.

fixed stupid bug
add more errors to model
2026-03-11 17:18:21 +03:00 · 2026-03-11 12:36:45 +03:00 · 2026-03-11 11:03:10 +03:00 · 2026-03-11 10:05:42 +03:00 · 2026-02-09 22:00:51 +03:00 · 2026-01-26 22:25:20 +03:00
185 changed files with 45462 additions and 1177 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,14 +2,21 @@ cmake_minimum_required(VERSION 3.14)


 #**********************************************
-#  Astrosib(c) BM-700 mount control software  *
+#  Astrosib(c) FM-700 mount control software  *
 #**********************************************

-project(ASIB_BM700 LANGUAGES C CXX)
+project(ASIB_FM700 LANGUAGES C CXX)

 set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})

 #
 # ******* C++ PART OF THE PROJECT *******

-add_subdirectory(cxx)
+set(EXAMPLES OFF CACHE BOOL "" FORCE)
+# set(CMAKE_BUILD_TYPE "Release")
+set(CMAKE_BUILD_TYPE "Debug")
+add_subdirectory(LibSidServo)
+
+# add_subdirectory(cxx)
+add_subdirectory(mcc)
+add_subdirectory(asibfm700)
--- a/LibSidServo/.qtcreator/libsidservo.creator.user
+++ b/LibSidServo/.qtcreator/libsidservo.creator.user
@@ -0,0 +1,218 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE QtCreatorProject>
+<!-- Written by QtCreator 18.0.0, 2026-03-11T12:36:26. -->
+<qtcreator>
+ <data>
+  <variable>EnvironmentId</variable>
+  <value type="QByteArray">{cf63021e-ef53-49b0-b03b-2f2570cdf3b6}</value>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.ActiveTarget</variable>
+  <value type="qlonglong">0</value>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.EditorSettings</variable>
+  <valuemap type="QVariantMap">
+   <value type="bool" key="EditorConfiguration.AutoDetect">true</value>
+   <value type="bool" key="EditorConfiguration.AutoIndent">true</value>
+   <value type="bool" key="EditorConfiguration.CamelCaseNavigation">true</value>
+   <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
+    <value type="QString" key="language">Cpp</value>
+    <valuemap type="QVariantMap" key="value">
+     <value type="QByteArray" key="CurrentPreferences">CppGlobal</value>
+    </valuemap>
+   </valuemap>
+   <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.1">
+    <value type="QString" key="language">QmlJS</value>
+    <valuemap type="QVariantMap" key="value">
+     <value type="QByteArray" key="CurrentPreferences">QmlJSGlobal</value>
+    </valuemap>
+   </valuemap>
+   <value type="qlonglong" key="EditorConfiguration.CodeStyle.Count">2</value>
+   <value type="QByteArray" key="EditorConfiguration.Codec">KOI8-R</value>
+   <value type="bool" key="EditorConfiguration.ConstrainTooltips">false</value>
+   <value type="int" key="EditorConfiguration.IndentSize">4</value>
+   <value type="bool" key="EditorConfiguration.KeyboardTooltips">false</value>
+   <value type="int" key="EditorConfiguration.LineEndingBehavior">0</value>
+   <value type="int" key="EditorConfiguration.MarginColumn">80</value>
+   <value type="bool" key="EditorConfiguration.MouseHiding">true</value>
+   <value type="bool" key="EditorConfiguration.MouseNavigation">true</value>
+   <value type="int" key="EditorConfiguration.PaddingMode">1</value>
+   <value type="int" key="EditorConfiguration.PreferAfterWhitespaceComments">0</value>
+   <value type="bool" key="EditorConfiguration.PreferSingleLineComments">false</value>
+   <value type="bool" key="EditorConfiguration.ScrollWheelZooming">false</value>
+   <value type="bool" key="EditorConfiguration.ShowMargin">false</value>
+   <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">1</value>
+   <value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
+   <value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
+   <value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
+   <value type="int" key="EditorConfiguration.TabSize">8</value>
+   <value type="bool" key="EditorConfiguration.UseGlobal">true</value>
+   <value type="bool" key="EditorConfiguration.UseIndenter">false</value>
+   <value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
+   <value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
+   <value type="bool" key="EditorConfiguration.cleanIndentation">true</value>
+   <value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
+   <value type="QString" key="EditorConfiguration.ignoreFileTypes">*.md, *.MD, Makefile</value>
+   <value type="bool" key="EditorConfiguration.inEntireDocument">true</value>
+   <value type="bool" key="EditorConfiguration.skipTrailingWhitespace">true</value>
+   <value type="bool" key="EditorConfiguration.tintMarginArea">true</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.PluginSettings</variable>
+  <valuemap type="QVariantMap">
+   <valuemap type="QVariantMap" key="AutoTest.ActiveFrameworks">
+    <value type="bool" key="AutoTest.Framework.Boost">true</value>
+    <value type="bool" key="AutoTest.Framework.CTest">false</value>
+    <value type="bool" key="AutoTest.Framework.Catch">true</value>
+    <value type="bool" key="AutoTest.Framework.GTest">true</value>
+    <value type="bool" key="AutoTest.Framework.QtQuickTest">true</value>
+    <value type="bool" key="AutoTest.Framework.QtTest">true</value>
+   </valuemap>
+   <value type="bool" key="AutoTest.ApplyFilter">false</value>
+   <valuemap type="QVariantMap" key="AutoTest.CheckStates"/>
+   <valuelist type="QVariantList" key="AutoTest.PathFilters"/>
+   <value type="int" key="AutoTest.RunAfterBuild">0</value>
+   <value type="bool" key="AutoTest.UseGlobal">true</value>
+   <valuemap type="QVariantMap" key="ClangTools">
+    <value type="bool" key="ClangTools.AnalyzeOpenFiles">true</value>
+    <value type="bool" key="ClangTools.BuildBeforeAnalysis">true</value>
+    <value type="QString" key="ClangTools.DiagnosticConfig">Builtin.DefaultTidyAndClazy</value>
+    <value type="int" key="ClangTools.ParallelJobs">4</value>
+    <value type="bool" key="ClangTools.PreferConfigFile">true</value>
+    <valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
+    <valuelist type="QVariantList" key="ClangTools.SelectedFiles"/>
+    <valuelist type="QVariantList" key="ClangTools.SuppressedDiagnostics"/>
+    <value type="bool" key="ClangTools.UseGlobalSettings">true</value>
+   </valuemap>
+   <value type="int" key="RcSync">0</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.Target.0</variable>
+  <valuemap type="QVariantMap">
+   <value type="QString" key="DeviceType">Desktop</value>
+   <value type="bool" key="HasPerBcDcs">true</value>
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{91347f2c-5221-46a7-80b1-0a054ca02f79}</value>
+   <value type="qlonglong" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
+   <value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
+   <value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
+   <valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
+    <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/eddy/Docs/SAO/10micron/C-sources/erfa_functions</value>
+    <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
+     <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
+      <valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
+       <value type="QString">all</value>
+      </valuelist>
+      <value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
+     </valuemap>
+     <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Build</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Build</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value>
+    </valuemap>
+    <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.1">
+     <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
+      <valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
+       <value type="QString">clean</value>
+      </valuelist>
+      <value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
+     </valuemap>
+     <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Clean</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Clean</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
+    </valuemap>
+    <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
+    <value type="bool" key="ProjectExplorer.BuildConfiguration.ClearSystemEnvironment">false</value>
+    <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.CustomParsers"/>
+    <value type="bool" key="ProjectExplorer.BuildConfiguration.ParseStandardOutput">false</value>
+    <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">По умолчанию</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericBuildConfiguration</value>
+    <value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
+    <value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
+    <valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
+     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
+      <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Deploy</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
+     </valuemap>
+     <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
+     <valuemap type="QVariantMap" key="ProjectExplorer.DeployConfiguration.CustomData"/>
+     <value type="bool" key="ProjectExplorer.DeployConfiguration.CustomDataEnabled">false</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
+    </valuemap>
+    <value type="qlonglong" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
+    <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
+     <value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
+     <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
+     <value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
+     <value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
+     <value type="QList&lt;int&gt;" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
+     <valuelist type="QVariantList" key="CustomOutputParsers"/>
+     <value type="int" key="PE.EnvironmentAspect.Base">2</value>
+     <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
+     <value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
+     <value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
+     <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
+     <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
+     <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
+     <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
+     <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
+    </valuemap>
+    <value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
+   </valuemap>
+   <value type="qlonglong" key="ProjectExplorer.Target.BuildConfigurationCount">1</value>
+   <valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
+    <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
+     <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Deploy</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
+    </valuemap>
+    <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
+    <valuemap type="QVariantMap" key="ProjectExplorer.DeployConfiguration.CustomData"/>
+    <value type="bool" key="ProjectExplorer.DeployConfiguration.CustomDataEnabled">false</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
+   </valuemap>
+   <value type="qlonglong" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
+   <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
+    <value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
+    <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
+    <value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
+    <value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
+    <value type="QList&lt;int&gt;" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
+    <valuelist type="QVariantList" key="CustomOutputParsers"/>
+    <value type="int" key="PE.EnvironmentAspect.Base">2</value>
+    <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
+    <value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
+    <value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
+    <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
+    <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
+    <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
+    <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
+    <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
+   </valuemap>
+   <value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.TargetCount</variable>
+  <value type="qlonglong">1</value>
+ </data>
+ <data>
+  <variable>Version</variable>
+  <value type="int">22</value>
+ </data>
+</qtcreator>
--- a/LibSidServo/.qtcreator/libsidservo.creator.user.cf63021
+++ b/LibSidServo/.qtcreator/libsidservo.creator.user.cf63021
@@ -0,0 +1,218 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE QtCreatorProject>
+<!-- Written by QtCreator 18.0.0, 2025-11-27T17:22:09. -->
+<qtcreator>
+ <data>
+  <variable>EnvironmentId</variable>
+  <value type="QByteArray">{cf63021e-ef53-49b0-b03b-2f2570cdf3b6}</value>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.ActiveTarget</variable>
+  <value type="qlonglong">0</value>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.EditorSettings</variable>
+  <valuemap type="QVariantMap">
+   <value type="bool" key="EditorConfiguration.AutoDetect">true</value>
+   <value type="bool" key="EditorConfiguration.AutoIndent">true</value>
+   <value type="bool" key="EditorConfiguration.CamelCaseNavigation">true</value>
+   <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
+    <value type="QString" key="language">Cpp</value>
+    <valuemap type="QVariantMap" key="value">
+     <value type="QByteArray" key="CurrentPreferences">CppGlobal</value>
+    </valuemap>
+   </valuemap>
+   <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.1">
+    <value type="QString" key="language">QmlJS</value>
+    <valuemap type="QVariantMap" key="value">
+     <value type="QByteArray" key="CurrentPreferences">QmlJSGlobal</value>
+    </valuemap>
+   </valuemap>
+   <value type="qlonglong" key="EditorConfiguration.CodeStyle.Count">2</value>
+   <value type="QByteArray" key="EditorConfiguration.Codec">KOI8-R</value>
+   <value type="bool" key="EditorConfiguration.ConstrainTooltips">false</value>
+   <value type="int" key="EditorConfiguration.IndentSize">4</value>
+   <value type="bool" key="EditorConfiguration.KeyboardTooltips">false</value>
+   <value type="int" key="EditorConfiguration.LineEndingBehavior">0</value>
+   <value type="int" key="EditorConfiguration.MarginColumn">80</value>
+   <value type="bool" key="EditorConfiguration.MouseHiding">true</value>
+   <value type="bool" key="EditorConfiguration.MouseNavigation">true</value>
+   <value type="int" key="EditorConfiguration.PaddingMode">1</value>
+   <value type="int" key="EditorConfiguration.PreferAfterWhitespaceComments">0</value>
+   <value type="bool" key="EditorConfiguration.PreferSingleLineComments">false</value>
+   <value type="bool" key="EditorConfiguration.ScrollWheelZooming">false</value>
+   <value type="bool" key="EditorConfiguration.ShowMargin">false</value>
+   <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">1</value>
+   <value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
+   <value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
+   <value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
+   <value type="int" key="EditorConfiguration.TabSize">8</value>
+   <value type="bool" key="EditorConfiguration.UseGlobal">true</value>
+   <value type="bool" key="EditorConfiguration.UseIndenter">false</value>
+   <value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
+   <value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
+   <value type="bool" key="EditorConfiguration.cleanIndentation">true</value>
+   <value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
+   <value type="QString" key="EditorConfiguration.ignoreFileTypes">*.md, *.MD, Makefile</value>
+   <value type="bool" key="EditorConfiguration.inEntireDocument">true</value>
+   <value type="bool" key="EditorConfiguration.skipTrailingWhitespace">true</value>
+   <value type="bool" key="EditorConfiguration.tintMarginArea">true</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.PluginSettings</variable>
+  <valuemap type="QVariantMap">
+   <valuemap type="QVariantMap" key="AutoTest.ActiveFrameworks">
+    <value type="bool" key="AutoTest.Framework.Boost">true</value>
+    <value type="bool" key="AutoTest.Framework.CTest">false</value>
+    <value type="bool" key="AutoTest.Framework.Catch">true</value>
+    <value type="bool" key="AutoTest.Framework.GTest">true</value>
+    <value type="bool" key="AutoTest.Framework.QtQuickTest">true</value>
+    <value type="bool" key="AutoTest.Framework.QtTest">true</value>
+   </valuemap>
+   <value type="bool" key="AutoTest.ApplyFilter">false</value>
+   <valuemap type="QVariantMap" key="AutoTest.CheckStates"/>
+   <valuelist type="QVariantList" key="AutoTest.PathFilters"/>
+   <value type="int" key="AutoTest.RunAfterBuild">0</value>
+   <value type="bool" key="AutoTest.UseGlobal">true</value>
+   <valuemap type="QVariantMap" key="ClangTools">
+    <value type="bool" key="ClangTools.AnalyzeOpenFiles">true</value>
+    <value type="bool" key="ClangTools.BuildBeforeAnalysis">true</value>
+    <value type="QString" key="ClangTools.DiagnosticConfig">Builtin.DefaultTidyAndClazy</value>
+    <value type="int" key="ClangTools.ParallelJobs">4</value>
+    <value type="bool" key="ClangTools.PreferConfigFile">true</value>
+    <valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
+    <valuelist type="QVariantList" key="ClangTools.SelectedFiles"/>
+    <valuelist type="QVariantList" key="ClangTools.SuppressedDiagnostics"/>
+    <value type="bool" key="ClangTools.UseGlobalSettings">true</value>
+   </valuemap>
+   <value type="int" key="RcSync">0</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.Target.0</variable>
+  <valuemap type="QVariantMap">
+   <value type="QString" key="DeviceType">Desktop</value>
+   <value type="bool" key="HasPerBcDcs">true</value>
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{91347f2c-5221-46a7-80b1-0a054ca02f79}</value>
+   <value type="qlonglong" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
+   <value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
+   <value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
+   <valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
+    <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/eddy/Docs/SAO/10micron/C-sources/erfa_functions</value>
+    <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
+     <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
+      <valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
+       <value type="QString">all</value>
+      </valuelist>
+      <value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
+     </valuemap>
+     <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Build</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Build</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value>
+    </valuemap>
+    <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.1">
+     <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
+      <valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
+       <value type="QString">clean</value>
+      </valuelist>
+      <value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
+     </valuemap>
+     <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Clean</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Clean</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
+    </valuemap>
+    <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
+    <value type="bool" key="ProjectExplorer.BuildConfiguration.ClearSystemEnvironment">false</value>
+    <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.CustomParsers"/>
+    <value type="bool" key="ProjectExplorer.BuildConfiguration.ParseStandardOutput">false</value>
+    <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">По умолчанию</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericBuildConfiguration</value>
+    <value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
+    <value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
+    <valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
+     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
+      <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Deploy</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
+     </valuemap>
+     <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
+     <valuemap type="QVariantMap" key="ProjectExplorer.DeployConfiguration.CustomData"/>
+     <value type="bool" key="ProjectExplorer.DeployConfiguration.CustomDataEnabled">false</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
+    </valuemap>
+    <value type="qlonglong" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
+    <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
+     <value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
+     <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
+     <value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
+     <value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
+     <value type="QList&lt;int&gt;" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
+     <valuelist type="QVariantList" key="CustomOutputParsers"/>
+     <value type="int" key="PE.EnvironmentAspect.Base">2</value>
+     <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
+     <value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
+     <value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
+     <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
+     <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
+     <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
+     <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
+     <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
+    </valuemap>
+    <value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
+   </valuemap>
+   <value type="qlonglong" key="ProjectExplorer.Target.BuildConfigurationCount">1</value>
+   <valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
+    <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
+     <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Deploy</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
+    </valuemap>
+    <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
+    <valuemap type="QVariantMap" key="ProjectExplorer.DeployConfiguration.CustomData"/>
+    <value type="bool" key="ProjectExplorer.DeployConfiguration.CustomDataEnabled">false</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
+   </valuemap>
+   <value type="qlonglong" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
+   <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
+    <value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
+    <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
+    <value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
+    <value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
+    <value type="QList&lt;int&gt;" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
+    <valuelist type="QVariantList" key="CustomOutputParsers"/>
+    <value type="int" key="PE.EnvironmentAspect.Base">2</value>
+    <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
+    <value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
+    <value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
+    <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
+    <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
+    <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
+    <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
+    <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
+   </valuemap>
+   <value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.TargetCount</variable>
+  <value type="qlonglong">1</value>
+ </data>
+ <data>
+  <variable>Version</variable>
+  <value type="int">22</value>
+ </data>
+</qtcreator>
--- a/LibSidServo/PID.c
+++ b/LibSidServo/PID.c
@@ -84,49 +84,51 @@ typedef struct{
 * @return calculated new speed or -1 for max speed
 */
 static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t *axis){
-    if(tagpos->t < axis->position.t || tagpos->t - axis->position.t > MCC_PID_MAX_DT){
-        DBG("target time: %g, axis time: %g - too big! (%g)", tagpos->t, axis->position.t, MCC_PID_MAX_DT);
+    double dt = timediff(&tagpos->t, &axis->position.t);
+    if(dt < 0 || dt > Conf.PIDMaxDt){
+        DBG("target time: %ld, axis time: %ld - too big! (tag-ax=%g)", tagpos->t.tv_sec, axis->position.t.tv_sec, dt);
        return axis->speed.val; // data is too old or wrong
    }
    double error = tagpos->val - axis->position.val, fe = fabs(error);
+    DBG("error: %g", error);
    PIDController_t *pid = NULL;
    switch(axis->state){
        case AXIS_SLEWING:
-            if(fe < MCC_MAX_POINTING_ERR){
+            if(fe < Conf.MaxPointingErr){
                axis->state = AXIS_POINTING;
                DBG("--> Pointing");
                pid = pidpair->PIDC;
            }else{
                DBG("Slewing...");
-                return -1.; // max speed for given axis
+                return NAN; // max speed for given axis
            }
            break;
        case AXIS_POINTING:
-            if(fe < MCC_MAX_GUIDING_ERR){
+            if(fe < Conf.MaxFinePointingErr){
                axis->state = AXIS_GUIDING;
                DBG("--> Guiding");
                pid = pidpair->PIDV;
-            }else if(fe > MCC_MAX_POINTING_ERR){
+            }else if(fe > Conf.MaxPointingErr){
                DBG("--> Slewing");
                axis->state = AXIS_SLEWING;
-                return -1.;
+                return NAN;
            } else pid = pidpair->PIDC;
            break;
        case AXIS_GUIDING:
            pid = pidpair->PIDV;
-            if(fe > MCC_MAX_GUIDING_ERR){
+            if(fe > Conf.MaxFinePointingErr){
                DBG("--> Pointing");
                axis->state = AXIS_POINTING;
                pid = pidpair->PIDC;
-            }else if(fe < MCC_MAX_ATTARGET_ERR){
+            }else if(fe < Conf.MaxGuidingErr){
                DBG("At target");
                // TODO: we can point somehow that we are at target or introduce new axis state
            }else DBG("Current error: %g", fe);
            break;
        case AXIS_STOPPED: // start pointing to target; will change speed next time
-            DBG("AXIS STOPPED!!!!");
+            DBG("AXIS STOPPED!!!! --> Slewing");
            axis->state = AXIS_SLEWING;
-            return -1.;
+            return getspeed(tagpos, pidpair, axis);
        case AXIS_ERROR:
            DBG("Can't move from erroneous state");
            return 0.;
@@ -135,16 +137,16 @@ static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t
        DBG("WTF? Where is a PID?");
        return axis->speed.val;
    }
-    if(tagpos->t < pid->prevT || tagpos->t - pid->prevT > MCC_PID_MAX_DT){
+    double dtpid = timediff(&tagpos->t, &pid->prevT);
+    if(dtpid < 0 || dtpid > Conf.PIDMaxDt){
        DBG("time diff too big: clear PID");
        pid_clear(pid);
    }
-    double dt = tagpos->t - pid->prevT;
-    if(dt > MCC_PID_MAX_DT) dt = MCC_PID_CYCLE_TIME;
+    if(dtpid > Conf.PIDMaxDt) dtpid = Conf.PIDCycleDt;
    pid->prevT = tagpos->t;
-    DBG("CALC PID (er=%g, dt=%g), state=%d", error, dt, axis->state);
-    double tagspeed = pid_calculate(pid, error, dt);
-    if(axis->state == AXIS_GUIDING) return axis->speed.val + tagspeed / dt; // velocity-based
+    DBG("CALC PID (er=%g, dt=%g), state=%d", error, dtpid, axis->state);
+    double tagspeed = pid_calculate(pid, error, dtpid);
+    if(axis->state == AXIS_GUIDING) return axis->speed.val + tagspeed / dtpid; // velocity-based
    return tagspeed; // coordinate-based
 }

