added short cmd, not tested

LibSidServo/examples/CMakeLists.txt

@@ -5,4 +5,5 @@ include_directories(../)
 link_libraries(sidservo usefull_macros)
 
 # exe list
-add_executable(dumpmoving dumpmoving.c)
+add_executable(dump dumpmoving.c dump.c)
+add_executable(dump_s dumpmoving_scmd.c dump.c)

LibSidServo/examples/dump.c

@@ -0,0 +1,106 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 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/>.
+ */
+
+// logging of mount position
+
+#include <usefull_macros.h>
+
+#include "dump.h"
+#include "simpleconv.h"
+
+/**
+ * @brief logmnt - log mount data into file
+ * @param fcoords - file to dump
+ * @param m - mount data
+ */
+void logmnt(FILE *fcoords, mountdata_t *m){
+    if(!fcoords || !m) return;
+    DBG("LOG");
+    static double t0 = -1.;
+    if(!fcoords) return;
+    if(!m){ // write header
+        fprintf(fcoords, "# time Xmot(deg) Ymot(deg) Xenc(deg) Yenc(deg) millis T V\n");
+        return;
+    }
+    if(t0 < 0.) t0 = m->motposition.msrtime.tv_sec + (double)(m->motposition.msrtime.tv_usec) / 1e6;
+    double t = m->motposition.msrtime.tv_sec + (double)(m->motposition.msrtime.tv_usec) / 1e6 - t0;
+    // write data
+    fprintf(fcoords, "%12.6f %10.6f %10.6f %10.6f %10.6f %10u %6.1f %4.1f\n",
+            t, RAD2DEG(m->motposition.X), RAD2DEG(m->motposition.Y),
+            RAD2DEG(m->encposition.X), RAD2DEG(m->encposition.Y),
+            m->millis, m->temperature, m->voltage);
+}
+
+/**
+ * @brief dumpmoving - dump conf while moving
+ * @param fcoords - dump file
+ * @param t - max waiting time
+ * @param N - number of cycles to wait while motors aren't moving
+ */
+void dumpmoving(FILE *fcoords, double t, int N){
+    if(!fcoords) return;
+    mountdata_t mdata;
+    DBG("Start dump");
+    int ntries = 0;
+    for(; ntries < 10; ++ntries){
+        if(MCC_E_OK == Mount.getMountData(&mdata)) break;
+    }
+    if(ntries == 10){
+        WARNX("Can't get mount data");
+        LOGWARN("Can't get mount data");
+    }
+    uint32_t millis = mdata.millis;
+    int ctr = -1;
+    double xlast = mdata.motposition.X, ylast = mdata.motposition.Y;
+    double t0 = sl_dtime();
+    DBG("millis = %u", millis);
+    while(sl_dtime() - t0 < t && ctr < N){
+        usleep(10000);
+        if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
+        if(mdata.millis == millis) continue;
+        DBG("Got new data, posX=%g, posY=%g", mdata.motposition.X, mdata.motposition.Y);
+        millis = mdata.millis;
+        if(fcoords) logmnt(fcoords, &mdata);
+        if(mdata.motposition.X != xlast || mdata.motposition.Y != ylast){
+            xlast = mdata.motposition.X;
+            ylast = mdata.motposition.Y;
+            ctr = 0;
+        }else ++ctr;
+    }
+}
+
+/**
+ * @brief waitmoving - wait until moving by both axes stops at least for N cycles
+ * @param N - amount of stopped cycles
+ */
+void waitmoving(int N){
+    mountdata_t mdata;
+    int ctr = -1;
+    uint32_t millis = 0;
+    double xlast = 0., ylast = 0.;
+    while(ctr < N){
+        usleep(10000);
+        if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
+        if(mdata.millis == millis) continue;
+        if(mdata.motposition.X != xlast || mdata.motposition.Y != ylast){
+            xlast = mdata.motposition.X;
+            ylast = mdata.motposition.Y;
+            ctr = 0;
+        }else ++ctr;
+    }
+}

LibSidServo/examples/dump.h

@@ -0,0 +1,27 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 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 <stdio.h>
+
+#include "sidservo.h"
+
+void logmnt(FILE *fcoords, mountdata_t *m);
+void dumpmoving(FILE *fcoords, double t, int N);
+void waitmoving(int N);

