...

asibfm700_config.h

@@ -4,10 +4,15 @@
 #include <mcc/mcc_keyvalue.h>
 #include <mcc/mcc_pcm.h>
 #include <filesystem>
+#include "mcc/mcc_pzone.h"
 
 namespace asibfm700
 {
 
+static constexpr double SAORAS_LATITUDE = 43.646711_degs;
+static constexpr double SAORAS_LONGITUDE = 41.440732_degs;
+
+
 template <mcc::impl::mcc_variant_valid_type_c T>
 struct config_record_t : mcc::impl::mcc_simple_kv_record_t<T> {
     std::vector<std::string_view> head_comment;
@@ -31,8 +36,8 @@ static auto Asibfm700MountConfigurationDefaults = std::make_tuple(
 
     /*    geographic coordinates of the observation site    */
 
-    make_config_record("siteLatitude", mcc::impl::MccAngle(43.646711_degs), {"site latitude in degrees"}),
+    make_config_record("siteLatitude", mcc::impl::MccAngle(SAORAS_LATITUDE), {"site latitude in degrees"}),
-    make_config_record("siteLongitude", mcc::impl::MccAngle(41.440732_degs), {"site longitude  in degrees"}),
+    make_config_record("siteLongitude", mcc::impl::MccAngle(SAORAS_LONGITUDE), {"site longitude  in degrees"}),
     make_config_record("siteElevation", 2070.0, {"site elevation in meters"}),
 
     /*    celestial coordinate transformation    */
@@ -62,19 +67,18 @@ static auto Asibfm700MountConfigurationDefaults = std::make_tuple(
     // NOTE: The first and last values are interpretated as border knots!!!
     //       Thus the array length must be equal to or greater than 2!
     make_config_record("pcmBsplineXknots",
-                       std::vector<double>{0.0, 0.6981317, 1.3962634, 2.0943951, 2.7925268, 3.4906585, 4.1887902,
+                       mcc::impl::mccGenerateBsplineKnots(0.0, 360.0_degs, 8),
-                                           4.88692191, 5.58505361, 6.28318531},
                        {"PCM B-spline knots along X-axis (HA-angle or azimuth). By default from 0 to 2*PI radians",
                         "NOTE: The first and last values are interpretated as border knots!!!",
                         "      Thus the array length must be equal to or greater than 2!"}),
 
