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astroberry_focuser.cpp
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astroberry_focuser.cpp
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/*******************************************************************************
Copyright(c) 2014-2022 Radek Kaczorek <rkaczorek AT gmail DOT com>
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Library General Public
License version 2 as published by the Free Software Foundation.
.
This library 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
Library General Public License for more details.
.
You should have received a copy of the GNU Library General Public License
along with this library; see the file COPYING.LIB. If not, write to
the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
Boston, MA 02110-1301, USA.
*******************************************************************************/
/*
* TO DO:
* - Save position in xml instead flat file
* - Add Thermal expansion ratio selection for various materials
* - Add temperature compensation auto learning and save temperature compensation curve to xml
* - Add simulation mode
*/
#include <stdio.h>
#include <dirent.h>
#include <fcntl.h>
#include <unistd.h>
#include <string.h>
#include <fstream>
#include <math.h>
#include <memory>
#include "config.h"
#include <gpiod.h>
#include "astroberry_focuser.h"
// We declare an auto pointer to AstroberryFocuser.
std::unique_ptr<AstroberryFocuser> astroberryFocuser(new AstroberryFocuser());
// create millisecond sleep macro
#define msleep(milliseconds) usleep(milliseconds * 1000)
#define MINMAX_MIN_POS 0 // lowest limit for focuser position
#define MINMAX_MAX_POS 100000 // highest limit for focuser position
#define MAX_RESOLUTION 32 // the highest resolution supported is 1/32 step
#define TEMPERATURE_UPDATE_TIMEOUT (60 * 1000) // 60 sec
#define TEMPERATURE_COMPENSATION_TIMEOUT (60 * 1000) // 60 sec
void ISPoll(void *p);
void ISInit()
{
static int isInit = 0;
if (isInit == 1)
return;
if(astroberryFocuser.get() == 0)
{
isInit = 1;
astroberryFocuser.reset(new AstroberryFocuser());
}
}
void ISGetProperties(const char *dev)
{
ISInit();
astroberryFocuser->ISGetProperties(dev);
}
void ISNewSwitch(const char *dev, const char *name, ISState *states, char *names[], int num)
{
ISInit();
astroberryFocuser->ISNewSwitch(dev, name, states, names, num);
}
void ISNewText( const char *dev, const char *name, char *texts[], char *names[], int num)
{
ISInit();
astroberryFocuser->ISNewText(dev, name, texts, names, num);
}
void ISNewNumber(const char *dev, const char *name, double values[], char *names[], int num)
{
ISInit();
astroberryFocuser->ISNewNumber(dev, name, values, names, num);
}
void ISNewBLOB (const char *dev, const char *name, int sizes[], int blobsizes[], char *blobs[], char *formats[], char *names[], int n)
{
INDI_UNUSED(dev);
INDI_UNUSED(name);
INDI_UNUSED(sizes);
INDI_UNUSED(blobsizes);
INDI_UNUSED(blobs);
INDI_UNUSED(formats);
INDI_UNUSED(names);
INDI_UNUSED(n);
}
void ISSnoopDevice (XMLEle *root)
{
astroberryFocuser->ISSnoopDevice(root);
}
AstroberryFocuser::AstroberryFocuser()
{
setVersion(VERSION_MAJOR,VERSION_MINOR);
FI::SetCapability(
FOCUSER_CAN_ABS_MOVE |
FOCUSER_CAN_REL_MOVE |
FOCUSER_CAN_REVERSE |
FOCUSER_HAS_BACKLASH |
FOCUSER_CAN_SYNC |
FOCUSER_CAN_ABORT
// FOCUSER_HAS_VARIABLE_SPEED
);
Focuser::setSupportedConnections(CONNECTION_NONE);
}
AstroberryFocuser::~AstroberryFocuser()
{
deleteProperty(MotorBoardSP.name);
deleteProperty(BCMpinsNP.name);
}
const char * AstroberryFocuser::getDefaultName()
{
return (char *)"Astroberry Focuser";
}
bool AstroberryFocuser::Connect()
{
// Check Model number of Raspberry PI and define gpiochip number
FILE* pipe;
char buffer[128];
buffer[0] = '\0';
pipe = popen("cat /sys/firmware/devicetree/base/model", "r");
fgets(buffer, 128, pipe);
pclose(pipe);
const char* devicename;
if (strstr(buffer, "Raspberry Pi 5") != NULL) {