LibSidServo/examples/dumpmoving.c

@@ -16,28 +16,36 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+// dump telescope moving using simplest goto command
+
 #include <math.h>
 #include <signal.h>
 #include <stdio.h>
 #include <time.h>
 #include <usefull_macros.h>
 
+#include "dump.h"
 #include "sidservo.h"
+#include "simpleconv.h"
 
 typedef struct{
     int help;
     int verbose;
+    int Ncycles;
     char *logfile;
     char *coordsoutput;
 } parameters;
 
-static parameters G = {0};
+static parameters G = {
+    .Ncycles = 40,
+};
 static FILE *fcoords = NULL;
 
 static sl_option_t cmdlnopts[] = {
     {"help",        NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),      "show this help"},
     {"verbose",     NO_ARGS,    NULL,   'v',    arg_none,   APTR(&G.verbose),   "verbose level (each -v adds 1)"},
     {"logfile",     NEED_ARG,   NULL,   'l',    arg_string, APTR(&G.logfile),   "log file name"},
+    {"ncycles",     NEED_ARG,   NULL,   'n',    arg_int,    APTR(&G.Ncycles),   "N cycles in stopped state (default: 40)"},
     {"coordsfile",  NEED_ARG,   NULL,   'o',    arg_string, APTR(&G.coordsoutput),"output file with coordinates log"},
     end_option
 };
@@ -61,59 +69,6 @@ static conf_t Config = {
     .SepEncoder = 0
 };
 
-#define DEG2RAD(d)  (d/180.*M_PI)
-#define RAD2DEG(d)  (d/M_PI*180.)
-
-
-static void logmnt(mountdata_t *m){
-    DBG("LOG");
-    static double t0 = -1.;
-    if(!fcoords) return;
-    if(!m){ // write header
-        fprintf(fcoords, "# time Xmot(deg) Ymot(deg) Xenc(deg) Yenc(deg) millis T V\n");
-        return;
-    }
-    if(t0 < 0.) t0 = m->motposition.msrtime.tv_sec + (double)(m->motposition.msrtime.tv_usec) / 1e6;
-    double t = m->motposition.msrtime.tv_sec + (double)(m->motposition.msrtime.tv_usec) / 1e6 - t0;
-    // write data
-    fprintf(fcoords, "%12.6f %10.6f %10.6f %10.6f %10.6f %10u %6.1f %4.1f\n",
-        t, RAD2DEG(m->motposition.X), RAD2DEG(m->motposition.Y),
-        RAD2DEG(m->encposition.X), RAD2DEG(m->encposition.Y),
-        m->millis, m->temperature, m->voltage);
-}
-
-// dump moving but not longer than t secs; exit after 5 stopped events
-static void dumpmoving(double t){
-    mountdata_t mdata;
-    DBG("Start dump");
-    int ntries = 0;
-    for(; ntries < 10; ++ntries){
-        if(MCC_E_OK == Mount.getMountData(&mdata)) break;
-    }
-    if(ntries == 10){
-        WARNX("Can't get mount data");
-        LOGWARN("Can't get mount data");
-    }
-    suseconds_t usec = mdata.motposition.msrtime.tv_usec;
-    int ctr = 0;
-    double xlast = mdata.motposition.X, ylast = mdata.motposition.Y;
-    double t0 = sl_dtime();
-    DBG("usec = %ld", usec);
-    while(sl_dtime() - t0 < t && ctr < 5){
-        usleep(10000);
-        if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
-        if(mdata.motposition.msrtime.tv_usec == usec) continue;
-        DBG("Got new data, posX=%g, posY=%g", mdata.motposition.X, mdata.motposition.Y);
-        usec = mdata.motposition.msrtime.tv_usec;
-        if(fcoords) logmnt(&mdata);
-        if(mdata.motposition.X != xlast || mdata.motposition.Y != ylast){
-            xlast = mdata.motposition.X;
-            ylast = mdata.motposition.Y;
-            ctr = 0;
-        }else ++ctr;
-    }
-}
-
 int main(int argc, char **argv){
     sl_init();
     sl_parseargs(&argc, &argv, cmdlnopts);
@@ -124,8 +79,8 @@ int main(int argc, char **argv){
     if(G.coordsoutput){
         if(!(fcoords = fopen(G.coordsoutput, "w")))
             ERRX("Can't open %s", G.coordsoutput);
-        logmnt(NULL);
+    }else fcoords = stdout;
-    }
+    logmnt(fcoords, NULL);
     time_t curtime = time(NULL);
     LOGMSG("Started @ %s", ctime(&curtime));
     LOGMSG("Mount device %s @ %d", Config.MountDevPath, Config.MountDevSpeed);
@@ -142,9 +97,9 @@ int main(int argc, char **argv){
     signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
     if(MCC_E_OK != Mount.moveTo(DEG2RAD(45.), DEG2RAD(45.)))
         ERRX("Can't move to 45, 45");
-    dumpmoving(30.);
+    dumpmoving(fcoords, 30., G.Ncycles);
     Mount.moveTo(0., 0.);
-    dumpmoving(30.);
+    dumpmoving(fcoords, 30., G.Ncycles);
     signals(0);
     return 0;
 }

