timur/LibSidServo
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Fixed some troubles

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This commit is contained in:
Edward V. Emelianov
2026-03-16 18:00:04 +03:00
parent 04dba21ddc
commit b0d0a323ee
6 changed files with 119 additions and 66 deletions
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47
main.c
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@@ -202,6 +202,7 @@ static mcc_errcodes_t init(conf_t *c){
if(!Xmodel || !Ymodel || !openMount()) return MCC_E_FAILED;
return MCC_E_OK;
}
DBG("Try to open mount device");
if(!Conf.MountDevPath || Conf.MountDevSpeed < MOUNT_BAUDRATE_MIN){
DBG("Define mount device path and speed");
ret = MCC_E_BADFORMAT;
@@ -209,33 +210,53 @@ static mcc_errcodes_t init(conf_t *c){
DBG("Can't open %s with speed %d", Conf.MountDevPath, Conf.MountDevSpeed);
ret = MCC_E_MOUNTDEV;
}
if(Conf.SepEncoder){
if(!Conf.EncoderDevPath && !Conf.EncoderXDevPath){
DBG("Define encoder device path");
ret = MCC_E_BADFORMAT;
}else if(!openEncoder()){
DBG("Can't open encoder device");
ret = MCC_E_ENCODERDEV;
}
}
// TODO: read hardware configuration on init
if(Conf.EncoderSpeedInterval < Conf.EncoderReqInterval * MCC_CONF_MIN_SPEEDC || Conf.EncoderSpeedInterval > MCC_CONF_MAX_SPEEDINT){
DBG("Wrong speed interval");
ret = MCC_E_BADFORMAT;
}
if(!SSrawcmd(CMD_EXITACM, NULL)) ret = MCC_E_FAILED;
if(ret != MCC_E_OK) return ret;
DBG("Exit ACM, exit manual mode");
SSrawcmd(CMD_EXITACM, NULL);
SStextcmd(CMD_AUTOX, NULL);
SStextcmd(CMD_AUTOY, NULL);
// read HW config to update constants
hardware_configuration_t HW;
if(MCC_E_OK != get_hwconf(&HW)) return MCC_E_FAILED;
DBG("Read hardware configuration");
ret = MCC_E_FAILED;
for(int i = 0; i < MAX_ERR_CTR; ++i){
DBG("TRY %d..", i);
ret = get_hwconf(&HW);
if(ret == MCC_E_OK) break;
}
if(MCC_E_OK != ret) return ret;
// make a pause for actual encoder's values
DBG("Check encoders");
if(Conf.SepEncoder){
if(!Conf.EncoderDevPath && !Conf.EncoderXDevPath){
DBG("Define encoder device path");
ret = MCC_E_BADFORMAT;
}else{
ret = MCC_E_ENCODERDEV;
for(int i = 0; i < MAX_ERR_CTR; ++i){
if(openEncoder()){
ret = MCC_E_OK;
break;
}
}
}
}
if(MCC_E_OK != ret) return ret;
double t0 = timefromstart();
while(timefromstart() - t0 < Conf.EncoderReqInterval) usleep(1000);
DBG("Wait for first encoders' measurement");
while(timefromstart() - t0 < Conf.EncoderReqInterval * 15.) usleep(1000);
DBG("Update motor position");
mcc_errcodes_t e = updateMotorPos();
// and refresh data after updating
DBG("Wait for next mount reading");
t0 = timefromstart();
while(timefromstart() - t0 < Conf.MountReqInterval * 3.) usleep(1000);
while(timefromstart() - t0 < Conf.MountReqInterval * 5.) usleep(1000);
DBG("ALL READY!");
return e;
}