devicename = "/dev/gpiochip4";
}
else {
devicename = "/dev/gpiochip0";
}
LOGF_INFO("model:%s, device:%s", buffer, devicename);
chip = gpiod_chip_open(devicename);
if (!chip)
{
DEBUG(INDI::Logger::DBG_ERROR, "Problem initiating Astroberry Focuser.");
return false;
}
// verify BCM Pins are not used by other consumers
for (unsigned int pin = 0; pin < 6; pin++)
{
if (gpiod_line_is_used(gpiod_chip_get_line(chip, BCMpinsN[pin].value)))
{
DEBUGF(INDI::Logger::DBG_ERROR, "BCM Pin %0.0f already used", BCMpinsN[pin].value);
gpiod_chip_close(chip);
return false;
}
}
// Select gpios
gpio_dir = gpiod_chip_get_line(chip, BCMpinsN[0].value);
gpio_step = gpiod_chip_get_line(chip, BCMpinsN[1].value);
gpio_sleep = gpiod_chip_get_line(chip, BCMpinsN[2].value);
gpio_m1 = gpiod_chip_get_line(chip, BCMpinsN[3].value);
gpio_m2 = gpiod_chip_get_line(chip, BCMpinsN[4].value);
gpio_m3 = gpiod_chip_get_line(chip, BCMpinsN[5].value);
// Set initial state for gpios
gpiod_line_request_output(gpio_dir, "dir@astroberry_focuser", 1); // default direction is outward
gpiod_line_request_output(gpio_step, "step@astroberry_focuser", 0);
gpiod_line_request_output(gpio_sleep, "sleep@astroberry_focuser", 1); // start stepper in wake up state
gpiod_line_request_output(gpio_m1, "m1@astroberry_focuser", 0);
gpiod_line_request_output(gpio_m2, "m2@astroberry_focuser", 0);
// If A4988 controller, use additional GPIO
if ( MotorBoardS[1].s == ISS_ON )
gpiod_line_request_output(gpio_m3, "m3@astroberry_focuser", 0);
//read last position from file & convert from MAX_RESOLUTION to current resolution
FocusAbsPosN[0].value = savePosition(-1) != -1 ? (int) savePosition(-1) * resolution / MAX_RESOLUTION : 0;
// preset resolution
setResolution(resolution);
// Lock Motor Board setting
MotorBoardSP.s=IPS_BUSY;
IDSetSwitch(&MotorBoardSP, nullptr);
// Lock BCM Pins setting
BCMpinsNP.s=IPS_BUSY;
IDSetNumber(&BCMpinsNP, nullptr);
// Update focuser parameters
getFocuserInfo();
// set motor standby timer
if ( StepperStandbyS[0].s == ISS_ON)
{
stepperStandbyID = IEAddTimer(StepperStandbyTimeN[0].value * 1000, stepperStandbyHelper, this);
DEBUGF(INDI::Logger::DBG_SESSION, "Focuser going standby in %d seconds", (int) IERemainingTimer(stepperStandbyID) / 1000);
} else {
stepperStandbyID = -1;
}
DEBUG(INDI::Logger::DBG_SESSION, "Astroberry Focuser connected successfully.");
return true;
}
bool AstroberryFocuser::Disconnect()
{
// Stop timers
IERmTimer(stepperStandbyID);
IERmTimer(updateTemperatureID);
IERmTimer(temperatureCompensationID);
// Set stepper motor asleep
gpiod_line_set_value(gpio_sleep, 0);
// Close device
gpiod_chip_close(chip);
// Unlock Motor Board setting
MotorBoardSP.s=IPS_IDLE;
IDSetSwitch(&MotorBoardSP, nullptr);
// Unlock BCM Pins setting
BCMpinsNP.s=IPS_IDLE;
IDSetNumber(&BCMpinsNP, nullptr);
DEBUG(INDI::Logger::DBG_SESSION, "Astroberry Focuser disconnected successfully.");
return true;
}
bool AstroberryFocuser::initProperties()
{
INDI::Focuser::initProperties();
// Focuser Resolution
IUFillSwitch(&FocusResolutionS[0],"FOCUS_RESOLUTION_1","Full Step",ISS_ON);
IUFillSwitch(&FocusResolutionS[1],"FOCUS_RESOLUTION_2","1/2 Step",ISS_OFF);
IUFillSwitch(&FocusResolutionS[2],"FOCUS_RESOLUTION_4","1/4 Step",ISS_OFF);
IUFillSwitch(&FocusResolutionS[3],"FOCUS_RESOLUTION_8","1/8 Step",ISS_OFF);
IUFillSwitch(&FocusResolutionS[4],"FOCUS_RESOLUTION_16","1/16 Step",ISS_OFF);
IUFillSwitch(&FocusResolutionS[5],"FOCUS_RESOLUTION_32","1/32 Step",ISS_OFF);
IUFillSwitchVector(&FocusResolutionSP,FocusResolutionS,6,getDeviceName(),"FOCUS_RESOLUTION","Resolution",MAIN_CONTROL_TAB,IP_RW,ISR_1OFMANY,0,IPS_IDLE);
// Maximum focuser travel
IUFillNumber(&FocuserTravelN[0], "FOCUSER_TRAVEL_VALUE", "mm", "%0.0f", 10, 200, 10, 10);
IUFillNumberVector(&FocuserTravelNP, FocuserTravelN, 1, getDeviceName(), "FOCUSER_TRAVEL", "Max Travel", MAIN_CONTROL_TAB, IP_RW, 0, IPS_IDLE);
// Focuser Info