LibSidServo/examples/dumpmoving_scmd.c

@@ -0,0 +1,149 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 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/>.
+ */
+
+// dump telescope moving using short binary commands
+
+#include <math.h>
+#include <pthread.h>
+#include <signal.h>
+#include <stdio.h>
+#include <time.h>
+#include <usefull_macros.h>
+
+#include "dump.h"
+#include "sidservo.h"
+#include "simpleconv.h"
+#include "ssii.h"
+
+typedef struct{
+    int help;
+    int Ncycles;
+    char *coordsoutput;
+} parameters;
+
+static parameters G = {
+    .Ncycles = 40,
+};
+static FILE *fcoords = NULL;
+
+static sl_option_t cmdlnopts[] = {
+    {"help",        NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),      "show this help"},
+    {"ncycles",     NEED_ARG,   NULL,   'n',    arg_int,    APTR(&G.Ncycles),   "N cycles in stopped state (default: 40)"},
+    {"coordsfile",  NEED_ARG,   NULL,   'o',    arg_string, APTR(&G.coordsoutput),"output file with coordinates log"},
+    end_option
+};
+
+void signals(int sig){
+    if(sig){
+        signal(sig, SIG_IGN);
+        DBG("Get signal %d, quit.\n", sig);
+    }
+    Mount.quit();
+    exit(sig);
+}
+
+static conf_t Config = {
+    .MountDevPath = "/dev/ttyUSB0",
+    .MountDevSpeed = 19200,
+    //.EncoderDevPath = "/dev/ttyUSB1",
+    //.EncoderDevSpeed = 153000,
+    .MountReqInterval = 0.1,
+    .SepEncoder = 0
+};
+
+// dump thread
+static void *dumping(void _U_ *u){
+    dumpmoving(fcoords, 90., G.Ncycles);
+    return NULL;
+}
+
+// return TRUE if motor position is reached +-2 counts
+#define X2count (X_RAD2MOT(2))
+#define Y2count (Y_RAD2MOT(2))
+static int Xreached(double xtag){
+    mountdata_t mdata;
+    if(MCC_E_OK != Mount.getMountData(&mdata)) return FALSE;
+    if(fabs(mdata.motposition.X - xtag) <= X2count) return TRUE;
+    return FALSE;
+}
+/*
+static int Yreached(double ytag){
+    mountdata_t mdata;
+    if(MCC_E_OK != Mount.getMountData(&mdata)) return FALSE;
+    if(fabs(mdata.motposition.Y - ytag) <= Y2count) return TRUE;
+    return FALSE;
+}
+*/
+
+int main(int argc, char **argv){
+    sl_init();
+    sl_parseargs(&argc, &argv, cmdlnopts);
+    if(G.help) sl_showhelp(-1, cmdlnopts);
+    if(G.coordsoutput){
+        if(!(fcoords = fopen(G.coordsoutput, "w")))
+            ERRX("Can't open %s", G.coordsoutput);
+    }else fcoords = stdout;
+    logmnt(fcoords, NULL);
+    mcc_errcodes_t e = Mount.init(&Config);
+    if(e != MCC_E_OK){
+        WARNX("Can't init devices");
+        return 1;
+    }
+    signal(SIGTERM, signals); // kill (-15) - quit
+    signal(SIGHUP, SIG_IGN);  // hup - ignore
+    signal(SIGINT, signals);  // ctrl+C - quit
+    signal(SIGQUIT, signals); // ctrl+\ - quit
+    signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
+    // move to X=30 degr with different speeds
+    // start with 1degr/s, increase to 15, decrease to 1
+    short_command_t cmd = {0};
+    pthread_t dthr;
+    if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
+#define SCMD()   do{if(MCC_E_OK != Mount.shortCmd(&cmd)) ERRX("Can't run command"); }while(0)
+    // goto 5 degr with 1deg/s
+    cmd.Xmot = DEG2RAD(30.);
+    cmd.Xspeed = DEG2RAD(1.);
+    SCMD();
+    while(!Xreached(DEG2RAD(5.)));
+    // goto 15 degr with 5deg/s
+    cmd.Xmot = DEG2RAD(30.);
+    cmd.Xspeed = DEG2RAD(5.);
+    SCMD();
+    while(!Xreached(DEG2RAD(10.)));
+    // goto 25 degr with 15deg/s
+    cmd.Xmot = DEG2RAD(30.);
+    cmd.Xspeed = DEG2RAD(15.);
+    SCMD();
+    while(!Xreached(DEG2RAD(25.)));
+    // goto 29.9 degr with 1deg/s
+    cmd.Xmot = DEG2RAD(30.);
+    cmd.Xspeed = DEG2RAD(1.);
+    SCMD();
+    while(!Xreached(DEG2RAD(29.9)));
+    // and go back with 15deg/s
+    cmd.Xmot = DEG2RAD(0.);
+    cmd.Xspeed = DEG2RAD(15.);
+    SCMD();
+    while(!Xreached(DEG2RAD(0.1)));
+    Mount.moveTo(0., 0.);
+    // wait moving ends
+    pthread_join(dthr, NULL);
+#undef SCMD
+    signals(0);
+    return 0;
+}