@@ -154,22 +156,23 @@ static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t
 * @param endpoint - stop point (some far enough point to stop in case of hang)
 * @return error code
 */
-mcc_errcodes_t correct2(const coordval_pair_t *target, const coordpair_t *endpoint){
+mcc_errcodes_t correct2(const coordval_pair_t *target){
    static PIDpair_t pidX = {0}, pidY = {0};
    if(!pidX.PIDC){
-        pidX.PIDC = pid_create(&Conf.XPIDC, MCC_PID_CYCLE_TIME / MCC_PID_REFRESH_DT);
+        pidX.PIDC = pid_create(&Conf.XPIDC, Conf.PIDCycleDt / Conf.PIDRefreshDt);
        if(!pidX.PIDC) return MCC_E_FATAL;
-        pidX.PIDV = pid_create(&Conf.XPIDV, MCC_PID_CYCLE_TIME / MCC_PID_REFRESH_DT);
+        pidX.PIDV = pid_create(&Conf.XPIDV, Conf.PIDCycleDt / Conf.PIDRefreshDt);
        if(!pidX.PIDV) return MCC_E_FATAL;
    }
    if(!pidY.PIDC){
-        pidY.PIDC = pid_create(&Conf.YPIDC, MCC_PID_CYCLE_TIME / MCC_PID_REFRESH_DT);
+        pidY.PIDC = pid_create(&Conf.YPIDC, Conf.PIDCycleDt / Conf.PIDRefreshDt);
        if(!pidY.PIDC) return MCC_E_FATAL;
-        pidY.PIDV = pid_create(&Conf.YPIDV, MCC_PID_CYCLE_TIME / MCC_PID_REFRESH_DT);
+        pidY.PIDV = pid_create(&Conf.YPIDV, Conf.PIDCycleDt / Conf.PIDRefreshDt);
        if(!pidY.PIDV) return MCC_E_FATAL;
    }
    mountdata_t m;
-    coordpair_t tagspeed;
+    coordpair_t tagspeed; // absolute value of speed
+    double Xsign = 1., Ysign = 1.; // signs of speed (for target calculation)
    if(MCC_E_OK != Mount.getMountData(&m)) return MCC_E_FAILED;
    axisdata_t axis;
    DBG("state: %d/%d", m.Xstate, m.Ystate);
@@ -177,20 +180,42 @@ mcc_errcodes_t correct2(const coordval_pair_t *target, const coordpair_t *endpoi
    axis.position = m.encXposition;
    axis.speed = m.encXspeed;
    tagspeed.X = getspeed(&target->X, &pidX, &axis);
-    if(tagspeed.X < 0.) tagspeed.X = -tagspeed.X;
-    if(tagspeed.X > MCC_MAX_X_SPEED) tagspeed.X = MCC_MAX_X_SPEED;
+    if(isnan(tagspeed.X)){ // max speed
+        if(target->X.val < axis.position.val) Xsign = -1.;
+        tagspeed.X = Xlimits.max.speed;
+    }else{
+        if(tagspeed.X < 0.){ tagspeed.X = -tagspeed.X; Xsign = -1.; }
+        if(tagspeed.X > Xlimits.max.speed) tagspeed.X = Xlimits.max.speed;
+    }
    axis_status_t xstate = axis.state;
    axis.state = m.Ystate;
    axis.position = m.encYposition;
    axis.speed = m.encYspeed;
    tagspeed.Y = getspeed(&target->Y, &pidY, &axis);
-    if(tagspeed.Y < 0.) tagspeed.Y = -tagspeed.Y;
-    if(tagspeed.Y > MCC_MAX_Y_SPEED) tagspeed.Y = MCC_MAX_Y_SPEED;
+    if(isnan(tagspeed.Y)){ // max speed
+        if(target->Y.val < axis.position.val) Ysign = -1.;
+        tagspeed.Y = Ylimits.max.speed;
+    }else{
+        if(tagspeed.Y < 0.){ tagspeed.Y = -tagspeed.Y; Ysign = -1.; }
+        if(tagspeed.Y > Ylimits.max.speed) tagspeed.Y = Ylimits.max.speed;
+    }
    axis_status_t ystate = axis.state;
    if(m.Xstate != xstate || m.Ystate != ystate){
        DBG("State changed");
        setStat(xstate, ystate);
    }
-    DBG("TAG speeds: %g/%g", tagspeed.X, tagspeed.Y);
-    return Mount.moveWspeed(endpoint, &tagspeed);
+    coordpair_t endpoint;
+    // allow at least PIDMaxDt moving with target speed
+    double dv = fabs(tagspeed.X - m.encXspeed.val);
+    double adder = dv/Xlimits.max.accel * (m.encXspeed.val + dv / 2.) // distanse with changing speed
+                   + Conf.PIDMaxDt * tagspeed.X // PIDMaxDt const speed moving
+                   + tagspeed.X * tagspeed.X / Xlimits.max.accel / 2.; // stopping
+    endpoint.X = m.encXposition.val + Xsign * adder;
+    dv = fabs(tagspeed.Y - m.encYspeed.val);
+    adder = dv/Ylimits.max.accel * (m.encYspeed.val + dv / 2.)
+            + Conf.PIDMaxDt * tagspeed.Y
+            + tagspeed.Y * tagspeed.Y / Ylimits.max.accel / 2.;
+    endpoint.Y = m.encYposition.val + Ysign * adder;
+    DBG("TAG speeds: %g/%g (deg/s); TAG pos: %g/%g (deg)", tagspeed.X/M_PI*180., tagspeed.Y/M_PI*180., endpoint.X/M_PI*180., endpoint.Y/M_PI*180.);
+    return Mount.moveWspeed(&endpoint, &tagspeed);
 }
--- a/LibSidServo/PID.h
+++ b/LibSidServo/PID.h
@@ -27,7 +27,7 @@ typedef struct {
    double prev_error;  // Previous error
    double integral;    // Integral term
    double *pidIarray;  // array for Integral
-    double prevT;       // time of previous correction
+    struct timespec prevT; // time of previous correction
    size_t pidIarrSize; // it's size
    size_t curIidx;     // and index of current element
 } PIDController_t;
@@ -37,4 +37,4 @@ void pid_clear(PIDController_t *pid);
 void pid_delete(PIDController_t **pid);
 double pid_calculate(PIDController_t *pid, double error, double dt);

-mcc_errcodes_t  correct2(const coordval_pair_t *target, const coordpair_t *endpoint);
+mcc_errcodes_t  correct2(const coordval_pair_t *target);
--- a/LibSidServo/TODO
+++ b/LibSidServo/TODO
@@ -1,2 +1,3 @@
-1. PID: slew2
-
+fix encoders opening for several tries
+encoderthread2() - change main cycle (remove pause, read data independently, ask for new only after timeout after last request)
+Read HW config even in model mode
--- a/LibSidServo/dbg.h
+++ b/LibSidServo/dbg.h
@@ -1,64 +0,0 @@
-/*
- * 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 <stdlib.h>
-
-#include "sidservo.h"
-
-extern conf_t Conf;
-
-// unused arguments of functions
-#define _U_         __attribute__((__unused__))
-// break absent in `case`
-#define FALLTHRU    __attribute__ ((fallthrough))
-// and synonym for FALLTHRU
-#define NOBREAKHERE __attribute__ ((fallthrough))
-// weak functions
-#define WEAK        __attribute__ ((weak))
-
-#ifndef DBL_EPSILON
-#define DBL_EPSILON        (2.2204460492503131e-16)
-#endif
-
-#ifndef FALSE
-#define FALSE (0)
-#endif
-
-#ifndef TRUE
-#define TRUE (1)
-#endif
-
-
-#ifdef EBUG
-#include <stdio.h>
-    #define COLOR_RED           "\033[1;31;40m"
-    #define COLOR_GREEN         "\033[1;32;40m"
-    #define COLOR_OLD           "\033[0;0;0m"
-    #define FNAME() do{ fprintf(stderr, COLOR_GREEN "\n%s " COLOR_OLD, __func__); \
-    fprintf(stderr, "(%s, line %d)\n", __FILE__, __LINE__);} while(0)
-    #define DBG(...) do{ fprintf(stderr, COLOR_RED "\n%s " COLOR_OLD, __func__); \
-        fprintf(stderr, "(%s, line %d): ", __FILE__, __LINE__); \
-        fprintf(stderr, __VA_ARGS__);           \
-        fprintf(stderr, "\n");} while(0)
-
-#else  // EBUG
-    #define FNAME()
-    #define DBG(...)
-#endif // EBUG
--- a/LibSidServo/examples/SSIIconf.c
+++ b/LibSidServo/examples/SSIIconf.c
@@ -34,7 +34,9 @@ typedef struct{

 static hardware_configuration_t HW = {0};

-static parameters G = {0};
+static parameters G = {
+    .conffile = "servo.conf",
+};

 static sl_option_t cmdlnopts[] = {
    {"help",        NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),      "show this help"},
@@ -53,7 +55,7 @@ static sl_option_t confopts[] = {

 static void dumpaxis(char axis, axis_config_t *c){
 #define STRUCTPAR(p)    (c)->p
-#define DUMP(par) do{printf("%c%s=%g\n", axis, #par, STRUCTPAR(par));}while(0)
+#define DUMP(par) do{printf("%c%s=%.10g\n", axis, #par, STRUCTPAR(par));}while(0)
 #define DUMPD(par) do{printf("%c%s=%g\n", axis, #par, RAD2DEG(STRUCTPAR(par)));}while(0)
    DUMPD(accel);
    DUMPD(backlash);
@@ -64,6 +66,8 @@ static void dumpaxis(char axis, axis_config_t *c){
    DUMP(outplimit);
    DUMP(currlimit);
    DUMP(intlimit);
+    DUMP(motor_stepsperrev);
+    DUMP(axis_stepsperrev);
 #undef DUMP
 #undef DUMPD
 }
--- a/LibSidServo/examples/conf.c
+++ b/LibSidServo/examples/conf.c
@@ -24,25 +24,32 @@
 static conf_t Config = {
    .MountDevPath = "/dev/ttyUSB0",
    .MountDevSpeed = 19200,
-    .EncoderXDevPath = "/dev/encoderX0",
-    .EncoderYDevPath = "/dev/encoderY0",
+    .EncoderXDevPath = "/dev/encoder_X0",
+    .EncoderYDevPath = "/dev/encoder_Y0",
    .EncoderDevSpeed = 153000,
    .MountReqInterval = 0.1,
-    .EncoderReqInterval = 0.05,
+    .EncoderReqInterval = 0.001,
    .SepEncoder = 2,
-    .EncoderSpeedInterval = 0.1,
-    .XPIDC.P = 0.8,
+    .EncoderSpeedInterval = 0.05,
+    .EncodersDisagreement = 1e-5, // 2''
+    .PIDMaxDt = 1.,
+    .PIDRefreshDt = 0.1,
+    .PIDCycleDt = 5.,
+    .XPIDC.P = 0.5,
    .XPIDC.I = 0.1,
-    .XPIDC.D = 0.3,
-    .XPIDV.P = 1.,
-    .XPIDV.I = 0.01,
-    .XPIDV.D = 0.2,
-    .YPIDC.P = 0.8,
+    .XPIDC.D = 0.2,
+    .XPIDV.P = 0.09,
+    .XPIDV.I = 0.0,
+    .XPIDV.D = 0.05,
+    .YPIDC.P = 0.5,
    .YPIDC.I = 0.1,
-    .YPIDC.D = 0.3,
-    .YPIDV.P = 0.5,
-    .YPIDV.I = 0.2,
-    .YPIDV.D = 0.5,
+    .YPIDC.D = 0.2,
+    .YPIDV.P = 0.09,
+    .YPIDV.I = 0.0,
+    .YPIDV.D = 0.05,
+    .MaxPointingErr = 0.13962634,
+    .MaxFinePointingErr = 0.026179939,
+    .MaxGuidingErr = 4.8481368e-7,
 };

 static sl_option_t opts[] = {
@@ -50,13 +57,17 @@ static sl_option_t opts[] = {
    {"MountDevSpeed",   NEED_ARG,   NULL,   0,  arg_int,    APTR(&Config.MountDevSpeed),    "serial speed of mount device"},
    {"EncoderDevPath",  NEED_ARG,   NULL,   0,  arg_string, APTR(&Config.EncoderDevPath),   "path to encoder device"},
    {"EncoderDevSpeed", NEED_ARG,   NULL,   0,  arg_int,    APTR(&Config.EncoderDevSpeed),  "serial speed of encoder device"},
-    {"MountReqInterval",NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.MountReqInterval), "interval of mount requests (not less than 0.05s)"},
-    {"EncoderReqInterval",NEED_ARG, NULL,   0,  arg_double, APTR(&Config.EncoderReqInterval),"interval of encoder requests (in case of sep=2)"},
-    {"SepEncoder",      NO_ARGS,    NULL,   0,  arg_int,    APTR(&Config.SepEncoder),       "encoder is separate device (1 - one device, 2 - two devices)"},
+    {"SepEncoder",      NEED_ARG,   NULL,   0,  arg_int,    APTR(&Config.SepEncoder),       "encoder is separate device (1 - one device, 2 - two devices)"},
    {"EncoderXDevPath", NEED_ARG,   NULL,   0,  arg_string, APTR(&Config.EncoderXDevPath),  "path to X encoder (/dev/encoderX0)"},
    {"EncoderYDevPath", NEED_ARG,   NULL,   0,  arg_string, APTR(&Config.EncoderYDevPath),  "path to Y encoder (/dev/encoderY0)"},
+    {"EncodersDisagreement", NEED_ARG,NULL, 0,  arg_double, APTR(&Config.EncodersDisagreement),"acceptable disagreement between motor and axis encoders"},
+    {"MountReqInterval",NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.MountReqInterval), "interval of mount requests (not less than 0.05s)"},
+    {"EncoderReqInterval",NEED_ARG, NULL,   0,  arg_double, APTR(&Config.EncoderReqInterval),"interval of encoder requests (in case of sep=2)"},
    {"EncoderSpeedInterval", NEED_ARG,NULL, 0,  arg_double, APTR(&Config.EncoderSpeedInterval),"interval of speed calculations, s"},
    {"RunModel",        NEED_ARG,   NULL,   0,  arg_int,    APTR(&Config.RunModel),         "instead of real hardware run emulation"},
+    {"PIDMaxDt",        NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.PIDMaxDt),         "maximal PID refresh time interval (if larger all old data will be cleared)"},
+    {"PIDRefreshDt",    NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.PIDRefreshDt),     "normal PID refresh interval by master process"},
+    {"PIDCycleDt",      NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.PIDCycleDt),       "PID I cycle time (analog of \"RC\" for PID on opamps)"},
    {"XPIDCP",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.XPIDC.P),          "P of X PID (coordinate driven)"},
    {"XPIDCI",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.XPIDC.I),          "I of X PID (coordinate driven)"},
    {"XPIDCD",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.XPIDC.D),          "D of X PID (coordinate driven)"},
@@ -69,6 +80,12 @@ static sl_option_t opts[] = {
    {"YPIDVP",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.YPIDV.P),          "P of Y PID (velocity driven)"},
    {"YPIDVI",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.YPIDV.I),          "I of Y PID (velocity driven)"},
    {"YPIDVD",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.YPIDV.D),          "D of Y PID (velocity driven)"},
+    {"MaxPointingErr",  NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.MaxPointingErr),   "if angle < this, change state from \"slewing\" to \"pointing\" (coarse pointing): 8 degrees"},
+    {"MaxFinePointingErr",NEED_ARG, NULL,   0,  arg_double, APTR(&Config.MaxFinePointingErr), "if angle < this, chane state from \"pointing\" to \"guiding\" (fine poinging): 1.5 deg"},
+    {"MaxGuidingErr",   NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.MaxGuidingErr),    "if error less than this value we suppose that target is captured and guiding is good (true guiding): 0.1''"},
+    {"XEncZero",        NEED_ARG,   NULL,   0,  arg_int,    APTR(&Config.XEncZero),         "X axis encoder approximate zero position"},
+    {"YEncZero",        NEED_ARG,   NULL,   0,  arg_int,    APTR(&Config.YEncZero),         "Y axis encoder approximate zero position"},
+    // {"",NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.), ""},
    end_option
 };

@@ -93,5 +110,19 @@ void dumpConf(){
 }

 void confHelp(){
-    sl_showhelp(-1, opts);
+    sl_conf_showhelp(-1, opts);
+}
+
+const char* errcodes[MCC_E_AMOUNT] = {
+    [MCC_E_OK] = "OK",
+    [MCC_E_FATAL] = "Fatal error",
+    [MCC_E_BADFORMAT] = "Wrong data format",
+    [MCC_E_ENCODERDEV] = "Encoder error",
+    [MCC_E_MOUNTDEV] = "Mount error",
+    [MCC_E_FAILED] = "Failed to run"
+};
+// return string with error code
+const char *EcodeStr(mcc_errcodes_t e){
+    if(e >= MCC_E_AMOUNT) return "Wrong error code";
+    return errcodes[e];
 }
--- a/LibSidServo/examples/conf.h
+++ b/LibSidServo/examples/conf.h
@@ -25,3 +25,4 @@
 void confHelp();
 conf_t *readServoConf(const char *filename);
 void dumpConf();
+const char *EcodeStr(mcc_errcodes_t e);
--- a/LibSidServo/examples/dump.c
+++ b/LibSidServo/examples/dump.c
@@ -23,6 +23,9 @@
 #include "dump.h"
 #include "simpleconv.h"

+// starting dump time (to conform different logs)
+static struct timespec dumpT0 = {0};
+
 #if 0
 // amount of elements used for encoders' data filtering
 #define NFILT	(10)
@@ -59,6 +62,12 @@ static double filter(double val, int idx){
 }
 #endif

+// return starting time of dump
+void dumpt0(struct timespec *t){
+    if(t) *t = dumpT0;
+}
+
+
 /**
 * @brief logmnt - log mount data into file
 * @param fcoords - file to dump
@@ -68,12 +77,12 @@ void logmnt(FILE *fcoords, mountdata_t *m){
    if(!fcoords) return;
    //DBG("LOG %s", m ? "data" : "header");
    if(!m){ // write header
-        fprintf(fcoords, "#     time    Xmot(deg)   Ymot(deg) Xenc(deg)  Yenc(deg)   VX(d/s)    VY(d/s)     millis\n");
+        fprintf(fcoords, "      time    Xmot(deg)   Ymot(deg) Xenc(deg)  Yenc(deg)   VX(d/s)    VY(d/s)     millis\n");
        return;
-    }
+    }else if(dumpT0.tv_sec == 0) dumpT0 = m->encXposition.t;
    // write data
    fprintf(fcoords, "%12.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10u\n",
-            m->motXposition.t, RAD2DEG(m->motXposition.val), RAD2DEG(m->motYposition.val),
+            Mount.timeDiff(&m->encXposition.t, &dumpT0), RAD2DEG(m->motXposition.val), RAD2DEG(m->motYposition.val),
            RAD2DEG(m->encXposition.val), RAD2DEG(m->encYposition.val),
            RAD2DEG(m->encXspeed.val), RAD2DEG(m->encYspeed.val),
            m->millis);
@@ -99,16 +108,17 @@ void dumpmoving(FILE *fcoords, double t, int N){
        LOGWARN("Can't get mount data");
    }
    uint32_t mdmillis = mdata.millis;
-    double enct = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
+    struct timespec encXt = mdata.encXposition.t;
    int ctr = -1;
    double xlast = mdata.motXposition.val, ylast = mdata.motYposition.val;
-    double t0 = Mount.currentT();
-    while(Mount.currentT() - t0 < t && ctr < N){
+    double t0 = Mount.timeFromStart();
+    while(Mount.timeFromStart() - t0 < t && ctr < N){
        usleep(1000);
        if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
-        double tmsr = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
-        if(tmsr == enct) continue;
-        enct = tmsr;
+        //double tmsr = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
+        struct timespec msrt = mdata.encXposition.t;
+        if(msrt.tv_nsec == encXt.tv_nsec) continue;
+        encXt = msrt;
        if(fcoords) logmnt(fcoords, &mdata);
        if(mdata.millis == mdmillis) continue;
        //DBG("ctr=%d, motpos=%g/%g", ctr, mdata.motXposition.val, mdata.motYposition.val);
@@ -119,7 +129,7 @@ void dumpmoving(FILE *fcoords, double t, int N){
            ctr = 0;
        }else ++ctr;
    }
-    DBG("Exit dumping; tend=%g, tmon=%g", t, Mount.currentT() - t0);
+    DBG("Exit dumping; tend=%g, tmon=%g", t, Mount.timeFromStart() - t0);
 }

 /**
@@ -130,17 +140,15 @@ void waitmoving(int N){
    mountdata_t mdata;
    int ctr = -1;
    uint32_t millis = 0;
-    double xlast = 0., ylast = 0.;
+    //double xlast = 0., ylast = 0.;
+    DBG("Wait moving for %d stopped times", N);
    while(ctr < N){
        usleep(10000);
        if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
        if(mdata.millis == millis) continue;
        millis = mdata.millis;
-        if(mdata.motXposition.val != xlast || mdata.motYposition.val != ylast){
-            xlast = mdata.motXposition.val;
-            ylast = mdata.motYposition.val;
-            ctr = 0;
-        }else ++ctr;
+        if(mdata.Xstate != AXIS_STOPPED || mdata.Ystate != AXIS_STOPPED) ctr = 0;
+        else ++ctr;
    }
 }

