/************************************************************************************
*
* ***********************************************************************************/
bool BaaderDome::SetupParms()
{
targetAz = 0;
if (UpdatePosition())
IDSetNumber(&DomeAbsPosNP, nullptr);
if (UpdateShutterStatus())
IDSetSwitch(&DomeShutterSP, nullptr);
if (UpdateFlapStatus())
IDSetSwitch(&DomeFlapSP, nullptr);
if (InitPark())
{
// If loading parking data is successful, we just set the default parking values.
SetAxis1ParkDefault(0);
}
else
{
// Otherwise, we set all parking data to default in case no parking data is found.
SetAxis1Park(0);
SetAxis1ParkDefault(0);
}
return true;
}
/************************************************************************************
*
* ***********************************************************************************/
bool ScopeDome::SetupParms()
{
targetAz = 0;
readU32(GetImpPerTurn, stepsPerTurn);
LOGF_INFO("Steps per turn read as %d", stepsPerTurn);
StepsPerRevolutionN[0].value = stepsPerTurn;
StepsPerRevolutionNP.s = IPS_OK;
IDSetNumber(&StepsPerRevolutionNP, nullptr);
readS32(GetHomeSensorPosition, homePosition);
LOGF_INFO("Home position read as %d", homePosition);
if (UpdatePosition())
IDSetNumber(&DomeAbsPosNP, nullptr);
if (UpdateShutterStatus())
IDSetSwitch(&DomeShutterSP, nullptr);
UpdateSensorStatus();
UpdateRelayStatus();
if (InitPark())
{
// If loading parking data is successful, we just set the default parking
// values.
SetAxis1ParkDefault(0);
}
else
{
// Otherwise, we set all parking data to default in case no parking data is
// found.
SetAxis1Park(0);
SetAxis1ParkDefault(0);
}
uint8_t calibrationNeeded = false;
readU8(IsFullSystemCalReq, calibrationNeeded);
CalibrationNeededS[0].s = calibrationNeeded ? ISS_ON : ISS_OFF;
CalibrationNeededSP.s = IPS_OK;
IDSetSwitch(&CalibrationNeededSP, nullptr);
uint16_t fwVersion;
readU16(GetVersionFirmware, fwVersion);
FirmwareVersionsN[0].value = fwVersion / 100.0;
uint8_t fwVersionRotary;
readU8(GetVersionFirmwareRotary, fwVersionRotary);
FirmwareVersionsN[1].value = (fwVersionRotary + 9) / 10.0;
FirmwareVersionsNP.s = IPS_OK;
IDSetNumber(&FirmwareVersionsNP, nullptr);
return true;
}
/************************************************************************************
*
* ***********************************************************************************/
void ScopeDome::TimerHit()
{
if (!isConnected())
return; // No need to reset timer if we are not connected anymore
readU16(GetStatus, currentStatus);
// LOGF_INFO("Status: %x", currentStatus);
UpdatePosition();
UpdateShutterStatus();
IDSetSwitch(&DomeShutterSP, nullptr);
UpdateRelayStatus();
if (status == DOME_HOMING)
{
if ((currentStatus & 8) == 0 && getInputState(IN_HOME))
{
// Found home
status = DOME_READY;
targetAz = DomeHomePositionN[0].value;
// Reset counter
writeCmd(ResetCounter);
FindHomeSP.s = IPS_OK;
DomeAbsPosNP.s = IPS_OK;
IDSetSwitch(&FindHomeSP, nullptr);
}
IDSetNumber(&DomeAbsPosNP, nullptr);
}
else if (status == DOME_DEROTATING)
{
if ((currentStatus & 2) == 0)
{
readS32(GetCounterExt, currentRotation);
LOGF_INFO("Current rotation is %d", currentRotation);
if (abs(currentRotation) < 100)
{
// Close enough
status = DOME_READY;
DerotateSP.s = IPS_OK;
DomeAbsPosNP.s = IPS_OK;
IDSetSwitch(&DerotateSP, nullptr);
}
else
{
if (currentRotation < 0)
{
writeU16(CCWRotation, compensateInertia(-currentRotation));
}
else
{
writeU16(CWRotation, compensateInertia(currentRotation));
}
}
}
IDSetNumber(&DomeAbsPosNP, nullptr);
}
else if (DomeAbsPosNP.s == IPS_BUSY)
{
if ((currentStatus & 2) == 0)
{
// Rotation idle, are we close enough?