LibSidServo/examples/simpleconv.h

@@ -0,0 +1,24 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 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/>.
+ */
+
+// simple conversion macros
+
+#include <math.h>
+
+#define DEG2RAD(d)  (d/180.*M_PI)
+#define RAD2DEG(d)  (d/M_PI*180.)

LibSidServo/libsidservo.creator.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 15.0.0, 2025-02-08T19:46:09. -->
+<!-- Written by QtCreator 15.0.0, 2025-02-11T22:41:16. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

LibSidServo/libsidservo.files

@@ -1,6 +1,10 @@
 CMakeLists.txt
 dbg.h
+examples/dump.c
+examples/dump.h
 examples/dumpmoving.c
+examples/dumpmoving_scmd.c
+examples/simpleconv.h
 main.c
 sidservo.h
 serial.c

LibSidServo/main.c

@@ -84,11 +84,69 @@ static mcc_errcodes_t move2(double X, double Y){
     return MCC_E_OK;
 }
 
+/**
+ * @brief emstop - emergency stop
+ * @return errcode
+ */
 static mcc_errcodes_t emstop(){
     if(!SSemergStop()) return MCC_E_FAILED;
     return MCC_E_OK;
 }
 
+/**
+ * @brief shortcmd - send and receive short binary command
+ * @param cmd (io) - command
+ * @return errcode
+ */
+static mcc_errcodes_t shortcmd(short_command_t *cmd){
+    if(!cmd) return MCC_E_BADFORMAT;
+    SSscmd s = {0};
+    s.Xmot = X_RAD2MOT(cmd->Xmot);
+    s.Ymot = Y_RAD2MOT(cmd->Ymot);
+    s.Xspeed = X_RS2MOTSPD(cmd->Xspeed);
+    s.Yspeed = Y_RS2MOTSPD(cmd->Yspeed);
+    s.xychange = cmd->xychange;
+    s.XBits = cmd->XBits;
+    s.YBits = cmd->YBits;
+    if(SScmdS(&s)) return MCC_E_FAILED;
+    cmd->Xmot = X_MOT2RAD(s.Xmot);
+    cmd->Ymot = Y_MOT2RAD(s.Ymot);
+    cmd->Xspeed = X_MOTSPD2RS(s.Xspeed);
+    cmd->Yspeed = Y_MOTSPD2RS(s.Yspeed);
+    cmd->xychange = s.xychange;
+    cmd->XBits = s.XBits;
+    cmd->YBits = s.YBits;
+    return MCC_E_OK;
+}
+
+/**
+ * @brief shortcmd - send and receive long binary command
+ * @param cmd (io) - command
+ * @return errcode
+ */
+static mcc_errcodes_t longcmd(long_command_t *cmd){
+    if(!cmd) return MCC_E_BADFORMAT;
+    SSlcmd l = {0};
+    l.Xmot = X_RAD2MOT(cmd->Xmot);
+    l.Ymot = Y_RAD2MOT(cmd->Ymot);
+    l.Xspeed = X_RS2MOTSPD(cmd->Xspeed);
+    l.Yspeed = Y_RS2MOTSPD(cmd->Yspeed);
+    l.Xadder = X_RS2MOTSPD(cmd->Xadder);
+    l.Yadder = Y_RS2MOTSPD(cmd->Yadder);
+    l.Xatime = S2ADDER(cmd->Xatime);
+    l.Yatime = S2ADDER(cmd->Yatime);
+    if(SScmdL(&l)) return MCC_E_FAILED;
