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Support for 2 piface motor ports added
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@rkaczorek
rkaczorek committed Nov 24, 2019
1 parent 1bc46fa commit 0c4dd90
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Showing 4 changed files with 104 additions and 26 deletions.
2 changes: 1 addition & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@ LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../cmake_modules/")
include(GNUInstallDirs)

set (VERSION_MAJOR 2)
set (VERSION_MINOR 1)
set (VERSION_MINOR 2)

find_package(INDI REQUIRED)

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6 changes: 6 additions & 0 deletions debian/changelog
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Original file line number Diff line number Diff line change
@@ -1,3 +1,9 @@
indi-astroberry-piface (2.2) buster; urgency=medium

* Support for 2 piface motor ports added

-- Radek Kaczorek <[email protected]> Sun, 24 Nov 2019 14:00:31 +0100

indi-astroberry-piface (2.1) buster; urgency=medium

* Initial release.
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120 changes: 95 additions & 25 deletions piface_focuser.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -113,11 +113,21 @@ bool IndiPiFaceFocuser::Connect()
INTPOL_LOW;
mcp23s17_write_reg(ioconfig, IOCON, 0, mcp23s17_fd);

// I/O direction
mcp23s17_write_reg(0x00, IODIRB, 0, mcp23s17_fd);
// I/O direction depending on port selected
if ( GPIOSelectS[0].s == ISS_ON )
{
mcp23s17_write_reg(0x00, IODIRB, 0, mcp23s17_fd);
} else {
mcp23s17_write_reg(0x00, IODIRA, 0, mcp23s17_fd);
}

// pull ups
mcp23s17_write_reg(0x00, GPPUB, 0, mcp23s17_fd);
// pull ups depending on port selected
if ( GPIOSelectS[0].s == ISS_ON )
{
mcp23s17_write_reg(0x00, GPPUB, 0, mcp23s17_fd);
} else {
mcp23s17_write_reg(0x00, GPPUA, 0, mcp23s17_fd);
}

IDMessage(getDeviceName(), "PiFace Focuser connected successfully.");
return true;
Expand Down Expand Up @@ -152,7 +162,7 @@ bool IndiPiFaceFocuser::initProperties()
IUFillSwitchVector(&MotorDirSP,MotorDirS,2,getDeviceName(),"MOTOR_DIR","Motor Dir",OPTIONS_TAB,IP_RW,ISR_1OFMANY,60,IPS_OK);

IUFillNumber(&FocusBacklashN[0], "FOCUS_BACKLASH_VALUE", "Steps", "%0.0f", 0, 100, 1, 0);
IUFillNumberVector(&FocusBacklashNP, FocusBacklashN, 1, getDeviceName(), "FOCUS_BACKLASH", "Backlash", OPTIONS_TAB, IP_RW, 0, IPS_IDLE);
IUFillNumberVector(&FocusBacklashNP, FocusBacklashN, 1, getDeviceName(), "FOCUS_BACKLASH", "Backlash", OPTIONS_TAB, IP_RW, 0, IPS_OK);

IUFillSwitch(&FocusParkingS[0],"FOCUS_PARKON","Enable",ISS_ON);
IUFillSwitch(&FocusParkingS[1],"FOCUS_PARKOFF","Disable",ISS_OFF);
Expand All @@ -162,9 +172,13 @@ bool IndiPiFaceFocuser::initProperties()
IUFillSwitchVector(&FocusResetSP,FocusResetS,1,getDeviceName(),"FOCUS_RESET","Position Reset",OPTIONS_TAB,IP_RW,ISR_1OFMANY,60,IPS_OK);

// main tab
IUFillSwitch(&GPIOSelectS[0],"GPIOA","Port A",ISS_ON);
IUFillSwitch(&GPIOSelectS[1],"GPIOB","Port B",ISS_OFF);
IUFillSwitchVector(&GPIOSelectSP,GPIOSelectS,2,getDeviceName(),"GPIO_SELECT","Motor Port",MAIN_CONTROL_TAB,IP_RW,ISR_1OFMANY,60,IPS_OK);

