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LibSidServo/serial.c
Edward V. Emelianov db1058ddf8 fixed broken PID
2026-03-18 18:10:05 +03:00

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/*
* This file is part of the libsidservo project.
* Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* 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 <http://www.gnu.org/licenses/>.
*/
#include <asm-generic/termbits.h>
#include <errno.h>
#include <fcntl.h>
#include <math.h>
#include <poll.h>
#include <pthread.h>
#include <signal.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <unistd.h>
#include "main.h"
#include "movingmodel.h"
#include "serial.h"
#include "ssii.h"
// serial devices FD
static int encfd[2] = {-1, -1}, mntfd = -1;
// main mount data
static mountdata_t mountdata = {0};
// last encoders time and last encoders data - for speed measurement
//static coordval_t lastXenc = {0}, lastYenc = {0};
// mutexes for RW operations with mount device and data
static pthread_mutex_t mntmutex = PTHREAD_MUTEX_INITIALIZER,
datamutex = PTHREAD_MUTEX_INITIALIZER;
// encoders thread and mount thread
static pthread_t encthread, mntthread;
// max timeout for 1.5 bytes of encoder and 2 bytes of mount - for `select`
// this values will be modified later
static struct timeval encRtmout = {.tv_sec = 0, .tv_usec = 100}, // encoder reading timeout
mnt1Rtmout = {.tv_sec = 0, .tv_usec = 200000}, // first reading
mntRtmout = {.tv_sec = 0, .tv_usec = 50000}; // next readings
// encoders raw data
typedef struct __attribute__((packed)){
uint8_t magick;
int32_t encY;
int32_t encX;
uint8_t CRC[4];
} enc_t;
// calculate current X/Y speeds
void getXspeed(){
static less_square_t *ls = NULL;
if(!ls){
ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
if(!ls) return;
}
double dt = timediff0(&mountdata.encXposition.t);
double speed = LS_calc_slope(ls, mountdata.encXposition.val, dt);
if(fabs(speed) < 1.5 * Xlimits.max.speed){
mountdata.encXspeed.val = speed;
mountdata.encXspeed.t = mountdata.encXposition.t;
}
}
void getYspeed(){
static less_square_t *ls = NULL;
if(!ls){
ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
if(!ls) return;
}
double dt = timediff0(&mountdata.encYposition.t);
double speed = LS_calc_slope(ls, mountdata.encYposition.val, dt);
if(fabs(speed) < 1.5 * Ylimits.max.speed){
mountdata.encYspeed.val = speed;
mountdata.encYspeed.t = mountdata.encYposition.t;
}
}
/**
* @brief parse_encbuf - check encoder buffer (for encoder data based on SSII proto) and fill fresh data
* @param databuf - input buffer with 13 bytes of data
* @param t - time when databuf[0] got
*/
static void parse_encbuf(uint8_t databuf[ENC_DATALEN], struct timespec *t){
if(!t) return;
enc_t *edata = (enc_t*) databuf;
/*
#ifdef EBUG
DBG("ENCBUF:");
for(int i = 0; i < ENC_DATALEN; ++i) printf("%02X ", databuf[i]);
printf("\n");
#endif
*/
if(edata->magick != ENC_MAGICK){
DBG("No magick");
return;
}
if(edata->CRC[3]){
DBG("No 0 @ end: 0x%02x", edata->CRC[3]);
return;
}
uint32_t POS_SUM = 0;
for(int i = 1; i < 9; ++i) POS_SUM += databuf[i];
uint8_t x = POS_SUM >> 8;
if(edata->CRC[0] != x){
DBG("CRC[0] = 0x%02x, need 0x%02x", edata->CRC[0], x);
return;
}
uint8_t y = ((0xFFFF - POS_SUM) & 0xFF) - x;
if(edata->CRC[1] != y){
DBG("CRC[1] = 0x%02x, need 0x%02x", edata->CRC[1], y);
return;
}
y = (0xFFFF - POS_SUM) >> 8;
if(edata->CRC[2] != y){
