/************************************************************************************
*
* ***********************************************************************************/
IPState ScopeDome::sendMove(double azDiff)
{
int rc;
if (azDiff < 0)
{
uint16_t steps = (uint16_t)(-azDiff * stepsPerTurn / 360.0);
LOGF_DEBUG("CCW (%d)", steps);
steps = compensateInertia(steps);
LOGF_DEBUG("CCW inertia (%d)", steps);
if (steps == 0)
return IPS_OK;
rc = writeU16(CCWRotation, steps);
}
else
{
uint16_t steps = (uint16_t)(azDiff * stepsPerTurn / 360.0);
LOGF_DEBUG("CW (%d)", steps);
steps = compensateInertia(steps);
LOGF_DEBUG("CW inertia (%d)", steps);
if (steps == 0)
return IPS_OK;
rc = writeU16(CWRotation, steps);
}
if (rc != 0)
{
LOGF_ERROR("Error moving dome: %d", rc);
}
return IPS_BUSY;
}
/************************************************************************************
*
* ***********************************************************************************/
IPState ScopeDome::MoveAbs(double az)
{
LOGF_DEBUG("MoveAbs (%f)", az);
targetAz = az;
double azDiff = az - DomeAbsPosN[0].value;
LOGF_DEBUG("azDiff = %f", azDiff);
// Make relative (-180 - 180) regardless if it passes az 0
if (azDiff > 180)
{
azDiff -= 360;
}
if (azDiff < -180)
{
azDiff += 360;
}
LOGF_DEBUG("azDiff rel = %f", azDiff);
int rc = 0;
if (azDiff < 0)
{
uint16_t steps = (uint16_t)(-azDiff * stepsPerTurn / 360.0);
LOGF_DEBUG("CCW (%d)", steps);
steps = compensateInertia(steps);
LOGF_DEBUG("CCW inertia (%d)", steps);
if (steps == 0)
return IPS_OK;
rc = writeU16(CCWRotation, steps);
}
else
{
uint16_t steps = (uint16_t)(azDiff * stepsPerTurn / 360.0);
LOGF_DEBUG("CW (%d)", steps);
steps = compensateInertia(steps);
LOGF_DEBUG("CW inertia (%d)", steps);
if (steps == 0)
return IPS_OK;
rc = writeU16(CWRotation, steps);
}
if (rc != 0)
{
LOGF_ERROR("Error moving dome: %d", rc);
}
return IPS_BUSY;
}
/************************************************************************************
*
* ***********************************************************************************/
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);
}
