start configurator

LibSidServo/sidservo.h

@@ -129,6 +129,46 @@ typedef struct{
     double Yatime;      // 28
 } long_command_t; // long command
 
+// hardware axe configuration
+typedef struct{
+    double accel;       // Default Acceleration, rad/s^2
+    double backlash;    // Backlash (???)
+    double errlimit;    // Error Limit, rad
+    double propgain;    // Proportional Gain (???)
+    double intgain;     // Integral Gain (???)
+    double derivgain;   // Derivative Gain (???)
+    double outplimit;   // Output Limit, percent (0..100)
+    double currlimit;   // Current Limit (A)
+    double intlimit;    // Integral Limit (???)
+} __attribute__((packed)) axe_config_t;
+
+// hardware configuration
+typedef struct{
+    axe_config_t Xconf;
+    xbits_t xbits;
+    axe_config_t Yconf;
+    ybits_t ybits;
+    uint8_t address;
+    double eqrate;      // Equatorial Rate (???)
+    double eqadj;       // Equatorial UpDown adjust (???)
+    double trackgoal;   // Tracking Platform Goal (???)
+    double latitude;    // Latitude, rad
+    uint32_t Ysetpr;    // Azm Scope Encoder Ticks Per Rev
+    uint32_t Xsetpr;    // Alt Scope Encoder Ticks Per Rev
+    uint32_t Ymetpr;    // Azm Motor Ticks Per Rev
+    uint32_t Xmetpr;    // Alt Motor Ticks Per Rev
+    double Xslewrate;   // Alt/Dec Slew Rate (rad/s)
+    double Yslewrate;   // Azm/RA Slew Rate (rad/s)
+    double Xpanrate;    // Alt/Dec Pan Rate (rad/s)
+    double Ypanrate;    // Azm/RA Pan Rate (rad/s)
+    double Xguiderate;  // Alt/Dec Guide Rate (rad/s)
+    double Yguiderate;  // Azm/RA Guide Rate (rad/s)
+    uint32_t baudrate;  // Baud Rate (baud)
+    double locsdeg;     // Local Search Degrees (rad)
+    double locsspeed;   // Local Search Speed (rad/s)
+    double backlspd;    // Backlash speed (???)
+} hardware_configuration_t;
+
 // mount class
 typedef struct{
     mcc_errcodes_t  (*init)(conf_t *c); // init device
@@ -141,6 +181,7 @@ typedef struct{
     mcc_errcodes_t  (*emergStop)(); // emergency stop
     mcc_errcodes_t  (*shortCmd)(short_command_t *cmd); // send/get short command
     mcc_errcodes_t  (*longCmd)(long_command_t *cmd); // send/get long command
+    mcc_errcodes_t  (*getHWconfig)(hardware_configuration_t *c); // get hardware configuration
 } mount_t;
 
 extern mount_t Mount;