DBG("CRC[2] = 0x%02x, need 0x%02x", edata->CRC[2], y);
return;
}
pthread_mutex_lock(&datamutex);
mountdata.encXposition.val = Xenc2rad(edata->encX);
mountdata.encYposition.val = Yenc2rad(edata->encY);
DBG("Got positions X/Y= %.6g / %.6g", mountdata.encXposition.val, mountdata.encYposition.val);
mountdata.encXposition.t = *t;
mountdata.encYposition.t = *t;
getXspeed(); getYspeed();
pthread_mutex_unlock(&datamutex);
//DBG("time = %zd+%zd/1e6, X=%g deg, Y=%g deg", tv->tv_sec, tv->tv_usec, mountdata.encposition.X*180./M_PI, mountdata.encposition.Y*180./M_PI);
}
#if 0
/**
* @brief getencval - get uint64_t data from encoder
* @param fd - encoder fd
* @param val - value read
* @param t - measurement time
* @return amount of data read or 0 if problem
*/
static int getencval(int fd, double *val, struct timespec *t){
if(fd < 0){
DBG("Encoder fd < 0!");
return FALSE;
}
char buf[128];
int got = 0, Lmax = 127;
double t0 = timefromstart();
//DBG("start: %.6g", t0);
do{
fd_set rfds;
FD_ZERO(&rfds);
FD_SET(fd, &rfds);
struct timeval tv = encRtmout;
int retval = select(fd + 1, &rfds, NULL, NULL, &tv);
if(!retval){
//DBG("select()==0 - timeout, %.6g", timefromstart());
break;
}
if(retval < 0){
if(errno == EINTR){
DBG("EINTR");
continue;
}
DBG("select() < 0");
return 0;
}
if(FD_ISSET(fd, &rfds)){
ssize_t l = read(fd, &buf[got], Lmax);
if(l < 1){
DBG("read() < 0");
return 0; // disconnected ??
}
got += l; Lmax -= l;
buf[got] = 0;
} else continue;
if(buf[got-1] == '\n') break; // got EOL as last symbol
}while(Lmax && timefromstart() - t0 < Conf.EncoderReqInterval / 5.);
if(got == 0){
//DBG("No data from encoder, tfs=%.6g", timefromstart());
return 0;
}
char *estr = strrchr(buf, '\n');
if(!estr){
DBG("No EOL");
return 0;
}
*estr = 0;
char *bgn = strrchr(buf, '\n');
if(bgn) ++bgn;
else bgn = buf;
char *eptr;
long data = strtol(bgn, &eptr, 10);
if(eptr != estr){
DBG("NAN");
return 0; // wrong number
}
if(val) *val = (double) data;
if(t){ if(!curtime(t)){ DBG("Can't get time"); return 0; }}
return got;
}
#endif
// try to read 1 byte from encoder; return -1 if nothing to read or -2 if device seems to be disconnected
static int getencbyte(){
if(encfd[0] < 0) return -1;
uint8_t byte = 0;
fd_set rfds;
do{
FD_ZERO(&rfds);
FD_SET(encfd[0], &rfds);
struct timeval tv = encRtmout;
int retval = select(encfd[0] + 1, &rfds, NULL, NULL, &tv);
if(!retval) break;
if(retval < 0){
if(errno == EINTR) continue;
return -1;
}
if(FD_ISSET(encfd[0], &rfds)){
ssize_t l = read(encfd[0], &byte, 1);
if(l != 1) return -2; // disconnected ??
break;
} else return -1;
}while(1);
return (int)byte;
}
/**
* @brief readmntdata - read data
* @param buffer - input buffer
* @param maxlen - maximal buffer length
* @return amount of bytes read or -1 in case of error
*/
static int readmntdata(uint8_t *buffer, int maxlen){
if(mntfd < 0){
DBG("mntfd non opened");
return -1;
}
if(!buffer || maxlen < 1) return 0;
DBG("ask for %d bytes", maxlen);
int got = 0;
fd_set rfds;
struct timeval tv = mnt1Rtmout;
do{
FD_ZERO(&rfds);
FD_SET(mntfd, &rfds);
DBG("select");
int retval = select(mntfd + 1, &rfds, NULL, NULL, &tv);
DBG("returned %d", retval);
if(retval < 0){
if(errno == EINTR) continue;
DBG("Error in select()");
return -1;
}
if(FD_ISSET(mntfd, &rfds)){
ssize_t l = read(mntfd, buffer, maxlen);
if(l == 0){
DBG("read ZERO");
continue;
}
if(l < 0){
DBG("Mount disconnected?");
return -2; // disconnected ??
