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focuser crash fixed+some properties added (#1940)
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Co-authored-by: Anjo Krank <akrank@apple.com>
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@anjok
anjok and Anjo Krank committed Sep 27, 2023
1 parent d1db0a6 commit c7659ce
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Showing 2 changed files with 69 additions and 31 deletions.
95 changes: 64 additions & 31 deletions drivers/telescope/lx200_OpenAstroTech.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,7 @@ bool LX200_OpenAstroTech::initProperties()
LX200GPS::initProperties();
IUFillText(&MeadeCommandT, OAT_MEADE_COMMAND, "Result / Command", "");
IUFillTextVector(&MeadeCommandTP, &MeadeCommandT, 1, getDeviceName(), "Meade", "", OPTIONS_TAB, IP_RW, 0, IPS_IDLE);
FI::SetCapability(FOCUSER_CAN_ABORT | FOCUSER_CAN_REL_MOVE | FOCUSER_CAN_REVERSE | FOCUSER_HAS_VARIABLE_SPEED | FOCUSER_HAS_BACKLASH);
FI::SetCapability(FOCUSER_CAN_ABORT | FOCUSER_CAN_REL_MOVE | FOCUSER_CAN_REVERSE | FOCUSER_HAS_VARIABLE_SPEED | FOCUSER_HAS_BACKLASH | FOCUSER_CAN_SYNC);

FI::initProperties(FOCUS_TAB);
initFocuserProperties(FOCUS_TAB);
Expand All @@ -79,7 +79,7 @@ bool LX200_OpenAstroTech::initProperties()
// Home
IUFillSwitch(&HomeS, "OAT_HOME", "Home", ISS_OFF);
IUFillSwitchVector(&HomeSP, &HomeS, 1, m_defaultDevice->getDeviceName(),
"OAT_HOME", "Home", MOTION_TAB, IP_RW, ISR_ATMOST1, 60, IPS_IDLE);
"OAT_HOME", "Home", MAIN_CONTROL_TAB, IP_RW, ISR_ATMOST1, 60, IPS_IDLE);

// RA Home
IUFillNumber(&RAHomeN, "RA_HOME", "Hours", "%d", 1.0, 7.0, 1.0, 2);
Expand All @@ -91,11 +91,17 @@ bool LX200_OpenAstroTech::initProperties()
IUFillNumberVector(&RAHomeOffsetNP, &RAHomeOffsetN, 1, m_defaultDevice->getDeviceName(),
"OAT_RA_HOME", "RA Home Offset", MOTION_TAB, IP_RW, 60, IPS_IDLE);

// Polar Align Alt
IUFillNumber(&DecLimitsN[0], "OAT_DEC_LIMIT_LOWER", "Lower", "%.f", -20000.0, 0.0, 1000.0, 0);
IUFillNumber(&DecLimitsN[1], "OAT_DEC_LIMIT_UPPER", "Upper", "%.f", 0.0, 50000.0, 1000.0, 0);
// DEC Limits
IUFillNumber(&DecLimitsN[0], "OAT_DEC_LIMIT_LOWER", "Lower", "%.f", 0.0, -50.0, 0.0, 0);
IUFillNumber(&DecLimitsN[1], "OAT_DEC_LIMIT_UPPER", "Upper", "%.f", 0.0, 180.0, 120.0, 0);
IUFillNumberVector(&DecLimitsNP, DecLimitsN, 2, m_defaultDevice->getDeviceName(), "OAT_DEC_LIMITS",
"DEC Limits", MOTION_TAB, IP_RW, 60, IPS_OK);
// Heaters
IUFillNumber(&HeaterN[0], "OAT_HEATER_0", "Lower", "%d", 0.0, 10.0, 0, 0);
IUFillNumber(&HeaterN[1], "OAT_HEATER_1", "Lower", "%d", 0.0, 10.0, 0, 0);
IUFillNumberVector(&HeaterNP, HeaterN, 2, m_defaultDevice->getDeviceName(), "OAT_HEATERS",
"Heaters", MOTION_TAB, IP_RW, 60, IPS_OK);
// SetParkDataType(PARK_RA_DEC);
return true;
}

