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/*
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* Copyright (C) 2004 Darren Hutchinson (dbh@gbdt.com.au)
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU Library General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or (at your
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* option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Library General Public
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* License for more details.
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*
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* You should have received a copy of the GNU Library General Public License
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* along with this software; see the file COPYING. If not, write to
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* the Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston,
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* MA 02111-1307, USA.
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*
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* $Id: combine.c,v 1.5 2004/04/05 06:42:15 dbh Exp $
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*/
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#include <avr/io.h>
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#include "combine.h"
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#include "stepper.h"
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/* Instance of rate input/output variables. Normally we would pass these via
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* pointers, but this is a small code/data/environment, so they're
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* accessed globally
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*/
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struct rateInput_s rateInput = {SPEED_0_X, SPEED_0_X, SPEED_0_X, SPEED_0_X, SPEED_0_X, SPEED_0_X, SPEED_0_X};
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struct rateOutput_s rateOutput = {SPEED_0_X, SPEED_0_X};
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/* TEST: defeat tracking for testing */
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uint8_t noTrack = 0;
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/* updateMountSpeed() takes the various speed inputs from the paddle,
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* serial port, and guiding inputs and determines the actual RA and
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* DEC rates
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*
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* Passed:
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* nothing
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*
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* Returns:
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* nothing
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*
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* Notes:
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* Updates rateOutput global structure
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*/
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void
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updateMountSpeed(void)
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{
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int8_t guideRate;
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/* Determine the DEC rate. This is the simple one! */
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if (rateInput.paddleDecRate != SPEED_0_X)
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guideRate = rateInput.paddleDecRate;
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else if (rateInput.serialDecRate != SPEED_0_X)
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guideRate = rateInput.serialDecRate;
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else if (rateInput.guideDecRate != SPEED_0_X)
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guideRate = rateInput.guideDecRate;
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else
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guideRate = SPEED_0_X;
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rateOutput.decRate = guideRate;
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setDecSpeed(rateOutput.decRate);
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/* Determine the RA rate. This is complicated by the need to perform
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* tracking as well as guiding on this axis
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*/
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if (rateInput.paddleRaRate != SPEED_0_X)
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guideRate = rateInput.paddleRaRate;
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else if (rateInput.serialRaRate != SPEED_0_X)
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guideRate = rateInput.serialRaRate;
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else if (rateInput.guideRaRate != SPEED_0_X)
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guideRate = rateInput.guideRaRate;
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else
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guideRate = SPEED_0_X;
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/* Now we need to add the traking rate to the guiding rate. Fractional
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* guiding rates simply adjust the tracking rate, x1 guiding
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* doubles/stops the motion, higher tracking rate override the
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* guiding rate.
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*/
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if (noTrack || (guideRate > SPEED_1_X) || (guideRate < -SPEED_1_X))
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rateOutput.raRate = guideRate;
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else if ((guideRate < SPEED_1_X) && (guideRate > -SPEED_1_X))
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rateOutput.raRate = rateInput.siderialRate + guideRate;
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else if ((guideRate == SPEED_1_X) && (rateInput.siderialRate == SPEED_1_X))
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rateOutput.raRate = SPEED_2_X;
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else if ((guideRate == -SPEED_1_X) && (rateInput.siderialRate == -SPEED_1_X))
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rateOutput.raRate = -SPEED_2_X;
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else
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rateOutput.raRate = SPEED_0_X;
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/* The RA axis needs to turn in the opposite direction of the
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* DEC axis. This is the simplest place to do it
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*/
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setRaSpeed(-rateOutput.raRate);
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/* All done! */
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}
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