...

LibSidServo/libsidservo.creator.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 15.0.1, 2025-02-19T23:05:54. -->
+<!-- Written by QtCreator 15.0.1, 2025-02-20T21:58:21. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

LibSidServo/main.c

@@ -61,10 +61,14 @@ static mcc_errcodes_t init(conf_t *c){
             ret = MCC_E_ENCODERDEV;
         }
     }
-    if(Conf.MountReqInterval > 1. || Conf.MountReqInterval < 0.001){
+    if(Conf.MountReqInterval > 1. || Conf.MountReqInterval < 0.05){
         DBG("Bad value of MountReqInterval");
         ret = MCC_E_BADFORMAT;
     }
+    char buf[1024];
+    data_t d = {.buf = buf, .len = 0, .maxlen = 1024};
+    // read input data as there may be some trash on start
+    if(!SSrawcmd(CMD_EXITACM, &d)) ret = MCC_E_FAILED;
     if(ret != MCC_E_OK) quit();
     return ret;
 }

LibSidServo/serial.c

@@ -398,6 +398,13 @@ int MountWriteRead(const data_t *out, data_t *in){
     pthread_mutex_unlock(&mntmutex);
     return ret;
 }
+// send binary data - without EOL
+int MountWriteReadRaw(const data_t *out, data_t *in){
+    pthread_mutex_lock(&mntmutex);
+    int ret = wr(out, in, 0);
+    pthread_mutex_unlock(&mntmutex);
+    return ret;
+}
 
 #ifdef EBUG
 static void logscmd(SSscmd *c){

LibSidServo/serial.h

@@ -36,5 +36,6 @@ int openMount(const char *path, int speed);
 void closeSerial();
 mcc_errcodes_t getMD(mountdata_t  *d);
 int MountWriteRead(const data_t *out, data_t *in);
+int MountWriteReadRaw(const data_t *out, data_t *in);
 int cmdS(SSscmd *cmd);
 int cmdL(SSlcmd *cmd);

LibSidServo/sidservo.h

@@ -73,6 +73,10 @@ typedef struct{
     double voltage;
 } mountdata_t;
 
+typedef struct{
+    ;
+} mountstat_t;
+
 typedef struct{
     double Xmot;        // 0  X motor position (rad)
     double Xspeed;      // 4  X speed (rad/s)

LibSidServo/ssii.c

@@ -90,6 +90,19 @@ int SStextcmd(const char *cmd, data_t *answer){
     return MountWriteRead(&d, answer);
 }
 
+// the same as SStextcmd, but not adding EOL - send raw 'cmd'
+int SSrawcmd(const char *cmd, data_t *answer){
+    if(!cmd){
+        DBG("try to send empty command");
+        return FALSE;
+    }
+    data_t d;
+    d.buf = (uint8_t*) cmd;
+    d.len = d.maxlen = strlen(cmd);
+    DBG("send %zd bytes: %s", d.len, d.buf);
+    return MountWriteReadRaw(&d, answer);
+}
+
 /**
  * @brief SSgetint - send text command and return integer answer
  * @param cmd (i) - command to send

