nxt

LibSidServo/sidservo.h

@@ -18,6 +18,8 @@
 
 #pragma once
 
+#include <stddef.h>
+#include <stdint.h>
 #include <sys/time.h>
 
 // error codes
@@ -30,11 +32,13 @@ typedef enum{
 } mcc_errcodes_t;
 
 typedef struct{
-    char*   MountPath;      // path to mount device
-    int     MountSpeed;     // serial speed
-    char*   EncoderPath;    // path to encoder device
-    int     EncoderSpeed;   // serial speed
-    int     SepEncoder;     // ==1 if encoder works as separate serial device
+    char*   MountDevPath;       // path to mount device
+    int     MountDevSpeed;      // serial speed
+    char*   EncoderDevPath;     // path to encoder device
+    int     EncoderDevSpeed;    // serial speed
+    int     SepEncoder;         // ==1 if encoder works as separate serial device
+    suseconds_t MountReqInterval;// interval between subsequent mount requests (microseconds)
+    ;
 } conf_t;
 
 // coordinates in degrees: X, Y and time when they were reached
@@ -42,9 +46,31 @@ typedef struct{
     double X; double Y; struct timeval msrtime;
 } coords_t;
 
+// data to read/write
 typedef struct{
-    coords_t position;
-    coords_t speed;
+    uint8_t *buf;   // data buffer
+    size_t len;     // its length
+    size_t maxlen;  // maximal buffer size
+} data_t;
+
+typedef struct{
+    uint8_t XBits;
+    uint8_t YBits;
+    uint8_t ExtraBits;
+    uint16_t ain0;
+    uint16_t ain1;
+} extradata_t;
+
+typedef struct{
+    coords_t motposition;
+    coords_t encposition;
+    coords_t lastmotposition;
+    coords_t motspeed;
+    uint8_t keypad;
+    extradata_t extradata;
+    uint32_t millis;
+    double temperature;
+    double voltage;
 } mountdata_t;
 
 // mount class