--- a/LibSidServo/examples/dump.h
+++ b/LibSidServo/examples/dump.h
@@ -27,3 +27,4 @@ void dumpmoving(FILE *fcoords, double t, int N);
 void waitmoving(int N);
 int getPos(coordval_pair_t *mot, coordval_pair_t *enc);
 void chk0(int ncycles);
+void dumpt0(struct timespec *t);
--- a/LibSidServo/examples/dumpmoving.c
+++ b/LibSidServo/examples/dumpmoving.c
@@ -73,6 +73,7 @@ int main(int argc, char **argv){
    conf_t *Config = readServoConf(G.conffile);
    if(!Config){
        dumpConf();
+        confHelp();
        return 1;
    }
    if(G.coordsoutput){
--- a/LibSidServo/examples/dumpmoving_dragNtrack.c
+++ b/LibSidServo/examples/dumpmoving_dragNtrack.c
@@ -139,8 +139,10 @@ static mcc_errcodes_t return2zero(){
    short_command_t cmd = {0};
    DBG("Try to move to zero");
    cmd.Xmot = 0.; cmd.Ymot = 0.;
-    cmd.Xspeed = MCC_MAX_X_SPEED;
-    cmd.Yspeed = MCC_MAX_Y_SPEED;
+    coordpair_t maxspd;
+    if(MCC_E_OK != Mount.getMaxSpeed(&maxspd)) return MCC_E_FAILED;
+    cmd.Xspeed = maxspd.X;
+    cmd.Yspeed = maxspd.Y;
    /*cmd.xychange = 1;
    cmd.XBits = 100;
    cmd.YBits = 20;*/
@@ -216,7 +218,7 @@ int main(int argc, char **argv){
    sleep(5);
    // return to zero and wait
    green("Return 2 zero and wait\n");
-    if(!return2zero()) ERRX("Can't return");
+    if(MCC_E_OK != return2zero()) ERRX("Can't return");
    Wait(0., 0);
    Wait(0., 1);
    // wait moving ends
--- a/LibSidServo/examples/dumpswing.c
+++ b/LibSidServo/examples/dumpswing.c
@@ -83,7 +83,7 @@ void waithalf(double t){
    uint32_t millis = 0;
    double xlast = 0., ylast = 0.;
    while(ctr < 5){
-        if(Mount.currentT() >= t) return;
+        if(Mount.timeFromStart() >= t) return;
        usleep(1000);
        if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
        if(mdata.millis == millis) continue;
@@ -110,16 +110,28 @@ int main(int argc, char **argv){
        return 1;
    }
    if(G.coordsoutput){
-        if(!(fcoords = fopen(G.coordsoutput, "w")))
-            ERRX("Can't open %s", G.coordsoutput);
+        if(!(fcoords = fopen(G.coordsoutput, "w"))){
+            WARNX("Can't open %s", G.coordsoutput);
+            return 1;
+        }
    }else fcoords = stdout;
-    if(G.Ncycles < 7) ERRX("Ncycles should be >7");
+    if(G.Ncycles < 2){
+        WARNX("Ncycles should be >2");
+        return 1;
+    }
    double absamp = fabs(G.amplitude);
-    if(absamp < 0.01 || absamp > 45.)
-        ERRX("Amplitude should be from 0.01 to 45 degrees");
-    if(G.period < 0.1 || G.period > 900.)
-        ERRX("Period should be from 0.1 to 900s");
-    if(G.Nswings < 1) ERRX("Nswings should be more than 0");
+    if(absamp < 0.01 || absamp > 45.){
+        WARNX("Amplitude should be from 0.01 to 45 degrees");
+        return 1;
+    }
+    if(G.period < 0.1 || G.period > 900.){
+        WARNX("Period should be from 0.1 to 900s");
+        return 1;
+    }
+    if(G.Nswings < 1){
+        WARNX("Nswings should be more than 0");
+        return 1;
+    }
    conf_t *Config = readServoConf(G.conffile);
    if(!Config){
        dumpConf();
@@ -146,24 +158,24 @@ int main(int argc, char **argv){
    }else{
        tagX = 0.; tagY = DEG2RAD(G.amplitude);
    }
-    double t = Mount.currentT(), t0 = t;
+    double t = Mount.timeFromStart(), t0 = t;
    coordpair_t tag = {.X = tagX, .Y = tagY}, rtag = {.X = -tagX, .Y = -tagY};
    double divide = 2.;
    for(int i = 0; i < G.Nswings; ++i){
        Mount.moveTo(&tag);
-        DBG("CMD: %g", Mount.currentT()-t0);
+        DBG("CMD: %g", Mount.timeFromStart()-t0);
        t += G.period / divide;
        divide = 1.;
        waithalf(t);
        DBG("Moved to +, t=%g", t-t0);
-        DBG("CMD: %g", Mount.currentT()-t0);
+        DBG("CMD: %g", Mount.timeFromStart()-t0);
        Mount.moveTo(&rtag);
        t += G.period;
        waithalf(t);
        DBG("Moved to -, t=%g", t-t0);
-        DBG("CMD: %g", Mount.currentT()-t0);
+        DBG("CMD: %g", Mount.timeFromStart()-t0);
    }
-    green("Move to zero @ %g\n", Mount.currentT());
+    green("Move to zero @ %g\n", Mount.timeFromStart());
    tag = (coordpair_t){0};
    // be sure to move @ 0,0
    if(MCC_E_OK != Mount.moveTo(&tag)){
--- a/LibSidServo/examples/goto.c
+++ b/LibSidServo/examples/goto.c
@@ -61,12 +61,13 @@ static FILE* fcoords = NULL;
 static pthread_t dthr;

 void signals(int sig){
-    pthread_cancel(dthr);
    if(sig){
        signal(sig, SIG_IGN);
        DBG("Get signal %d, quit.\n", sig);
    }
+    DBG("Quit");
    Mount.quit();
+    DBG("close");
    if(fcoords) fclose(fcoords);
    exit(sig);
 }
@@ -90,11 +91,10 @@ int main(int _U_ argc, char _U_ **argv){
    if(MCC_E_OK != Mount.init(Config)) ERRX("Can't init mount");
    coordval_pair_t M, E;
    if(!getPos(&M, &E)) ERRX("Can't get current position");
+    printf("Current time: %.10f\n", Mount.timeFromStart());
    if(G.coordsoutput){
-        if(!G.wait) green("When logging I should wait until moving ends; added '-w'");
+        if(!G.wait) green("When logging I should wait until moving ends; added '-w'\n");
        G.wait = 1;
-    }
-    if(G.coordsoutput){
        if(!(fcoords = fopen(G.coordsoutput, "w")))
            ERRX("Can't open %s", G.coordsoutput);
        logmnt(fcoords, NULL);
@@ -120,7 +120,11 @@ int main(int _U_ argc, char _U_ **argv){
    }
    printf("Moving to X=%gdeg, Y=%gdeg\n", G.X, G.Y);
    tag.X = DEG2RAD(G.X); tag.Y = DEG2RAD(G.Y);
-    Mount.moveTo(&tag);
+    mcc_errcodes_t e = Mount.moveTo(&tag);
+    if(MCC_E_OK != e){
+        WARNX("Cant go to given coordinates: %s\n", EcodeStr(e));
+        goto out;
+    }
    if(G.wait){
        sleep(1);
        waitmoving(G.Ncycles);
@@ -132,7 +136,9 @@ out:
    if(G.coordsoutput) pthread_join(dthr, NULL);
    DBG("QUIT");
    if(G.wait){
-        if(getPos(&M, NULL)) printf("Mount position: X=%g, Y=%g\n", RAD2DEG(M.X.val), RAD2DEG(M.Y.val));
+        usleep(250000); // pause to refresh coordinates
+        if(getPos(&M, &E)) printf("Mount position: X=%g, Y=%g; encoders: X=%g, Y=%g\n", RAD2DEG(M.X.val), RAD2DEG(M.Y.val),
+            RAD2DEG(E.X.val), RAD2DEG(E.Y.val));
        Mount.quit();
    }
    return 0;
--- a/LibSidServo/examples/scmd_traectory.c
+++ b/LibSidServo/examples/scmd_traectory.c
@@ -44,6 +44,7 @@ typedef struct{
    char *conffile;
 } parameters;

+static conf_t *Config = NULL;
 static FILE *fcoords = NULL, *errlog = NULL;
 static pthread_t dthr;
 static parameters G = {
@@ -75,7 +76,6 @@ static sl_option_t cmdlnopts[] = {
 };

 void signals(int sig){
-    pthread_cancel(dthr);
    if(sig){
        signal(sig, SIG_IGN);
        DBG("Get signal %d, quit.\n", sig);
@@ -97,35 +97,35 @@ static void runtraectory(traectory_fn tfn){
    if(!tfn) return;
    coordval_pair_t telXY;
    coordval_pair_t target;
-    coordpair_t traectXY, endpoint;
-    endpoint.X = G.Xmax, endpoint.Y = G.Ymax;
-    double t0 = Mount.currentT(), tlast = 0.;
-    double tlastX = 0., tlastY = 0.;
+    coordpair_t traectXY;
+    double tlast = 0., tstart = Mount.timeFromStart();
+    long tlastXnsec = 0, tlastYnsec = 0;
+    struct timespec tcur, t0 = {0};
+    dumpt0(&t0);
    while(1){
        if(!telpos(&telXY)){
            WARNX("No next telescope position");
            return;
        }
-        if(telXY.X.t == tlastX && telXY.Y.t == tlastY) continue; // last measure - don't mind
-        DBG("\n\nTELPOS: %g'/%g' (%.6f/%.6f) measured @ %.6f/%.6f", RAD2AMIN(telXY.X.val), RAD2AMIN(telXY.Y.val), RAD2DEG(telXY.X.val), RAD2DEG(telXY.Y.val), telXY.X.t, telXY.Y.t);
-        tlastX = telXY.X.t; tlastY = telXY.Y.t;
-        double t = Mount.currentT();
-        if(fabs(telXY.X.val) > G.Xmax || fabs(telXY.Y.val) > G.Ymax || t - t0 > G.tmax) break;
+        if(!Mount.currentT(&tcur)) continue;
+        if(telXY.X.t.tv_nsec == tlastXnsec && telXY.Y.t.tv_nsec == tlastYnsec) continue; // last measure - don't mind
+        DBG("\n\nTELPOS: %g'/%g' (%.6f/%.6f)", RAD2AMIN(telXY.X.val), RAD2AMIN(telXY.Y.val), RAD2DEG(telXY.X.val), RAD2DEG(telXY.Y.val));
+        tlastXnsec = telXY.X.t.tv_nsec; tlastYnsec = telXY.Y.t.tv_nsec;
+        double t = Mount.timeFromStart();
+        if(fabs(telXY.X.val) > G.Xmax || fabs(telXY.Y.val) > G.Ymax || t - tstart > G.tmax) break;
        if(!traectory_point(&traectXY, t)) break;
        target.X.val = traectXY.X; target.Y.val = traectXY.Y;
-        target.X.t = target.Y.t = t;
-        // check whether we should change direction
-        if(telXY.X.val > traectXY.X) endpoint.X = -G.Xmax;
-        else if(telXY.X.val < traectXY.X) endpoint.X = G.Xmax;
-        if(telXY.Y.val > traectXY.Y) endpoint.Y = -G.Ymax;
-        else if(telXY.Y.val < traectXY.Y) endpoint.Y = G.Ymax;
+        target.X.t = target.Y.t = tcur;
+        if(t0.tv_nsec == 0 && t0.tv_sec == 0) dumpt0(&t0);
+        else{
            //DBG("target: %g'/%g'", RAD2AMIN(traectXY.X), RAD2AMIN(traectXY.Y));
-        DBG("%g: dX=%.4f'', dY=%.4f''", t-t0, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
+            DBG("%g: dX=%.4f'', dY=%.4f''", t-tstart, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
            //DBG("Correct to: %g/%g with EP %g/%g", RAD2DEG(target.X.val), RAD2DEG(target.Y.val), RAD2DEG(endpoint.X), RAD2DEG(endpoint.Y));
            if(errlog)
-            fprintf(errlog, "%10.4g  %10.4g  %10.4g\n", t, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
-        if(MCC_E_OK != Mount.correctTo(&target, &endpoint)) WARNX("Error of correction!");
-        while((t = Mount.currentT()) - tlast < MCC_PID_REFRESH_DT) usleep(50);
+                fprintf(errlog, "%10.4f  %10.4f  %10.4f\n", Mount.timeDiff(&telXY.X.t, &t0), RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
+        }
+        if(MCC_E_OK != Mount.correctTo(&target)) WARNX("Error of correction!");
+        while((t = Mount.timeFromStart()) - tlast < Config->PIDRefreshDt) usleep(500);
        tlast = t;
    }
    WARNX("No next traectory point or emulation ends");
@@ -151,7 +151,7 @@ int main(int argc, char **argv){
        if(!(fcoords = fopen(G.coordsoutput, "w")))
            ERRX("Can't open %s", G.coordsoutput);
    }else fcoords = stdout;
-    conf_t *Config = readServoConf(G.conffile);
+    Config = readServoConf(G.conffile);
    if(!Config || G.dumpconf){
        dumpConf();
        return 1;
--- a/LibSidServo/examples/servo.conf
+++ b/LibSidServo/examples/servo.conf
@@ -1,4 +1,4 @@
-Current configuration:
+# Current configuration
 MountDevPath=/dev/ttyUSB0
 MountDevSpeed=19200
 EncoderDevPath=(null)
--- a/LibSidServo/examples/traectories.c
+++ b/LibSidServo/examples/traectories.c
@@ -41,7 +41,7 @@ int init_traectory(traectory_fn f, coordpair_t *XY0){
    if(!f || !XY0) return FALSE;
    cur_traectory = f;
    XYstart = *XY0;
-    tstart = Mount.currentT();
+    tstart = Mount.timeFromStart();
    mountdata_t mdata;
    int ntries = 0;
    for(; ntries < 10; ++ntries){
@@ -98,7 +98,7 @@ int Linear(coordpair_t *nextpt, double t){
 int SinCos(coordpair_t *nextpt, double t){
    coordpair_t pt;
    pt.X = XYstart.X + ASEC2RAD(5.) * sin((t-tstart)/30.*2*M_PI);
-    pt.Y = XYstart.Y + AMIN2RAD(10.)* cos((t-tstart)/200.*2*M_PI);
+    pt.Y = XYstart.Y + AMIN2RAD(1.)* cos((t-tstart)/200.*2*M_PI);
    if(nextpt) *nextpt = pt;
    return TRUE;
 }
--- a/LibSidServo/libsidservo.creator.user
+++ b/LibSidServo/libsidservo.creator.user
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 17.0.0, 2025-07-30T17:30:52. -->
+<!-- Written by QtCreator 18.0.0, 2026-03-11T12:36:26. -->
 <qtcreator>
 <data>
  <variable>EnvironmentId</variable>
@@ -86,6 +86,7 @@
    <valuelist type="QVariantList" key="ClangTools.SuppressedDiagnostics"/>
    <value type="bool" key="ClangTools.UseGlobalSettings">true</value>
   </valuemap>
+   <value type="int" key="RcSync">0</value>
  </valuemap>
 </data>
 <data>
@@ -110,8 +111,8 @@
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
     </valuemap>
     <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Сборка</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Сборка</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Build</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Build</value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value>
    </valuemap>
    <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.1">
@@ -123,8 +124,8 @@
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
     </valuemap>
     <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Очистка</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Очистка</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Clean</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Clean</value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
    </valuemap>
    <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
@@ -139,8 +140,8 @@
    <valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
      <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
-      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Развёртывание</value>
-      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Развёртывание</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Deploy</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
     </valuemap>
     <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
@@ -164,6 +165,7 @@
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
     <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
     <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
+     <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
     <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
     <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
    </valuemap>
@@ -173,8 +175,8 @@
   <valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
    <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
     <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Развёртывание</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Развёртывание</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Deploy</value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
    </valuemap>
    <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
@@ -198,6 +200,7 @@
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
    <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
    <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
+    <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
    <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
    <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
   </valuemap>
@@ -208,10 +211,6 @@
  <variable>ProjectExplorer.Project.TargetCount</variable>
  <value type="qlonglong">1</value>
 </data>
- <data>
-  <variable>ProjectExplorer.Project.Updater.FileVersion</variable>
-  <value type="int">22</value>
- </data>
 <data>
  <variable>Version</variable>
  <value type="int">22</value>
--- a/LibSidServo/libsidservo.files
+++ b/LibSidServo/libsidservo.files
@@ -22,6 +22,7 @@ examples/traectories.h
 main.h
 movingmodel.c
 movingmodel.h
+polltest/main.c
 ramp.c
 ramp.h
 serial.h
--- a/LibSidServo/main.c
+++ b/LibSidServo/main.c
@@ -25,6 +25,7 @@
 #include <time.h>
 #include <stdio.h>
 #include <stdlib.h>
+#include <unistd.h>

 #include "main.h"
 #include "movingmodel.h"
@@ -32,40 +33,82 @@
 #include "ssii.h"
 #include "PID.h"

+// adder for monotonic time by realtime: inited any call of init()
+static struct timespec timeadder = {0}, // adder of CLOCK_REALTIME to CLOCK_MONOTONIC
+    t0 = {0},           // curtime() for initstarttime() call
+    starttime = {0};    // starting time by monotonic (for timefromstart())
+
 conf_t Conf = {0};
 // parameters for model
 static movemodel_t *Xmodel, *Ymodel;
+// limits for model and/or real mount (in latter case data should be read from mount on init)
 // radians, rad/sec, rad/sec^2
-static limits_t
+// max speeds (rad/s): xs=10 deg/s, ys=8 deg/s
+// accelerations: xa=12.6 deg/s^2, ya= 9.5 deg/s^2
+limits_t
    Xlimits = {
        .min = {.coord = -3.1241, .speed = 1e-10, .accel = 1e-6},
-        .max = {.coord = 3.1241, .speed = MCC_MAX_X_SPEED, .accel = MCC_X_ACCELERATION}},
+        .max = {.coord = 3.1241, .speed = 0.174533, .accel = 0.219911}},
    Ylimits = {
        .min = {.coord = -3.1241, .speed = 1e-10, .accel = 1e-6},
-        .max = {.coord = 3.1241, .speed = MCC_MAX_Y_SPEED, .accel = MCC_Y_ACCELERATION}}
+        .max = {.coord = 3.1241, .speed = 0.139626, .accel = 0.165806}}
 ;
 static mcc_errcodes_t shortcmd(short_command_t *cmd);
+static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig);

 /**
- * @brief nanotime - monotonic time from first run
- * @return time in seconds
+ * @brief curtime - monotonic time from first run
+ * @param t - struct timespec by CLOCK_MONOTONIC but with setpoint by CLOCK_REALTIME on observations start
+ * @return TRUE if all OK
+ * FIXME: double -> struct timespec; on init: init t0 by CLOCK_REALTIME
 */
-double nanotime(){
-    static struct timespec *start = NULL;
+int curtime(struct timespec *t){
    struct timespec now;
-    if(!start){
-        start = malloc(sizeof(struct timespec));
-        if(!start) return -1.;
-        if(clock_gettime(CLOCK_MONOTONIC, start)) return -1.;
+    if(clock_gettime(CLOCK_MONOTONIC, &now)) return FALSE;
+    now.tv_sec += timeadder.tv_sec;
+    now.tv_nsec += timeadder.tv_nsec;
+    if(now.tv_nsec > 999999999L){
+        ++now.tv_sec;
+        now.tv_nsec -= 1000000000L;
    }
+    if(t) *t = now;
+    return TRUE;
+}
+
+// init starttime; @return TRUE if all OK
+static int initstarttime(){
+    struct timespec start;
+    if(clock_gettime(CLOCK_MONOTONIC, &starttime)) return FALSE;
+    if(clock_gettime(CLOCK_REALTIME, &start)) return FALSE;
+    timeadder.tv_sec = start.tv_sec - starttime.tv_sec;
+    timeadder.tv_nsec = start.tv_nsec - starttime.tv_nsec;
+    if(timeadder.tv_nsec < 0){
+        --timeadder.tv_sec;
+        timeadder.tv_nsec += 1000000000L;
+    }
+    curtime(&t0);
+    return TRUE;
+}
+
+// return difference (in seconds) between time1 and time0
+double timediff(const struct timespec *time1, const struct timespec *time0){
+    if(!time1 || !time0) return -1.;
+    return (time1->tv_sec - time0->tv_sec) + (time1->tv_nsec - time0->tv_nsec) / 1e9;
+}
+// difference between given time and  last initstarttime() call
+double timediff0(const struct timespec *time1){
+    return timediff(time1, &t0);
+}
+// time from last initstarttime() call
+double timefromstart(){
+    struct timespec now;
    if(clock_gettime(CLOCK_MONOTONIC, &now)) return -1.;
-    double nd = ((double)now.tv_nsec - (double)start->tv_nsec) * 1e-9;
-    double sd = (double)now.tv_sec - (double)start->tv_sec;
-    return sd + nd;
+    return (now.tv_sec - starttime.tv_sec) + (now.tv_nsec - starttime.tv_nsec) / 1e9;
 }

 /**
 * @brief quit - close all opened and return to default state
+ * TODO: close serial devices even in "model" mode
 */
 static void quit(){
    if(Conf.RunModel) return;
@@ -75,18 +118,19 @@ static void quit(){
    DBG("Exit");
 }

-void getModData(coordval_pair_t *c){
+void getModData(coordpair_t *c, movestate_t *xst, movestate_t *yst){
    if(!c || !Xmodel || !Ymodel) return;
-    double tnow = nanotime();
+    double tnow = timefromstart();
    moveparam_t Xp, Yp;
    movestate_t Xst = Xmodel->get_state(Xmodel, &Xp);
    //DBG("Xstate = %d", Xst);
    if(Xst == ST_MOVE) Xst = Xmodel->proc_move(Xmodel, &Xp, tnow);
    movestate_t Yst = Ymodel->get_state(Ymodel, &Yp);
    if(Yst == ST_MOVE) Yst = Ymodel->proc_move(Ymodel, &Yp, tnow);
-    c->X.t = c->Y.t = tnow;
-    c->X.val = Xp.coord;
-    c->Y.val =  Yp.coord;
+    c->X = Xp.coord;
+    c->Y = Yp.coord;
+    if(xst) *xst = Xst;
+    if(yst) *yst = Yst;
 }

 /**
@@ -117,6 +161,8 @@ double LS_calc_slope(less_square_t *l, double x, double t){
    if(!l) return 0.;
    size_t idx = l->idx;
    double oldx = l->x[idx], oldt = l->t[idx], oldt2 = l->t2[idx], oldxt = l->xt[idx];
+    /*DBG("old: x=%g, t=%g, t2=%g, xt=%g; sum: %g, t=%g, t2=%g, xt=%g", oldx, oldt, oldt2, oldxt,
+        l->xsum, l->tsum, l->t2sum, l->xtsum);*/
    double t2 = t * t, xt = x * t;
    l->x[idx] = x; l->t2[idx] = t2;
    l->t[idx] = t; l->xt[idx] = xt;
@@ -128,14 +174,13 @@ double LS_calc_slope(less_square_t *l, double x, double t){
    l->xtsum += xt - oldxt;
    double n = (double)l->arraysz;
    double denominator = n * l->t2sum - l->tsum * l->tsum;
-    //DBG("idx=%zd, arrsz=%zd, den=%g", l->idx, l->arraysz, denominator);
    if(fabs(denominator) < 1e-7) return 0.;
    double numerator = n * l->xtsum - l->xsum * l->tsum;
+    //DBG("x=%g, t=%g; idx=%zd, arrsz=%zd, den=%g; xsum=%g, num=%g", x, t, l->idx, l->arraysz, denominator, l->xsum, numerator);
    // point: (sum_x  - slope * sum_t) / n;
    return (numerator / denominator);
 }

-
 /**
 * @brief init - open serial devices and do other job
 * @param c - initial configuration
@@ -144,15 +189,20 @@ double LS_calc_slope(less_square_t *l, double x, double t){
 static mcc_errcodes_t init(conf_t *c){
    FNAME();
    if(!c) return MCC_E_BADFORMAT;
+    if(!initstarttime()) return MCC_E_FAILED;
    Conf = *c;
    mcc_errcodes_t ret = MCC_E_OK;
    Xmodel = model_init(&Xlimits);
    Ymodel = model_init(&Ylimits);
+    if(Conf.MountReqInterval > 1. || Conf.MountReqInterval < 0.05){
+        DBG("Bad value of MountReqInterval");
+        ret = MCC_E_BADFORMAT;
+    }
    if(Conf.RunModel){
        if(!Xmodel || !Ymodel || !openMount()) return MCC_E_FAILED;
        return MCC_E_OK;
    }
-    if(!Conf.MountDevPath || Conf.MountDevSpeed < 1200){
+    if(!Conf.MountDevPath || Conf.MountDevSpeed < MOUNT_BAUDRATE_MIN){
        DBG("Define mount device path and speed");
        ret = MCC_E_BADFORMAT;
    }else if(!openMount()){
@@ -168,41 +218,47 @@ static mcc_errcodes_t init(conf_t *c){
            ret = MCC_E_ENCODERDEV;
        }
    }
-    if(Conf.MountReqInterval > 1. || Conf.MountReqInterval < 0.05){
-        DBG("Bad value of MountReqInterval");
-        ret = MCC_E_BADFORMAT;
-    }
+    // TODO: read hardware configuration on init
    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};
    if(!SSrawcmd(CMD_EXITACM, NULL)) ret = MCC_E_FAILED;
    if(ret != MCC_E_OK) return ret;
-    return updateMotorPos();
+    // read HW config to update constants
+    hardware_configuration_t HW;
+    if(MCC_E_OK != get_hwconf(&HW)) return MCC_E_FAILED;
+    // make a pause for actual encoder's values
+    double t0 = timefromstart();
+    while(timefromstart() - t0 < Conf.EncoderReqInterval) usleep(1000);
+    mcc_errcodes_t e = updateMotorPos();
+    // and refresh data after updating
+    DBG("Wait for next mount reading");
+    t0 = timefromstart();
+    while(timefromstart() - t0 < Conf.MountReqInterval * 3.) usleep(1000);
+    return e;
 }

