add speed + a lot of refactoring

LibSidServo/main.c

@@ -66,6 +66,10 @@ static mcc_errcodes_t init(conf_t *c){
         DBG("Bad value of MountReqInterval");
         ret = MCC_E_BADFORMAT;
     }
+    if(Conf.EncoderSpeedInterval < Conf.EncoderReqInterval * MCC_CONF_MIN_SPEEDC || Conf.EncoderSpeedInterval > MCC_CONF_MAX_SPEEDINT){
+        DBG("Wrong speed interval");
+        ret = MCC_E_BADFORMAT;
+    }
     uint8_t buf[1024];
     data_t d = {.buf = buf, .len = 0, .maxlen = 1024};
     // read input data as there may be some trash on start
@@ -93,6 +97,12 @@ static int chkYs(double s){
     return TRUE;
 }
 
+static mcc_errcodes_t slew2(const coordpair_t *target, slewflags_t flags){
+    (void)target;
+    (void)flags;
+    return MCC_E_FAILED;
+}
+
 
 /**
  * @brief move2 - simple move to given point and stop
@@ -144,7 +154,7 @@ static mcc_errcodes_t setspeed(const double *X, const double *Y){
  * @param speed (i) - speed or NULL
  * @return
  */
-static mcc_errcodes_t move2s(const coords_t *target, const coords_t *speed){
+static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed){
     if(!target && !speed) return MCC_E_BADFORMAT;
     if(!target) return setspeed(&speed->X, &speed->Y);
     if(!speed) return move2(&target->X, &target->Y);
@@ -351,6 +361,7 @@ mount_t Mount = {
     .init = init,
     .quit = quit,
     .getMountData = getMD,
+    .slewTo = slew2,
     .moveTo = move2,
     .moveWspeed = move2s,
     .setSpeed = setspeed,
@@ -360,4 +371,5 @@ mount_t Mount = {
     .longCmd = longcmd,
     .getHWconfig = get_hwconf,
     .saveHWconfig = write_hwconf,
+    .currentT = dtime,
 };