double azDiff = targetAz - DomeAbsPosN[0].value;
if (azDiff > 180)
{
azDiff -= 360;
}
if (azDiff < -180)
{
azDiff += 360;
}
if (fabs(azDiff) <= DomeParamN[0].value)
{
DomeAbsPosN[0].value = targetAz;
DomeAbsPosNP.s = IPS_OK;
LOG_INFO("Dome reached requested azimuth angle.");
if (getDomeState() == DOME_PARKING)
{
if (ParkShutterS[0].s == ISS_ON && getInputState(IN_CLOSED1) == ISS_OFF)
{
ControlShutter(SHUTTER_CLOSE);
}
else
{
SetParked(true);
}
}
else if (getDomeState() == DOME_UNPARKING)
SetParked(false);
else
setDomeState(DOME_SYNCED);
}
else
{
// Refine azimuth
MoveAbs(targetAz);
}
}
IDSetNumber(&DomeAbsPosNP, nullptr);
}
else
IDSetNumber(&DomeAbsPosNP, nullptr);
// Read temperatures only every 10th time
static int tmpCounter = 0;
if (--tmpCounter <= 0)
{
UpdateSensorStatus();
tmpCounter = 10;
}
SetTimer(POLLMS);
}
/************************************************************************************
*
* ***********************************************************************************/
void BaaderDome::TimerHit()
{
if (!isConnected())
return; // No need to reset timer if we are not connected anymore
UpdatePosition();
if (DomeAbsPosNP.s == IPS_BUSY)
{
if (sim)
{
double speed = 0;
if (fabs(targetAz - DomeAbsPosN[0].value) > SIM_DOME_HI_SPEED)
speed = SIM_DOME_HI_SPEED;
else
speed = SIM_DOME_LO_SPEED;
if (DomeRelPosNP.s == IPS_BUSY)
{
// CW
if (DomeMotionS[0].s == ISS_ON)
DomeAbsPosN[0].value += speed;
// CCW
else
DomeAbsPosN[0].value -= speed;
}
else
{
if (targetAz > DomeAbsPosN[0].value)
{
DomeAbsPosN[0].value += speed;
}
else if (targetAz < DomeAbsPosN[0].value)
{
DomeAbsPosN[0].value -= speed;
}
}
if (DomeAbsPosN[0].value < DomeAbsPosN[0].min)
DomeAbsPosN[0].value += DomeAbsPosN[0].max;
if (DomeAbsPosN[0].value > DomeAbsPosN[0].max)
DomeAbsPosN[0].value -= DomeAbsPosN[0].max;
}
if (fabs(targetAz - DomeAbsPosN[0].value) < DomeParamN[0].value)
{
DomeAbsPosN[0].value = targetAz;
DEBUG(INDI::Logger::DBG_SESSION, "Dome reached requested azimuth angle.");
if (status != DOME_CALIBRATING)
{
if (getDomeState() == DOME_PARKING)
SetParked(true);
else if (getDomeState() == DOME_UNPARKING)
SetParked(false);
else
setDomeState(DOME_SYNCED);
}
if (status == DOME_CALIBRATING)
{
if (calibrationStage == CALIBRATION_STAGE1)
{
DEBUG(INDI::Logger::DBG_SESSION, "Calibration stage 1 complete. Starting stage 2...");
calibrationTarget2 = DomeAbsPosN[0].value + 2;
calibrationStage = CALIBRATION_STAGE2;
MoveAbs(calibrationTarget2);
DomeAbsPosNP.s = IPS_BUSY;
}
else if (calibrationStage == CALIBRATION_STAGE2)
{
DEBUGF(INDI::Logger::DBG_SESSION,
"Calibration stage 2 complete. Returning to initial position %g...", calibrationStart);
calibrationStage = CALIBRATION_STAGE3;
MoveAbs(calibrationStart);
DomeAbsPosNP.s = IPS_BUSY;
}
else if (calibrationStage == CALIBRATION_STAGE3)
{
calibrationStage = CALIBRATION_COMPLETE;
DEBUG(INDI::Logger::DBG_SESSION, "Dome reached initial position.");
}
}
}
IDSetNumber(&DomeAbsPosNP, nullptr);
}
else
IDSetNumber(&DomeAbsPosNP, nullptr);
UpdateShutterStatus();
if (sim && DomeShutterSP.s == IPS_BUSY)
{
if (simShutterTimer-- <= 0)
{
simShutterTimer = 0;
simShutterStatus = (targetShutter == SHUTTER_OPEN) ? SHUTTER_OPENED : SHUTTER_CLOSED;
}
}
else
IDSetSwitch(&DomeShutterSP, nullptr);
UpdateFlapStatus();
if (sim && DomeFlapSP.s == IPS_BUSY)
{
if (simFlapTimer-- <= 0)
{
simFlapTimer = 0;
simFlapStatus = (targetFlap == FLAP_OPEN) ? FLAP_OPENED : FLAP_CLOSED;
}
}
else
IDSetSwitch(&DomeFlapSP, nullptr);
SetTimer(POLLMS);
}