 // check coordinates (rad) and speeds (rad/s); return FALSE if failed
 // TODO fix to real limits!!!
 static int chkX(double X){
-    if(X > 2.*M_PI || X < -2.*M_PI) return FALSE;
+    if(X > Xlimits.max.coord || X < Xlimits.min.coord) return FALSE;
    return TRUE;
 }
 static int chkY(double Y){
-    if(Y > 2.*M_PI || Y < -2.*M_PI) return FALSE;
+    if(Y > Ylimits.max.coord || Y < Ylimits.min.coord) return FALSE;
    return TRUE;
 }
 static int chkXs(double s){
-    if(s < 0. || s > MCC_MAX_X_SPEED) return FALSE;
+    if(s < Xlimits.min.speed || s > Xlimits.max.speed) return FALSE;
    return TRUE;
 }
 static int chkYs(double s){
-    if(s < 0. || s > MCC_MAX_Y_SPEED) return FALSE;
+    if(s < Ylimits.min.speed || s > Ylimits.max.speed) return FALSE;
    return TRUE;
 }

-// set SLEWING state if axis was stopped later
+// set SLEWING state if axis was stopped
 static void setslewingstate(){
    //FNAME();
    mountdata_t d;
@@ -218,19 +274,6 @@ static void setslewingstate(){
    }else DBG("CAN't GET MOUNT DATA!");
 }

-/*
-static mcc_errcodes_t slew2(const coordpair_t *target, slewflags_t flags){
-    (void)target;
-    (void)flags;
-    //if(Conf.RunModel) return ... ;
-    if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
-    //...
-    setStat(AXIS_SLEWING, AXIS_SLEWING);
-    //...
-    return MCC_E_FAILED;
-}
-*/
-
 /**
 * @brief move2 - simple move to given point and stop
 * @param X - new X coordinate (radians: -pi..pi) or NULL
@@ -245,12 +288,13 @@ static mcc_errcodes_t move2(const coordpair_t *target){
    DBG("x,y: %g, %g", target->X, target->Y);
    cmd.Xmot = target->X;
    cmd.Ymot = target->Y;
-    cmd.Xspeed = MCC_MAX_X_SPEED;
-    cmd.Yspeed = MCC_MAX_Y_SPEED;
-    mcc_errcodes_t r = shortcmd(&cmd);
+    cmd.Xspeed = Xlimits.max.speed;
+    cmd.Yspeed = Ylimits.max.speed;
+    /*mcc_errcodes_t r = shortcmd(&cmd);
    if(r != MCC_E_OK) return r;
    setslewingstate();
-    return MCC_E_OK;
+    return MCC_E_OK;*/
+    return shortcmd(&cmd);
 }

 /**
@@ -279,6 +323,7 @@ static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed
    if(!target || !speed) return MCC_E_BADFORMAT;
    if(!chkX(target->X) || !chkY(target->Y)) return MCC_E_BADFORMAT;
    if(!chkXs(speed->X) || !chkYs(speed->Y)) return MCC_E_BADFORMAT;
+    // updateMotorPos() here can make a problem; TODO: remove?
    if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
    short_command_t cmd = {0};
    cmd.Xmot = target->X;
@@ -298,7 +343,7 @@ static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed
 static mcc_errcodes_t emstop(){
    FNAME();
    if(Conf.RunModel){
-        double curt = nanotime();
+        double curt = timefromstart();
        Xmodel->emergency_stop(Xmodel, curt);
        Ymodel->emergency_stop(Ymodel, curt);
        return MCC_E_OK;
@@ -310,7 +355,7 @@ static mcc_errcodes_t emstop(){
 static mcc_errcodes_t stop(){
    FNAME();
    if(Conf.RunModel){
-        double curt = nanotime();
+        double curt = timefromstart();
        Xmodel->stop(Xmodel, curt);
        Ymodel->stop(Ymodel,curt);
        return MCC_E_OK;
@@ -327,7 +372,7 @@ static mcc_errcodes_t stop(){
 static mcc_errcodes_t shortcmd(short_command_t *cmd){
    if(!cmd) return MCC_E_BADFORMAT;
    if(Conf.RunModel){
-        double curt = nanotime();
+        double curt = timefromstart();
        moveparam_t param = {0};
        param.coord = cmd->Xmot; param.speed = cmd->Xspeed;
        if(!model_move2(Xmodel, &param, curt)) return MCC_E_FAILED;
@@ -359,7 +404,7 @@ static mcc_errcodes_t shortcmd(short_command_t *cmd){
 static mcc_errcodes_t longcmd(long_command_t *cmd){
    if(!cmd) return MCC_E_BADFORMAT;
    if(Conf.RunModel){
-        double curt = nanotime();
+        double curt = timefromstart();
        moveparam_t param = {0};
        param.coord = cmd->Xmot; param.speed = cmd->Xspeed;
        if(!model_move2(Xmodel, &param, curt)) return MCC_E_FAILED;
@@ -386,6 +431,7 @@ static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
    if(!hwConfig) return MCC_E_BADFORMAT;
    if(Conf.RunModel) return MCC_E_FAILED;
    SSconfig config;
+    DBG("Read HW configuration");
    if(!cmdC(&config, FALSE)) return MCC_E_FAILED;
    // Convert acceleration (ticks per loop^2 to rad/s^2)
    hwConfig->Xconf.accel = X_MOTACC2RS(config.Xconf.accel);
@@ -425,8 +471,8 @@ static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
    // Copy ticks per revolution
    hwConfig->Xsetpr = __bswap_32(config.Xsetpr);
    hwConfig->Ysetpr = __bswap_32(config.Ysetpr);
-    hwConfig->Xmetpr = __bswap_32(config.Xmetpr) / 4; // as documentation said, real ticks are 4 times less
-    hwConfig->Ymetpr = __bswap_32(config.Ymetpr) / 4;
+    hwConfig->Xmetpr = __bswap_32(config.Xmetpr); // as documentation said, real ticks are 4 times less
+    hwConfig->Ymetpr = __bswap_32(config.Ymetpr);
    // Convert slew rates (ticks per loop to rad/s)
    hwConfig->Xslewrate = X_MOTSPD2RS(config.Xslewrate);
    hwConfig->Yslewrate = Y_MOTSPD2RS(config.Yslewrate);
@@ -444,6 +490,30 @@ static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
    hwConfig->locsspeed = (double)config.locsspeed * M_PI / (180.0 * 3600.0);
    // Convert backlash speed (ticks per loop to rad/s)
    hwConfig->backlspd = X_MOTSPD2RS(config.backlspd);
+    // now read text commands
+    int64_t i64;
+    double Xticks, Yticks;
+    DBG("SERIAL");
+    // motor's encoder ticks per rev
+    if(!SSgetint(CMD_MEPRX, &i64)) return MCC_E_FAILED;
+    Xticks = ((double) i64); // divide by 4 as these values stored ???
+    if(!SSgetint(CMD_MEPRY, &i64)) return MCC_E_FAILED;
+    Yticks = ((double) i64);
+    X_ENC_ZERO = Conf.XEncZero;
+    Y_ENC_ZERO = Conf.YEncZero;
+    DBG("xyrev: %d/%d", config.xbits.motrev, config.ybits.motrev);
+    X_MOT_STEPSPERREV = hwConfig->Xconf.motor_stepsperrev = Xticks; // (config.xbits.motrev) ? -Xticks : Xticks;
+    Y_MOT_STEPSPERREV = hwConfig->Yconf.motor_stepsperrev = Yticks; //(config.ybits.motrev) ? -Yticks : Yticks;
+    DBG("zero: %d/%d; motsteps: %.10g/%.10g", X_ENC_ZERO, Y_ENC_ZERO, X_MOT_STEPSPERREV, Y_MOT_STEPSPERREV);
+    // axis encoder ticks per rev
+    if(!SSgetint(CMD_AEPRX, &i64)) return MCC_E_FAILED;
+    Xticks = (double) i64;
+    if(!SSgetint(CMD_AEPRY, &i64)) return MCC_E_FAILED;
+    Yticks = (double) i64;
+    DBG("xyencrev: %d/%d", config.xbits.encrev, config.ybits.encrev);
+    X_ENC_STEPSPERREV = hwConfig->Xconf.axis_stepsperrev = (config.xbits.encrev) ? -Xticks : Xticks;
+    Y_ENC_STEPSPERREV = hwConfig->Yconf.axis_stepsperrev = (config.ybits.encrev) ? -Yticks : Yticks;
+    DBG("encsteps: %.10g/%.10g", X_ENC_STEPSPERREV, Y_ENC_STEPSPERREV);
    return MCC_E_OK;
 }

@@ -499,17 +569,37 @@ static mcc_errcodes_t write_hwconf(hardware_configuration_t *hwConfig){
    config.Ysetpr = __bswap_32(hwConfig->Ysetpr);
    config.Xmetpr = __bswap_32(hwConfig->Xmetpr);
    config.Ymetpr = __bswap_32(hwConfig->Ymetpr);
+    // todo - also write text params
    // TODO - next
    (void) config;
    return MCC_E_OK;
 }

+// getters of max/min speed and acceleration
+mcc_errcodes_t maxspeed(coordpair_t *v){
+    if(!v) return MCC_E_BADFORMAT;
+    v->X = Xlimits.max.speed;
+    v->Y = Ylimits.max.speed;
+    return MCC_E_OK;
+}
+mcc_errcodes_t minspeed(coordpair_t *v){
+    if(!v) return MCC_E_BADFORMAT;
+    v->X = Xlimits.min.speed;
+    v->Y = Ylimits.min.speed;
+    return MCC_E_OK;
+}
+mcc_errcodes_t acceleration(coordpair_t *a){
+    if(!a) return MCC_E_BADFORMAT;
+    a->X = Xlimits.max.accel;
+    a->Y = Ylimits.max.accel;
+    return MCC_E_OK;
+}
+
 // init mount class
 mount_t Mount = {
    .init = init,
    .quit = quit,
    .getMountData = getMD,
-//    .slewTo = slew2,
    .moveTo = move2,
    .moveWspeed = move2s,
    .setSpeed = setspeed,
@@ -519,7 +609,13 @@ mount_t Mount = {
    .longCmd = longcmd,
    .getHWconfig = get_hwconf,
    .saveHWconfig = write_hwconf,
-    .currentT = nanotime,
+    .currentT = curtime,
+    .timeFromStart = timefromstart,
+    .timeDiff = timediff,
+    .timeDiff0 = timediff0,
    .correctTo = correct2,
+    .getMaxSpeed = maxspeed,
+    .getMinSpeed = minspeed,
+    .getAcceleration = acceleration,
 };

--- a/LibSidServo/main.h
+++ b/LibSidServo/main.h
@@ -24,11 +24,16 @@

 #include <stdlib.h>

+#include "movingmodel.h"
 #include "sidservo.h"

 extern conf_t Conf;
-double nanotime();
-void getModData(coordval_pair_t *c);
+extern limits_t Xlimits, Ylimits;
+int curtime(struct timespec *t);
+double timediff(const struct timespec *time1, const struct timespec *time0);
+double timediff0(const struct timespec *time1);
+double timefromstart();
+void getModData(coordpair_t *c, movestate_t *xst, movestate_t *yst);
 typedef struct{
    double *x, *t, *t2, *xt; // arrays of coord/time and multiply
    double xsum, tsum, t2sum, xtsum; // sums of coord/time and their multiply
@@ -42,10 +47,6 @@ double LS_calc_slope(less_square_t *l, double x, double t);

 // unused arguments of functions
 #define _U_         __attribute__((__unused__))
-// break absent in `case`
-#define FALLTHRU    __attribute__ ((fallthrough))
-// and synonym for FALLTHRU
-#define NOBREAKHERE __attribute__ ((fallthrough))
 // weak functions
 #define WEAK        __attribute__ ((weak))

--- a/LibSidServo/movingmodel.c
+++ b/LibSidServo/movingmodel.c
@@ -60,9 +60,14 @@ movemodel_t *model_init(limits_t *l){

 int model_move2(movemodel_t *model, moveparam_t *target, double t){
    if(!target || !model) return FALSE;
-    //DBG("MOVE to %g at speed %g", target->coord, target->speed);
+    DBG("MOVE to %g (deg) at speed %g (deg/s)", target->coord/M_PI*180., target->speed/M_PI*180.);
    // only positive velocity
    if(target->speed < 0.) target->speed = -target->speed;
+    if(fabs(target->speed) < model->Min.speed){
+        DBG("STOP");
+        model->stop(model, t);
+        return TRUE;
+    }
    // don't mind about acceleration - user cannot set it now
    return model->calculate(model, target, t);
 }
--- a/LibSidServo/movingmodel.h
+++ b/LibSidServo/movingmodel.h
@@ -44,7 +44,7 @@ typedef struct{
 typedef struct{
    moveparam_t min;
    moveparam_t max;
-    double acceleration;
+    //double acceleration;
 } limits_t;

 typedef enum{
--- a/LibSidServo/polltest/main.c
+++ b/LibSidServo/polltest/main.c
@@ -0,0 +1,197 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2026 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/>.
+ */
+
+#include <fcntl.h>
+#include <poll.h>
+#include <signal.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <usefull_macros.h>
+
+// suppose that we ONLY poll data
+#define XYBUFSZ     (128)
+
+struct{
+    int help;
+    char *Xpath;
+    char *Ypath;
+    double dt;
+} G = {
+    .Xpath = "/dev/encoder_X0",
+    .Ypath = "/dev/encoder_Y0",
+    .dt = 0.001,
+};
+
+sl_option_t options[] = {
+    {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),      "show this help"},
+    {"Xpath",   NEED_ARG,   NULL,   'X',    arg_string, APTR(&G.Xpath),     "path to X encoder"},
+    {"Ypath",   NEED_ARG,   NULL,   'Y',    arg_string, APTR(&G.Ypath),     "path to Y encoder"},
+    {"dt",      NEED_ARG,   NULL,   'd',    arg_double, APTR(&G.dt),        "request interval (1e-4..10s)"},
+};
+
+typedef struct{
+    char buf[XYBUFSZ+1];
+    int len;
+} buf_t;
+
+static int Xfd = -1, Yfd = -1;
+
+void signals(int sig){
+    if(sig){
+        signal(sig, SIG_IGN);
+        DBG("Get signal %d, quit.\n", sig);
+    }
+    DBG("close");
+    if(Xfd > 0){ close(Xfd); Xfd = -1; }
+    if(Yfd > 0){ close(Yfd); Yfd = -1; }
+    exit(sig);
+}
+
+static int op(const char *nm){
+    int fd = open(nm, O_RDWR|O_NOCTTY|O_NONBLOCK);
+    if(fd < 0) ERR("Can't open %s", nm);
+    struct termios2 tty;
+    if(ioctl(fd, TCGETS2, &tty)) ERR("Can't read TTY settings");
+    tty.c_lflag     = 0; // ~(ICANON | ECHO | ECHOE | ISIG)
+    tty.c_iflag     = 0; // don't do any changes in input stream
+    tty.c_oflag     = 0; // don't do any changes in output stream
+    tty.c_cflag     = BOTHER | CS8 | CREAD | CLOCAL; // other speed, 8bit, RW, ignore line ctrl
+    tty.c_ispeed = 1000000;
+    tty.c_ospeed = 1000000;
+    if(ioctl(fd, TCSETS2, &tty)) ERR("Can't set TTY settings");
+    // try to set exclusive
+    if(ioctl(fd, TIOCEXCL)){DBG("Can't make exclusive");}
+    return fd;
+}
+
+// write to buffer next data portion; return FALSE in case of error
+static int readstrings(buf_t *buf, int fd){
+    FNAME();
+    if(!buf){WARNX("Empty buffer"); return FALSE;}
+    int L = XYBUFSZ - buf->len;
+    if(L == 0){
+        DBG("buffer  overfull!", buf->len);
+        char *lastn = strrchr(buf->buf, '\n');
+        if(lastn){
+            fprintf(stderr, "BUFOVR: _%s_", buf->buf);
+            ++lastn;
+            buf->len = XYBUFSZ - (lastn - buf->buf);
+            DBG("Memmove %d", buf->len);
+            memmove(lastn, buf->buf, buf->len);
+            buf->buf[buf->len] = 0;
+        }else buf->len = 0;
+        L = XYBUFSZ - buf->len;
+    }
+    int got = read(fd, &buf->buf[buf->len], L);
+    if(got < 0){
+        WARN("read()");
+        return FALSE;
+    }else if(got == 0){ DBG("NO data"); return TRUE; }
+    buf->len += got;
+    buf->buf[buf->len] = 0;
+    DBG("buf[%d]: %s", buf->len, buf->buf);
+    return TRUE;
+}
+// return TRUE if got, FALSE if no data found
+static int getdata(buf_t *buf, long *out){
+    if(!buf || buf->len < 1) return FALSE;
+    // read record between last '\n' and previous (or start of string)
+    char *last = &buf->buf[buf->len - 1];
+    //DBG("buf: _%s_", buf->buf);
+    if(*last != '\n') return FALSE;
+    *last = 0;
+    //DBG("buf: _%s_", buf->buf);
+    char *prev = strrchr(buf->buf, '\n');
+    if(!prev) prev = buf->buf;
+    else{
+        fprintf(stderr, "MORETHANONE: _%s_", buf->buf);
+        ++prev; // after last '\n'
+    }
+    if(out) *out = atol(prev);
+    // clear buffer
+    buf->len = 0;
+    return TRUE;
+}
+// try to write '\n' asking new data portion; return FALSE if failed
+static int asknext(int fd){
+    FNAME();
+    if(fd < 0) return FALSE;
+    int i = 0;
+    for(; i < 5; ++i){
+        int l = write(fd, "\n", 1);
+        //DBG("l=%d", l);
+        if(1 == l) return TRUE;
+        usleep(100);
+    }
+    DBG("5 tries... failed!");
+    return FALSE;
+}
+
+int main(int argc, char **argv){
+    buf_t xbuf, ybuf;
+    long xlast, ylast;
+    double xtlast, ytlast;
+    sl_init();
+    sl_parseargs(&argc, &argv, options);
+    if(G.help) sl_showhelp(-1, options);
+    if(G.dt < 1e-4) ERRX("dx too small");
+    if(G.dt > 10.) ERRX("dx too big");
+    Xfd = op(G.Xpath);
+    Yfd = op(G.Ypath);
+    struct pollfd pfds[2];
+    pfds[0].fd = Xfd; pfds[0].events = POLLIN;
+    pfds[1].fd = Yfd; pfds[1].events = POLLIN;
+    double t0x, t0y, tstart;
+    asknext(Xfd); asknext(Yfd);
+    t0x = t0y = tstart = sl_dtime();
+    DBG("Start");
+    do{ // main cycle
+        if(poll(pfds, 2, 0) < 0){
+            WARN("poll()");
+            break;
+        }
+        if(pfds[0].revents && POLLIN){
+            DBG("got X");
+            if(!readstrings(&xbuf, Xfd)) break;
+        }
+        if(pfds[1].revents && POLLIN){
+            DBG("got Y");
+            if(!readstrings(&ybuf, Yfd)) break;
+        }
+        double curt = sl_dtime();
+        if(getdata(&xbuf, &xlast)) xtlast = curt;
+        if(curt - t0x >= G.dt){ // get last records
+            if(curt - xtlast < 1.5*G.dt)
+                printf("%-14.4fX=%ld\n", xtlast-tstart, xlast);
+            if(!asknext(Xfd)) break;
+            t0x = (curt - t0x < 2.*G.dt) ? t0x + G.dt : curt;
+        }
+        curt = sl_dtime();
+        if(getdata(&ybuf, &ylast)) ytlast = curt;
+        if(curt - t0y >= G.dt){ // get last records
+            if(curt - ytlast < 1.5*G.dt)
+                printf("%-14.4fY=%ld\n", ytlast-tstart, ylast);
+            if(!asknext(Yfd)) break;
+            t0y = (curt - t0y < 2.*G.dt) ? t0y + G.dt : curt;
+        }
+    }while(Xfd > 0 && Yfd > 0);
+    DBG("OOps: disconnected");
+    signals(0);
+    return 0;
+}
--- a/LibSidServo/ramp.c
+++ b/LibSidServo/ramp.c
@@ -23,12 +23,14 @@

 #include "main.h"
 #include "ramp.h"
-/*
+
 #ifdef EBUG
 #undef DBG
 #define DBG(...)
+#undef FNAME
+#define FNAME()
 #endif
-*/
+
 static double coord_tolerance = COORD_TOLERANCE_DEFAULT;

 static void emstop(movemodel_t *m, double _U_ t){
--- a/LibSidServo/serial.c
+++ b/LibSidServo/serial.c
@@ -20,6 +20,7 @@
 #include <errno.h>
 #include <fcntl.h>
 #include <math.h>
+#include <poll.h>
 #include <pthread.h>
 #include <signal.h>
 #include <stdint.h>
@@ -48,7 +49,7 @@ static pthread_mutex_t  mntmutex = PTHREAD_MUTEX_INITIALIZER,
 // encoders thread and mount thread
 static pthread_t encthread, mntthread;
 // max timeout for 1.5 bytes of encoder and 2 bytes of mount - for `select`
-static struct timeval encRtmout = {.tv_sec = 0, .tv_usec = 50000}, mntRtmout = {.tv_sec = 0, .tv_usec = 50000};
+static struct timeval encRtmout = {.tv_sec = 0, .tv_usec = 100}, mntRtmout = {.tv_sec = 0, .tv_usec = 50000};
 // encoders raw data
 typedef struct __attribute__((packed)){
    uint8_t magick;
@@ -64,20 +65,12 @@ void getXspeed(){
        ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
        if(!ls) return;
    }
-    pthread_mutex_lock(&datamutex);
-    double speed = LS_calc_slope(ls, mountdata.encXposition.val, mountdata.encXposition.t);
-    if(fabs(speed) < 1.5 * MCC_MAX_X_SPEED){
+    double dt = timediff0(&mountdata.encXposition.t);
+    double speed = LS_calc_slope(ls, mountdata.encXposition.val, dt);
+    if(fabs(speed) < 1.5 * Xlimits.max.speed){
        mountdata.encXspeed.val = speed;
        mountdata.encXspeed.t = mountdata.encXposition.t;
    }
-    pthread_mutex_unlock(&datamutex);
-    //DBG("Xspeed=%g", mountdata.encXspeed.val);
-#if 0
-    mountdata.encXspeed.val = (mountdata.encXposition.val - lastXenc.val) / (t - lastXenc.t);
-    mountdata.encXspeed.t = (lastXenc.t + mountdata.encXposition.t) / 2.;
-    lastXenc.val = mountdata.encXposition.val;
-    lastXenc.t = t;
-#endif
 }
 void getYspeed(){
    static less_square_t *ls = NULL;
@@ -85,19 +78,12 @@ void getYspeed(){
        ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
        if(!ls) return;
    }
-    pthread_mutex_lock(&datamutex);
-    double speed = LS_calc_slope(ls, mountdata.encYposition.val, mountdata.encYposition.t);
-    if(fabs(speed) < 1.5 * MCC_MAX_Y_SPEED){
+    double dt = timediff0(&mountdata.encYposition.t);
+    double speed = LS_calc_slope(ls, mountdata.encYposition.val, dt);
+    if(fabs(speed) < 1.5 * Ylimits.max.speed){
        mountdata.encYspeed.val = speed;
        mountdata.encYspeed.t = mountdata.encYposition.t;
    }
-    pthread_mutex_unlock(&datamutex);
-#if 0
-    mountdata.encYspeed.val = (mountdata.encYposition.val - lastYenc.val) / (t - lastYenc.t);
-    mountdata.encYspeed.t = (lastYenc.t + mountdata.encYposition.t) / 2.;
-    lastYenc.val = mountdata.encYposition.val;
-    lastYenc.t = t;
-#endif
 }