}
buffer += l;
maxlen -= l;
got += l;
}else{
DBG("no new data after %d bytes (%s)", got, buffer - got);
break;
}
tv = mntRtmout;
}while(maxlen);
return got;
}
// clear data from input buffer
static void clrmntbuf(){
if(mntfd < 0) return;
uint8_t bytes[256];
fd_set rfds;
do{
FD_ZERO(&rfds);
FD_SET(mntfd, &rfds);
struct timeval tv = {.tv_sec=0, .tv_usec=10};
int retval = select(mntfd + 1, &rfds, NULL, NULL, &tv);
if(retval < 0){
if(errno == EINTR) continue;
DBG("Error in select()");
break;
}
if(FD_ISSET(mntfd, &rfds)){
ssize_t l = read(mntfd, &bytes, 256);
if(l < 1) break;
DBG("clr got %zd bytes: %s", l, bytes);
}else break;
}while(1);
}
// main encoder thread (for separate encoder): read next data and make parsing
static void *encoderthread1(void _U_ *u){
if(Conf.SepEncoder != 1) return NULL;
uint8_t databuf[ENC_DATALEN];
int wridx = 0, errctr = 0;
struct timespec tcur;
while(encfd[0] > -1 && errctr < MAX_ERR_CTR){
int b = getencbyte();
if(b == -2) ++errctr;
if(b < 0) continue;
errctr = 0;
// DBG("Got byte from Encoder: 0x%02X", b);
if(wridx == 0){
if((uint8_t)b == ENC_MAGICK){
// DBG("Got magic -> start filling packet");
databuf[wridx++] = (uint8_t) b;
}
continue;
}else databuf[wridx++] = (uint8_t) b;
if(wridx == ENC_DATALEN){
if(curtime(&tcur)){
parse_encbuf(databuf, &tcur);
wridx = 0;
}
}
}
if(encfd[0] > -1){
close(encfd[0]);
encfd[0] = -1;
}
return NULL;
}
#define XYBUFSZ (128)
typedef struct{
char buf[XYBUFSZ+1];
int len;
} buf_t;
// write to buffer next data portion; return FALSE in case of error
static int readstrings(buf_t *buf, int fd){
if(!buf){DBG("Empty buffer"); return FALSE;}
int L = XYBUFSZ - buf->len;
if(L < 0){
DBG("buf not initialized!");
buf->len = 0;
}
if(L == 0){
DBG("buffer overfull: %d!", buf->len);
char *lastn = strrchr(buf->buf, '\n');
if(lastn){
fprintf(stderr, "BUFOVR: _%s_", buf->buf);
++lastn;
buf->len = XYBUFSZ - (lastn - buf->buf);
DBG("Memmove %d", buf->len);
memmove(lastn, buf->buf, buf->len);
buf->buf[buf->len] = 0;
}else buf->len = 0;
L = XYBUFSZ - buf->len;
}
//DBG("read %d bytes from %d", L, fd);
int got = read(fd, &buf->buf[buf->len], L);
if(got < 0){
DBG("read()");
return FALSE;
}else if(got == 0){ DBG("NO data"); return TRUE; }
buf->len += got;
buf->buf[buf->len] = 0;
//DBG("buf[%d]: %s", buf->len, buf->buf);
return TRUE;
}
// return TRUE if got, FALSE if no data found
static int getdata(buf_t *buf, long *out){
if(!buf || buf->len < 1 || buf->len > (XYBUFSZ+1)){
return FALSE;
}
DBG("got data");
// read record between last '\n' and previous (or start of string)
char *last = &buf->buf[buf->len - 1];
//DBG("buf: _%s_", buf->buf);
if(*last != '\n') return FALSE;
*last = 0;
//DBG("buf: _%s_", buf->buf);
char *prev = strrchr(buf->buf, '\n');
