.getValue<mcc::impl::MccAngle>("hwMaxRateHA").value_or(0.0); mpars.slewRateX = _mountConfig.getValue<mcc::impl::MccAngle>("hwMaxRateHA").value_or(0.0);
mpars.slewRateY = _mountConfig.getValue<mcc::impl::MccAngle>("hwMaxRateDEC").value_or(0.0); mpars.slewRateY = _mountConfig.getValue<mcc::impl::MccAngle>("hwMaxRateDEC").value_or(0.0);
if (hw_cfg.devConfig.RunModel != 1) { if (hw_cfg.devConfig.RunModel != 1) {
mpars.brakingAccelX = hw_cfg.hwConfig.Yconf.accel; // Sidereal defines HA-axis as Y-axis mpars.brakingAccelX = eeprom_cfg.Yconf.accel; // Sidereal defines HA-axis as Y-axis
mpars.brakingAccelY = hw_cfg.hwConfig.Xconf.accel; // Sidereal defines DEC-axis as X-axis mpars.brakingAccelY = eeprom_cfg.Xconf.accel; // Sidereal defines DEC-axis as X-axis
// //
} else { // set model's default values } else { // set model's default values
mpars.brakingAccelX = 0.165806; // Sidereal defines HA-axis as Y-axis mpars.brakingAccelX = 0.165806; // Sidereal defines HA-axis as Y-axis
@@ -236,15 +324,10 @@ Asibfm700Mount::error_t Asibfm700Mount::initMount()
logInfo("Slewing and tracking parameters have been set successfully"); logInfo("Slewing and tracking parameters have been set successfully");
// update Eddy's LibSidServo internal config
_servolController.hardwareUpdateConfig(hw_cfg.hwConfig);
coordpair_t cp; coordpair_t cp;
Mount.getMaxSpeed(&cp); Mount.getMaxSpeed(&cp);
logInfo("Check mount max speed: {} {}", cp.Y, cp.X); logInfo("Check mount max speed: {} {}", cp.Y, cp.X);
_servolController.hardwareInit();
// call base class initMount method // call base class initMount method
auto hw_err = gm_class_t::initMount(); auto hw_err = gm_class_t::initMount();
// auto hw_err = base_gm_class_t::initMount(); // auto hw_err = base_gm_class_t::initMount();
@@ -255,63 +338,12 @@ Asibfm700Mount::error_t Asibfm700Mount::initMount()
logInfo("Hardware initialization was performed sucessfully!"); logInfo("Hardware initialization was performed sucessfully!");
} }
logInfo("ERFA engine initialization ...");
auto ccte_state = mcc::impl::MccSkyPoint::cctEngine.getStateERFA();
mcc::impl::MccSkyPoint::cctEngine.setStateERFA({.meteo = ccte_state.meteo, // just use of previous values
.wavelength = _mountConfig.refractWavelength(),
.lat = _mountConfig.siteLatitude(),
.lon = _mountConfig.siteLongitude(),
.elev = _mountConfig.siteElevation()});
// set ERFA state
// Asibfm700CCTE::engine_state_t ccte_state{
// .meteo = Asibfm700CCTE::_currentState.meteo, // just use of previous values
// .wavelength = _mountConfig.refractWavelength(),
// .lat = _mountConfig.siteLatitude(),
// .lon = _mountConfig.siteLongitude(),
// .elev = _mountConfig.siteElevation()};
if (_mountConfig.leapSecondFilename().size()) { // load leap seconds file
logInfo("Loading leap second file: '{}' ...", _mountConfig.leapSecondFilename());
bool ok = ccte_state._leapSeconds.load(_mountConfig.leapSecondFilename());
if (ok) {
logInfo("Leap second file was loaded successfully (expire date: {})", ccte_state._leapSeconds.expireDate());
} else {
logError("Leap second file loading failed! Using hardcoded defauls (expire date: {})",
ccte_state._leapSeconds.expireDate());
}
} else {
logInfo("Using hardcoded leap seconds defauls (expire date: {})", ccte_state._leapSeconds.expireDate());
}
if (_mountConfig.bulletinAFilename().size()) { // load IERS Bulletin A file
logInfo("Loading IERS Bulletin A file: '{}' ...", _mountConfig.bulletinAFilename());
bool ok = ccte_state._bulletinA.load(_mountConfig.bulletinAFilename());
if (ok) {
logInfo("IERS Bulletin A file was loaded successfully (date range: {} - {})",
ccte_state._bulletinA.dateRange().begin, ccte_state._bulletinA.dateRange().end);
} else {
logError("IERS Bulletin A file loading failed! Using hardcoded defauls (date range: {} - {})",
ccte_state._bulletinA.dateRange().begin, ccte_state._bulletinA.dateRange().end);
}
} else {
logInfo("Using hardcoded IERS Bulletin A defauls (date range: {} - {})",
ccte_state._bulletinA.dateRange().begin, ccte_state._bulletinA.dateRange().end);
}
// setTelemetryDataUpdateInterval(_mountConfig.hardwarePollingPeriod());
setTelemetryDataTimeout(_mountConfig.movingModelParams().telemetryTimeout); setTelemetryDataTimeout(_mountConfig.movingModelParams().telemetryTimeout);
// std::this_thread::sleep_for(std::chrono::milliseconds(100));
telemetry_data_t tdata; telemetry_data_t tdata;
auto t_err = telemetryData(&tdata); auto t_err = telemetryData(&tdata);
if (t_err) { if (t_err) {
logError(gm_class_t::formatError(t_err, "Cannot update telemetry data: ")); logError(gm_class_t::formatError(t_err, "Cannot get initial telemetry data: "));
return t_err; return t_err;
} }