 /**
@@ -105,7 +91,8 @@ void getYspeed(){
 * @param databuf - input buffer with 13 bytes of data
 * @param t - time when databuf[0] got
 */
-static void parse_encbuf(uint8_t databuf[ENC_DATALEN], double t){
+static void parse_encbuf(uint8_t databuf[ENC_DATALEN], struct timespec *t){
+    if(!t) return;
    enc_t *edata = (enc_t*) databuf;
 /*
 #ifdef EBUG
@@ -140,18 +127,17 @@ static void parse_encbuf(uint8_t databuf[ENC_DATALEN], double t){
        return;
    }
    pthread_mutex_lock(&datamutex);
-    mountdata.encXposition.val = X_ENC2RAD(edata->encX);
-    mountdata.encYposition.val = Y_ENC2RAD(edata->encY);
+    mountdata.encXposition.val = Xenc2rad(edata->encX);
+    mountdata.encYposition.val = Yenc2rad(edata->encY);
    DBG("Got positions X/Y= %.6g / %.6g", mountdata.encXposition.val, mountdata.encYposition.val);
-    mountdata.encXposition.t = t;
-    mountdata.encYposition.t = t;
-    //if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed();
-    //if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed();
+    mountdata.encXposition.t = *t;
+    mountdata.encYposition.t = *t;
    getXspeed(); getYspeed();
    pthread_mutex_unlock(&datamutex);
    //DBG("time = %zd+%zd/1e6, X=%g deg, Y=%g deg", tv->tv_sec, tv->tv_usec, mountdata.encposition.X*180./M_PI, mountdata.encposition.Y*180./M_PI);
 }

+#if 0
 /**
 * @brief getencval - get uint64_t data from encoder
 * @param fd - encoder fd
@@ -159,33 +145,53 @@ static void parse_encbuf(uint8_t databuf[ENC_DATALEN], double t){
 * @param t - measurement time
 * @return amount of data read or 0 if problem
 */
-static int getencval(int fd, double *val, double *t){
-    if(fd < 0) return FALSE;
+static int getencval(int fd, double *val, struct timespec *t){
+    if(fd < 0){
+        DBG("Encoder fd < 0!");
+        return FALSE;
+    }
    char buf[128];
    int got = 0, Lmax = 127;
-    double t0 = nanotime();
+    double t0 = timefromstart();
+    //DBG("start: %.6g", t0);
    do{
        fd_set rfds;
        FD_ZERO(&rfds);
        FD_SET(fd, &rfds);
        struct timeval tv = encRtmout;
        int retval = select(fd + 1, &rfds, NULL, NULL, &tv);
-        if(!retval) continue;
+        if(!retval){
+            //DBG("select()==0 - timeout, %.6g", timefromstart());
+            break;
+        }
        if(retval < 0){
-            if(errno == EINTR) continue;
+            if(errno == EINTR){
+                DBG("EINTR");
+                continue;
+            }
+            DBG("select() < 0");
            return 0;
        }
        if(FD_ISSET(fd, &rfds)){
            ssize_t l = read(fd, &buf[got], Lmax);
-            if(l < 1) return 0; // disconnected ??
+            if(l < 1){
+                DBG("read() < 0");
+                return 0; // disconnected ??
+            }
            got += l; Lmax -= l;
            buf[got] = 0;
        } else continue;
-        if(strchr(buf, '\n')) break;
-    }while(Lmax && nanotime() - t0 < Conf.EncoderReqInterval);
-    if(got == 0) return 0; // WTF?
+        if(buf[got-1] == '\n') break; // got EOL as last symbol
+    }while(Lmax && timefromstart() - t0 < Conf.EncoderReqInterval / 5.);
+    if(got == 0){
+        //DBG("No data from encoder, tfs=%.6g", timefromstart());
+        return 0;
+    }
    char *estr = strrchr(buf, '\n');
-    if(!estr) return 0;
+    if(!estr){
+        DBG("No EOL");
+        return 0;
+    }
    *estr = 0;
    char *bgn = strrchr(buf, '\n');
    if(bgn) ++bgn;
@@ -197,9 +203,11 @@ static int getencval(int fd, double *val, double *t){
        return 0; // wrong number
    }
    if(val) *val = (double) data;
-    if(t) *t = t0;
+    if(t){ if(!curtime(t)){ DBG("Can't get time"); return 0; }}
    return got;
 }
+#endif
+
 // try to read 1 byte from encoder; return -1 if nothing to read or -2 if device seems to be disconnected
 static int getencbyte(){
    if(encfd[0] < 0) return -1;
@@ -261,8 +269,6 @@ static void clrmntbuf(){
    if(mntfd < 0) return;
    uint8_t byte;
    fd_set rfds;
-    //double t0 = nanotime();
-    //int n = 0;
    do{
        FD_ZERO(&rfds);
        FD_SET(mntfd, &rfds);
@@ -276,10 +282,8 @@ static void clrmntbuf(){
        if(FD_ISSET(mntfd, &rfds)){
            ssize_t l = read(mntfd, &byte, 1);
            if(l != 1) break;
-            //++n;
        } else break;
    }while(1);
-    //DBG("Cleared by %g (got %d bytes)", nanotime() - t0, n);
 }

 // main encoder thread (for separate encoder): read next data and make parsing
@@ -287,7 +291,7 @@ static void *encoderthread1(void _U_ *u){
    if(Conf.SepEncoder != 1) return NULL;
    uint8_t databuf[ENC_DATALEN];
    int wridx = 0, errctr = 0;
-    double t = 0.;
+    struct timespec tcur;
    while(encfd[0] > -1 && errctr < MAX_ERR_CTR){
        int b = getencbyte();
        if(b == -2) ++errctr;
@@ -298,15 +302,16 @@ static void *encoderthread1(void _U_ *u){
            if((uint8_t)b == ENC_MAGICK){
 //                DBG("Got magic -> start filling packet");
                databuf[wridx++] = (uint8_t) b;
-                t = nanotime();
            }
            continue;
        }else databuf[wridx++] = (uint8_t) b;
        if(wridx == ENC_DATALEN){
-            parse_encbuf(databuf, t);
+            if(curtime(&tcur)){
+                parse_encbuf(databuf, &tcur);
                wridx = 0;
            }
        }
+    }
    if(encfd[0] > -1){
        close(encfd[0]);
        encfd[0] = -1;
@@ -314,53 +319,138 @@ static void *encoderthread1(void _U_ *u){
    return NULL;
 }

+#define XYBUFSZ     (128)
+typedef struct{
+    char buf[XYBUFSZ+1];
+    int len;
+} buf_t;
+
+// write to buffer next data portion; return FALSE in case of error
+static int readstrings(buf_t *buf, int fd){
+    if(!buf){DBG("Empty buffer"); return FALSE;}
+    int L = XYBUFSZ - buf->len;
+    if(L < 0){
+        DBG("buf not initialized!");
+        buf->len = 0;
+    }
+    if(L == 0){
+        DBG("buffer  overfull: %d!", buf->len);
+        char *lastn = strrchr(buf->buf, '\n');
+        if(lastn){
+            fprintf(stderr, "BUFOVR: _%s_", buf->buf);
+            ++lastn;
+            buf->len = XYBUFSZ - (lastn - buf->buf);
+            DBG("Memmove %d", buf->len);
+            memmove(lastn, buf->buf, buf->len);
+            buf->buf[buf->len] = 0;
+        }else buf->len = 0;
+        L = XYBUFSZ - buf->len;
+    }
+    //DBG("read %d bytes from %d", L, fd);
+    int got = read(fd, &buf->buf[buf->len], L);
+    if(got < 0){
+        DBG("read()");
+        return FALSE;
+    }else if(got == 0){ DBG("NO data"); return TRUE; }
+    buf->len += got;
+    buf->buf[buf->len] = 0;
+    //DBG("buf[%d]: %s", buf->len, buf->buf);
+    return TRUE;
+}
+
+// return TRUE if got, FALSE if no data found
+static int getdata(buf_t *buf, long *out){
+    if(!buf || buf->len < 1 || buf->len > (XYBUFSZ+1)) return FALSE;
+    // read record between last '\n' and previous (or start of string)
+    char *last = &buf->buf[buf->len - 1];
+    //DBG("buf: _%s_", buf->buf);
+    if(*last != '\n') return FALSE;
+    *last = 0;
+    //DBG("buf: _%s_", buf->buf);
+    char *prev = strrchr(buf->buf, '\n');
+    if(!prev) prev = buf->buf;
+    else{
+        fprintf(stderr, "MORETHANONE: _%s_", buf->buf);
+        ++prev; // after last '\n'
+    }
+    if(out) *out = atol(prev);
+    // clear buffer
+    buf->len = 0;
+    return TRUE;
+}
+
+// try to write '\n' asking new data portion; return FALSE if failed
+static int asknext(int fd){
+    //FNAME();
+    if(fd < 0) return FALSE;
+    int i = 0;
+    for(; i < 5; ++i){
+        int l = write(fd, "\n", 1);
+        //DBG("l=%d", l);
+        if(1 == l) return TRUE;
+        usleep(100);
+    }
+    DBG("5 tries... failed!");
+    return FALSE;
+}
+
 // main encoder thread for separate encoders as USB devices /dev/encoder_X0 and /dev/encoder_Y0
 static void *encoderthread2(void _U_ *u){
    if(Conf.SepEncoder != 2) return NULL;
    DBG("Thread started");
+    struct pollfd pfds[2];
+    pfds[0].fd = encfd[0]; pfds[0].events = POLLIN;
+    pfds[1].fd = encfd[1]; pfds[1].events = POLLIN;
+    double t0[2], tstart;
+    buf_t strbuf[2] = {0};
+    long msrlast[2]; // last encoder data
+    double mtlast[2]; // last measurement time
+    asknext(encfd[0]); asknext(encfd[1]);
+    t0[0] = t0[1] = tstart = timefromstart();
    int errctr = 0;
-    double t0 = nanotime();
-    const char *req = "\n";
-    int need2ask = 0; // need or not to ask encoder for new data
-    while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR){
-        if(need2ask){
-            if(1 != write(encfd[0], req, 1)) { ++errctr; continue; }
-            else if(1 != write(encfd[1], req, 1)) { ++errctr; continue; }
+    do{ // main cycle
+        if(poll(pfds, 2, 0) < 0){
+            DBG("poll()");
+            break;
        }
-        double v, t;
-        if(getencval(encfd[0], &v, &t)){
+        int got = 0;
+        for(int i = 0; i < 2; ++i){
+            if(pfds[i].revents && POLLIN){
+                if(!readstrings(&strbuf[i], encfd[i])){
+                    ++errctr;
+                    break;
+                }
+            }
+            double curt = timefromstart();
+            if(getdata(&strbuf[i], &msrlast[i])) mtlast[i] = curt;
+            if(curt - t0[i] >= Conf.EncoderReqInterval){ // get last records
+                if(curt - mtlast[i] < 1.5*Conf.EncoderReqInterval){
                    pthread_mutex_lock(&datamutex);
-            mountdata.encXposition.val = X_ENC2RAD(v);
-            //DBG("encX(%g) = %g", t, mountdata.encXposition.val);
-            mountdata.encXposition.t = t;
-            pthread_mutex_unlock(&datamutex);
-            //if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed();
+                    if(i == 0){
+                        mountdata.encXposition.val = Xenc2rad((double)msrlast[i]);
+                        curtime(&mountdata.encXposition.t);
+                        /*DBG("msrlast=%ld, Xpos.val=%g, t=%zd; XEzero=%d, SPR=%g",
+                            msrlast[i], mountdata.encXposition.val, mountdata.encXposition.t.tv_sec,
+                            X_ENC_ZERO, X_ENC_STEPSPERREV);*/
                        getXspeed();
-            if(getencval(encfd[1], &v, &t)){
-                pthread_mutex_lock(&datamutex);
-                mountdata.encYposition.val = Y_ENC2RAD(v);
-                //DBG("encY(%g) = %g", t, mountdata.encYposition.val);
-                mountdata.encYposition.t = t;
-                pthread_mutex_unlock(&datamutex);
-                //if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed();
+                    }else{
+                        mountdata.encYposition.val = Yenc2rad((double)msrlast[i]);
+                        curtime(&mountdata.encYposition.t);
                        getYspeed();
-                errctr = 0;
-                need2ask = 0;
-            } else {
-                if(need2ask) ++errctr;
-                else need2ask = 1;
-                continue;
                    }
-        } else {
-            if(need2ask) ++errctr;
-            else need2ask = 1;
-            continue;
+                    pthread_mutex_unlock(&datamutex);
                }
-        while(nanotime() - t0 < Conf.EncoderReqInterval){ usleep(50); }
-        //DBG("DT=%g (RI=%g)", nanotime()-t0, Conf.EncoderReqInterval);
-        t0 = nanotime();
+                if(!asknext(encfd[i])){
+                    ++errctr;
+                    break;
                }
-    DBG("ERRCTR=%d", errctr);
+                t0[i] = (curt - t0[i] < 2.*Conf.EncoderReqInterval) ? t0[i] + Conf.EncoderReqInterval : curt;
+                ++got;
+            }
+        }
+        if(got == 2) errctr = 0;
+    }while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR);
+    DBG("\n\nEXIT: ERRCTR=%d", errctr);
    for(int i = 0; i < 2; ++i){
        if(encfd[i] > -1){
            close(encfd[i]);
@@ -386,33 +476,67 @@ void data_free(data_t **x){
    *x = NULL;
 }

+static void chkModStopped(double *prev, double cur, int *nstopped, axis_status_t *stat){
+    if(!prev || !nstopped || !stat) return;
+    if(isnan(*prev)){
+        *stat = AXIS_STOPPED;
+        DBG("START");
+    }else if(*stat != AXIS_STOPPED){
+        if(fabs(*prev - cur) < DBL_EPSILON && ++(*nstopped) > MOTOR_STOPPED_CNT){
+            *stat = AXIS_STOPPED;
+            DBG("AXIS stopped; prev=%g, cur=%g; nstopped=%d", *prev/M_PI*180., cur/M_PI*180., *nstopped);
+        }
+    }else if(*prev != cur){
+        DBG("AXIS moving");
+        *nstopped = 0;
+    }
+    *prev = cur;
+}
+
 // main mount thread
 static void *mountthread(void _U_ *u){
    int errctr = 0;
    uint8_t buf[2*sizeof(SSstat)];
    SSstat *status = (SSstat*) buf;
    bzero(&mountdata, sizeof(mountdata));
-    double t0 = nanotime();
-    static double oldmt = -100.; // old `millis measurement` time
+    double t0 = timefromstart(), tstart = t0, tcur = t0;
+    double oldmt = -100.; // old `millis measurement` time
    static uint32_t oldmillis = 0;
-    if(Conf.RunModel) while(1){
-        coordval_pair_t c;
+    if(Conf.RunModel){
+        double Xprev = NAN, Yprev = NAN; // previous coordinates
+        int xcnt = 0, ycnt = 0;
+        while(1){
+            coordpair_t c;
+            movestate_t xst, yst;
            // now change data
-        getModData(&c);
+            getModData(&c, &xst, &yst);
+            struct timespec tnow;
+            if(!curtime(&tnow) || (tcur = timefromstart()) < 0.) continue;
            pthread_mutex_lock(&datamutex);
-        double tnow = c.X.t;
-        mountdata.motXposition.t = mountdata.encXposition.t = mountdata.motYposition.t = mountdata.encYposition.t = tnow;
-        mountdata.motXposition.val = mountdata.encXposition.val  = c.X.val;
-        mountdata.motYposition.val  = mountdata.encYposition.val  = c.Y.val;
+            mountdata.encXposition.t = mountdata.encYposition.t = tnow;
+            mountdata.encXposition.val = c.X + (drand48() - 0.5)*1e-6; // .2arcsec error
+            mountdata.encYposition.val = c.Y + (drand48() - 0.5)*1e-6;
            //DBG("t=%g, X=%g, Y=%g", tnow, c.X.val, c.Y.val);
-        if(tnow - oldmt > Conf.MountReqInterval){
-            oldmillis = mountdata.millis = (uint32_t)(tnow * 1e3);
-            oldmt = tnow;
+            if(tcur - oldmt > Conf.MountReqInterval){
+                oldmillis = mountdata.millis = (uint32_t)((tcur - tstart) * 1e3);
+                mountdata.motYposition.t = mountdata.motXposition.t = tnow;
+                if(xst == ST_MOVE)
+                    mountdata.motXposition.val = c.X + (c.X - mountdata.motXposition.val)*(drand48() - 0.5)/100.;
+                //else
+                //    mountdata.motXposition.val = c.X;
+                if(yst == ST_MOVE)
+                    mountdata.motYposition.val = c.Y + (c.Y - mountdata.motYposition.val)*(drand48() - 0.5)/100.;
+                //else
+                //    mountdata.motYposition.val = c.Y;
+                oldmt = tcur;
            }else mountdata.millis = oldmillis;
-        pthread_mutex_unlock(&datamutex);
+            chkModStopped(&Xprev, c.X, &xcnt, &mountdata.Xstate);
+            chkModStopped(&Yprev, c.Y, &ycnt, &mountdata.Ystate);
            getXspeed(); getYspeed();
-        while(nanotime() - t0 < Conf.EncoderReqInterval) usleep(50);
-        t0 = nanotime();
+            pthread_mutex_unlock(&datamutex);
+            while(timefromstart() - t0 < Conf.EncoderReqInterval) usleep(50);
+            t0 = timefromstart();
+        }
    }
    // data to get
    data_t d = {.buf = buf, .maxlen = sizeof(buf)};
@@ -421,31 +545,8 @@ static void *mountthread(void _U_ *u){
    if(!cmd_getstat) goto failed;
    while(mntfd > -1 && errctr < MAX_ERR_CTR){
        // read data to status
-        double t0 = nanotime();
-#if 0
-// 127 milliseconds to get answer on X/Y commands!!!
-        int64_t ans;
-        int ctr = 0;
-        if(SSgetint(CMD_MOTX, &ans)){
-            pthread_mutex_lock(&datamutex);
-            mountdata.motXposition.t = tgot;
-            mountdata.motXposition.val = X_MOT2RAD(ans);
-            pthread_mutex_unlock(&datamutex);
-            ++ctr;
-        }
-        tgot = nanotime();
-        if(SSgetint(CMD_MOTY, &ans)){
-            pthread_mutex_lock(&datamutex);
-            mountdata.motXposition.t = tgot;
-            mountdata.motXposition.val = X_MOT2RAD(ans);
-            pthread_mutex_unlock(&datamutex);
-            ++ctr;
-        }
-        if(ctr == 2){
-            mountdata.millis = (uint32_t)(1e3 * tgot);
-            DBG("Got both coords; millis=%d", mountdata.millis);
-        }
-#endif
+        struct timespec tcur;
+        if(!curtime(&tcur)) continue;
        // 80 milliseconds to get answer on GETSTAT
        if(!MountWriteRead(cmd_getstat, &d) || d.len != sizeof(SSstat)){
 #ifdef EBUG
@@ -462,14 +563,13 @@ static void *mountthread(void _U_ *u){
        errctr = 0;
        pthread_mutex_lock(&datamutex);
        // now change data
-        SSconvstat(status, &mountdata, t0);
+        SSconvstat(status, &mountdata, &tcur);
        pthread_mutex_unlock(&datamutex);
-        //DBG("GOT FULL stat by %g", nanotime() - t0);
        // allow writing & getters
        do{
            usleep(500);
-        }while(nanotime() - t0 < Conf.MountReqInterval);
-        t0 = nanotime();
+        }while(timefromstart() - t0 < Conf.MountReqInterval);
+        t0 = timefromstart();
    }
    data_free(&cmd_getstat);
 failed:
@@ -485,8 +585,15 @@ static int ttyopen(const char *path, speed_t speed){
    int fd = -1;
    struct termios2 tty;
    DBG("Try to open %s @ %d", path, speed);
-    if((fd = open(path, O_RDWR|O_NOCTTY)) < 0) return -1;
-    if(ioctl(fd, TCGETS2, &tty)){ close(fd); return -1; }
+    if((fd = open(path, O_RDWR|O_NOCTTY)) < 0){
+        DBG("Can't open device %s: %s", path, strerror(errno));
+        return -1;
+    }
+    if(ioctl(fd, TCGETS2, &tty)){
+        DBG("Can't read TTY settings");
+        close(fd);
+        return -1;
+    }
    tty.c_lflag     = 0; // ~(ICANON | ECHO | ECHOE | ISIG)
    tty.c_iflag     = 0; // don't do any changes in input stream
    tty.c_oflag     = 0; // don't do any changes in output stream
@@ -495,7 +602,11 @@ static int ttyopen(const char *path, speed_t speed){
    tty.c_ospeed = speed;
    //tty.c_cc[VMIN]  = 0;  // non-canonical mode
    //tty.c_cc[VTIME] = 5;
-    if(ioctl(fd, TCSETS2, &tty)){ close(fd); return -1; }
+    if(ioctl(fd, TCSETS2, &tty)){
+        DBG("Can't set TTY settings");
+        close(fd);
+        return -1;
+    }
    DBG("Check speed: i=%d, o=%d", tty.c_ispeed, tty.c_ospeed);
    if(tty.c_ispeed != (speed_t) speed || tty.c_ospeed != (speed_t)speed){ close(fd); return -1; }
    // try to set exclusive
@@ -528,7 +639,7 @@ int openEncoder(){
            if(encfd[i] < 0) return FALSE;
        }
        encRtmout.tv_sec = 0;
-        encRtmout.tv_usec = 1000; // 1ms
+        encRtmout.tv_usec = 100000000 / Conf.EncoderDevSpeed;
        if(pthread_create(&encthread, NULL, encoderthread2, NULL)){
            for(int i = 0; i < 2; ++i){
                close(encfd[i]);
@@ -575,6 +686,7 @@ create_thread:

 // close all opened serial devices and quit threads
 void closeSerial(){
+    // TODO: close devices in "model" mode too!
    if(Conf.RunModel) return;
    if(mntfd > -1){
        DBG("Cancel mount thread");
@@ -593,7 +705,7 @@ void closeSerial(){
        DBG("close encoder's fd");
        close(encfd[0]);
        encfd[0] = -1;
-        if(Conf.SepEncoder == 2){
+        if(Conf.SepEncoder == 2 && encfd[1] > -1){
            close(encfd[1]);
            encfd[1] = -1;
        }
@@ -606,6 +718,8 @@ mcc_errcodes_t getMD(mountdata_t  *d){
    pthread_mutex_lock(&datamutex);
    *d = mountdata;
    pthread_mutex_unlock(&datamutex);
+    //DBG("ENCpos: %.10g/%.10g", d->encXposition.val, d->encYposition.val);
+    //DBG("millis: %u, encxt: %zd (time: %zd)", d->millis, d->encXposition.t.tv_sec, time(NULL));
    return MCC_E_OK;
 }