if(!prev) prev = buf->buf;
else{
fprintf(stderr, "MORETHANONE: _%s_", buf->buf);
++prev; // after last '\n'
}
if(out) *out = atol(prev);
// clear buffer
buf->len = 0;
return TRUE;
}
// try to write '\n' asking new data portion; return FALSE if failed
static int asknext(int fd){
//FNAME();
if(fd < 0) return FALSE;
int i = 0;
for(; i < 5; ++i){
int l = write(fd, "\n", 1);
//DBG("l=%d", l);
if(1 == l) return TRUE;
usleep(100);
}
DBG("5 tries... failed!");
return FALSE;
}
// main encoder thread for separate encoders as USB devices /dev/encoder_X0 and /dev/encoder_Y0
static void *encoderthread2(void _U_ *u){
if(Conf.SepEncoder != 2) return NULL;
DBG("Thread started");
struct pollfd pfds[2];
pfds[0].fd = encfd[0]; pfds[0].events = POLLIN;
pfds[1].fd = encfd[1]; pfds[1].events = POLLIN;
double t0[2], tstart;
buf_t strbuf[2] = {0};
long msrlast[2]; // last encoder data
double mtlast[2]; // last measurement time
asknext(encfd[0]); asknext(encfd[1]);
t0[0] = t0[1] = tstart = timefromstart();
int errctr = 0;
do{ // main cycle
if(poll(pfds, 2, 0) < 0){
DBG("poll()");
break;
}
int got = 0;
for(int i = 0; i < 2; ++i){
if(pfds[i].revents && POLLIN){
if(!readstrings(&strbuf[i], encfd[i])){
DBG("ERR");
++errctr;
break;
}
}
double curt = timefromstart();
if(getdata(&strbuf[i], &msrlast[i])) mtlast[i] = curt;
if(curt - t0[i] >= Conf.EncoderReqInterval){ // get last records
DBG("last rec %d, curt=%g, t0=%g, mtlast=%g", i, curt, t0[i], mtlast[i]);
if(curt - mtlast[i] < 1.5*Conf.EncoderReqInterval){
DBG("time OK");
pthread_mutex_lock(&datamutex);
double pos = (double)msrlast[i];
//DBG("pos[%d]=%g", i, pos);
;;
//DBG("Got med: %g", pos);
if(i == 0){
mountdata.encXposition.val = Xenc2rad(pos);
curtime(&mountdata.encXposition.t);
/*DBG("msrlast=%ld, Xpos.val=%g, t=%zd; XEzero=%d, SPR=%g",
msrlast[i], mountdata.encXposition.val, mountdata.encXposition.t.tv_sec,
X_ENC_ZERO, X_ENC_STEPSPERREV);*/
getXspeed();
}else{
mountdata.encYposition.val = Yenc2rad(pos);
curtime(&mountdata.encYposition.t);
getYspeed();
}
pthread_mutex_unlock(&datamutex);
}
if(!asknext(encfd[i])){
++errctr;
break;
}
t0[i] = (curt - t0[i] < 2.*Conf.EncoderReqInterval) ? t0[i] + Conf.EncoderReqInterval : curt;
++got;
}
}
if(got == 2) errctr = 0;
}while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR);
DBG("\n\nEXIT: ERRCTR=%d", errctr);
for(int i = 0; i < 2; ++i){
if(encfd[i] > -1){
close(encfd[i]);
encfd[i] = -1;
}
}
return NULL;
}
data_t *cmd2dat(const char *cmd){
if(!cmd) return NULL;
data_t *d = calloc(1, sizeof(data_t));
if(!d) return NULL;
d->buf = (uint8_t*)strdup(cmd);
d->len = strlen(cmd);
d->maxlen = d->len + 1;
return d;
}
void data_free(data_t **x){
if(!x || !*x) return;
free((*x)->buf);
free(*x);
*x = NULL;
}