IUFillNumber(&FocuserInfoN[0], "CFZ_STEP_ACT", "Step Size (μm)", "%0.2f", 0, 1000, 1, 0);
IUFillNumber(&FocuserInfoN[1], "CFZ", "Critical Focus Zone (μm)", "%0.2f", 0, 1000, 1, 0);
IUFillNumber(&FocuserInfoN[2], "STEPS_PER_CFZ", "Steps / Critical Focus Zone", "%0.0f", 0, 1000, 1, 0);
IUFillNumberVector(&FocuserInfoNP, FocuserInfoN, 3, getDeviceName(), "FOCUSER_PARAMETERS", "Focuser Info", MAIN_CONTROL_TAB, IP_RO, 0, IPS_IDLE);
// Focuser Stepper Controller
IUFillSwitch(&MotorBoardS[0],"DRV8834","DRV8834",ISS_ON);
IUFillSwitch(&MotorBoardS[1],"A4988","A4988",ISS_OFF);
IUFillSwitchVector(&MotorBoardSP,MotorBoardS,2,getDeviceName(),"MOTOR_BOARD","Control Board",OPTIONS_TAB,IP_RW,ISR_1OFMANY,0,IPS_IDLE);
// BCM PINs setting
IUFillNumber(&BCMpinsN[0], "BCMPIN_DIR", "DIR", "%0.0f", 1, 27, 0, 23); // BCM23 = PIN16
IUFillNumber(&BCMpinsN[1], "BCMPIN_STEP", "STEP", "%0.0f", 1, 27, 0, 24); // BCM24 = PIN18
IUFillNumber(&BCMpinsN[2], "BCMPIN_SLEEP", "SLEEP", "%0.0f", 1, 27, 0, 22); // BCM22 = PIN15
IUFillNumber(&BCMpinsN[3], "BCMPIN_M1", "M1", "%0.0f", 1, 27, 0, 17); // BCM17 = PIN11
IUFillNumber(&BCMpinsN[4], "BCMPIN_M2", "M2", "%0.0f", 1, 27, 0, 18); // BCM18 = PIN12
IUFillNumber(&BCMpinsN[5], "BCMPIN_M3", "M3", "%0.0f", 1, 27, 0, 27); // BCM27 = PIN13
IUFillNumberVector(&BCMpinsNP, BCMpinsN, 6, getDeviceName(), "BCMPINS", "BCM Pins", OPTIONS_TAB, IP_RW, 0, IPS_IDLE);
// Stepper standby setting
IUFillSwitch(&StepperStandbyS[0],"STEPPER_STANDBY_ON","Enable",ISS_ON);
IUFillSwitch(&StepperStandbyS[1],"STEPPER_STANDBY_OFF","Disable",ISS_OFF);
IUFillSwitchVector(&StepperStandbySP,StepperStandbyS,2,getDeviceName(),"STEPPER_STANDBY","Standby",OPTIONS_TAB,IP_RW,ISR_1OFMANY,0,IPS_IDLE);
// Stepper standby time setting
IUFillNumber(&StepperStandbyTimeN[0], "STEPPER_STANDBY_DELAY_VALUE", "seconds", "%0.0f", 0, 600, 10, 60);
IUFillNumberVector(&StepperStandbyTimeNP, StepperStandbyTimeN, 1, getDeviceName(), "STEPPER_STANDBY_DELAY", "Standby Delay", OPTIONS_TAB, IP_RW, 0, IPS_IDLE);
// Step delay setting
IUFillNumber(&FocusStepDelayN[0], "FOCUS_STEPDELAY_VALUE", "milliseconds", "%0.0f", 1, 10, 1, 1);
IUFillNumberVector(&FocusStepDelayNP, FocusStepDelayN, 1, getDeviceName(), "FOCUS_STEPDELAY", "Step Delay", OPTIONS_TAB, IP_RW, 0, IPS_IDLE);
// Active telescope setting
IUFillText(&ActiveTelescopeT[0], "ACTIVE_TELESCOPE_NAME", "Telescope", "Telescope Simulator");
IUFillTextVector(&ActiveTelescopeTP, ActiveTelescopeT, 1, getDeviceName(), "ACTIVE_TELESCOPE", "Snoop devices", OPTIONS_TAB,IP_RW, 0, IPS_IDLE);
// Focuser temperature
IUFillNumber(&FocusTemperatureN[0], "FOCUS_TEMPERATURE_VALUE", "°C", "%0.2f", -50, 50, 1, 0);
IUFillNumberVector(&FocusTemperatureNP, FocusTemperatureN, 1, getDeviceName(), "FOCUS_TEMPERATURE", "Temperature", MAIN_CONTROL_TAB, IP_RO, 0, IPS_IDLE);
// Temperature Coefficient
IUFillNumber(&TemperatureCoefN[0], "μm/m°C", "", "%.1f", 0, 50, 1, 0);
IUFillNumberVector(&TemperatureCoefNP, TemperatureCoefN, 1, getDeviceName(), "Temperature Coefficient", "", MAIN_CONTROL_TAB, IP_RW, 0, IPS_IDLE);
// Compensate for temperature
IUFillSwitch(&TemperatureCompensateS[0], "Enable", "", ISS_OFF);
IUFillSwitch(&TemperatureCompensateS[1], "Disable", "", ISS_ON);
IUFillSwitchVector(&TemperatureCompensateSP, TemperatureCompensateS, 2, getDeviceName(), "Temperature Compensate", "", MAIN_CONTROL_TAB, IP_RW, ISR_1OFMANY, 0, IPS_IDLE);
// Snooping params
IUFillNumber(&ScopeParametersN[0], "TELESCOPE_APERTURE", "Aperture (mm)", "%g", 10, 5000, 0, 0.0);
IUFillNumber(&ScopeParametersN[1], "TELESCOPE_FOCAL_LENGTH", "Focal Length (mm)", "%g", 10, 10000, 0, 0.0);
IUFillNumberVector(&ScopeParametersNP, ScopeParametersN, 2, ActiveTelescopeT[0].text, "TELESCOPE_INFO", "Scope Properties", OPTIONS_TAB, IP_RW, 60, IPS_OK);
// initial values at resolution 1/1
FocusMaxPosN[0].min = MINMAX_MIN_POS; // 0
FocusMaxPosN[0].max = MINMAX_MAX_POS; // 100000
FocusMaxPosN[0].step = (int) FocusMaxPosN[0].max / 100;