+    cmd->Xmot = X_MOT2RAD(l.Xmot);
+    cmd->Ymot = Y_MOT2RAD(l.Ymot);
+    cmd->Xspeed = X_MOTSPD2RS(l.Xspeed);
+    cmd->Yspeed = Y_MOTSPD2RS(l.Yspeed);
+    cmd->Xadder = X_MOTSPD2RS(l.Xadder);
+    cmd->Yadder = Y_MOTSPD2RS(l.Yadder);
+    cmd->Xatime = ADDER2S(l.Xatime);
+    cmd->Yatime = ADDER2S(l.Yatime);
+    return MCC_E_OK;
+}
+
 // init mount class
 mount_t Mount = {
     .init = init,
@@ -96,4 +154,6 @@ mount_t Mount = {
     .getMountData = getMD,
     .moveTo = move2,
     .emergStop = emstop,
+    .shortCmd = shortcmd,
+    .longCmd = longcmd,
 };

LibSidServo/serial.c

@@ -227,7 +227,8 @@ static void *mountthread(void _U_ *u){
     // data to get
     data_t d = {.buf = buf, .maxlen = sizeof(buf)};
     // cmd to send
-    const data_t *cmd_getstat = cmd2dat(CMD_GETSTAT);
+    data_t *cmd_getstat = cmd2dat(CMD_GETSTAT);
+    if(!cmd_getstat) goto failed;
     double t0 = dtime();
 /*
 #ifdef EBUG
@@ -256,6 +257,8 @@ static void *mountthread(void _U_ *u){
         while(dtime() - t0 < Conf.MountReqInterval);
         t0 = dtime();
     }
+    data_free(&cmd_getstat);
+failed:
     if(mntfd > -1){
         close(mntfd);
         mntfd = -1;

LibSidServo/sidservo.h

@@ -73,6 +73,27 @@ typedef struct{
     double voltage;
 } mountdata_t;
 
+typedef struct{
+    int32_t Xmot;       // 0  X motor position (rad)
+    int32_t Xspeed;     // 4  X speed (rad/s)
+    int32_t Ymot;       // 8
+    int32_t Yspeed;     // 12
+    uint8_t xychange;   // 16 change Xbits/Ybits value
+    uint8_t XBits;      // 17
+    uint8_t YBits;      // 18
+} short_command_t; // short command
+
+typedef struct{
+    int32_t Xmot;       // 0  X motor position (rad)
+    int32_t Xspeed;     // 4  X speed (rad/s)
+    int32_t Ymot;       // 8
+    int32_t Yspeed;     // 12
+    int32_t Xadder;     // 16 - X adder (rad/s)
+    int32_t Yadder;     // 20
+    int32_t Xatime;     // 24 X adder time, sec
+    int32_t Yatime;     // 28
+} long_command_t; // long command
+
 // mount class
 typedef struct{
     mcc_errcodes_t  (*init)(conf_t *c); // init device
@@ -80,6 +101,8 @@ typedef struct{
     mcc_errcodes_t  (*getMountData)(mountdata_t *d); // get last data
     mcc_errcodes_t  (*moveTo)(double X, double Y); // move to given position ans stop
     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
 } mount_t;
 
 extern mount_t Mount;