static void chkModStopped(double *prev, double cur, int *nstopped, axis_status_t *stat){
if(!prev || !nstopped || !stat) return;
if(isnan(*prev)){
*stat = AXIS_STOPPED;
DBG("START");
}else if(*stat != AXIS_STOPPED){
if(fabs(*prev - cur) < DBL_EPSILON && ++(*nstopped) > MOTOR_STOPPED_CNT){
*stat = AXIS_STOPPED;
DBG("AXIS stopped; prev=%g, cur=%g; nstopped=%d", *prev/M_PI*180., cur/M_PI*180., *nstopped);
}
}else if(*prev != cur){
DBG("AXIS moving");
*nstopped = 0;
}
*prev = cur;
}
// main mount thread
static void *mountthread(void _U_ *u){
int errctr = 0;
uint8_t buf[sizeof(SSstat)];
SSstat *status = (SSstat*) buf;
bzero(&mountdata, sizeof(mountdata));
double t0 = timefromstart(), tstart = t0, tcur = t0;
double oldmt = -100.; // old `millis measurement` time
static uint32_t oldmillis = 0;
if(Conf.RunModel){
double Xprev = NAN, Yprev = NAN; // previous coordinates
int xcnt = 0, ycnt = 0;
while(1){
coordpair_t c;
movestate_t xst, yst;
// now change data
getModData(&c, &xst, &yst);
struct timespec tnow;
if(!curtime(&tnow) || (tcur = timefromstart()) < 0.) continue;
pthread_mutex_lock(&datamutex);
mountdata.encXposition.t = mountdata.encYposition.t = tnow;
mountdata.encXposition.val = c.X + (drand48() - 0.5)*1e-6; // .2arcsec error
mountdata.encYposition.val = c.Y + (drand48() - 0.5)*1e-6;
//DBG("t=%g, X=%g, Y=%g", tnow, c.X.val, c.Y.val);
if(tcur - oldmt > Conf.MountReqInterval){
oldmillis = mountdata.millis = (uint32_t)((tcur - tstart) * 1e3);
mountdata.motYposition.t = mountdata.motXposition.t = tnow;
if(xst == ST_MOVE)
mountdata.motXposition.val = c.X + (c.X - mountdata.motXposition.val)*(drand48() - 0.5)/100.;
//else
// mountdata.motXposition.val = c.X;
if(yst == ST_MOVE)
mountdata.motYposition.val = c.Y + (c.Y - mountdata.motYposition.val)*(drand48() - 0.5)/100.;
//else
// mountdata.motYposition.val = c.Y;
oldmt = tcur;
}else mountdata.millis = oldmillis;
chkModStopped(&Xprev, c.X, &xcnt, &mountdata.Xstate);
chkModStopped(&Yprev, c.Y, &ycnt, &mountdata.Ystate);
getXspeed(); getYspeed();
pthread_mutex_unlock(&datamutex);
while(timefromstart() - t0 < Conf.EncoderReqInterval) usleep(50);
t0 = timefromstart();
}
}
// data to get
data_t d = {.buf = buf, .maxlen = sizeof(buf)};
// cmd to send
data_t *cmd_getstat = cmd2dat(CMD_GETSTAT);
if(!cmd_getstat) goto failed;
while(mntfd > -1 && errctr < MAX_ERR_CTR){
// read data to status
struct timespec tcur;
if(!curtime(&tcur)) continue;
// 80 milliseconds to get answer on GETSTAT
if(!MountWriteRead(cmd_getstat, &d) || d.len != sizeof(SSstat)){
#ifdef EBUG
DBG("Can't read SSstat, need %zd got %zd bytes", sizeof(SSstat), d.len);
for(size_t i = 0; i < d.len; ++i) printf("%02X ", d.buf[i]);
printf("\n");
#endif
++errctr; continue;
}