FocusMaxPosN[0].value = (int) FocusMaxPosN[0].max / 10;
FocusAbsPosN[0].min = 0;
FocusAbsPosN[0].max = FocusMaxPosN[0].value; // 10000
FocusAbsPosN[0].step = (int) FocusAbsPosN[0].max / 100; // 100
FocusRelPosN[0].min = 0;
FocusRelPosN[0].max = (int) FocusAbsPosN[0].max / 10; // 1000
FocusRelPosN[0].step = (int) FocusRelPosN[0].max / 10; // 100
FocusRelPosN[0].value = (int) FocusRelPosN[0].max / 10; // 100
FocusSyncN[0].min = 0;
FocusSyncN[0].max = FocusAbsPosN[0].max; // 10000
FocusSyncN[0].step = (int) FocusAbsPosN[0].max / 100; // 100
FocusBacklashN[0].min = 0;
FocusBacklashN[0].max = (int) FocusAbsPosN[0].max / 100; // 100
FocusBacklashN[0].step = (int) FocusBacklashN[0].max / 100; // 1
FocusMotionS[FOCUS_OUTWARD].s = ISS_ON;
FocusMotionS[FOCUS_INWARD].s = ISS_OFF;
// Add default properties
// addAuxControls(); // enable simulation mode
addDebugControl ();
addConfigurationControl();
removeProperty("POLLING_PERIOD", nullptr);
// Load some custom properties before connecting
defineSwitch(&MotorBoardSP);
defineNumber(&BCMpinsNP);
// Load config values, which cannot be changed after we are connected
loadConfig(false, "MOTOR_BOARD"); // load stepper motor controller
loadConfig(false, "BCMPINS"); // load BCM Pins assignment
return true;
}
void AstroberryFocuser::ISGetProperties (const char *dev)
{
INDI::Focuser::ISGetProperties(dev);
return;
}
bool AstroberryFocuser::updateProperties()
{
INDI::Focuser::updateProperties();
if (isConnected())
{
defineSwitch(&StepperStandbySP);
defineNumber(&StepperStandbyTimeNP);
defineText(&ActiveTelescopeTP);
defineSwitch(&FocusResolutionSP);
defineNumber(&FocuserTravelNP);
defineNumber(&FocuserInfoNP);
defineNumber(&FocusStepDelayNP);
IDSnoopDevice(ActiveTelescopeT[0].text, "TELESCOPE_INFO");
if (readDS18B20())
{
defineNumber(&FocusTemperatureNP);
defineNumber(&TemperatureCoefNP);
defineSwitch(&TemperatureCompensateSP);
readDS18B20(); // update immediately
lastTemperature = FocusTemperatureN[0].value; // init last temperature
IERmTimer(updateTemperatureID);
updateTemperatureID = IEAddTimer(TEMPERATURE_UPDATE_TIMEOUT, updateTemperatureHelper, this); // set temperature update timer
IERmTimer(temperatureCompensationID);
temperatureCompensationID = IEAddTimer(TEMPERATURE_COMPENSATION_TIMEOUT, temperatureCompensationHelper, this); // set temperature compensation timer
}
} else {
deleteProperty(StepperStandbySP.name);
deleteProperty(StepperStandbyTimeNP.name);
deleteProperty(ActiveTelescopeTP.name);
deleteProperty(FocusResolutionSP.name);
deleteProperty(FocuserTravelNP.name);
deleteProperty(FocuserInfoNP.name);
deleteProperty(FocusStepDelayNP.name);
deleteProperty(FocusTemperatureNP.name);
deleteProperty(TemperatureCoefNP.name);
deleteProperty(TemperatureCompensateSP.name);
}
return true;
}
bool AstroberryFocuser::ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n)
{
// first we check if it's for our device
if(!strcmp(dev,getDeviceName()))
{
// handle BCMpins
if (!strcmp(name, BCMpinsNP.name))
{
unsigned int valcount = 6;
if (isConnected())
{
DEBUG(INDI::Logger::DBG_WARNING, "Cannot set BCM Pins while device is connected.");
return false;
} else {
for (unsigned int i = 0; i < valcount; i++)
{
// verify a number is a valid BCM Pin
if ( values[i] < 1 || values[i] > 27 )
{
BCMpinsNP.s=IPS_ALERT;
IDSetNumber(&BCMpinsNP, nullptr);
DEBUGF(INDI::Logger::DBG_ERROR, "Value %0.0f is not a valid BCM Pin number!", values[i]);
return false;
}
// Verify unique BCM Pin assignement
for (unsigned j = i + 1; j < valcount; j++)
{
if ( values[i] == values[j] )
{
BCMpinsNP.s=IPS_ALERT;
IDSetNumber(&BCMpinsNP, nullptr);
DEBUG(INDI::Logger::DBG_ERROR, "You cannot assign the same BCM Pin twice!");
return false;
}
}
// verify BCM Pins are not used by other consumers
chip = gpiod_chip_open("/dev/gpiochip0");
if (chip)
{
struct gpiod_line *line = gpiod_chip_get_line(chip, values[i]);
bool line_status = gpiod_line_is_used(line);