LibSidServo/ssii.h

@@ -55,31 +55,80 @@
 #endif
 
 // get binary data of all statistics
-#define CMD_GETSTAT     ("XXS")
+#define CMD_GETSTAT     "XXS"
 // send short command
-#define CMD_SHORTCMD    ("XXR")
+#define CMD_SHORTCMD    "XXR"
 // send long command
-#define CMD_LONGCMD     ("YXR")
+#define CMD_LONGCMD     "YXR"
 // get/set X/Y in motsteps
-#define CMD_MOTX        ("X")
+#define CMD_MOTX        "X"
-#define CMD_MOTY        ("Y")
+#define CMD_MOTY        "Y"
-// -//- in encoders' ticks
+// set X/Y position with speed "sprintf(buf, "%s%d%s%d", CMD_MOTx, tagx, CMD_MOTxS, tags)
-#define CMD_ENCX        ("XZ")
+#define CMD_MOTXS       "S"
-#define CMD_ENCY        ("YZ")
+// reset current motor position to given value  (and stop, if moving)
+#define CMD_MOTXSET     "XF"
+#define CMD_MOTYSET     "YF"
+// acceleration (per each loop, max: 3900)
+#define CMD_MOTXACCEL   "XR"
+#define CMD_MOTYACCEL   "YR"
+// PID regulator:
+// P: 0..32767
+#define CMD_PIDPX       "XP"
+#define CMD_PIDPY       "YP"
+// I: 0..32767
+#define CMD_PIDIX       "XI"
+#define CMD_PIDIY       "YI"
+// limit of I (doesn't work): 0:24000 (WTF???)
+#define CMD_PIDILX      "XL"
+#define CMD_PIDILY      "YL"
+// D: 0..32767
+#define CMD_PIDDX       "XD"
+#define CMD_PIDDY       "YD"
+// current position error
+#define CMD_POSERRX     "XE"
+#define CMD_POSERRY     "YE"
+// max position error limit (X: E#, Y: e#)
+#define CMD_POSERRLIMX  "XEL"
+#define CMD_POSERRLIMY  "YEL"
+// current PWM output: 0..255 (or set max PWM out)
+#define CMD_PWMOUTX     "XO"
+#define CMD_PWMOUTY     "YO"
+// motor current *100 (or set current limit): 0..240
+#define CMD_MOTCURNTX   "XC"
+#define CMD_MOTCURNTY   "YC"
+// change axis to Manual mode and set the PWM output: -255:255
+#define CMD_MANUALPWMX  "XM"
+#define CMD_MANUALPWMY  "YM"
+// change axis to Auto mode
+#define CMD_AUTOX       "XA"
+#define CMD_AUTOY       "YA"
+// get positioin in encoders' ticks or reset it to given value
+#define CMD_ENCX        "XZ"
+#define CMD_ENCY        "YZ"
+// get/set speed (geter x: S#, getter y: s#)
+#define CMD_SPEEDX      "XS"
+#define CMD_SPEEDY      "YS"
 // normal stop X/Y
-#define CMD_STOPX       ("XN")
+#define CMD_STOPX       "XN"
-#define CMD_STOPY       ("YN")
+#define CMD_STOPY       "YN"
 // emergency stop
-#define CMD_EMSTOPX     ("XG")
+#define CMD_EMSTOPX     "XG"
-#define CMD_EMSTOPY     ("YG")
+#define CMD_EMSTOPY     "YG"
+// get/set X/Ybits
+#define CMD_BITSX       "XB"
+#define CMD_BITSY       "YB"
 // getters of motor's encoders per rev
-#define CMD_GETXMEPR    ("XXU")
+#define CMD_GETXMEPR    "XXU"
-#define CMD_GETYMEPR    ("XXV")
+#define CMD_GETYMEPR    "XXV"
 // -//- axis encoders
-#define CMD_GETXAEPR    ("XXT")
+#define CMD_GETXAEPR    "XXT"
-#define CMD_GETYAEPR    ("XXZ")
+#define CMD_GETYAEPR    "XXZ"
 // exit ASCII checksum mode
-#define CMD_EXITACM     ("YXY0\r\xb8")
+#define CMD_EXITACM     "YXY0\r\xb8"
+// controller status:
+// X# Y# XZ# YZ# XC# YC# V# T# X[AM] Y[AM] K#
+// X,Y - motor, XZ,YZ - encoder, XC,YC - current*100, V - voltage*10, T - temp (F), XA,YA - mode (A[uto]/M[anual]), K - handpad status bits
+#define CMD_GETSTAT     "\r"
 
 // steps per revolution
 //#define X_MOT_STEPSPERREV   (3325440.)
@@ -115,6 +164,29 @@
 #define XencTOL    (25.)
 
 
+typedef struct{
+    uint8_t motrev :1;      // If 1, the motor encoder is incremented in the opposite direction
+    uint8_t motpolarity :1; // If 1, the motor polarity is reversed
+    uint8_t encrev :1;      // If 1, the axis encoder is reversed
+    uint8_t dragtrack :1;   // If 1, we are in computerless Drag and Track mode
+    uint8_t trackplat :1;   // If 1, we are in the tracking platform mode
+    uint8_t handpaden :1;   // If 1, hand paddle is enabled
+    uint8_t newpad :1;      // If 1, hand paddle is compatible with New hand paddle, which allows slewing in two directions and guiding
+    uint8_t guidemode :1;   // If 1, we are in guide mode. The pan rate is added or subtracted from the current tracking rate
+} xbits_t;
+
+typedef struct{
+    uint8_t motrev :1;      // If 1, the motor encoder is incremented in the opposite direction
+    uint8_t motpolarity :1; // If 1, the motor polarity is reversed
+    uint8_t encrev :1;      // If 1, the axis encoder is reversed
+    /* If 1, we are in computerless Slew and Track mode
+       (no clutches; use handpad to slew; must be in Drag and Track mode too) */
+    uint8_t slewtrack :1;
+    uint8_t digin_sens :1; // Digital input from radio handpad receiver, or RA PEC Sensor sync
+    uint8_t digin :3; // Digital input from radio handpad receiver
+} ybits_t;
+
+
 // all need data in one
 typedef struct{ // 41 bytes
     uint8_t ctrlAddr;   // 0  a8 + controller address
@@ -123,8 +195,8 @@ typedef struct{ // 41 bytes
     int32_t Xenc;       // 9  Dec/HA encoder position
     int32_t Yenc;       // 13
     uint8_t keypad;     // 17 keypad status
-    uint8_t XBits;      // 18
+    xbits_t XBits;      // 18
-    uint8_t YBits;      // 19
+    ybits_t YBits;      // 19
     uint8_t ExtraBits;  // 20
     uint16_t ain0;      // 21 analog inputs
     uint16_t ain1;      // 23
@@ -162,6 +234,7 @@ typedef struct{
 uint16_t SScalcChecksum(uint8_t *buf, int len);
 void SSconvstat(const SSstat *status, mountdata_t *mountdata, struct timeval *tdat);
 int SStextcmd(const char *cmd, data_t *answer);
+int SSrawcmd(const char *cmd, data_t *answer);
 int SSgetint(const char *cmd, int64_t *ans);
 int SSXmoveto(double pos);
 int SSYmoveto(double pos);