if(SScalcChecksum(buf, sizeof(SSstat)-2) != status->checksum){
DBG("BAD checksum of SSstat, need %d", status->checksum);
++errctr; continue;
}
errctr = 0;
pthread_mutex_lock(&datamutex);
// now change data
SSconvstat(status, &mountdata, &tcur);
pthread_mutex_unlock(&datamutex);
// allow writing & getters
do{
usleep(500);
}while(timefromstart() - t0 < Conf.MountReqInterval);
t0 = timefromstart();
}
data_free(&cmd_getstat);
failed:
if(mntfd > -1){
close(mntfd);
mntfd = -1;
}
return NULL;
}
// open device and return its FD or -1
static int ttyopen(const char *path, speed_t speed){
int fd = -1;
struct termios2 tty;
DBG("Try to open %s @ %d", path, speed);
if((fd = open(path, O_RDWR|O_NOCTTY)) < 0){
DBG("Can't open device %s: %s", path, strerror(errno));
return -1;
}
if(ioctl(fd, TCGETS2, &tty)){
DBG("Can't read TTY settings");
close(fd);
return -1;
}
tty.c_lflag = 0; // ~(ICANON | ECHO | ECHOE | ISIG)
tty.c_iflag = 0; // don't do any changes in input stream
tty.c_oflag = 0; // don't do any changes in output stream
tty.c_cflag = BOTHER | CS8 | CREAD | CLOCAL; // other speed, 8bit, RW, ignore line ctrl
tty.c_ispeed = speed;
tty.c_ospeed = speed;
tty.c_cc[VMIN] = 0; // non-canonical mode
tty.c_cc[VTIME] = 5;
if(ioctl(fd, TCSETS2, &tty)){
DBG("Can't set TTY settings");
close(fd);
return -1;
}
DBG("Check speed: i=%d, o=%d", tty.c_ispeed, tty.c_ospeed);
if(tty.c_ispeed != (speed_t) speed || tty.c_ospeed != (speed_t)speed){ close(fd); return -1; }
// try to set exclusive
if(ioctl(fd, TIOCEXCL)){DBG("Can't make exclusive");}
return fd;
}
// return FALSE if failed
int openEncoder(){
// TODO: open real devices in "model" mode too!
if(Conf.RunModel) return TRUE;
if(!Conf.SepEncoder) return FALSE; // try to open separate encoder when it's absent
/*
encRtmout.tv_sec = 0;
encRtmout.tv_usec = 100000000 / Conf.EncoderDevSpeed; // 10 bytes
*/
if(Conf.SepEncoder == 1){ // only one device
DBG("One device");
if(encfd[0] > -1) close(encfd[0]);
encfd[0] = ttyopen(Conf.EncoderDevPath, (speed_t) Conf.EncoderDevSpeed);
if(encfd[0] < 0) return FALSE;
if(pthread_create(&encthread, NULL, encoderthread1, NULL)){
close(encfd[0]);
encfd[0] = -1;
return FALSE;
}
}else if(Conf.SepEncoder == 2){
DBG("Two devices!");
const char* paths[2] = {Conf.EncoderXDevPath, Conf.EncoderYDevPath};
for(int i = 0; i < 2; ++i){
if(encfd[i] > -1) close(encfd[i]);
encfd[i] = ttyopen(paths[i], (speed_t) Conf.EncoderDevSpeed);
if(encfd[i] < 0) return FALSE;
}
if(pthread_create(&encthread, NULL, encoderthread2, NULL)){
for(int i = 0; i < 2; ++i){
close(encfd[i]);
encfd[i] = -1;
}
return FALSE;
}
}else return FALSE;
DBG("Encoder opened, thread started");
return TRUE;
}
// return FALSE if failed
int openMount(){
// TODO: open real devices in "model" mode too!