gpiod_chip_close(chip);
if (line_status)
{
BCMpinsNP.s=IPS_ALERT;
IDSetNumber(&BCMpinsNP, nullptr);
DEBUGF(INDI::Logger::DBG_ERROR, "BCM Pin %0.0f already used!", values[i]);
return false;
}
} else {
DEBUG(INDI::Logger::DBG_ERROR, "Problem initiating Astroberry Focuser.");
return false;
}
}
IUUpdateNumber(&BCMpinsNP,values,names,n);
BCMpinsNP.s=IPS_OK;
IDSetNumber(&BCMpinsNP, nullptr);
DEBUGF(INDI::Logger::DBG_SESSION, "BCM Pins set to DIR: BCM%0.0f, STEP: BCM%0.0f, SLEEP: BCM%0.0f, M1: BCM%0.0f, M2: BCM%0.0f, M3: BCM%0.0f", BCMpinsN[0].value, BCMpinsN[1].value, BCMpinsN[2].value, BCMpinsN[3].value, BCMpinsN[4].value, BCMpinsN[5].value);
return true;
}
}
// handle stepper standby delay
if (!strcmp(name, StepperStandbyTimeNP.name))
{
IUUpdateNumber(&StepperStandbyTimeNP,values,names,n);
StepperStandbyTimeNP.s=IPS_OK;
IDSetNumber(&StepperStandbyTimeNP, nullptr);
DEBUGF(INDI::Logger::DBG_SESSION, "Focuser standby set to %0.0f seconds", StepperStandbyTimeN[0].value);
return true;
}
// handle focus maximum position
if (!strcmp(name, FocusMaxPosNP.name))
{
IUUpdateNumber(&FocusMaxPosNP,values,names,n);
getFocuserInfo();
}
// handle focuser travel
if (!strcmp(name, FocuserTravelNP.name))
{
IUUpdateNumber(&FocuserTravelNP,values,names,n);
FocuserTravelNP.s=IPS_OK;
IDSetNumber(&FocuserTravelNP, nullptr);
getFocuserInfo();
DEBUGF(INDI::Logger::DBG_SESSION, "Maximum focuser travel set to %0.0f mm", FocuserTravelN[0].value);
return true;
}
// handle focus step delay
if (!strcmp(name, FocusStepDelayNP.name))
{
IUUpdateNumber(&FocusStepDelayNP,values,names,n);
FocusStepDelayNP.s=IPS_BUSY;
IDSetNumber(&FocusStepDelayNP, nullptr);
FocusStepDelayNP.s=IPS_OK;
IDSetNumber(&FocusStepDelayNP, nullptr);
DEBUGF(INDI::Logger::DBG_SESSION, "Step delay set to %0.0f ms.", FocusStepDelayN[0].value);
return true;
}
// handle temperature coefficient
if (!strcmp(name, TemperatureCoefNP.name))
{
IUUpdateNumber(&TemperatureCoefNP,values,names,n);
TemperatureCoefNP.s=IPS_OK;
IDSetNumber(&TemperatureCoefNP, nullptr);
DEBUGF(INDI::Logger::DBG_SESSION, "Temperature coefficient set to %0.1f μm/m°C", TemperatureCoefN[0].value);
return true;
}
}
return INDI::Focuser::ISNewNumber(dev,name,values,names,n);
}
bool AstroberryFocuser::ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n)
{
// first we check if it's for our device
if (!strcmp(dev, getDeviceName()))
{
// handle motor board
if(!strcmp(name, MotorBoardSP.name))
{
int current_switch = IUFindOnSwitchIndex(&MotorBoardSP);
if (isConnected())
{
// reset switch to previous state
MotorBoardS[current_switch].s = ISS_ON;
IDSetSwitch(&MotorBoardSP, nullptr);
DEBUG(INDI::Logger::DBG_WARNING, "Cannot set Control Board while device is connected.");
return false;
} else {
IUUpdateSwitch(&MotorBoardSP, states, names, n);
if ( MotorBoardS[0].s == ISS_ON)
{
DEBUG(INDI::Logger::DBG_SESSION, "Control Board set to DRV8834.");
}
if ( MotorBoardS[1].s == ISS_ON)
{
DEBUG(INDI::Logger::DBG_SESSION, "Control Board set to A4988.");
}
MotorBoardSP.s = IPS_OK;
IDSetSwitch(&MotorBoardSP, nullptr);
return true;
}
}
// handle stepper standby
if(!strcmp(name, StepperStandbySP.name))
{
IUUpdateSwitch(&StepperStandbySP, states, names, n);
if ( StepperStandbyS[0].s == ISS_ON)
{
StepperStandbySP.s = IPS_OK;
DEBUG(INDI::Logger::DBG_SESSION, "Stepper standby enabled.");
}
if ( StepperStandbyS[1].s == ISS_ON)
{
StepperStandbySP.s = IPS_OK;
DEBUG(INDI::Logger::DBG_SESSION, "Stepper standby disabled.");
}
IDSetSwitch(&StepperStandbySP, nullptr);
return true;
}
// handle focus resolution
if(!strcmp(name, FocusResolutionSP.name))
{
int last_resolution = resolution;
int current_switch = IUFindOnSwitchIndex(&FocusResolutionSP);
IUUpdateSwitch(&FocusResolutionSP, states, names, n);
//Resolution 1/1
if ( FocusResolutionS[0].s == ISS_ON )
resolution = 1;
//Resolution 1/2
if ( FocusResolutionS[1].s == ISS_ON )
resolution = 2;
//Resolution 1/4
