| 0,0 → 1,101 |
|---|
| /* |
| * Copyright (C) 2004 Darren Hutchinson (dbh@gbdt.com.au) |
| * |
| * This program is free software; you can redistribute it and/or modify |
| * it under the terms of the GNU Library General Public License as published by |
| * the Free Software Foundation; either version 2 of the License, or (at your |
| * option) any later version. |
| * |
| * This program 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 software; see the file COPYING. If not, write to |
| * the Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston, |
| * MA 02111-1307, USA. |
| * |
| * $Id: combine.c,v 1.5 2004/04/05 06:42:15 dbh Exp $ |
| */ |
| |
| #include <avr/io.h> |
| #include "combine.h" |
| #include "stepper.h" |
| |
| /* Instance of rate input/output variables. Normally we would pass these via |
| * pointers, but this is a small code/data/environment, so they're |
| * accessed globally |
| */ |
| 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}; |
| struct rateOutput_s rateOutput = {SPEED_0_X, SPEED_0_X}; |
| |
| /* TEST: defeat tracking for testing */ |
| uint8_t noTrack = 0; |
| |
| /* updateMountSpeed() takes the various speed inputs from the paddle, |
| * serial port, and guiding inputs and determines the actual RA and |
| * DEC rates |
| * |
| * Passed: |
| * nothing |
| * |
| * Returns: |
| * nothing |
| * |
| * Notes: |
| * Updates rateOutput global structure |
| */ |
| void |
| updateMountSpeed(void) |
| { |
| int8_t guideRate; |
| |
| /* Determine the DEC rate. This is the simple one! */ |
| if (rateInput.paddleDecRate != SPEED_0_X) |
| guideRate = rateInput.paddleDecRate; |
| else if (rateInput.serialDecRate != SPEED_0_X) |
| guideRate = rateInput.serialDecRate; |
| else if (rateInput.guideDecRate != SPEED_0_X) |
| guideRate = rateInput.guideDecRate; |
| else |
| guideRate = SPEED_0_X; |
| |
| rateOutput.decRate = guideRate; |
| setDecSpeed(rateOutput.decRate); |
| |
| /* Determine the RA rate. This is complicated by the need to perform |
| * tracking as well as guiding on this axis |
| */ |
| if (rateInput.paddleRaRate != SPEED_0_X) |
| guideRate = rateInput.paddleRaRate; |
| else if (rateInput.serialRaRate != SPEED_0_X) |
| guideRate = rateInput.serialRaRate; |
| else if (rateInput.guideRaRate != SPEED_0_X) |
| guideRate = rateInput.guideRaRate; |
| else |
| guideRate = SPEED_0_X; |
| |
| /* Now we need to add the traking rate to the guiding rate. Fractional |
| * guiding rates simply adjust the tracking rate, x1 guiding |
| * doubles/stops the motion, higher tracking rate override the |
| * guiding rate. |
| */ |
| if (noTrack || (guideRate > SPEED_1_X) || (guideRate < -SPEED_1_X)) |
| rateOutput.raRate = guideRate; |
| else if ((guideRate < SPEED_1_X) && (guideRate > -SPEED_1_X)) |
| rateOutput.raRate = rateInput.siderialRate + guideRate; |
| else if ((guideRate == SPEED_1_X) && (rateInput.siderialRate == SPEED_1_X)) |
| rateOutput.raRate = SPEED_2_X; |
| else if ((guideRate == -SPEED_1_X) && (rateInput.siderialRate == -SPEED_1_X)) |
| rateOutput.raRate = -SPEED_2_X; |
| else |
| rateOutput.raRate = SPEED_0_X; |
| |
| /* The RA axis needs to turn in the opposite direction of the |
| * DEC axis. This is the simplest place to do it |
| */ |
| setRaSpeed(-rateOutput.raRate); |
| |
| /* All done! */ |
| } |