if(Conf.RunModel) goto create_thread;
if(mntfd > -1) close(mntfd);
DBG("Open mount %s @ %d", Conf.MountDevPath, Conf.MountDevSpeed);
mntfd = ttyopen(Conf.MountDevPath, (speed_t) Conf.MountDevSpeed);
if(mntfd < 0) return FALSE;
DBG("mntfd=%d", mntfd);
// clear buffer
clrmntbuf();
/*
mnt1Rtmout.tv_sec = 0;
mnt1Rtmout.tv_usec = 500000000 / Conf.MountDevSpeed; // 50 bytes * 10bits / speed
mntRtmout.tv_sec = 0;
mntRtmout.tv_usec = mnt1Rtmout.tv_usec / 50;
*/
create_thread:
if(pthread_create(&mntthread, NULL, mountthread, NULL)){
DBG("Can't create mount thread");
if(!Conf.RunModel){
close(mntfd);
mntfd = -1;
}
return FALSE;
}
DBG("Mount opened, thread started");
return TRUE;
}
// close all opened serial devices and quit threads
void closeSerial(){
DBG("CLOSE all devices");
if(mntfd > -1){
DBG("Cancel mount thread");
pthread_cancel(mntthread);
DBG("join mount thread");
pthread_join(mntthread, NULL);
DBG("close mount fd");
close(mntfd);
mntfd = -1;
}
if(encfd[0] > -1){
DBG("Cancel encoder thread");
pthread_cancel(encthread);
DBG("join encoder thread");
pthread_join(encthread, NULL);
DBG("close encoder's fd");
close(encfd[0]);
encfd[0] = -1;
if(Conf.SepEncoder == 2 && encfd[1] > -1){
close(encfd[1]);
encfd[1] = -1;
}
}
}
// get fresh encoder information
mcc_errcodes_t getMD(mountdata_t *d){
if(!d) return MCC_E_BADFORMAT;
pthread_mutex_lock(&datamutex);
*d = mountdata;
pthread_mutex_unlock(&datamutex);
//DBG("ENCpos: %.10g/%.10g", d->encXposition.val, d->encYposition.val);
//DBG("millis: %u, encxt: %zd (time: %zd)", d->millis, d->encXposition.t.tv_sec, time(NULL));
return MCC_E_OK;
}
void setStat(axis_status_t Xstate, axis_status_t Ystate){
DBG("set x/y state to %d/%d", Xstate, Ystate);
pthread_mutex_lock(&datamutex);
mountdata.Xstate = Xstate;
mountdata.Ystate = Ystate;
pthread_mutex_unlock(&datamutex);
}
// write-read without locking mutex (to be used inside other functions)
static int wr(const data_t *out, data_t *in, int needeol){
if((!out && !in) || mntfd < 0){
DBG("Wrong arguments or no mount fd");
return FALSE;
}
DBG("clrbuf");
clrmntbuf();
if(out){
DBG("write %zd bytes (%s)", out->len, out->buf);
if(out->len != (size_t)write(mntfd, out->buf, out->len)){
DBG("written bytes not equal to need");
return FALSE;
}
//DBG("eol, mntfd=%d", mntfd);
if(needeol){
int g = write(mntfd, "\r", 1); // add EOL
(void) g;
}
//usleep(50000); // add little pause so that the idiot has time to swallow
}
if(!in || in->maxlen < 1) return TRUE;
int got = readmntdata(in->buf, in->maxlen);
if(got < 0){
DBG("Error reading mount data!");
in->len = 0;
return FALSE;
}
in->len = got;
return TRUE;
}
/**
* @brief MountWriteRead - write and read @ once (or only read/write)
* @param out (o) - data to write or NULL if not need
* @param in (i) - data to read or NULL if not need
* @return FALSE if failed
*/
int MountWriteRead(const data_t *out, data_t *in){
if(Conf.RunModel) return FALSE;
double t0 = timefromstart();
pthread_mutex_lock(&mntmutex);
int ret = wr(out, in, 1);
pthread_mutex_unlock(&mntmutex);
DBG("Got %gus", (timefromstart()-t0)*1e6);
return ret;
}
// send binary data - without EOL
int MountWriteReadRaw(const data_t *out, data_t *in){
