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LibSidServo/ssii.h

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+/*
+ * This file is part of the SSII project.
+ * Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include <stdint.h>
+
+// ASCII commands
+#define U8P(x)   ((uint8_t*)x)
+// get binary data of all statistics
+#define CMD_GETSTAT     U8P("XXS")
+// send short command
+#define CMD_SHORTCMD    U8P("XXR")
+// send long command
+#define CMD_LONGCMD     U8P("YXR")
+// get/set X/Y in motsteps
+#define CMD_MOTX        U8P("X")
+#define CMD_MOTY        U8P("Y")
+// -//- in encoders' ticks
+#define CMD_ENCX        U8P("XZ")
+#define CMD_ENCY        U8P("YZ")
+// normal stop X/Y
+#define CMD_STOPX       U8P("XN")
+#define CMD_STOPY       U8P("YN")
+// emergency stop
+#define CMD_EMSTOPX     U8P("XG")
+#define CMD_EMSTOPY     U8P("YG")
+// getters of motor's encoders per rev
+#define CMD_GETXMEPR    U8P("XXU")
+#define CMD_GETYMEPR    U8P("XXV")
+// -//- axis encoders
+#define CMD_GETXAEPR    U8P("XXT")
+#define CMD_GETYAEPR    U8P("XXZ")
+// exit ASCII checksum mode
+#define CMD_EXITACM     U8P("YXY0\r\xb8")
+
+// timeout (seconds) of reading answer (from last symbol read)
+#define READTIMEOUT (0.05)
+
+// steps per revolution; TODO: move to Conf
+#define HA_MOT_STEPSPERREV  (4394294)
+#define DEC_MOT_STEPSPERREV (3325291)
+
+// encoder's tolerance (ticks); TODO: move to Conf
+#define HAENCTOL    (25)
+#define DECENCTOL    (25)
+
+
+// all need data in one
+typedef struct{ // 41 bytes
+    uint8_t ctrlAddr;   // 0  a8 + controller address
+    int32_t DECmot;     // 1  Dec/HA motor position
+    int32_t HAmot;      // 5
+    int32_t DECenc;     // 9  Dec/HA encoder position
+    int32_t HAenc;      // 13
+    uint8_t keypad;     // 17 keypad status
+    uint8_t XBits;      // 18
+    uint8_t YBits;      // 19
+    uint8_t ExtraBits;  // 20
+    uint16_t ain0;      // 21 analog inputs
+    uint16_t ain1;      // 23
+    uint32_t millis;    // 25 milliseconds clock
+    int8_t tF;          // 29 temperature (degF)
+    uint8_t voltage;    // 30 input voltage *10 (RA worm phase?)
+    uint32_t DecLast;   // 31 Alt/Dec motor location at last Alt/Dec scope encoder location change
+    uint32_t HALast;    // 35 Az/RA motor location at last Az/RA scope encoder location change
+    uint16_t checksum;  // 39 checksum, H inverted
+}__attribute__((packed)) SSstat;
+
+typedef struct{
+    int32_t DECmot;     // 0  DEC motor position
+    int32_t DECspeed;   // 4  DEC speed
+    int32_t HAmot;      // 8
+    int32_t HAspeed;    // 12
+    uint8_t xychange;   // 16 change Xbits/Ybits value
+    uint8_t XBits;      // 17
+    uint8_t YBits;      // 18
+    uint16_t checksum;  // 19
+} __attribute__((packed)) SSscmd; // short command
+
+typedef struct{
+    int32_t DECmot;     // 0  DEC motor position
+    int32_t DECspeed;   // 4  DEC speed
+    int32_t HAmot;      // 8
+    int32_t HAspeed;    // 12
+    int32_t DECadder;   // 16 - DEC adder
+    int32_t HAadder;    // 20
+    int32_t DECatime;   // 24 DEC adder time
+    int32_t HAatime;    // 28
+    uint16_t checksum;  // 32
+} __attribute__((packed)) SSlcmd; // long command
+