LibSidServo/ssii.c

@@ -174,3 +174,4 @@ int SSemergStop(){
     if(i == 10) return FALSE;
     return TRUE;
 }
+

LibSidServo/ssii.h

@@ -81,23 +81,29 @@
 // exit ASCII checksum mode
 #define CMD_EXITACM     ("YXY0\r\xb8")
 
-
-// timeout (seconds) of reading answer (from last symbol read)
-#define READTIMEOUT (0.05)
-
 // steps per revolution
-#define X_MOT_STEPSPERREV   (4394294.)
+//#define X_MOT_STEPSPERREV   (3325440.)
-#define Y_MOT_STEPSPERREV   (3325291.)
+#define X_MOT_STEPSPERREV   (3325952.)
+//#define Y_MOT_STEPSPERREV   (4394496.)
+#define Y_MOT_STEPSPERREV   (4394960.)
 
 // motor position to radians and back
 #define X_MOT2RAD(n)    (2.*M_PI * (double)n / X_MOT_STEPSPERREV)
 #define Y_MOT2RAD(n)    (2.*M_PI * (double)n / Y_MOT_STEPSPERREV)
 #define X_RAD2MOT(r)    ((uint32_t)(r / 2./M_PI * X_MOT_STEPSPERREV))
 #define Y_RAD2MOT(r)    ((uint32_t)(r / 2./M_PI * Y_MOT_STEPSPERREV))
+// motor speed in rad/s and back
+#define X_MOTSPD2RS(n)  (X_MOT2RAD(n)/65536.*1953.)
+#define X_RS2MOTSPD(r)  ((uint32_t)(X_RAD2MOT(r)*65536./1953.))
+#define Y_MOTSPD2RS(n)  (Y_MOT2RAD(n)/65536.*1953.)
+#define Y_RS2MOTSPD(r)  ((uint32_t)(Y_RAD2MOT(r)*65536./1953.))
+// adder time to seconds vice versa
+#define ADDER2S(a)  (a*1953.)
+#define S2ADDER(s)  (s/1953.)
 
 // encoder per revolution
-#define X_ENC_STEPSPERREV   (67108863.)
+#define X_ENC_STEPSPERREV   (67108864.)
-#define Y_ENC_STEPSPERREV   (67108863.)
+#define Y_ENC_STEPSPERREV   (67108864.)
 // encoder position to radians and back
 #define X_ENC2RAD(n)    (2.*M_PI * (double)n / X_ENC_STEPSPERREV)
 #define Y_ENC2RAD(n)    (2.*M_PI * (double)n / Y_ENC_STEPSPERREV)
@@ -131,8 +137,8 @@ typedef struct{ // 41 bytes
 }__attribute__((packed)) SSstat;
 
 typedef struct{
-    int32_t Xmot;       // 0  DEC motor position
+    int32_t Xmot;       // 0  X motor position
-    int32_t Xspeed;     // 4  DEC speed
+    int32_t Xspeed;     // 4  X speed
     int32_t Ymot;       // 8
     int32_t Yspeed;     // 12
     uint8_t xychange;   // 16 change Xbits/Ybits value
@@ -142,13 +148,13 @@ typedef struct{
 } __attribute__((packed)) SSscmd; // short command
 
 typedef struct{
-    int32_t Xmot;       // 0  DEC motor position
+    int32_t Xmot;       // 0  X motor position
-    int32_t Xspeed;     // 4  DEC speed
+    int32_t Xspeed;     // 4  X speed
     int32_t Ymot;       // 8
     int32_t Yspeed;     // 12
-    int32_t Xadder;     // 16 - DEC adder
+    int32_t Xadder;     // 16 - X adder
     int32_t Yadder;     // 20
-    int32_t Xatime;     // 24 DEC adder time
+    int32_t Xatime;     // 24 X adder time (1953 == 1s)
     int32_t Yatime;     // 28
     uint16_t checksum;  // 32
 } __attribute__((packed)) SSlcmd; // long command
@@ -162,3 +168,4 @@ int SSgetint(const char *cmd, int64_t *ans);
 int SSXmoveto(double pos);
 int SSYmoveto(double pos);
 int SSemergStop();
+int SSshortCmd(SSscmd *cmd);