if(Conf.RunModel) return FALSE;
pthread_mutex_lock(&mntmutex);
int ret = wr(out, in, 0);
pthread_mutex_unlock(&mntmutex);
return ret;
}
#ifdef EBUG
static void logscmd(SSscmd *c){
printf("Xmot=%d, Ymot=%d, Xspeed=%d, Yspeed=%d\n", c->Xmot, c->Ymot, c->Xspeed, c->Yspeed);
printf("xychange=0x%02X, Xbits=0x%02X, Ybits=0x%02X\n", c->xychange, c->XBits, c->YBits);
if(c->checksum != SScalcChecksum((uint8_t*)c, sizeof(SSscmd)-2)) printf("Checksum failed\n");
else printf("Checksum OK\n");
}
static void loglcmd(SSlcmd *c){
printf("Xmot=%d, Ymot=%d, Xspeed=%d, Yspeed=%d\n", c->Xmot, c->Ymot, c->Xspeed, c->Yspeed);
printf("Xadder=%d, Yadder=%d, Xatime=%d, Yatime=%d\n", c->Xadder, c->Yadder, c->Xatime, c->Yatime);
if(c->checksum != SScalcChecksum((uint8_t*)c, sizeof(SSlcmd)-2)) printf("Checksum failed\n");
else printf("Checksum OK\n");
}
#endif
// send short/long binary command; return FALSE if failed
static int bincmd(uint8_t *cmd, int len){
if(Conf.RunModel) return FALSE;
static data_t *dscmd = NULL, *dlcmd = NULL;
if(!dscmd) dscmd = cmd2dat(CMD_SHORTCMD);
if(!dlcmd) dlcmd = cmd2dat(CMD_LONGCMD);
int ret = FALSE;
pthread_mutex_lock(&mntmutex);
// dummy buffer to clear trash in input
//char ans[300];
//data_t a = {.buf = (uint8_t*)ans, .maxlen=299};
if(len == sizeof(SSscmd)){
((SSscmd*)cmd)->checksum = SScalcChecksum(cmd, len-2);
DBG("Short command");
#ifdef EBUG
logscmd((SSscmd*)cmd);
#endif
if(!wr(dscmd, NULL, 1)) goto rtn;
}else if(len == sizeof(SSlcmd)){
((SSlcmd*)cmd)->checksum = SScalcChecksum(cmd, len-2);
DBG("Long command");
#ifdef EBUG
loglcmd((SSlcmd*)cmd);
#endif
if(!wr(dlcmd, NULL, 1)) goto rtn;
}else{
goto rtn;
}
data_t d;
d.buf = cmd;
d.len = d.maxlen = len;
ret = wr(&d, NULL, 0);
DBG("%s", ret ? "SUCCESS" : "FAIL");
rtn:
pthread_mutex_unlock(&mntmutex);
return ret;
}
// short, long and config text-binary commands
// return TRUE if OK
int cmdS(SSscmd *cmd){
return bincmd((uint8_t *)cmd, sizeof(SSscmd));
}
int cmdL(SSlcmd *cmd){
return bincmd((uint8_t *)cmd, sizeof(SSlcmd));
}
// rw == 1 to write, 0 to read
int cmdC(SSconfig *conf, int rw){
if(Conf.RunModel) return FALSE;
static data_t *wcmd = NULL, *rcmd = NULL;
int ret = FALSE;
// dummy buffer to clear trash in input
char ans[300];
data_t a = {.buf = (uint8_t*)ans, .maxlen=299};
if(!wcmd) wcmd = cmd2dat(CMD_PROGFLASH);
if(!rcmd) rcmd = cmd2dat(CMD_DUMPFLASH);
pthread_mutex_lock(&mntmutex);
if(rw){ // write
if(!wr(wcmd, &a, 1)) goto rtn;
}else{ // read
data_t d;
d.buf = (uint8_t *) conf;
d.len = 0; d.maxlen = 0;
ret = wr(rcmd, &d, 1);
DBG("write command: %s", ret ? "TRUE" : "FALSE");
if(!ret) goto rtn;
// make a huge pause for stupid SSII
usleep(100000);
d.len = 0; d.maxlen = sizeof(SSconfig);
ret = wr(rcmd, &d, 1);
DBG("wr returned %s; got %zd bytes of %zd", ret ? "TRUE" : "FALSE", d.len, d.maxlen);
if(d.len != d.maxlen){ ret = FALSE; goto rtn; }
// simplest checksum
uint16_t sum = 0;
for(uint32_t i = 0; i < sizeof(SSconfig)-2; ++i) sum += d.buf[i];
if(sum != conf->checksum){
DBG("got sum: %u, need: %u", conf->checksum, sum);
ret = FALSE;
goto rtn;
}
}
rtn:
pthread_mutex_unlock(&mntmutex);
return ret;
}
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