Expand All @@ -108,20 +114,22 @@ bool LX200_OpenAstroTech::updateProperties()
defineProperty(&MeadeCommandTP);
defineProperty(&PolarAlignAltNP);
defineProperty(&PolarAlignAzNP);
//defineProperty(&HomeSP);
//defineProperty(&RAHomeNP);
//defineProperty(&RAHomeOffsetNP);
//defineProperty(&DecLimitsNP);
// defineProperty(&HeaterNP);
defineProperty(&HomeSP);
defineProperty(&RAHomeNP);
defineProperty(&RAHomeOffsetNP);
defineProperty(&DecLimitsNP);
}
else
{
deleteProperty(MeadeCommandTP.name);
deleteProperty(PolarAlignAltNP.name);
deleteProperty(PolarAlignAzNP.name);
//deleteProperty(HomeSP.name);
//deleteProperty(RAHomeNP.name);
//deleteProperty(RAHomeOffsetNP.name);
//deleteProperty(DecLimitsNP.name);
// deleteProperty(HeaterNP.name);
deleteProperty(HomeSP.name);
deleteProperty(RAHomeNP.name);
deleteProperty(RAHomeOffsetNP.name);
deleteProperty(DecLimitsNP.name);
}

return true;
Expand Down Expand Up @@ -180,7 +188,7 @@ int LX200_OpenAstroTech::OATUpdateProperties()
IDSetNumber(&RAHomeNP, nullptr);
}
}
//updateProperties();
// updateProperties();
return 0;
}

Expand All @@ -202,22 +210,29 @@ bool LX200_OpenAstroTech::ISNewText(const char *dev, const char *name, char *tex
char * cmd = texts[0];
size_t len = strlen(cmd);
DEBUGFDEVICE(getDeviceName(), DBG_SCOPE, "Meade Command <%s>", cmd);
if(len > 2 && cmd[0] == ':' && cmd[len-1] == '#') {
if(len > 2) {
IText *tp = IUFindText(&MeadeCommandTP, names[0]);
MeadeCommandResult[0] = 0;
int err = executeMeadeCommand(texts[0], MeadeCommandResult);
int err = 0;
if(cmd[0] == ':' && cmd[len-1] == '#') {
err = executeMeadeCommand(texts[0], MeadeCommandResult);
} else if(cmd[0] == '@' && cmd[len-1] == '#') {
err = executeMeadeCommandBlind(texts[0]);
} else if(cmd[0] == '&' && cmd[len-1] == '#') {
int val = getCommandChar(PortFD, cmd);
if(val != -1) {
sprintf(MeadeCommandResult, "%c", val);
}
}
DEBUGFDEVICE(getDeviceName(), DBG_SCOPE, "Meade Command Result %d <%s>", err, MeadeCommandResult);
if(err == 0) {
MeadeCommandTP.s = IPS_OK;
IUSaveText(tp, MeadeCommandResult);
IDSetText(&MeadeCommandTP, "%s", MeadeCommandResult);
return true;
} else {
MeadeCommandTP.s = IPS_ALERT;
IUSaveText(tp, MeadeCommandResult);
IDSetText(&MeadeCommandTP, "%s", MeadeCommandResult);
return true;
}
IUSaveText(tp, MeadeCommandResult);
IDSetText(&MeadeCommandTP, "%s", MeadeCommandResult);
return true;
}
}
}
Expand Down Expand Up @@ -268,9 +283,10 @@ bool LX200_OpenAstroTech::ISNewSwitch(const char *dev, const char *name, ISState
{
if (!strcmp(name, HomeS.name))
{
HomeSP.s = IPS_IDLE;
HomeSP.s = IPS_OK;
IUResetSwitch(&HomeSP);
/*int targetState = */IUFindOnSwitchIndex(&HomeSP);
IDSetSwitch(&HomeSP, nullptr);
return executeMeadeCommandBlind(":hF#");
}
}
Expand Down Expand Up @@ -380,6 +396,7 @@ int LX200_OpenAstroTech::flushIO(int fd)

IPState LX200_OpenAstroTech::MoveFocuser(FocusDirection dir, int speed, uint16_t duration)
{
int reversed = (IUFindOnSwitchIndex(&FocusReverseSP) == INDI_ENABLED) ? -1 : 1;
INDI_UNUSED(speed);
// :FRsnnn# Set focuser target position relative (in microns)
// Returns: Nothing
Expand All @@ -393,7 +410,7 @@ IPState LX200_OpenAstroTech::MoveFocuser(FocusDirection dir, int speed, uint16_t
output += FocuserBacklash;
}
if (dir == FOCUS_INWARD) output = 0 - output;
snprintf(read_buffer, sizeof(read_buffer), ":FM%f#", output);
snprintf(read_buffer, sizeof(read_buffer), ":FM%f#", output * reversed);
executeMeadeCommandBlind(read_buffer);
return IPS_BUSY; // Normal case, should be set to normal by update.
}
Expand Down Expand Up @@ -431,17 +448,18 @@ IPState LX200_OpenAstroTech::MoveAbsFocuser (uint32_t targetTicks)

