Diff: telescope_hardware.cpp

Revision:

1:64c1fd738059

Child:

4:42a64e84f75a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/telescope_hardware.cpp	Sun Sep 09 19:03:27 2018 +0000
@@ -0,0 +1,281 @@
+/**
+ * Harware setup is implemented in this file
+ */
+
+#include "telescope_hardware.h"
+#include "AMIS30543StepperDriver.h"
+#include "AdaptiveAxis.h"
+#include "EquatorialMount.h"
+#include "RTCClock.h"
+#include "SDBlockDevice.h"
+#include "FATFileSystem.h"
+#include "TelescopeConfiguration.h"
+#include "EqMountServer.h"
+#include "MCULoadMeasurement.h"
+#include "USBSerial.h"
+
+/**
+ * Right-Ascenstion Axis
+ */
+SPI ra_spi(PC_12, PC_11, PB_3_ALT0);
+AMIS30543StepperDriver *ra_stepper;
+
+/**
+ * Declination Axis
+ */
+SPI dec_spi(PE_6, PE_5, PE_2);
+AMIS30543StepperDriver *dec_stepper;
+
+/**
+ * Clock object
+ */
+RTCClock clk;
+
+/**
+ * SD card reader hardware configuration
+ */
+SDBlockDevice sd(PA_7, PB_4, PA_5, PC_13);
+FATFileSystem fs("sdcard");
+
+const char *config_file_path = "/sdcard/telescope.cfg";
+const char *config_saved_file_path = "/sdcard/telescope_saved.cfg";
+AdaptiveAxis *ra_axis = NULL;
+AdaptiveAxis *dec_axis = NULL;
+EquatorialMount *eq_mount = NULL;
+
+static void add_sys_commands();
+
+EquatorialMount &telescopeHardwareInit()
+{
+	// Read configuration
+	printf("Mounting SD card...\n");
+	if (fs.mount(&sd) != 0)
+	{
+		debug(
+				"Error: failed to mount SD card. Falling back to default configuration.\n");
+	}
+	else
+	{
+		// First check saved file
+		const char *file = config_saved_file_path;
+		FILE *fp = fopen(file, "r");
+		if (fp == NULL)
+		{
+			// Then check original file
+			file = config_file_path;
+			fp = fopen(file, "r");
+			if (fp == NULL)
+			{
+				debug("Error: config file not found.\n", config_file_path);
+			}
+		}
+
+		if (fp)
+		{
+			printf("Reading configuration file %s\n", file);
+			TelescopeConfiguration::readFromFile(fp);
+			fclose(fp);
+		}
+	}
+
+	// Object re-initialization
+	if (ra_axis != NULL)
+	{
+		delete ra_axis;
+	}
+	if (dec_axis != NULL)
+	{
+		delete dec_axis;
+	}
+	if (eq_mount != NULL)
+	{
+		delete eq_mount;
+	}
+	if (ra_stepper != NULL)
+	{
+		delete ra_stepper;
+	}
+	if (dec_stepper != NULL)
+	{
+		delete dec_stepper;
+	}
+
+	double stepsPerDeg = TelescopeConfiguration::getDouble("motor_steps")
+			* TelescopeConfiguration::getDouble("gear_reduction")
+			* TelescopeConfiguration::getDouble("worm_teeth") / 360.0;
+
+	ra_stepper = new AMIS30543StepperDriver(&ra_spi, PE_3, PB_7, NC, NC,
+			TelescopeConfiguration::getBool("ra_invert"));
+	dec_stepper = new AMIS30543StepperDriver(&dec_spi, PE_4, PC_8, NC, NC,
+			TelescopeConfiguration::getBool("dec_invert"));
+	ra_axis = new AdaptiveAxis(stepsPerDeg, ra_stepper, "RA_Axis");
+	dec_axis = new AdaptiveAxis(stepsPerDeg, dec_stepper, "DEC_Axis");
+	eq_mount = new EquatorialMount(*ra_axis, *dec_axis, clk,
+			LocationCoordinates(TelescopeConfiguration::getDouble("latitude"),
+					TelescopeConfiguration::getDouble("longitude")));
+
+	printf("Telescope initialized\n");
+
+	return (*eq_mount); // Return reference to eq_mount
+}
+
+/* Serial connection */
+UARTSerial *console;
+EqMountServer *server_serial;
+
+/* USB connection */
+EqMountServer *server_usb;
+
+bool serverInitialized = false;
+
+osStatus telescopeServerInit()
+{