@@ -624,30 +738,24 @@ static int wr(const data_t *out, data_t *in, int needeol){
        return FALSE;
    }
    clrmntbuf();
-    //double t0 = nanotime();
    if(out){
        if(out->len != (size_t)write(mntfd, out->buf, out->len)){
            DBG("written bytes not equal to need");
            return FALSE;
        }
-        //DBG("Send to mount %zd bytes: %s", out->len, out->buf);
        if(needeol){
            int g = write(mntfd, "\r", 1); // add EOL
            (void) g;
        }
+        usleep(50000); // add little pause so that the idiot has time to swallow
    }
-    //DBG("sent by %g", nanotime() - t0);
-    //uint8_t buf[256];
-    //data_t dumb = {.buf = buf, .maxlen = 256};
    if(!in) return TRUE;
-    //if(!in) in = &dumb; // even if user don't ask for answer, try to read to clear trash
    in->len = 0;
    for(size_t i = 0; i < in->maxlen; ++i){
        int b = getmntbyte();
        if(b < 0) break; // nothing to read -> go out
        in->buf[in->len++] = (uint8_t) b;
    }
-    //DBG("got %zd bytes by %g", in->len, nanotime() - t0);
    while(getmntbyte() > -1);
    return TRUE;
 }
@@ -751,16 +859,23 @@ int cmdC(SSconfig *conf, int rw){
    }else{ // read
        data_t d;
        d.buf = (uint8_t *) conf;
+        d.len = 0; d.maxlen = 0;
+        ret = wr(rcmd, &d, 1);
+        DBG("write command: %s", ret ? "TRUE" : "FALSE");
+        if(!ret) goto rtn;
+        // make a huge pause for stupid SSII
+        usleep(100000);
        d.len = 0;  d.maxlen = sizeof(SSconfig);
        ret = wr(rcmd, &d, 1);
        DBG("wr returned %s; got %zd bytes of %zd", ret ? "TRUE" : "FALSE", d.len, d.maxlen);
-        if(d.len != d.maxlen) return FALSE;
+        if(d.len != d.maxlen){ ret = FALSE; goto rtn; }
        // simplest checksum
        uint16_t sum = 0;
        for(uint32_t i = 0; i < sizeof(SSconfig)-2; ++i) sum += d.buf[i];
        if(sum != conf->checksum){
            DBG("got sum: %u, need: %u", conf->checksum, sum);
-            return FALSE;
+            ret = FALSE;
+            goto rtn;
        }
    }
 rtn:
--- a/LibSidServo/sidservo.h
+++ b/LibSidServo/sidservo.h
@@ -32,38 +32,13 @@ extern "C"
 #include <stdint.h>
 #include <sys/time.h>

-// acceptable position error - 0.1''
-#define MCC_POSITION_ERROR      (5e-7)
-// acceptable disagreement between motor and axis encoders - 2''
-#define MCC_ENCODERS_ERROR      (1e-7)
-
-// max speeds (rad/s): xs=10 deg/s, ys=8 deg/s
-#define MCC_MAX_X_SPEED         (0.174533)
-#define MCC_MAX_Y_SPEED         (0.139626)
-// accelerations by both axis (for model); TODO: move speeds/accelerations into config?
-// xa=12.6 deg/s^2, ya= 9.5 deg/s^2
-#define MCC_X_ACCELERATION      (0.219911)
-#define MCC_Y_ACCELERATION      (0.165806)
-
+// minimal serial speed of mount device
+#define MOUNT_BAUDRATE_MIN      (1200)
 // max speed interval, seconds
 #define MCC_CONF_MAX_SPEEDINT   (2.)
 // minimal speed interval in parts of EncoderReqInterval
 #define MCC_CONF_MIN_SPEEDC     (3.)
-// PID I cycle time (analog of "RC" for PID on opamps)
-#define MCC_PID_CYCLE_TIME      (5.)
-// maximal PID refresh time interval (if larger all old data will be cleared)
-#define MCC_PID_MAX_DT          (1.)
-// normal PID refresh interval
-#define MCC_PID_REFRESH_DT      (0.1)
-// boundary conditions for axis state: "slewing/pointing/guiding"
-// if angle < MCC_MAX_POINTING_ERR, change state from "slewing" to "pointing": 8 degrees
-//#define MCC_MAX_POINTING_ERR    (0.20943951)
-//#define MCC_MAX_POINTING_ERR    (0.08726646)
-#define MCC_MAX_POINTING_ERR    (0.13962634)
-// if angle < MCC_MAX_GUIDING_ERR, chane state from "pointing" to "guiding": 1.5 deg
-#define MCC_MAX_GUIDING_ERR     (0.026179939)
-// if error less than this value we suppose that target is captured and guiding is good: 0.1''
-#define MCC_MAX_ATTARGET_ERR    (4.8481368e-7)
+

 // error codes
 typedef enum{
@@ -73,6 +48,7 @@ typedef enum{
    MCC_E_ENCODERDEV,   // encoder device error or can't open
    MCC_E_MOUNTDEV,     // mount device error or can't open
    MCC_E_FAILED,       // failed to run command - protocol error
+    MCC_E_AMOUNT        // Just amount of errors
 } mcc_errcodes_t;

 typedef struct{
@@ -87,14 +63,23 @@ typedef struct{
    int     SepEncoder;             // ==1 if encoder works as separate serial device, ==2 if there's new version with two devices
    char*   EncoderXDevPath;        // paths to new controller devices
    char*   EncoderYDevPath;
+    double  EncodersDisagreement;   // acceptable disagreement between motor and axis encoders
    double  MountReqInterval;       // interval between subsequent mount requests (seconds)
    double  EncoderReqInterval;     // interval between subsequent encoder requests (seconds)
    double  EncoderSpeedInterval;   // interval between speed calculations
    int     RunModel;               // == 1 if you want to use model instead of real mount
+    double  PIDMaxDt;               // maximal PID refresh time interval (if larger all old data will be cleared)
+    double  PIDRefreshDt;           // normal PID refresh interval
+    double  PIDCycleDt;             // PID I cycle time (analog of "RC" for PID on opamps)
    PIDpar_t XPIDC;                 // gain parameters of PID for both axiss (C - coordinate driven, V - velocity driven)
    PIDpar_t XPIDV;
    PIDpar_t YPIDC;
    PIDpar_t YPIDV;
+    double  MaxPointingErr;         // if angle < this, change state from "slewing" to "pointing" (coarse pointing): 8 degrees
+    double  MaxFinePointingErr;     // if angle < this, chane state from "pointing" to "guiding" (fine poinging): 1.5 deg
+    double  MaxGuidingErr;          // if error less than this value we suppose that target is captured and guiding is good (true guiding): 0.1''
+    int     XEncZero;               // encoders' zero position
+    int     YEncZero;
 } conf_t;

 // coordinates/speeds in degrees or d/s: X, Y
@@ -105,7 +90,7 @@ typedef struct{
 // coordinate/speed and time of last measurement
 typedef struct{
    double val;
-    double t;
+    struct timespec t;
 } coordval_t;

 typedef struct{
@@ -206,6 +191,9 @@ typedef struct{
    double outplimit;   // Output Limit, percent (0..100)
    double currlimit;   // Current Limit (A)
    double intlimit;    // Integral Limit (???)
+    // these params are taken from mount by text commands (don't save negative values - better save these marks in xybits
+    double motor_stepsperrev;// encoder's steps per revolution: motor and axis
+    double axis_stepsperrev; // negative sign of these values means reverse direction
 } __attribute__((packed)) axis_config_t;

 // hardware configuration
@@ -247,7 +235,7 @@ typedef struct{
    void            (*quit)(); // deinit
    mcc_errcodes_t  (*getMountData)(mountdata_t *d); // get last data
 //    mcc_errcodes_t  (*slewTo)(const coordpair_t *target, slewflags_t flags);
-    mcc_errcodes_t  (*correctTo)(const coordval_pair_t *target, const coordpair_t *endpoint);
+    mcc_errcodes_t  (*correctTo)(const coordval_pair_t *target);
    mcc_errcodes_t  (*moveTo)(const coordpair_t *target); // move to given position and stop
    mcc_errcodes_t  (*moveWspeed)(const coordpair_t *target, const  coordpair_t *speed); // move with given max speed
    mcc_errcodes_t  (*setSpeed)(const coordpair_t *tagspeed); // set speed
@@ -257,7 +245,13 @@ typedef struct{
    mcc_errcodes_t  (*longCmd)(long_command_t *cmd); // send/get long command
    mcc_errcodes_t  (*getHWconfig)(hardware_configuration_t *c); // get hardware configuration
    mcc_errcodes_t  (*saveHWconfig)(hardware_configuration_t *c); // save hardware configuration
-    double          (*currentT)(); // current time
+    int             (*currentT)(struct timespec *t); // current time
+    double          (*timeFromStart)(); // amount of seconds from last init
+    double          (*timeDiff)(const struct timespec *time1, const struct timespec *time0); // difference of times
+    double          (*timeDiff0)(const struct timespec *time1); // difference between current time and last init time
+    mcc_errcodes_t  (*getMaxSpeed)(coordpair_t *v); // maximal speed by both axis
+    mcc_errcodes_t  (*getMinSpeed)(coordpair_t *v); // minimal -//-
+    mcc_errcodes_t  (*getAcceleration)(coordpair_t *a); // acceleration/deceleration
 } mount_t;

 extern mount_t Mount;
--- a/LibSidServo/ssii.c
+++ b/LibSidServo/ssii.c
@@ -26,6 +26,13 @@
 #include "serial.h"
 #include "ssii.h"

+int X_ENC_ZERO = 0, Y_ENC_ZERO = 0;
+// defaults until read from controller
+double  X_MOT_STEPSPERREV = 13312000.,
+        Y_MOT_STEPSPERREV = 17578668.,
+        X_ENC_STEPSPERREV = 67108864.,
+        Y_ENC_STEPSPERREV = 67108864.;
+
 uint16_t SScalcChecksum(uint8_t *buf, int len){
    uint16_t checksum = 0;
    for(int i = 0; i < len; i++){
@@ -67,17 +74,18 @@ static void ChkStopped(const SSstat *s, mountdata_t *m){
 * @param m (o) - output
 * @param t - measurement time
 */
-void SSconvstat(const SSstat *s, mountdata_t *m, double t){
-    if(!s || !m) return;
+void SSconvstat(const SSstat *s, mountdata_t *m, struct timespec *t){
+    if(!s || !m || !t) return;
    m->motXposition.val = X_MOT2RAD(s->Xmot);
    m->motYposition.val = Y_MOT2RAD(s->Ymot);
    ChkStopped(s, m);
-    m->motXposition.t = m->motYposition.t = t;
+    m->motXposition.t = m->motYposition.t = *t;
    // fill encoder data from here, as there's no separate enc thread
    if(!Conf.SepEncoder){
-        m->encXposition.val = X_ENC2RAD(s->Xenc);
-        m->encYposition.val = Y_ENC2RAD(s->Yenc);
-        m->encXposition.t = m->encYposition.t = t;
+        m->encXposition.val = Xenc2rad(s->Xenc);
+        DBG("encx: %g", m->encXposition.val);
+        m->encYposition.val = Yenc2rad(s->Yenc);
+        m->encXposition.t = m->encYposition.t = *t;
        getXspeed(); getYspeed();
    }
    m->keypad = s->keypad;
@@ -176,33 +184,39 @@ int SSstop(int emerg){
 mcc_errcodes_t updateMotorPos(){
    mountdata_t md = {0};
    if(Conf.RunModel) return MCC_E_OK;
-    double t0 = nanotime(), t = 0.;
+    double t0 = timefromstart(), t = 0.;
+    struct timespec curt;
    DBG("start @ %g", t0);
    do{
-        t = nanotime();
-        if(MCC_E_OK == getMD(&md)){
-            if(md.encXposition.t == 0 || md.encYposition.t == 0){
-                DBG("Just started, t-t0 = %g!", t - t0);
-                sleep(1);
-                DBG("t-t0 = %g", nanotime() - t0);
-                //usleep(10000);
+        t = timefromstart();
+        if(!curtime(&curt)){
+            usleep(10000);
            continue;
        }
-            DBG("got; t pos x/y: %g/%g; tnow: %g", md.encXposition.t, md.encYposition.t, t);
+        //DBG("XENC2RAD: %g (xez=%d, xesr=%.10g)", Xenc2rad(32424842), X_ENC_ZERO, X_ENC_STEPSPERREV);
+        if(MCC_E_OK == getMD(&md)){
+            if(md.encXposition.t.tv_sec == 0 || md.encYposition.t.tv_sec == 0){
+                DBG("Just started? t-t0 = %g!", t - t0);
+                usleep(10000);
+                continue;
+            }
+            if(md.Xstate != AXIS_STOPPED || md.Ystate != AXIS_STOPPED) return MCC_E_OK;
+            DBG("got; t pos x/y: %ld/%ld; tnow: %ld", md.encXposition.t.tv_sec, md.encYposition.t.tv_sec, curt.tv_sec);
            mcc_errcodes_t OK = MCC_E_OK;
-            if(fabs(md.motXposition.val - md.encXposition.val) > MCC_ENCODERS_ERROR && md.Xstate == AXIS_STOPPED){
-                DBG("NEED to sync X: motors=%g, axiss=%g", md.motXposition.val, md.encXposition.val);
+            if(fabs(md.motXposition.val - md.encXposition.val) > Conf.EncodersDisagreement && md.Xstate == AXIS_STOPPED){
+                DBG("NEED to sync X: motors=%g, axis=%g", md.motXposition.val, md.encXposition.val);
+                DBG("new motsteps: %d", X_RAD2MOT(md.encXposition.val));
                if(!SSsetterI(CMD_MOTXSET, X_RAD2MOT(md.encXposition.val))){
                    DBG("Xpos sync failed!");
                    OK = MCC_E_FAILED;
-                }else DBG("Xpos sync OK, Dt=%g", nanotime() - t0);
+                }else DBG("Xpos sync OK, Dt=%g", t - t0);
            }
-            if(fabs(md.motYposition.val - md.encYposition.val) > MCC_ENCODERS_ERROR && md.Xstate == AXIS_STOPPED){
-                DBG("NEED to sync Y: motors=%g, axiss=%g", md.motYposition.val, md.encYposition.val);
+            if(fabs(md.motYposition.val - md.encYposition.val) > Conf.EncodersDisagreement && md.Ystate == AXIS_STOPPED){
+                DBG("NEED to sync Y: motors=%g, axis=%g", md.motYposition.val, md.encYposition.val);
                if(!SSsetterI(CMD_MOTYSET, Y_RAD2MOT(md.encYposition.val))){
                    DBG("Ypos sync failed!");
                    OK = MCC_E_FAILED;
-                }else DBG("Ypos sync OK, Dt=%g", nanotime() - t0);
+                }else DBG("Ypos sync OK, Dt=%g", t - t0);
            }
            if(MCC_E_OK == OK){
                DBG("Encoders synced");
--- a/LibSidServo/ssii.h
+++ b/LibSidServo/ssii.h
@@ -173,64 +173,74 @@
 #define SITECH_LOOP_FREQUENCY   (1953.)

 // amount of consequent same coordinates to detect stop
-#define MOTOR_STOPPED_CNT       (4)
+#define MOTOR_STOPPED_CNT       (19)
+
+// replace macros with global variables inited when config read
+extern int X_ENC_ZERO, Y_ENC_ZERO;
+extern double X_MOT_STEPSPERREV, Y_MOT_STEPSPERREV, X_ENC_STEPSPERREV, Y_ENC_STEPSPERREV;

 // TODO: take it from settings?
 // steps per revolution (SSI - x4 - for SSI)
-#define X_MOT_STEPSPERREV_SSI   (13312000.)
+// -> hwconf.Xconf.mot/enc_stepsperrev
+//#define X_MOT_STEPSPERREV_SSI   (13312000.)
 // 13312000 / 4 = 3328000
-#define X_MOT_STEPSPERREV   (3328000.)
-#define Y_MOT_STEPSPERREV_SSI (17578668.)
+//#define X_MOT_STEPSPERREV   (3328000.)
+//#define Y_MOT_STEPSPERREV_SSI (17578668.)
 // 17578668 / 4 = 4394667
-#define Y_MOT_STEPSPERREV   (4394667.)
+//#define Y_MOT_STEPSPERREV   (4394667.)

 // encoder per revolution
-#define X_ENC_STEPSPERREV   (67108864.)
-#define Y_ENC_STEPSPERREV   (67108864.)
+//#define X_ENC_STEPSPERREV   (67108864.)
+//#define Y_ENC_STEPSPERREV   (67108864.)
 // encoder zero position
-#define X_ENC_ZERO          (61245239)
-#define Y_ENC_ZERO          (36999830)
-// encoder reversed (no: +1)
-#define X_ENC_SIGN          (-1.)
-#define Y_ENC_SIGN          (-1.)
+// -> conf.XEncZero/YEncZero
+//#define X_ENC_ZERO          (61245239)
+//#define Y_ENC_ZERO          (36999830)
+// encoder reversed (no: +1) -> sign of ...stepsperrev
+//#define X_ENC_SIGN          (-1.)
+//#define Y_ENC_SIGN          (-1.)
+
+
 // encoder position to radians and back
-#define X_ENC2RAD(n)    ang2half(X_ENC_SIGN * 2.*M_PI * ((double)((n)-X_ENC_ZERO)) / X_ENC_STEPSPERREV)
-#define Y_ENC2RAD(n)    ang2half(Y_ENC_SIGN * 2.*M_PI * ((double)((n)-Y_ENC_ZERO)) / Y_ENC_STEPSPERREV)
-#define X_RAD2ENC(r)    ((uint32_t)((r) / 2./M_PI * X_ENC_STEPSPERREV))
-#define Y_RAD2ENC(r)    ((uint32_t)((r) / 2./M_PI * Y_ENC_STEPSPERREV))
+#define Xenc2rad(n)    ang2half(2.*M_PI * ((double)((n)-(X_ENC_ZERO))) / (X_ENC_STEPSPERREV))
+#define Yenc2rad(n)    ang2half(2.*M_PI * ((double)((n)-(Y_ENC_ZERO))) / (Y_ENC_STEPSPERREV))
+#define Xrad2enc(r)    ((uint32_t)((r) / 2./M_PI * (X_ENC_STEPSPERREV)))
+#define Yrad2enc(r)    ((uint32_t)((r) / 2./M_PI * (Y_ENC_STEPSPERREV)))

 // convert angle in radians to +-pi
-static inline double ang2half(double ang){
+static inline __attribute__((always_inline)) double ang2half(double ang){
+    ang = fmod(ang, 2.*M_PI);
    if(ang < -M_PI) ang += 2.*M_PI;
    else if(ang > M_PI) ang -= 2.*M_PI;
    return ang;
 }
 // convert to only positive: 0..2pi
-static inline double ang2full(double ang){
+static inline __attribute__((always_inline)) double ang2full(double ang){
+    ang = fmod(ang, 2.*M_PI);
    if(ang < 0.) ang += 2.*M_PI;
    else if(ang > 2.*M_PI) ang -= 2.*M_PI;
    return ang;
 }

 // motor position to radians and back
-#define X_MOT2RAD(n)    ang2half(2. * M_PI * ((double)(n)) / X_MOT_STEPSPERREV)
-#define Y_MOT2RAD(n)    ang2half(2. * M_PI * ((double)(n)) / Y_MOT_STEPSPERREV)
-#define X_RAD2MOT(r)    ((int32_t)((r) / (2. * M_PI) * X_MOT_STEPSPERREV))
-#define Y_RAD2MOT(r)    ((int32_t)((r) / (2. * M_PI) * Y_MOT_STEPSPERREV))
+#define X_MOT2RAD(n)    ang2half(2. * M_PI * ((double)(n)) / (X_MOT_STEPSPERREV))
+#define Y_MOT2RAD(n)    ang2half(2. * M_PI * ((double)(n)) / (Y_MOT_STEPSPERREV))
+#define X_RAD2MOT(r)    ((int32_t)((r) / (2. * M_PI) * (X_MOT_STEPSPERREV)))
+#define Y_RAD2MOT(r)    ((int32_t)((r) / (2. * M_PI) * (Y_MOT_STEPSPERREV)))
 // motor speed in rad/s and back
-#define X_MOTSPD2RS(n)  (X_MOT2RAD(n) / 65536. * SITECH_LOOP_FREQUENCY)
-#define Y_MOTSPD2RS(n)  (Y_MOT2RAD(n) / 65536. * SITECH_LOOP_FREQUENCY)
-#define X_RS2MOTSPD(r)  ((int32_t)(X_RAD2MOT(r) * 65536. / SITECH_LOOP_FREQUENCY))
-#define Y_RS2MOTSPD(r)  ((int32_t)(Y_RAD2MOT(r) * 65536. / SITECH_LOOP_FREQUENCY))
+#define X_MOTSPD2RS(n)  (X_MOT2RAD(n) / 65536. * (SITECH_LOOP_FREQUENCY))
+#define Y_MOTSPD2RS(n)  (Y_MOT2RAD(n) / 65536. * (SITECH_LOOP_FREQUENCY))
+#define X_RS2MOTSPD(r)  ((int32_t)(X_RAD2MOT(r) * 65536. / (SITECH_LOOP_FREQUENCY)))
+#define Y_RS2MOTSPD(r)  ((int32_t)(Y_RAD2MOT(r) * 65536. / (SITECH_LOOP_FREQUENCY)))
 // motor acceleration -//-
-#define X_MOTACC2RS(n)  (X_MOT2RAD(n) / 65536. * SITECH_LOOP_FREQUENCY * SITECH_LOOP_FREQUENCY)
-#define Y_MOTACC2RS(n)  (Y_MOT2RAD(n) / 65536. * SITECH_LOOP_FREQUENCY * SITECH_LOOP_FREQUENCY)
-#define X_RS2MOTACC(r)  ((int32_t)(X_RAD2MOT(r) * 65536. / SITECH_LOOP_FREQUENCY / SITECH_LOOP_FREQUENCY))
-#define Y_RS2MOTACC(r)  ((int32_t)(Y_RAD2MOT(r) * 65536. / SITECH_LOOP_FREQUENCY / SITECH_LOOP_FREQUENCY))
+#define X_MOTACC2RS(n)  (X_MOT2RAD(n) / 65536. * (SITECH_LOOP_FREQUENCY) * (SITECH_LOOP_FREQUENCY))
+#define Y_MOTACC2RS(n)  (Y_MOT2RAD(n) / 65536. * (SITECH_LOOP_FREQUENCY) * (SITECH_LOOP_FREQUENCY))
+#define X_RS2MOTACC(r)  ((int32_t)(X_RAD2MOT(r) * 65536. / (SITECH_LOOP_FREQUENCY) / (SITECH_LOOP_FREQUENCY)))
+#define Y_RS2MOTACC(r)  ((int32_t)(Y_RAD2MOT(r) * 65536. / (SITECH_LOOP_FREQUENCY) / (SITECH_LOOP_FREQUENCY)))

 // adder time to seconds vice versa
-#define ADDER2S(a)  ((a) / SITECH_LOOP_FREQUENCY)
-#define S2ADDER(s)  ((s) * SITECH_LOOP_FREQUENCY)
+#define ADDER2S(a)  ((a) / (SITECH_LOOP_FREQUENCY))
+#define S2ADDER(s)  ((s) * (SITECH_LOOP_FREQUENCY))