IPState LX200_OpenAstroTech::MoveRelFocuser (FocusDirection dir, uint32_t ticks)
{
int reversed = (IUFindOnSwitchIndex(&FocusReverseSP) == INDI_ENABLED) ? -1 : 1;
// :FMsnnn# Set focuser target position relative (in microns)
// Returns: Nothing
char read_buffer[32];
char read_buffer[64];
if (dir != FocuserDirectionLast) {
FocuserDirectionLast = dir;
LOGF_INFO("Applying backlash %d to %d", FocuserBacklash, ticks);
ticks += FocuserBacklash;
}
int output = ticks;
if (dir == FOCUS_INWARD) output = 0 - ticks;
snprintf(read_buffer, sizeof(read_buffer), ":FM%d#", output);
snprintf(read_buffer, sizeof(read_buffer), ":FM%d#", output * reversed);
executeMeadeCommandBlind(read_buffer);
return IPS_BUSY; // Normal case, should be set to normal by update.
}
Expand All @@ -464,6 +482,20 @@ bool LX200_OpenAstroTech::AbortFocuser ()
return IPS_OK;
}

bool LX200_OpenAstroTech::SyncFocuser(uint32_t ticks)
{
// :FPnnn#
// Description:
// Set position
// Information:
// Sets the current position of the focus stepper motor
// Returns:
// "1"
char cmd[CMD_MAX_LEN] = {0};
snprintf(cmd, sizeof(cmd), ":FP%d#", int(ticks));
int val = getCommandChar(PortFD, cmd);
return val == '1';
}

void LX200_OpenAstroTech::initFocuserProperties(const char * groupName)
{
Expand Down Expand Up @@ -519,7 +551,7 @@ void LX200_OpenAstroTech::initFocuserProperties(const char * groupName)
ISR_1OFMANY, 60, IPS_IDLE);

// Backlash Compensation Value
IUFillNumber(&FocusBacklashN[0], "FOCUS_BACKLASH_VALUE", "Steps", "%.f", 0, 1000.0, 100, 0);
IUFillNumber(&FocusBacklashN[0], "FOCUS_BACKLASH_VALUE", "Steps", "%.f", 0, 5000.0, 100, 0);
IUFillNumberVector(&FocusBacklashNP, FocusBacklashN, 1, m_defaultDevice->getDeviceName(), "FOCUS_BACKLASH_STEPS",
"Backlash",
groupName, IP_RW, 60, IPS_OK);
Expand All @@ -528,19 +560,20 @@ void LX200_OpenAstroTech::initFocuserProperties(const char * groupName)
int LX200_OpenAstroTech::OATUpdateFocuser()
{
// we don't need to poll if we're not moving
if(!(FocusRelPosNP.s == IPS_BUSY || FocusAbsPosNP.s == IPS_BUSY)) {
if(!(FocusRelPosNP.s == IPS_BUSY || FocusAbsPosNP.s == IPS_BUSY) && FocusAbsPosN[0].value != 0.0) {
return 0;
}

tcflush(PortFD, TCIOFLUSH);
flushIO(PortFD);

// get position
char value[RB_MAX_LEN] = {0};
if (!getCommandString(PortFD, value, ":Fp#")) {
FocusAbsPosN[0].value = atof(value);
FocusAbsPosN[0].value = atof(value);
FocusSyncN[0].value = atof(value);
IDSetNumber(&FocusAbsPosNP, nullptr);
LOGF_INFO("Current focuser: %d, %f from %s", FocusAbsPosN[0].value, FocusAbsPosN[0].value, value);
IDSetNumber(&FocusSyncNP, nullptr);
LOGF_INFO("Current focuser: %f", FocusAbsPosN[0].value);
}
// get is_moving
char valueStatus = getCommandChar(PortFD, ":FB#");
Expand Down
5 changes: 5 additions & 0 deletions drivers/telescope/lx200_OpenAstroTech.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -48,13 +48,15 @@ class LX200_OpenAstroTech : public LX200GPS
virtual bool SetFocuserBacklash(int32_t steps) override;
virtual bool AbortFocuser () override;
virtual bool ReadScopeStatus() override;
virtual bool SyncFocuser(uint32_t ticks) override;

//End FocuserInterface

private:
virtual char getCommandChar(int fd, const char *cmd);
virtual int executeMeadeCommand(const char *cmd, char *data);
virtual bool executeMeadeCommandBlind(const char *cmd);
//virtual int executeMeadeCommandNumber(const char *cmd);
virtual int flushIO(int fd);
int OATUpdateProperties();
int OATUpdateFocuser();
Expand All @@ -79,6 +81,9 @@ class LX200_OpenAstroTech : public LX200GPS
INumber DecLimitsN[2];
INumberVectorProperty DecLimitsNP;

INumber HeaterN[2];
INumberVectorProperty HeaterNP;

ISwitchVectorProperty HomeSP;
ISwitch HomeS;

Expand Down

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