IUFillSwitch(&FocusMotionS[0],"FOCUS_INWARD","Focus In",ISS_OFF);
IUFillSwitch(&FocusMotionS[1],"FOCUS_OUTWARD","Focus Out",ISS_ON);
IUFillSwitchVector(&FocusMotionSP,FocusMotionS,2,getDeviceName(),"FOCUS_MOTION","Direction",MAIN_CONTROL_TAB,IP_RW,ISR_ATMOST1,60,IPS_OK);
IUFillSwitchVector(&FocusMotionSP,FocusMotionS,2,getDeviceName(),"FOCUS_MOTION","Direction",MAIN_CONTROL_TAB,IP_RW,ISR_1OFMANY,60,IPS_OK);

IUFillNumber(&FocusRelPosN[0],"FOCUS_RELATIVE_POSITION","Steps","%0.0f",0,(int)MAX_STEPS/10,(int)MAX_STEPS/100,(int)MAX_STEPS/100);
IUFillNumberVector(&FocusRelPosNP,FocusRelPosN,1,getDeviceName(),"REL_FOCUS_POSITION","Relative",MAIN_CONTROL_TAB,IP_RW,60,IPS_OK);
Expand All @@ -175,7 +189,7 @@ bool IndiPiFaceFocuser::initProperties()
IUFillNumber(&PresetN[0], "Preset 1", "", "%0.0f", 0, MAX_STEPS, (int)(MAX_STEPS/100), 0);
IUFillNumber(&PresetN[1], "Preset 2", "", "%0.0f", 0, MAX_STEPS, (int)(MAX_STEPS/100), 0);
IUFillNumber(&PresetN[2], "Preset 3", "", "%0.0f", 0, MAX_STEPS, (int)(MAX_STEPS/100), 0);
IUFillNumberVector(&PresetNP, PresetN, 3, getDeviceName(), "Presets", "Presets", "Presets", IP_RW, 0, IPS_IDLE);
IUFillNumberVector(&PresetNP, PresetN, 3, getDeviceName(), "Presets", "Presets", "Presets", IP_RW, 0, IPS_OK);

IUFillSwitch(&PresetGotoS[0], "Preset 1", "Preset 1", ISS_OFF);
IUFillSwitch(&PresetGotoS[1], "Preset 2", "Preset 2", ISS_OFF);
Expand All @@ -186,7 +200,10 @@ bool IndiPiFaceFocuser::initProperties()
dir = FOCUS_OUTWARD;
step_index = 0;

return true;
// Must be available before connect
defineSwitch(&GPIOSelectSP);

return true;
}

void IndiPiFaceFocuser::ISGetProperties (const char *dev)
Expand All @@ -204,17 +221,17 @@ bool IndiPiFaceFocuser::updateProperties()
{

INDI::Focuser::updateProperties();

if (isConnected())
{
defineNumber(&FocusAbsPosNP);
defineNumber(&FocusRelPosNP);
defineSwitch(&FocusMotionSP);
defineSwitch(&FocusParkingSP);
defineSwitch(&FocusResetSP);
defineSwitch(&MotorDirSP);
defineNumber(&MotorDelayNP);
// defineNumber(&FocusBacklashNP);
defineSwitch(&MotorDirSP);
defineNumber(&MotorDelayNP);
// defineNumber(&FocusBacklashNP);
}
else
{
Expand All @@ -223,8 +240,8 @@ bool IndiPiFaceFocuser::updateProperties()
deleteProperty(FocusMotionSP.name);
deleteProperty(FocusParkingSP.name);
deleteProperty(FocusResetSP.name);
deleteProperty(MotorDirSP.name);
deleteProperty(MotorDelayNP.name);
deleteProperty(MotorDirSP.name);
deleteProperty(MotorDelayNP.name);
}

return true;
Expand Down Expand Up @@ -359,6 +376,32 @@ bool IndiPiFaceFocuser::ISNewSwitch (const char *dev, const char *name, ISState
return true;
}

