Exemplo n.º 1
0
/************************************************************************************
 *
* ***********************************************************************************/
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;
}
Exemplo n.º 2
0
/************************************************************************************
 *
* ***********************************************************************************/
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);
}