if ( FocusResolutionS[2].s == ISS_ON )
resolution = 4;
//Resolution 1/8
if ( FocusResolutionS[3].s == ISS_ON )
resolution = 8;
//Resolution 1/16
if ( FocusResolutionS[4].s == ISS_ON )
resolution = 16;
//Resolution 1/32
if ( FocusResolutionS[5].s == ISS_ON )
{
if ( MotorBoardS[1].s == ISS_ON )
{
// reset switch to previous state if resolution is invalid
FocusResolutionS[current_switch].s = ISS_ON;
IDSetSwitch(&FocusResolutionSP, nullptr);
DEBUG(INDI::Logger::DBG_WARNING, "A4988 Control Board does not support this resolution.");
return false;
}
resolution = 32;
}
// Adjust position to a step in lower resolution
int position_adjustment = last_resolution * (FocusAbsPosN[0].value / last_resolution - (int) FocusAbsPosN[0].value / last_resolution);
if ( resolution < last_resolution && position_adjustment > 0 )
{
if ( (float) position_adjustment / last_resolution < 0.5)
{
position_adjustment *= -1;
} else {
position_adjustment = last_resolution - position_adjustment;
}
DEBUGF(INDI::Logger::DBG_SESSION, "Focuser position adjusted by %d steps at 1/%d resolution to sync with 1/%d resolution.", position_adjustment, last_resolution, resolution);
MoveAbsFocuser(FocusAbsPosN[0].value + position_adjustment);
}
setResolution(resolution);
// update values based on resolution
FocusMaxPosN[0].max = (int) FocusMaxPosN[0].max * resolution / last_resolution;
FocusMaxPosN[0].step = (int) FocusMaxPosN[0].step * resolution / last_resolution;
FocusMaxPosN[0].value = (int) FocusMaxPosN[0].value * resolution / last_resolution;
IDSetNumber(&FocusMaxPosNP, nullptr);
IUUpdateMinMax(&FocusMaxPosNP); // This call is not INDI protocol compliant
FocusAbsPosN[0].max = (int) FocusAbsPosN[0].max * resolution / last_resolution;
FocusAbsPosN[0].step = (int) FocusAbsPosN[0].step * resolution / last_resolution;
FocusAbsPosN[0].value = (int) FocusAbsPosN[0].value * resolution / last_resolution;
IDSetNumber(&FocusAbsPosNP, nullptr);
IUUpdateMinMax(&FocusAbsPosNP); // This call is not INDI protocol compliant
FocusRelPosN[0].max = (int) FocusRelPosN[0].max * resolution / last_resolution;
FocusRelPosN[0].step = (int) FocusRelPosN[0].step * resolution / last_resolution;
FocusRelPosN[0].value = (int) FocusRelPosN[0].value * resolution / last_resolution;
IDSetNumber(&FocusRelPosNP, nullptr);
IUUpdateMinMax(&FocusRelPosNP); // This call is not INDI protocol compliant
FocusSyncN[0].max = FocusSyncN[0].max * resolution / last_resolution;
FocusSyncN[0].step = FocusSyncN[0].step * resolution / last_resolution;
FocusSyncN[0].value = FocusSyncN[0].value * resolution / last_resolution;
IDSetNumber(&FocusSyncNP, nullptr);
IUUpdateMinMax(&FocusSyncNP); // This call is not INDI protocol compliant
FocusBacklashN[0].max = (int) FocusBacklashN[0].max * resolution / last_resolution;
FocusBacklashN[0].step = (int) FocusBacklashN[0].step * resolution / last_resolution;
FocusBacklashN[0].value = (int) FocusBacklashN[0].value * resolution / last_resolution;
IDSetNumber(&FocusBacklashNP, nullptr);
IUUpdateMinMax(&FocusBacklashNP); // This call is not INDI protocol compliant
PresetN[0].value = (int) PresetN[0].value * resolution / last_resolution;
PresetN[1].value = (int) PresetN[1].value * resolution / last_resolution;
PresetN[2].value = (int) PresetN[2].value * resolution / last_resolution;
IDSetNumber(&PresetNP, nullptr);
getFocuserInfo();
FocusResolutionSP.s = IPS_OK;
IDSetSwitch(&FocusResolutionSP, nullptr);
DEBUGF(INDI::Logger::DBG_SESSION, "Focuser resolution set to 1/%d.", resolution);
return true;
}
// handle temperature compensation
if(!strcmp(name, TemperatureCompensateSP.name))
{
IUUpdateSwitch(&TemperatureCompensateSP, states, names, n);
if ( TemperatureCompensateS[0].s == ISS_ON)
{
if (!temperatureCompensationID)
temperatureCompensationID = IEAddTimer(TEMPERATURE_COMPENSATION_TIMEOUT, temperatureCompensationHelper, this);
TemperatureCompensateSP.s = IPS_OK;