// handle port selection
if(!strcmp(name, GPIOSelectSP.name))
{
if (isConnected())
{
DEBUG(INDI::Logger::DBG_SESSION, "Cannot change port while device is connected");
IDSetSwitch(&GPIOSelectSP, "Cannot change port while device is connected");
return false;
} else {
IUUpdateSwitch(&GPIOSelectSP, states, names, n);
if ( GPIOSelectS[0].s == ISS_ON )
{
DEBUG(INDI::Logger::DBG_SESSION, "PiFace Focuser port set to A");
}

if ( GPIOSelectS[1].s == ISS_ON )
{
DEBUG(INDI::Logger::DBG_SESSION, "PiFace Focuser port set to B");
}

GPIOSelectSP.s = IPS_OK;
IDSetSwitch(&GPIOSelectSP, NULL);
return true;
}
}

// handle focus abort - TODO
/*
if (!strcmp(name, AbortSP.name))
Expand Down Expand Up @@ -390,6 +433,7 @@ bool IndiPiFaceFocuser::saveConfigItems(FILE *fp)
IUSaveConfigNumber(fp, &FocusBacklashNP);
IUSaveConfigSwitch(fp, &FocusParkingSP);
IUSaveConfigSwitch(fp, &MotorDirSP);
IUSaveConfigSwitch(fp, &GPIOSelectSP);

if ( FocusParkingS[0].s == ISS_ON )
IUSaveConfigNumber(fp, &FocusAbsPosNP);
Expand Down Expand Up @@ -512,29 +556,55 @@ int IndiPiFaceFocuser::StepperMotor(int steps, FocusDirection direction)
value = step_states[step_index];
step_index++;

// GPIOB lower nibble, polarity reversed
payload = payload & 0xf0;
payload = payload | ((value & 0xf) ^ 0xf);
// GPIOB lower nibble or upper nibble depending on port selected
if ( GPIOSelectS[0].s == ISS_ON )
{
payload = payload & 0xf0;
payload = payload | ((value & 0xf) ^ 0xf);
} else {
payload = payload & 0x0f;
payload = payload | ((value & 0xf) << 4);
}

// make step
mcp23s17_write_reg(payload, GPIOB, 0, mcp23s17_fd);
// make step depending on port selected
if ( GPIOSelectS[0].s == ISS_ON )
{
mcp23s17_write_reg(payload, GPIOB, 0, mcp23s17_fd);
} else {
mcp23s17_write_reg(payload, GPIOA, 0, mcp23s17_fd);
}
usleep(MotorDelayN[0].value * 1000);
}

// Coast motors
mcp23s17_write_reg(0x00, GPIOB, 0, mcp23s17_fd);
// Coast motor depending on port selected
if ( GPIOSelectS[0].s == ISS_ON )
{
mcp23s17_write_reg(0x00, GPIOB, 0, mcp23s17_fd);
} else {
mcp23s17_write_reg(0x00, GPIOA, 0, mcp23s17_fd);
}

return 0;
}
bool IndiPiFaceFocuser::AbortFocuser()
{
IDMessage(getDeviceName() , "PiFace Focuser aborted");

// Brake
mcp23s17_write_reg(0xff, GPIOB, 0, mcp23s17_fd);
// Brake depending on port selected
if ( GPIOSelectS[0].s == ISS_ON )
{
mcp23s17_write_reg(0xff, GPIOB, 0, mcp23s17_fd);
} else {
mcp23s17_write_reg(0xff, GPIOA, 0, mcp23s17_fd);
}

// Cost
mcp23s17_write_reg(0x00, GPIOB, 0, mcp23s17_fd);
// Coast motor depending on port selected
if ( GPIOSelectS[0].s == ISS_ON )
{
mcp23s17_write_reg(0x00, GPIOB, 0, mcp23s17_fd);
} else {
mcp23s17_write_reg(0x00, GPIOA, 0, mcp23s17_fd);
}

return true;
}
2 changes: 2 additions & 0 deletions piface_focuser.h
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,8 @@ class IndiPiFaceFocuser : public INDI::Focuser
private:
ISwitch FocusResetS[1];
ISwitchVectorProperty FocusResetSP;
ISwitch GPIOSelectS[2];
ISwitchVectorProperty GPIOSelectSP;
ISwitch MotorDirS[2];
ISwitchVectorProperty MotorDirSP;
ISwitch FocusParkingS[2];
Expand Down

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