+	if (eq_mount == NULL)
+		return osErrorResource;
+	if (!serverInitialized)
+	{
+		// Only run once
+		serverInitialized = true;
+		add_sys_commands();
+	}
+
+	if (!console)
+	{
+		console = new UARTSerial(USBTX, USBRX,
+				TelescopeConfiguration::getInt("serial_baud"));
+		server_serial = new EqMountServer(*console, false);
+	}
+	server_serial->bind(*eq_mount);
+
+	if (!server_usb)
+	{
+		server_usb = new EqMountServer(USBSerial::getInstance(), false);
+	}
+	server_usb->bind(*eq_mount);
+
+	return osOK;
+}
+
+static int eqmount_sys(EqMountServer *server, const char *cmd, int argn,
+		char *argv[])
+{
+	const int THD_MAX = 32;
+	osThreadId thdlist[THD_MAX];
+	int nt = osThreadEnumerate(thdlist, THD_MAX);
+
+	stprintf(server->getStream(), "Thread list: \r\n");
+	for (int i = 0; i < nt; i++)
+	{
+		osThreadState_t state = osThreadGetState(thdlist[i]);
+		const char *s = "";
+		const char *n;
+		osPriority_t prio = osThreadGetPriority(thdlist[i]);
+
+		if (prio == osPriorityIdle)
+		{
+			n = "Idle thread";
+		}
+		else
+		{
+			n = osThreadGetName(thdlist[i]);
+			if (n == NULL)
+				n = "System thread";
+		}
+
+		switch (state)
+		{
+		case osThreadInactive:
+			s = "Inactive";
+			break;
+		case osThreadReady:
+			s = "Ready";
+			break;
+		case osThreadRunning:
+			s = "Running";
+			break;
+		case osThreadBlocked:
+			s = "Blocked";
+			break;
+		case osThreadTerminated:
+			s = "Terminated";
+			break;
+		case osThreadError:
+			s = "Error";
+			break;
+		default:
+			s = "Unknown";
+			break;
+		}
+		stprintf(server->getStream(), " - %10s 0x%08x %3d %s \r\n", s,
+				(uint32_t) thdlist[i], (int) prio, n);
+	}
+
+	stprintf(server->getStream(), "\r\nRecent CPU usage: %.1f%%\r\n",
+			MCULoadMeasurement::getInstance().getCPUUsage() * 100);
+	return 0;
+}
+
+static int eqmount_systime(EqMountServer *server, const char *cmd, int argn,
+		char *argv[])
+{
+	char buf[32];
+	time_t t = time(NULL);
+	
+	core_util_critical_section_enter();
+	char *ibuf = ctime(&t);
+	strncpy(buf, ibuf, sizeof(buf));
+	core_util_critical_section_exit();
+	
+	stprintf(server->getStream(), "Current UTC time: %s\r\n", buf);
+
+	return 0;
+}
+
+static int eqmount_reboot(EqMountServer *server, const char *cmd, int argn,
+		char *argv[])
+{
+	NVIC_SystemReset();
+	return 0;
+}
+
+static int eqmount_save(EqMountServer *server, const char *cmd, int argn,
+		char *argv[])
+{
+	if (argn == 0)
+	{
+		FILE *fp = fopen(config_saved_file_path, "w");
+		if (fp)
+		{
+			TelescopeConfiguration::writeToFile(fp);
+			fclose(fp);
+		}
+		else
+		{
+			debug("Failed to write to file %s\n", config_saved_file_path);
+			return -1;
+		}
+	}
+	else if (argn == 1 && strcmp(argv[0], "delete") == 0)
+	{
+		// Delete save file
+		if (remove(config_saved_file_path) != 0)
+		{
+			debug("Failed to delete file %s\n", config_saved_file_path);
+			return -1;
+		}
+	}
+	return 0;
+}
+
+static void add_sys_commands()
+{
+	EqMountServer::addCommand(
+			ServerCommand("sys", "Print system information", eqmount_sys));
+	EqMountServer::addCommand(
+			ServerCommand("systime", "Print system time", eqmount_systime));
+	EqMountServer::addCommand(
+			ServerCommand("reboot", "Reboot the system", eqmount_reboot));
+	EqMountServer::addCommand(
+			ServerCommand("save", "Save configuration file", eqmount_save));
+}
+