DEBUG(INDI::Logger::DBG_SESSION, "Temperature compensation enabled.");
}
if ( TemperatureCompensateS[1].s == ISS_ON)
{
IERmTimer(temperatureCompensationID);
TemperatureCompensateSP.s = IPS_IDLE;
DEBUG(INDI::Logger::DBG_SESSION, "Temperature compensation disabled.");
}
IDSetSwitch(&TemperatureCompensateSP, nullptr);
return true;
}
}
return INDI::Focuser::ISNewSwitch(dev,name,states,names,n);
}
bool AstroberryFocuser::ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n)
{
// first we check if it's for our device
if (!strcmp(dev, getDeviceName()))
{
// handle active devices
if (!strcmp(name, ActiveTelescopeTP.name))
{
IUUpdateText(&ActiveTelescopeTP,texts,names,n);
IUFillNumberVector(&ScopeParametersNP, ScopeParametersN, 2, ActiveTelescopeT[0].text, "TELESCOPE_INFO", "Scope Properties", OPTIONS_TAB, IP_RW, 60, IPS_OK);
IDSnoopDevice(ActiveTelescopeT[0].text, "TELESCOPE_INFO");
ActiveTelescopeTP.s=IPS_OK;
IDSetText(&ActiveTelescopeTP, nullptr);
DEBUGF(INDI::Logger::DBG_SESSION, "Active telescope set to %s.", ActiveTelescopeT[0].text);
return true;
}
}
return INDI::Focuser::ISNewText(dev,name,texts,names,n);
}
bool AstroberryFocuser::ISSnoopDevice (XMLEle *root)
{
if (IUSnoopNumber(root, &ScopeParametersNP) == 0)
{
getFocuserInfo();
DEBUGF(INDI::Logger::DBG_DEBUG, "Telescope parameters: %0.0f, %0.0f.", ScopeParametersN[0].value, ScopeParametersN[1].value);
return true;
}
return INDI::Focuser::ISSnoopDevice(root);
}
bool AstroberryFocuser::saveConfigItems(FILE *fp)
{
IUSaveConfigSwitch(fp, &MotorBoardSP);
IUSaveConfigNumber(fp, &BCMpinsNP);
IUSaveConfigSwitch(fp, &StepperStandbySP);
IUSaveConfigNumber(fp, &StepperStandbyTimeNP);
IUSaveConfigSwitch(fp, &FocusResolutionSP);
IUSaveConfigSwitch(fp, &FocusReverseSP);
IUSaveConfigNumber(fp, &FocusMaxPosNP);
IUSaveConfigSwitch(fp, &FocusBacklashSP);
IUSaveConfigNumber(fp, &FocusBacklashNP);
IUSaveConfigNumber(fp, &FocusStepDelayNP);
IUSaveConfigNumber(fp, &FocuserTravelNP);
IUSaveConfigSwitch(fp, &TemperatureCompensateSP);
IUSaveConfigNumber(fp, &TemperatureCoefNP);
IUSaveConfigText(fp, &ActiveTelescopeTP);
IUSaveConfigNumber(fp, &PresetNP);
return true;
}
void AstroberryFocuser::TimerHit()
{
if (backlashTicksRemaining == 0 && focuserTicksRemaining == 0)
{
//save position to file
savePosition((int) FocusAbsPosN[0].value * MAX_RESOLUTION / resolution); // always save at MAX_RESOLUTION
// update abspos value and status
FocusAbsPosNP.s = IPS_OK;
IDSetNumber(&FocusAbsPosNP, nullptr);
FocusRelPosNP.s = IPS_OK;
IDSetNumber(&FocusRelPosNP, nullptr);
DEBUGF(INDI::Logger::DBG_SESSION, "Focuser at the position %0.0f.", FocusAbsPosN[0].value);
// reset last temperature
lastTemperature = FocusTemperatureN[0].value; // register last temperature
// set motor standby timer
if ( StepperStandbyS[0].s == ISS_ON)
{
if (stepperStandbyID)
IERmTimer(stepperStandbyID);
stepperStandbyID = IEAddTimer(StepperStandbyTimeN[0].value * 1000, stepperStandbyHelper, this);
DEBUGF(INDI::Logger::DBG_SESSION, "Focuser going standby in %d seconds", (int) IERemainingTimer(stepperStandbyID) / 1000);
}
return;
}
// handle reverse motion
if (stepperDirection == 1)
{
// outward
if (FocusReverseS[INDI_ENABLED].s == ISS_ON) {
gpiod_line_set_value(gpio_dir, 0); // Reverse Motion
} else {
gpiod_line_set_value(gpio_dir, 1); // Normal Motion
}
} else {
// inward
if (FocusReverseS[INDI_ENABLED].s == ISS_ON) {
gpiod_line_set_value(gpio_dir, 1); // Reverse Motion
} else {
gpiod_line_set_value(gpio_dir, 0); // Normal Motion
}
}
bool isBacklash = false;
if (backlashTicksRemaining > 0)
{
isBacklash = true;
}
// make a single step
stepMotor();
// update absolute position only if processing real steps not backlash
if (isBacklash)
{
backlashTicksRemaining -= 1;
} else {
focuserTicksRemaining -= 1;
FocusAbsPosN[0].value += 1 * stepperDirection;
IDSetNumber(&FocusAbsPosNP, nullptr);
}
SetTimer(FocusStepDelayN[0].value);
}
bool AstroberryFocuser::ReverseFocuser(bool enabled)
{
if (enabled)