 // encoder's tolerance (ticks)
 #define YencTOL    (25.)
@@ -331,7 +341,7 @@ typedef struct{
 } __attribute__((packed)) SSconfig;

 uint16_t SScalcChecksum(uint8_t *buf, int len);
-void SSconvstat(const SSstat *status, mountdata_t *mountdata, double t);
+void SSconvstat(const SSstat *status, mountdata_t *mountdata, struct timespec *t);
 int SStextcmd(const char *cmd, data_t *answer);
 int SSrawcmd(const char *cmd, data_t *answer);
 int SSgetint(const char *cmd, int64_t *ans);
--- a/asibfm700/CMakeLists.txt
+++ b/asibfm700/CMakeLists.txt
@@ -0,0 +1,88 @@
+cmake_minimum_required(VERSION 3.14)
+
+# set(CMAKE_BUILD_TYPE Release)
+
+set(CMAKE_CXX_STANDARD 23)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake")
+
+
+# find_package(ASIO QUIET CONFIG)
+find_package(ASIO QUIET)
+if (ASIO_FOUND)
+    message(STATUS "ASIO library was found in the host system")
+else()
+    message(STATUS "ASIO library was not found! Try to download it!")
+
+    include(FetchContent)
+    include(ExternalProject)
+
+    FetchContent_Declare(asio_lib
+         SOURCE_DIR ${CMAKE_BINARY_DIR}/asio_lib
+         BINARY_DIR ${CMAKE_BINARY_DIR}
+         GIT_REPOSITORY "https://github.com/chriskohlhoff/asio"
+         GIT_TAG "asio-1-32-0"
+         GIT_SHALLOW TRUE
+         GIT_SUBMODULES ""
+         GIT_PROGRESS TRUE
+    )
+    FetchContent_MakeAvailable(asio_lib)
+    # FetchContent_GetProperties(asio_lib SOURCE_DIR asio_SOURCE_DIR)
+
+    set(ASIO_INSTALL_DIR ${CMAKE_BINARY_DIR}/asio_lib/asio)
+    find_package(ASIO)
+endif()
+
+find_package(cxxopts QUIET CONFIG)
+if (cxxopts_FOUND)
+    message(STATUS "CXXOPTS library was found in the host system")
+else()
+    message(STATUS "CXXOPTS library was not found! Try to download it!")
+
+    include(FetchContent)
+    include(ExternalProject)
+
+    FetchContent_Declare(cxxopts_lib
+        PREFIX ${CMAKE_BINARY_DIR}/cxxopts_lib
+        # SOURCE_DIR ${CMAKE_BINARY_DIR}/cxxopts_lib
+        # BINARY_DIR ${CMAKE_BINARY_DIR}
+        GIT_REPOSITORY "https://github.com/jarro2783/cxxopts.git"
+        GIT_TAG "v3.3.1"
+        GIT_SHALLOW TRUE
+        GIT_SUBMODULES ""
+        GIT_PROGRESS TRUE
+        OVERRIDE_FIND_PACKAGE
+    )
+    FetchContent_MakeAvailable(cxxopts_lib)
+    find_package(cxxopts CONFIG)
+endif()
+
+set(ASIBFM700_LIB_SRC asibfm700_common.h asibfm700_servocontroller.h asibfm700_servocontroller.cpp)
+
+set(ASIBFM700_LIB asibfm700mount)
+add_library(${ASIBFM700_LIB} STATIC ${ASIBFM700_LIB_SRC}
+    asibfm700_mount.h asibfm700_mount.cpp
+    asibfm700_configfile.h
+    asibfm700_netserver.cpp
+    asibfm700_netserver.h
+)
+
+target_include_directories(${ASIBFM700_LIB} PUBLIC mcc spdlog ${ERFA_INCLUDE_DIR})
+# target_link_libraries(${ASIBFM700_LIB} PUBLIC mcc spdlog ${ERFA_LIBFILE})
+target_link_libraries(${ASIBFM700_LIB} PUBLIC mcc ASIO::ASIO spdlog ERFA_LIB bsplines sidservo)
+
+
+set(ASIBFM700_NETSERVER_APP asibfm700_netserver)
+add_executable(${ASIBFM700_NETSERVER_APP} asibfm700_netserver_main.cpp)
+target_link_libraries(${ASIBFM700_NETSERVER_APP} PRIVATE cxxopts::cxxopts ${ASIBFM700_LIB})
+
+option(WITH_TESTS "Build tests" ON)
+
+if (WITH_TESTS)
+     set(CFG_TEST_APP cfg_test)
+     add_executable(${CFG_TEST_APP} tests/cfg_test.cpp)
+     target_link_libraries(${CFG_TEST_APP} PRIVATE mcc)
+
+     enable_testing()
+ endif()
--- a/asibfm700/asibfm700_common.h
+++ b/asibfm700/asibfm700_common.h
@@ -0,0 +1,30 @@
+#pragma once
+
+/*                          AstroSib FORK MOUNT FM-700 CONTROL LIBRARY                          */
+
+
+/*                          COMMON LIBRARY DEFINITIONS                      */
+
+
+#include <mcc_moving_model_common.h>
+#include <mcc_pcm.h>
+#include <mcc_pzone_container.h>
+#include <mcc_spdlog.h>
+
+#include "mcc_ccte_erfa.h"
+#include "mcc_slewing_model.h"
+#include "mcc_tracking_model.h"
+
+namespace asibfm700
+{
+
+static constexpr mcc::MccMountType asibfm700MountType = mcc::MccMountType::FORK_TYPE;
+
+typedef mcc::ccte::erfa::MccCCTE_ERFA Asibfm700CCTE;
+typedef mcc::MccDefaultPCM<asibfm700MountType> Asibfm700PCM;
+typedef mcc::MccPZoneContainer<mcc::MccTimeDuration> Asibfm700PZoneContainer;
+typedef mcc::utils::MccSpdlogLogger Asibfm700Logger;
+typedef mcc::MccSimpleSlewingModel Asibfm700SlewingModel;
+typedef mcc::MccSimpleTrackingModel Asibfm700TrackingModel;
+
+}  // namespace asibfm700
--- a/asibfm700/asibfm700_configfile.h
+++ b/asibfm700/asibfm700_configfile.h
@@ -0,0 +1,860 @@
+#pragma once
+
+/**/
+
+#include <expected>
+#include <filesystem>
+#include <fstream>
+
+#include <mcc_angle.h>
+#include <mcc_moving_model_common.h>
+#include <mcc_pcm.h>
+#include <mcc_utils.h>
+
+#include "asibfm700_common.h"
+#include "asibfm700_servocontroller.h"
+
+namespace asibfm700
+{
+
+
+/*    A SIMPLE "KEYWORD - VALUE" HOLDER CLASS SUITABLE TO STORE SOME APPLICATION CONFIGURATION    */
+
+
+// to follow std::variant requirements (not references, not array, not void)
+template <typename T>
+concept config_record_valid_type_c = requires { !std::is_array_v<T> && !std::is_void_v<T> && !std::is_reference_v<T>; };
+
+// simple minimal-requirement configuration record class
+template <config_record_valid_type_c T>
+struct simple_config_record_t {
+    std::string_view key;
+    T value;
+    std::vector<std::string_view> comment;
+};
+
+
+/*    ASTOROSIB FM700 MOUNT CONFIGURATION CLASS    */
+
+// configuration description and its defaults
+static auto Asibfm700MountConfigDefaults = std::make_tuple(
+    // main cycle period in millisecs
+    simple_config_record_t{"hardwarePollingPeriod", std::chrono::milliseconds{100}, {"main cycle period in millisecs"}},
+
+    /*    geographic coordinates of the observation site    */
+
+    // site latitude in degrees
+    simple_config_record_t{"siteLatitude", mcc::MccAngle(43.646711_degs), {"site latitude in degrees"}},
+
+    // site longitude  in degrees
+    simple_config_record_t{"siteLongitude", mcc::MccAngle(41.440732_degs), {"site longitude  in degrees"}},
+
+    // site elevation in meters
+    simple_config_record_t{"siteElevation", 2070.0, {"site elevation in meters"}},
+
+    /*    celestial coordinate transformation    */
+
+    // wavelength at which refraction is calculated (in mkm)
+    simple_config_record_t{"refractWavelength", 0.55, {"wavelength at which refraction is calculated (in mkm)"}},
+
+    // an empty filename means default precompiled string
+    simple_config_record_t{"leapSecondFilename", std::string(), {"an empty filename means default precompiled string"}},
+
+    // an empty filename means default precompiled string
+    simple_config_record_t{"bulletinAFilename", std::string(), {"an empty filename means default precompiled string"}},
+
+    /*    pointing correction model    */
+
+    // PCM default type
+    simple_config_record_t{"pcmType",
+                           mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY,
+                           {"PCM type:", "GEOMETRY - 'classic' geometry-based correction coefficients",
+                            "GEOMETRY-BSPLINE - previous one and additional 2D B-spline corrections",
+                            "BSPLINE - pure 2D B-spline corrections"}},
+
+    // PCM geometrical coefficients
+    simple_config_record_t{"pcmGeomCoeffs",
+                           std::vector<double>{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+                           {"PCM geometrical coefficients"}},
+
+    // PCM B-spline degrees
+    simple_config_record_t{"pcmBsplineDegree", std::vector<size_t>{3, 3}, {"PCM B-spline degrees"}},
+
+    // PCM B-spline knots along X-axis (HA-angle or azimuth). By default from 0 to 2*PI radians
+    // NOTE: The first and last values are interpretated as border knots!!!
+    //       Thus the array length must be equal to or greater than 2!
+    simple_config_record_t{"pcmBsplineXknots",
+                           std::vector<double>{0.0, 0.6981317, 1.3962634, 2.0943951, 2.7925268, 3.4906585, 4.1887902,
+                                               4.88692191, 5.58505361, 6.28318531},
+                           {"PCM B-spline knots along X-axis (HA-angle or azimuth). By default from 0 to 2*PI radians",
+                            "NOTE: The first and last values are interpretated as border knots!!!",
+                            "      Thus the array length must be equal to or greater than 2!"}},
+
+    // PCM B-spline knots along Y-axis (declination or zenithal distance). By default from -PI/6 to PI/2 radians
+    // NOTE: The first and last values are interpretated as border knots!!!
+    //       Thus the array length must be equal to or greater than 2!
+    simple_config_record_t{
+        "pcmBsplineYknots",
+        std::vector<double>{-0.52359878, -0.29088821, -0.05817764, 0.17453293, 0.40724349, 0.63995406, 0.87266463,
+                            1.10537519, 1.33808576, 1.57079633},
+        {"PCM B-spline knots along Y-axis (declination or zenithal distance). By default from -PI/6 to PI/2 radians",
+         "NOTE: The first and last values are interpretated as border knots!!!",
+         "      Thus the array length must be equal to or greater than 2!"}},
+
+    // PCM B-spline coeffs for along X-axis (HA-angle or azimuth)
+    simple_config_record_t{"pcmBsplineXcoeffs",
+                           std::vector<double>{},
+                           {"PCM B-spline coeffs for along X-axis (HA-angle)"}},
+
+    // PCM B-spline coeffs for along Y-axis (declination or zenithal distance)
+    simple_config_record_t{"pcmBsplineYcoeffs",
+                           std::vector<double>{},
+                           {"PCM B-spline coeffs for along Y-axis (declination angle)"}},
+
+
+    /*    slewing and tracking parameters    */
+
+    // // arcseconds per second
+    // simple_config_record_t{"sideralRate", 15.0410686},
+
+    // timeout for telemetry updating in milliseconds
+    simple_config_record_t{"telemetryTimeout",
+                           std::chrono::milliseconds(3000),
+                           {"timeout for telemetry updating in milliseconds"}},
+
+    // minimal allowed time in seconds to prohibited zone
+    simple_config_record_t{"minTimeToPZone",
+                           std::chrono::seconds(10),
+                           {"minimal allowed time in seconds to prohibited zone"}},
+
+    // a time interval to update prohibited zones related quantities (millisecs)
+    simple_config_record_t{"updatingPZoneInterval",
+                           std::chrono::milliseconds(5000),
+                           {"a time interval to update prohibited zones related quantities (millisecs)"}},
+
+    // coordinates difference in arcsecs to stop slewing
+    simple_config_record_t{"slewToleranceRadius", 5.0, {"coordinates difference in arcsecs to stop slewing"}},
+
+    simple_config_record_t{"slewingTelemetryInterval",
+                           std::chrono::milliseconds(100),
+                           {"telemetry request interval (in millisecs) in slewing mode"}},
+
+    simple_config_record_t{"slewingPathFilename",
+                           std::string(),
+                           {"slewing trajectory filename", "if it is an empty - just skip saving"}},
+
+    // target-mount coordinate difference in arcsecs to start adjusting of slewing
+    simple_config_record_t{"adjustCoordDiff",
+                           50.0,
+                           {"target-mount coordinate difference in arcsecs to start adjusting of slewing"}},
+
+    // minimum time in millisecs between two successive adjustments
+    simple_config_record_t{"adjustCycleInterval",
+                           std::chrono::milliseconds(300),
+                           {"minimum time in millisecs between two successive adjustments"}},
+
+    // slew process timeout in seconds
+    simple_config_record_t{"slewTimeout", std::chrono::seconds(3600), {"slew process timeout in seconds"}},
+
+    // a time shift into future to compute target position in future (UT1-scale time duration, millisecs)
+    simple_config_record_t{
+        "timeShiftToTargetPoint",
+        std::chrono::milliseconds(10000),
+        {"a time shift into future to compute target position in future (UT1-scale time duration, millisecs)"}},
+
+
+    simple_config_record_t{"trackingTelemetryInterval",
+                           std::chrono::milliseconds(100),
+                           {"telemetry request interval (in millisecs) in tracking mode"}},
+
+
+    // minimum time in millisecs between two successive tracking corrections
+    simple_config_record_t{"trackingCycleInterval",
+                           std::chrono::milliseconds(300),
+                           {"minimum time in millisecs between two successive tracking corrections"}},
+
+    // maximal valid target-to-mount distance for tracking process (arcsecs)
+    // if current distance is greater than assume current mount coordinate as target point
+    simple_config_record_t{"trackingMaxCoordDiff",
+                           20.0,
+                           {"maximal valid target-to-mount distance for tracking process (arcsecs)",
+                            "if current distance is greater than assume current mount coordinate as target point"}},
+
+    simple_config_record_t{"trackingPathFilename",
+                           std::string(),
+                           {"tracking trajectory filename", "if it is an empty - just skip saving"}},
+
+
+    /*    prohibited zones    */
+
+    // minimal altitude
+    simple_config_record_t{"pzMinAltitude", mcc::MccAngle(10.0_degs), {"minimal altitude"}},
+
+    // HA-axis limit switch minimal value
+    simple_config_record_t{"pzLimitSwitchHAMin", mcc::MccAngle(-270.0_degs), {"HA-axis limit switch minimal value"}},
+
+    // HA-axis limit switch maximal value
+    simple_config_record_t{"pzLimitSwitchHAMax", mcc::MccAngle(270.0_degs), {"HA-axis limit switch maximal value"}},
+
+    // DEC-axis limit switch minimal value
+    simple_config_record_t{"pzLimitSwitchDecMin", mcc::MccAngle(-90.0_degs), {"DEC-axis limit switch minimal value"}},
+
+    // DEC-axis limit switch maximal value
+    simple_config_record_t{"pzLimitSwitchDecMax", mcc::MccAngle(90.0_degs), {"DEC-axis limit switch maximal value"}},
+
+
+    /*    hardware-related    */
+
+    // hardware mode: 1 - model mode, otherwise real mode
+    simple_config_record_t{"RunModel", 0, {"hardware mode: 1 - model mode, otherwise real mode"}},
+
+    // mount serial device paths
+    simple_config_record_t{"MountDevPath", std::string("/dev/ttyUSB0"), {"mount serial device paths"}},
+
+    // mount serial device speed
+    simple_config_record_t{"MountDevSpeed", 19200, {"mount serial device speed"}},
+
+    // motor encoders serial device path
+    simple_config_record_t{"EncoderDevPath", std::string(""), {"motor encoders serial device path"}},
+
+    //  X-axis encoder serial device path
+    simple_config_record_t{"EncoderXDevPath", std::string("/dev/encoderX0"), {"X-axis encoder serial device path"}},
+
+    //  Y-axis encoder serial device path
+    simple_config_record_t{"EncoderYDevPath", std::string("/dev/encoderY0"), {"Y-axis encoder serial device path"}},
+
+    // encoders serial device speed
+    simple_config_record_t{"EncoderDevSpeed", 153000, {"encoders serial device speed"}},
+
+    // ==1 if encoder works as separate serial device, ==2 if there's new version with two devices
+    simple_config_record_t{
+        "SepEncoder",
+        2,
+        {"==1 if encoder works as separate serial device, ==2 if there's new version with two devices"}},
+
+
+    // mount polling interval in millisecs
+    simple_config_record_t{"MountReqInterval", std::chrono::milliseconds(100), {"mount polling interval in millisecs"}},
+
+    // encoders polling interval in millisecs
+    simple_config_record_t{"EncoderReqInterval",
+                           std::chrono::milliseconds(1),
+                           {"encoders polling interval in millisecs"}},
+
+    // mount axes rate calculation interval in millisecs
+    simple_config_record_t{"EncoderSpeedInterval",
+                           std::chrono::milliseconds(50),
+                           {"mount axes rate calculation interval in millisecs"}},
+
+    simple_config_record_t{"PIDMaxDt",
+                           std::chrono::milliseconds(1000),
+                           {"maximal PID refresh time interval in millisecs",
+                            "NOTE: if PID data will be refreshed with interval longer than this value (e.g. user polls "
+                            "encoder data too rarely)",
+                            "then the PID 'expired' data will be cleared and new computing loop is started"}},
+
+    simple_config_record_t{"PIDRefreshDt", std::chrono::milliseconds(100), {"PID refresh interval"}},
+
+    simple_config_record_t{"PIDCycleDt",
+                           std::chrono::milliseconds(5000),
+                           {"PID I cycle time (analog of 'RC' for PID on opamps)"}},
+
+
+
+    // X-axis coordinate PID P,I,D-params
+    simple_config_record_t{"XPIDC", std::vector<double>{0.5, 0.1, 0.2}, {"X-axis coordinate PID P,I,D-params"}},
+
+    // X-axis rate PID P,I,D-params
+    simple_config_record_t{"XPIDV", std::vector<double>{0.09, 0.0, 0.05}, {"X-axis rate PID P,I,D-params"}},
+
+    // Y-axis coordinate PID P, I, D-params
+    simple_config_record_t{"YPIDC", std::vector<double>{0.5, 0.1, 0.2}, {"Y-axis coordinate PID P, I, D-params"}},
+
+    // Y-axis rate PID P,I,D-params
+    simple_config_record_t{"YPIDV", std::vector<double>{0.09, 0.0, 0.05}, {"Y-axis rate PID P,I,D-params"}},
+
+
+    // maximal moving rate (degrees per second) along HA-axis  (Y-axis of Sidereal servo microcontroller)
+    simple_config_record_t{
+        "hwMaxRateHA",
+        mcc::MccAngle(8.0_degs),
+        {"maximal moving rate (degrees per second) along HA-axis  (Y-axis of Sidereal servo microcontroller)"}},
+
+    // maximal moving rate (degrees per second) along DEC-axis (X-axis of Sidereal servo microcontroller)
+    simple_config_record_t{
+        "hwMaxRateDEC",
+        mcc::MccAngle(10.0_degs),
+        {"maximal moving rate (degrees per second) along DEC-axis (X-axis of Sidereal servo microcontroller)"}},
+
+    simple_config_record_t{"MaxPointingErr",
+                           mcc::MccAngle(8.0_degs),
+                           {"slewing-to-pointing mode angular limit in degrees"}},
+
+    simple_config_record_t{"MaxFinePointingErr",
+                           mcc::MccAngle(1.5_degs),
+                           {"pointing-to-guiding mode angular limit in degrees"}},
+
+    simple_config_record_t{"MaxGuidingErr",
+                           mcc::MccAngle(0.5_arcsecs),
+                           {"guiding 'good'-flag error cirle radius (mount-to-target distance) in degrees"}},
+
+    simple_config_record_t{"XEncZero", mcc::MccAngle(0.0_degs), {"X-axis encoder zero-point in degrees"}},
+
+    simple_config_record_t{"YEncZero", mcc::MccAngle(0.0_degs), {"Y-axis encoder zero-point in degrees"}}
+
+);
+
+
+class Asibfm700MountConfig : public mcc::utils::KeyValueHolder<decltype(Asibfm700MountConfigDefaults)>
+{
+    using base_t = mcc::utils::KeyValueHolder<decltype(Asibfm700MountConfigDefaults)>;
+
+protected:
+    inline static auto deserializer = []<typename VT>(std::string_view str, VT& value) {
+        std::error_code ec{};
+
+        mcc::utils::MccSimpleDeserializer deser;
+        deser.setRangeDelim(base_t::VALUE_ARRAY_DELIM);
+
+        if constexpr (std::is_arithmetic_v<VT> || mcc::traits::mcc_output_char_range<VT> || std::ranges::range<VT> ||
+                      mcc::traits::mcc_time_duration_c<VT>) {
+            // ec = base_t::defaultDeserializeFunc(str, value);
+            ec = deser(str, value);
+        } else if constexpr (std::same_as<VT, mcc::MccAngle>) {  // assume here all angles are in degrees
+            double vd;
+            // ec = base_t::defaultDeserializeFunc(str, vd);
+            ec = deser(str, vd);
+            if (!ec) {
+                value = mcc::MccAngle(vd, mcc::MccDegreeTag{});
+            }
+        } else if constexpr (std::same_as<VT, mcc::MccDefaultPCMType>) {
+            std::string vstr;
+            // ec = base_t::defaultDeserializeFunc(str, vstr);
+            ec = deser(str, vstr);
+
+            if (!ec) {
+                auto s = mcc::utils::trimSpaces(vstr);
+
+                if (s == mcc::MccDefaultPCMTypeString<mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY>) {
+                    value = mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY;
+                } else if (s == mcc::MccDefaultPCMTypeString<mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY_BSPLINE>) {
+                    value = mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY;
+                } else if (s == mcc::MccDefaultPCMTypeString<mcc::MccDefaultPCMType::PCM_TYPE_BSPLINE>) {
+                    value = mcc::MccDefaultPCMType::PCM_TYPE_BSPLINE;
+                } else {
+                    ec = std::make_error_code(std::errc::invalid_argument);
+                }
+            }
+        } else {
+            ec = std::make_error_code(std::errc::invalid_argument);
+        }
+
+        return ec;
+    };
+
+
+public:
+    /*  the most usefull config fields  */
+
+    template <mcc::traits::mcc_time_duration_c DT>
+    DT hardwarePollingPeriod() const
+    {
+        return std::chrono::duration_cast<DT>(
+            getValue<std::chrono::milliseconds>("hardwarePollingPeriod").value_or(std::chrono::milliseconds{}));