-    // PCM B-spline knots along Y-axis (declination or zenithal distance). By default from -PI/6 to PI/2 radians
+    // PCM B-spline knots along Y-axis (declination or zenithal distance).
+    // By default from -SAORAS-latitude to PI/2 radians
     // NOTE: The first and last values are interpretated as border knots!!!
     //       Thus the array length must be equal to or greater than 2!
     make_config_record(
         "pcmBsplineYknots",
-        std::vector<double>{-0.52359878, -0.29088821, -0.05817764, 0.17453293, 0.40724349, 0.63995406, 0.87266463,
+        mcc::impl::mccGenerateBsplineKnots(-SAORAS_LATITUDE, 90.0_degs, 8),
-                            1.10537519, 1.33808576, 1.57079633},
         {"PCM B-spline knots along Y-axis (declination or zenithal distance). By default from -PI/6 to PI/2 radians",
          "NOTE: The first and last values are interpretated as border knots!!!",
          "      Thus the array length must be equal to or greater than 2!"}),
@@ -85,7 +89,136 @@ static auto Asibfm700MountConfigurationDefaults = std::make_tuple(
     // PCM B-spline coeffs for along Y-axis (declination or zenithal distance)
     make_config_record("pcmBsplineYcoeffs",
                        std::vector<double>{},
-                       {"PCM B-spline coeffs for along Y-axis (declination angle)"}));
+                       {"PCM B-spline coeffs for along Y-axis (declination angle)"}),
+
+    // inverse PCM B-spline coeffs for along X-axis (HA-angle or azimuth)
+    make_config_record("pcmInverseBsplineXcoeffs",
+                       std::vector<double>{},
+                       {"Inverse PCM B-spline coeffs for along X-axis (HA-angle)"}),
+
+    // inverse PCM B-spline coeffs for along Y-axis (declination or zenithal distance)
+    make_config_record("pcmInverseBsplineYcoeffs",
+                       std::vector<double>{},
+                       {"Inverse PCM B-spline coeffs for along Y-axis (declination angle)"}),
+
+
+    /*    prohibited zones    */
+
+    // minimal altitude (default: 10.0 degrees and SAO RAS latitude)
+    make_config_record("altLimPZ",
+                       mcc::impl::MccAltLimitPZ<mcc::impl::MccAltLimitKind::MIN_ALT_LIMIT>{10.0_degs, SAORAS_LATITUDE},
+                       {"minimal altitude prohibited zone"}),
+
+    // HA-axis limit switch
+    make_config_record(
+        "axisLimitSwitchHA",
+        mcc::impl::MccAxisLimitSwitchPZ<mcc::impl::MccCoordKind::COORDS_KIND_HA_OBS>{-170.0_degs, 170.0_degs, nullptr},
+        {"HA-axis limit switch stop angles"}),
+
+    // DEC-axis limit switch
+    make_config_record(
+        "axisLimitSwitchDEC",
+        mcc::impl::MccAxisLimitSwitchPZ<mcc::impl::MccCoordKind::COORDS_KIND_DEC_OBS>{-90.0_degs, 90.0_degs, nullptr},
+        {"DEC-axis limit switch stop angles"}),
+
+
+    /*    hardware-related    */
+
+    // hardware mode: 1 - model mode, otherwise real mode
+    make_config_record("RunModel", 0, {"hardware mode: 1 - model mode, otherwise real mode"}),
+
+    // mount serial device paths
+    make_config_record("MountDevPath", std::string("/dev/ttyUSB0"), {"mount serial device paths"}),
+
+    // mount serial device speed
+    make_config_record("MountDevSpeed", 19200, {"mount serial device speed"}),
+
+    // motor encoders serial device path
+    make_config_record("EncoderDevPath", std::string(""), {"motor encoders serial device path"}),
+
+    //  X-axis encoder serial device path
+    make_config_record("EncoderXDevPath", std::string("/dev/encoder_X0"), {"X-axis encoder serial device path"}),
+
+    //  Y-axis encoder serial device path
+    make_config_record("EncoderYDevPath", std::string("/dev/encoder_Y0"), {"Y-axis encoder serial device path"}),
+
+    // encoders serial device speed
+    make_config_record("EncoderDevSpeed", 153000, {"encoders serial device speed"}),
+
+    // ==1 if encoder works as separate serial device, ==2 if there's new version with two devices
+    make_config_record("SepEncoder",
+                       2,
+                       {"==1 if encoder works as separate serial device, ==2 if there's new version with two devices"}),
+
+
+    // mount polling interval in millisecs
+    make_config_record("MountReqInterval", std::chrono::milliseconds(100), {"mount polling interval in millisecs"}),
+
+    // encoders polling interval in millisecs
+    make_config_record("EncoderReqInterval", std::chrono::milliseconds(1), {"encoders polling interval in millisecs"}),
+
+    // mount axes rate calculation interval in millisecs
+    make_config_record("EncoderSpeedInterval",
+                       std::chrono::milliseconds(50),
+                       {"mount axes rate calculation interval in millisecs"}),
+
+    make_config_record("PIDMaxDt",
+                       std::chrono::milliseconds(1000),
+                       {"maximal PID refresh time interval in millisecs",
+                        "NOTE: if PID data will be refreshed with interval longer than this value (e.g. user polls "
+                        "encoder data too rarely)",
+                        "then the PID 'expired' data will be cleared and new computing loop is started"}),
+
+    make_config_record("PIDRefreshDt", std::chrono::milliseconds(100), {"PID refresh interval"}),
+
+    make_config_record("PIDCycleDt",
+                       std::chrono::milliseconds(5000),
+                       {"PID I cycle time (analog of 'RC' for PID on opamps)"}),
+
+
+
+    // X-axis coordinate PID P,I,D-params
+    make_config_record("XPIDC", std::vector<double>{0.5, 0.1, 0.2}, {"X-axis coordinate PID P,I,D-params"}),
+
+    // X-axis rate PID P,I,D-params
+    make_config_record("XPIDV", std::vector<double>{0.09, 0.0, 0.05}, {"X-axis rate PID P,I,D-params"}),
+
+    // Y-axis coordinate PID P, I, D-params
+    make_config_record("YPIDC", std::vector<double>{0.5, 0.1, 0.2}, {"Y-axis coordinate PID P, I, D-params"}),
+
+    // Y-axis rate PID P,I,D-params
+    make_config_record("YPIDV", std::vector<double>{0.09, 0.0, 0.05}, {"Y-axis rate PID P,I,D-params"}),
+
+
+    // maximal moving rate (degrees per second) along HA-axis  (Y-axis of Sidereal servo microcontroller)
+    make_config_record(
+        "hwMaxRateHA",
+        mcc::impl::MccAngle(8.0_degs),
+        {"maximal moving rate (degrees per second) along HA-axis  (Y-axis of Sidereal servo microcontroller)"}),
+
+    // maximal moving rate (degrees per second) along DEC-axis (X-axis of Sidereal servo microcontroller)
+    make_config_record(
+        "hwMaxRateDEC",
+        mcc::impl::MccAngle(10.0_degs),
+        {"maximal moving rate (degrees per second) along DEC-axis (X-axis of Sidereal servo microcontroller)"}),
+
+    make_config_record("MaxPointingErr",
+                       mcc::impl::MccAngle(8.0_degs),
+                       {"slewing-to-pointing mode angular limit in degrees"}),
+
+    make_config_record("MaxFinePointingErr",
+                       mcc::impl::MccAngle(1.5_degs),
+                       {"pointing-to-guiding mode angular limit in degrees"}),
+
+    make_config_record("MaxGuidingErr",
+                       mcc::impl::MccAngle(0.5_arcsecs),
+                       {"guiding 'good'-flag error cirle radius (mount-to-target distance) in degrees"}),
+
+    make_config_record("XEncZero", (int64_t)0, {"X-axis encoder zero-point in ticks"}),
+
+    make_config_record("YEncZero", (int64_t)0, {"Y-axis encoder zero-point in ticks"})
+
+);
 
 class Asibfm700MountConfiguration : public mcc::impl::MccKeyValueHolder<decltype(Asibfm700MountConfigurationDefaults)>
 {