{
DEBUG(INDI::Logger::DBG_SESSION, "Reverse direction enabled.");
} else {
DEBUG(INDI::Logger::DBG_SESSION, "Reverse direction disabled.");
}
return true;
}
bool AstroberryFocuser::SyncFocuser(uint32_t ticks)
{
savePosition((int) ticks * MAX_RESOLUTION / resolution); // always save at MAX_RESOLUTION
DEBUGF(INDI::Logger::DBG_SESSION, "Focuser absolute position sync to %d", ticks);
return true;
}
bool AstroberryFocuser::SetFocuserBacklash(int32_t steps)
{
DEBUGF(INDI::Logger::DBG_SESSION, "Backlash compensation set to %d steps.", steps);
return true;
}
bool AstroberryFocuser::AbortFocuser()
{
backlashTicksRemaining = 0;
focuserTicksRemaining = 0;
DEBUG(INDI::Logger::DBG_SESSION, "Focuser motion aborted.");
return true;
}
IPState AstroberryFocuser::MoveAbsFocuser(uint32_t targetTicks)
{
if (backlashTicksRemaining > 0 || focuserTicksRemaining > 0)
{
DEBUG(INDI::Logger::DBG_WARNING, "Focuser movement still in progress.");
return IPS_BUSY;
}
if (targetTicks < FocusAbsPosN[0].min || targetTicks > FocusAbsPosN[0].max)
{
DEBUG(INDI::Logger::DBG_WARNING, "Requested position is out of range.");
return IPS_ALERT;
}
if (targetTicks == FocusAbsPosN[0].value)
{
DEBUG(INDI::Logger::DBG_SESSION, "Already at the requested position.");
return IPS_OK;
}
// set focuser busy
FocusAbsPosNP.s = IPS_BUSY;
IDSetNumber(&FocusAbsPosNP, nullptr);
FocusRelPosNP.s = IPS_BUSY;
IDSetNumber(&FocusRelPosNP, nullptr);
// motor wake up
if ( gpiod_line_get_value(gpio_sleep) == 0 )
{
IERmTimer(stepperStandbyID);
gpiod_line_set_value(gpio_sleep, 1);
DEBUG(INDI::Logger::DBG_SESSION, "Stepper motor waking up.");
}
// set direction
const char* directionName;
int newDirection;
if (targetTicks > FocusAbsPosN[0].value)
{
newDirection = 1;
directionName = "outward";
} else {
newDirection = -1;
directionName = "inward";
}
// if direction changed do backlash adjustment
if (newDirection != stepperDirection && FocusBacklashN[0].value != 0 && FocusBacklashS[INDI_ENABLED].s == ISS_ON)
{
DEBUGF(INDI::Logger::DBG_SESSION, "Compensating backlash by %0.0f steps.", FocusBacklashN[0].value);
backlashTicksRemaining = FocusBacklashN[0].value;
} else {
backlashTicksRemaining = 0;
}
// update last stepper direction
stepperDirection = newDirection;
// process targetTicks
focuserTicksRemaining = abs(targetTicks - FocusAbsPosN[0].value);
DEBUGF(INDI::Logger::DBG_SESSION, "Focuser is moving %s to position %d.", directionName, targetTicks);
SetTimer(FocusStepDelayN[0].value);
return IPS_BUSY;
}
IPState AstroberryFocuser::MoveRelFocuser(FocusDirection dir, uint32_t ticks)
{
uint32_t targetTicks = (uint32_t) FocusAbsPosN[0].value + (ticks * (dir == FOCUS_INWARD ? -1 : 1));
return MoveAbsFocuser(targetTicks);
}
void AstroberryFocuser::stepMotor()
{
// step on
gpiod_line_set_value(gpio_step, 1);
// wait
msleep(FocusStepDelayN[0].value);
// step off
gpiod_line_set_value(gpio_step, 0);
}
void AstroberryFocuser::setResolution(int res)
{
// Release lines
gpiod_line_release(gpio_m1);
gpiod_line_release(gpio_m2);
gpiod_line_release(gpio_m3);
if (MotorBoardS[0].s == ISS_ON) {
/* Stepper motor resolution settings for ==== DRV8834 =====
* 1) 1/1 - M1=0 M2=0
* 2) 1/2 - M1=1 M2=0
* 3) 1/4 - M1=floating M2=0
* 4) 1/8 - M1=0 M2=1
* 5) 1/16 - M1=1 M2=1
* 6) 1/32 - M1=floating M2=1
*/
switch(res)
{
case 1: // 1:1
gpiod_line_request_output(gpio_m1, "m1@astroberry_focuser", 0);
gpiod_line_request_output(gpio_m2, "m2@astroberry_focuser", 0);
break;
case 2: // 1:2
gpiod_line_request_output(gpio_m1, "m1@astroberry_focuser", 1);
gpiod_line_request_output(gpio_m2, "m2@astroberry_focuser", 0);
break;
case 4: // 1:4
gpiod_line_request_output_flags(gpio_m1, "m1@astroberry_focuser", GPIOD_LINE_REQUEST_FLAG_OPEN_DRAIN, 0);
gpiod_line_request_output(gpio_m2, "m2@astroberry_focuser", 0);
break;
case 8: // 1:8
gpiod_line_request_output(gpio_m1, "m1@astroberry_focuser", 0);
gpiod_line_request_output(gpio_m2, "m2@astroberry_focuser", 1);