+    };
+
+    std::chrono::milliseconds hardwarePollingPeriod() const
+    {
+        return hardwarePollingPeriod<std::chrono::milliseconds>();
+    };
+
+    template <mcc::mcc_angle_c T>
+    T siteLatitude() const
+    {
+        return static_cast<double>(getValue<mcc::MccAngle>("siteLatitude").value_or(mcc::MccAngle{}));
+    };
+
+    mcc::MccAngle siteLatitude() const
+    {
+        return siteLatitude<mcc::MccAngle>();
+    };
+
+    template <mcc::mcc_angle_c T>
+    T siteLongitude() const
+    {
+        return static_cast<double>(getValue<mcc::MccAngle>("siteLongitude").value_or(mcc::MccAngle{}));
+    };
+
+    mcc::MccAngle siteLongitude() const
+    {
+        return siteLongitude<mcc::MccAngle>();
+    };
+
+    template <typename T>
+    T siteElevation() const
+        requires std::is_arithmetic_v<T>
+    {
+        return getValue<double>("siteElevation").value_or(0.0);
+    }
+
+    double siteElevation() const
+    {
+        return getValue<double>("siteElevation").value_or(0.0);
+    };
+
+    template <typename T>
+    T refractWavelength() const
+        requires std::is_arithmetic_v<T>
+    {
+        return getValue<double>("refractWavelength").value_or(0.0);
+    }
+
+    double refractWavelength() const
+    {
+        return getValue<double>("refractWavelength").value_or(0.0);
+    };
+
+    template <mcc::traits::mcc_output_char_range R>
+    R leapSecondFilename() const
+    {
+        R r;
+
+        std::string val = getValue<std::string>("leapSecondFilename").value_or("");
+        std::ranges::copy(val, std::back_inserter(r));
+
+        return r;
+    }
+
+    std::string leapSecondFilename() const
+    {
+        return leapSecondFilename<std::string>();
+    };
+
+    template <mcc::traits::mcc_output_char_range R>
+    R bulletinAFilename() const
+    {
+        R r;
+        std::string val = getValue<std::string>("bulletinAFilename").value_or("");
+        std::ranges::copy(val, std::back_inserter(r));
+
+        return r;
+    }
+
+    std::string bulletinAFilename() const
+    {
+        return bulletinAFilename<std::string>();
+    };
+
+
+    template <mcc::mcc_angle_c T>
+    T pzMinAltitude() const
+    {
+        return static_cast<double>(getValue<mcc::MccAngle>("pzMinAltitude").value_or(mcc::MccAngle{}));
+    };
+
+    mcc::MccAngle pzMinAltitude() const
+    {
+        return pzMinAltitude<mcc::MccAngle>();
+    };
+
+    template <mcc::mcc_angle_c T>
+    T pzLimitSwitchHAMin() const
+    {
+        return static_cast<double>(getValue<mcc::MccAngle>("pzLimitSwitchHAMin").value_or(mcc::MccAngle{}));
+    };
+
+    mcc::MccAngle pzLimitSwitchHAMin() const
+    {
+        return pzLimitSwitchHAMin<mcc::MccAngle>();
+    };
+
+    template <mcc::mcc_angle_c T>
+    T pzLimitSwitchHAMax() const
+    {
+        return static_cast<double>(getValue<mcc::MccAngle>("pzLimitSwitchHAMax").value_or(mcc::MccAngle{}));
+    };
+
+    mcc::MccAngle pzLimitSwitchHAMax() const
+    {
+        return pzLimitSwitchHAMax<mcc::MccAngle>();
+    };
+
+
+    AsibFM700ServoController::hardware_config_t servoControllerConfig() const
+    {
+        AsibFM700ServoController::hardware_config_t hw_cfg;
+
+        hw_cfg.hwConfig = {};
+
+        hw_cfg.MountDevPath = getValue<std::string>("MountDevPath").value_or(std::string{});
+        hw_cfg.EncoderDevPath = getValue<std::string>("EncoderDevPath").value_or(std::string{});
+        hw_cfg.EncoderXDevPath = getValue<std::string>("EncoderXDevPath").value_or(std::string{});
+        hw_cfg.EncoderYDevPath = getValue<std::string>("EncoderYDevPath").value_or(std::string{});
+
+        hw_cfg.devConfig.MountDevPath = hw_cfg.MountDevPath.data();
+        hw_cfg.devConfig.EncoderDevPath = hw_cfg.EncoderDevPath.data();
+        hw_cfg.devConfig.EncoderXDevPath = hw_cfg.EncoderXDevPath.data();
+        hw_cfg.devConfig.EncoderYDevPath = hw_cfg.EncoderYDevPath.data();
+
+        hw_cfg.devConfig.RunModel = getValue<int>("RunModel").value_or(int{});
+        hw_cfg.devConfig.MountDevSpeed = getValue<int>("MountDevSpeed").value_or(int{});
+        hw_cfg.devConfig.EncoderDevSpeed = getValue<int>("EncoderDevSpeed").value_or(int{});
+        hw_cfg.devConfig.SepEncoder = getValue<int>("SepEncoder").value_or(int{});
+
+        std::chrono::duration<double> secs;  // seconds as floating-point
+
+        secs = getValue<std::chrono::milliseconds>("MountReqInterval").value_or(std::chrono::milliseconds{});
+        hw_cfg.devConfig.MountReqInterval = secs.count();
+
+        secs = getValue<std::chrono::milliseconds>("EncoderReqInterval").value_or(std::chrono::milliseconds{});
+        hw_cfg.devConfig.EncoderReqInterval = secs.count();
+
+        secs = getValue<std::chrono::milliseconds>("EncoderSpeedInterval").value_or(std::chrono::milliseconds{});
+        hw_cfg.devConfig.EncoderSpeedInterval = secs.count();
+
+        secs = getValue<std::chrono::milliseconds>("PIDMaxDt").value_or(std::chrono::milliseconds{1000});
+        hw_cfg.devConfig.PIDMaxDt = secs.count();
+
+        secs = getValue<std::chrono::milliseconds>("PIDRefreshDt").value_or(std::chrono::milliseconds{100});
+        hw_cfg.devConfig.PIDRefreshDt = secs.count();
+
+        secs = getValue<std::chrono::milliseconds>("PIDCycleDt").value_or(std::chrono::milliseconds{5000});
+        hw_cfg.devConfig.PIDCycleDt = secs.count();
+
+
+        std::vector<double> pid = getValue<std::vector<double>>("XPIDC").value_or(std::vector<double>{});
+        if (pid.size() > 2) {
+            hw_cfg.devConfig.XPIDC.P = pid[0];
+            hw_cfg.devConfig.XPIDC.I = pid[1];
+            hw_cfg.devConfig.XPIDC.D = pid[2];
+        }
+
+        pid = getValue<std::vector<double>>("XPIDV").value_or(std::vector<double>{});
+        if (pid.size() > 2) {
+            hw_cfg.devConfig.XPIDV.P = pid[0];
+            hw_cfg.devConfig.XPIDV.I = pid[1];
+            hw_cfg.devConfig.XPIDV.D = pid[2];
+        }
+
+        pid = getValue<std::vector<double>>("YPIDC").value_or(std::vector<double>{});
+        if (pid.size() > 2) {
+            hw_cfg.devConfig.YPIDC.P = pid[0];
+            hw_cfg.devConfig.YPIDC.I = pid[1];
+            hw_cfg.devConfig.YPIDC.D = pid[2];
+        }
+
+        pid = getValue<std::vector<double>>("YPIDV").value_or(std::vector<double>{});
+        if (pid.size() > 2) {
+            hw_cfg.devConfig.YPIDV.P = pid[0];
+            hw_cfg.devConfig.YPIDV.I = pid[1];
+            hw_cfg.devConfig.YPIDV.D = pid[2];
+        }
+
+        double ang = getValue<mcc::MccAngle>("MaxPointingErr").value_or(mcc::MccAngle(8.0_degs));
+        hw_cfg.devConfig.MaxPointingErr = ang;
+
+        ang = getValue<mcc::MccAngle>("MaxFinePointingErr").value_or(mcc::MccAngle(1.5_degs));
+        hw_cfg.devConfig.MaxFinePointingErr = ang;
+
+        ang = getValue<mcc::MccAngle>("MaxGuidingErr").value_or(mcc::MccAngle(0.5_arcsecs));
+        hw_cfg.devConfig.MaxGuidingErr = ang;
+
+        ang = getValue<mcc::MccAngle>("XEncZero").value_or(mcc::MccAngle(0.0_degs));
+        hw_cfg.devConfig.XEncZero = ang;
+
+
+        ang = getValue<mcc::MccAngle>("YEncZero").value_or(mcc::MccAngle(0.0_degs));
+        hw_cfg.devConfig.YEncZero = ang;
+
+
+
+        return hw_cfg;
+    }
+
+
+    mcc::MccSimpleMovingModelParams movingModelParams() const
+    {
+        static constexpr double arcsecs2rad = std::numbers::pi / 180.0 / 3600.0;  // arcseconds to radians
+
+        mcc::MccSimpleMovingModelParams pars;
+
+        auto get_value = [&pars, this]<typename VT>(std::string_view name, VT& val) {
+            val = getValue<VT>(name).value_or(val);
+        };
+
+        pars.telemetryTimeout =
+            getValue<decltype(pars.telemetryTimeout)>("telemetryTimeout").value_or(pars.telemetryTimeout);
+
+        pars.minTimeToPZone = getValue<decltype(pars.minTimeToPZone)>("minTimeToPZone").value_or(pars.minTimeToPZone);
+
+        pars.updatingPZoneInterval = getValue<decltype(pars.updatingPZoneInterval)>("updatingPZoneInterval")
+                                         .value_or(pars.updatingPZoneInterval);
+
+        pars.slewToleranceRadius =
+            getValue<decltype(pars.slewToleranceRadius)>("slewToleranceRadius").value_or(pars.slewToleranceRadius) *
+            arcsecs2rad;
+
+        get_value("slewingTelemetryInterval", pars.slewingTelemetryInterval);
+
+        pars.slewRateX = getValue<decltype(pars.slewRateX)>("hwMaxRateHA").value_or(pars.slewRateX);
+        pars.slewRateY = getValue<decltype(pars.slewRateY)>("hwMaxRateDEC").value_or(pars.slewRateY);
+
+        pars.adjustCoordDiff =
+            getValue<decltype(pars.adjustCoordDiff)>("adjustCoordDiff").value_or(pars.adjustCoordDiff) * arcsecs2rad;
+
+        pars.adjustCycleInterval =
+            getValue<decltype(pars.adjustCycleInterval)>("adjustCycleInterval").value_or(pars.adjustCycleInterval);
+
+        pars.slewTimeout = getValue<decltype(pars.slewTimeout)>("slewTimeout").value_or(pars.slewTimeout);
+
+        pars.slewingPathFilename =
+            getValue<decltype(pars.slewingPathFilename)>("slewingPathFilename").value_or(std::string());
+
+        get_value("trackingTelemetryInterval", pars.trackingTelemetryInterval);
+
+        pars.timeShiftToTargetPoint = getValue<decltype(pars.timeShiftToTargetPoint)>("timeShiftToTargetPoint")
+                                          .value_or(pars.timeShiftToTargetPoint);
+
+        pars.trackingCycleInterval = getValue<decltype(pars.trackingCycleInterval)>("trackingCycleInterval")
+                                         .value_or(pars.trackingCycleInterval);
+
+        pars.trackingMaxCoordDiff =
+            getValue<decltype(pars.trackingMaxCoordDiff)>("trackingMaxCoordDiff").value_or(pars.trackingMaxCoordDiff) *
+            arcsecs2rad;
+
+        pars.trackingPathFilename =
+            getValue<decltype(pars.trackingPathFilename)>("trackingPathFilename").value_or(std::string());
+
+        return pars;
+    }
+
+    Asibfm700PCM::pcm_data_t pcmData() const
+    {
+        Asibfm700PCM::pcm_data_t pcm_data;
+
+        std::vector<double> empty_vec;
+
+        pcm_data.type = getValue<decltype(pcm_data.type)>("pcmType").value_or(pcm_data.type);
+
+        pcm_data.siteLatitude = getValue<mcc::MccAngle>("siteLatitude").value_or(pcm_data.siteLatitude);
+
+        std::vector<double> vec = getValue<std::vector<double>>("pcmGeomCoeffs").value_or(empty_vec);
+        if (vec.size() >= 9) {  // must be 9 coefficients
+            pcm_data.geomCoefficients = {.zeroPointX = vec[0],
+                                         .zeroPointY = vec[1],
+                                         .collimationErr = vec[2],
+                                         .nonperpendErr = vec[3],
+                                         .misalignErr1 = vec[4],
+                                         .misalignErr2 = vec[5],
+                                         .tubeFlexure = vec[6],
+                                         .forkFlexure = vec[7],
+                                         .DECaxisFlexure = vec[8]};
+        }
+
+        std::vector<size_t> dd = getValue<decltype(dd)>("pcmBsplineDegree").value_or(dd);
+        if (dd.size() >= 2) {
+            pcm_data.bspline.bsplDegreeX = dd[0] > 0 ? dd[0] : 3;
+            pcm_data.bspline.bsplDegreeY = dd[1] > 0 ? dd[1] : 3;
+        }
+
+        vec = getValue<std::vector<double>>("pcmBsplineXknots").value_or(empty_vec);
+        // pid must contains interior and border (single point for each border) knots so minimal length must be 2
+        if (vec.size() >= 2) {
+            // generate full knots array (with border knots)
+            size_t Nknots = vec.size() + pcm_data.bspline.bsplDegreeX * 2 - 2;
+            pcm_data.bspline.knotsX.resize(Nknots);
+
+            for (size_t i = 0; i <= pcm_data.bspline.bsplDegreeX; ++i) {  // border knots
+                pcm_data.bspline.knotsX[i] = vec[0];
+                pcm_data.bspline.knotsX[Nknots - i - 1] = vec.back();
+            }
+            for (size_t i = 0; i < (vec.size() - 2); ++i) {  // interior knots
+                pcm_data.bspline.knotsX[i + pcm_data.bspline.bsplDegreeX] = vec[1 + i];
+            }
+        }
+
+        vec = getValue<std::vector<double>>("pcmBsplineYknots").value_or(empty_vec);
+        // pid must contains interior and border (single point for each border) knots so minimal length must be 2
+        if (vec.size() >= 2) {
+            // generate full knots array (with border knots)
+            size_t Nknots = vec.size() + pcm_data.bspline.bsplDegreeY * 2 - 2;
+            pcm_data.bspline.knotsY.resize(Nknots);
+
+            for (size_t i = 0; i <= pcm_data.bspline.bsplDegreeY; ++i) {  // border knots
+                pcm_data.bspline.knotsY[i] = vec[0];
+                pcm_data.bspline.knotsY[Nknots - i - 1] = vec.back();
+            }
+            for (size_t i = 0; i < (vec.size() - 2); ++i) {  // interior knots
+                pcm_data.bspline.knotsY[i + pcm_data.bspline.bsplDegreeY] = vec[1 + i];
+            }
+        }
+
+        // minimal allowed number of B-spline coefficients
+        size_t Ncoeffs = pcm_data.type == mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY
+                             ? 0
+                             : (pcm_data.bspline.knotsX.size() - pcm_data.bspline.bsplDegreeX - 1) *
+                                   (pcm_data.bspline.knotsY.size() - pcm_data.bspline.bsplDegreeY - 1);
+
+        vec = getValue<std::vector<double>>("pcmBsplineXcoeffs").value_or(empty_vec);
+
+        if (vec.size() >= Ncoeffs) {
+            pcm_data.bspline.coeffsX.resize(Ncoeffs);
+            for (size_t i = 0; i < Ncoeffs; ++i) {
+                pcm_data.bspline.coeffsX[i] = vec[i];
+            }
+        }
+
+        vec = getValue<std::vector<double>>("pcmBsplineYcoeffs").value_or(empty_vec);
+
+        if (vec.size() >= Ncoeffs) {
+            pcm_data.bspline.coeffsY.resize(Ncoeffs);
+            for (size_t i = 0; i < Ncoeffs; ++i) {
+                pcm_data.bspline.coeffsY[i] = vec[i];
+            }
+        }
+
+        return pcm_data;
+    }
+
+
+    Asibfm700MountConfig() : base_t(Asibfm700MountConfigDefaults) {}
+
+    ~Asibfm700MountConfig() = default;
+
+    std::error_code load(const std::filesystem::path& path)
+    {
+        std::string buffer;
+
+        std::error_code ec;
+        auto sz = std::filesystem::file_size(path, ec);
+
+        if (!ec && sz) {
+            std::ifstream fst(path);
+
+            try {
+                buffer.resize(sz);
+
+                fst.read(buffer.data(), sz);
+
+                fst.close();
+
+                ec = base_t::fromCharRange(buffer, deserializer);
+                if (!ec) {
+                    // remove possible spaces in filenames
+
+                    std::string val = getValue<std::string>("leapSecondFilename").value_or("");
+                    auto fname = mcc::utils::trimSpaces(val);
+                    setValue("leapSecondFilename", fname);
+
+
+                    val = getValue<std::string>("bulletinAFilename").value_or("");
+                    fname = mcc::utils::trimSpaces(val);
+                    setValue("bulletinAFilename", fname);
+
+                    val = getValue<std::string>("MountDevPath").value_or(std::string{});
+                    fname = mcc::utils::trimSpaces(val);
+                    setValue("MountDevPath", fname);
+
+                    val = getValue<std::string>("EncoderDevPath").value_or(std::string{});
+                    fname = mcc::utils::trimSpaces(val);
+                    setValue("EncoderDevPath", fname);
+
+                    val = getValue<std::string>("EncoderXDevPath").value_or(std::string{});
+                    fname = mcc::utils::trimSpaces(val);
+                    setValue("EncoderXDevPath", fname);
+
+                    val = getValue<std::string>("EncoderYDevPath").value_or(std::string{});
+                    fname = mcc::utils::trimSpaces(val);
+                    setValue("EncoderYDevPath", fname);
+
+                    val = getValue<std::string>("slewingPathFilename").value_or(std::string{});
+                    fname = mcc::utils::trimSpaces(val);
+                    setValue("slewingPathFilename", fname);
+
+                    val = getValue<std::string>("trackingPathFilename").value_or(std::string{});
+                    fname = mcc::utils::trimSpaces(val);
+                    setValue("trackingPathFilename", fname);
+                }
+            } catch (std::ios_base::failure const& ex) {
+                ec = ex.code();
+            } catch (std::length_error const& ex) {
+                ec = std::make_error_code(std::errc::no_buffer_space);
+            } catch (std::bad_alloc const& ex) {
+                ec = std::make_error_code(std::errc::not_enough_memory);
+            } catch (...) {
+                ec = std::make_error_code(std::errc::operation_canceled);
+            }
+        }
+
+        return ec;
+    }
+
+    bool dumpDefaultsToFile(const std::filesystem::path& path)
+    {
+        std::ofstream fst(path);
+        if (!fst.is_open()) {
+            return false;
+        }
+
+        fst << "#\n";
+        fst << "# ASTROSIB FM-700 MOUNT CONFIGURATION\n" << "#\n";
+        fst << "#        (created at " << std::format("{:%FT%T UTC}", std::chrono::system_clock::now()) << ")\n";
+        fst << "#\n";
+
+        auto wrec = [&fst, this]<size_t I>() {
+            fst << "\n";
+            for (size_t i = 0; i < std::get<I>(_keyValue).comment.size(); ++i) {
+                fst << "# " << std::get<I>(_keyValue).comment[i] << "\n";
+            }
+            fst << std::get<I>(_keyValue).key << " = ";
+            auto v = std::get<I>(_keyValue).value;
+            using v_t = std::remove_cvref_t<decltype(v)>;
+
+            if constexpr (std::is_arithmetic_v<v_t> || mcc::traits::mcc_char_range<v_t>) {
+                fst << std::format("{}", v);
+            } else if constexpr (mcc::traits::mcc_time_duration_c<v_t>) {
+                fst << std::format("{}", v.count());
+            } else if constexpr (mcc::mcc_angle_c<v_t>) {
+                fst << std::format("{}", mcc::MccAngle(static_cast<double>(v)).degrees());
+            } else if constexpr (std::same_as<v_t, mcc::MccDefaultPCMType>) {
+                if (v == mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY) {
+                    fst << mcc::MccDefaultPCMTypeString<mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY>;
+                } else if (v == mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY_BSPLINE) {
+                    fst << mcc::MccDefaultPCMTypeString<mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY_BSPLINE>;
+                } else if (v == mcc::MccDefaultPCMType::PCM_TYPE_BSPLINE) {
+                    fst << mcc::MccDefaultPCMTypeString<mcc::MccDefaultPCMType::PCM_TYPE_BSPLINE>;
+                }
+            } else if constexpr (std::ranges::range<v_t> && std::formattable<std::ranges::range_value_t<v_t>, char>) {
+                size_t sz = std::ranges::size(v);
+                if (!sz) {
+                    return;
+                }
+                --sz;
+
+                auto it = v.begin();
+                for (size_t j = 0; j < sz; ++j, ++it) {
+                    fst << std::format("{}", *it) << base_t::VALUE_ARRAY_DELIM;
+                }
+                fst << std::format("{}", *it);
+            } else if constexpr (std::formattable<v_t, char>) {
+                fst << std::format("{}", v);
+            } else {
+                static_assert(false, "INVALID TYPE!");
+            }
+
+            fst << "\n";
+        };
+
+        [&wrec]<size_t... Is>(std::index_sequence<Is...>) {
+            (wrec.operator()<Is>(), ...);
+        }(std::make_index_sequence<std::tuple_size_v<decltype(Asibfm700MountConfigDefaults)>>());
+
+        fst.close();
+
+        return true;
+    };
+};
+
+
+
+}  // namespace asibfm700
--- a/asibfm700/asibfm700_mount.cpp
+++ b/asibfm700/asibfm700_mount.cpp
@@ -0,0 +1,355 @@
+#include "asibfm700_mount.h"
+
+#include <mcc_pzone.h>
+
+namespace asibfm700
+{
+
+
+/*    CONSTRUCTOR AND DESTRUCTOR    */
+
+Asibfm700Mount::Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_ptr<spdlog::logger> logger)
+    : mcc::ccte::erfa::MccCCTE_ERFA({.meteo{.temperature = 10.0, .humidity = 0.5, .pressure = 1010.0},
+                                     .wavelength = config.refractWavelength(),
+                                     .lat = config.siteLatitude(),
+                                     .lon = config.siteLongitude(),
+                                     .elev = config.siteElevation()}),
+      Asibfm700PCM(config.pcmData()),
+      gm_class_t(std::make_tuple(config.servoControllerConfig()),
+                 std::make_tuple(this),
+                 std::make_tuple(),
+                 std::make_tuple(this, Asibfm700Logger{logger}),
+                 std::make_tuple(this, Asibfm700Logger{logger}),
+                 std::make_tuple(logger, Asibfm700Logger::LOGGER_DEFAULT_FORMAT)),
+      // base_gm_class_t(Asibfm700StartState{},
+      //                 std::make_tuple(config.servoControllerConfig()),
+      //                 std::make_tuple(this),
+      //                 std::make_tuple(),
+      //                 std::make_tuple(this),
+      //                 std::make_tuple(this),
+      //                 std::make_tuple(logger, Asibfm700Logger::LOGGER_DEFAULT_FORMAT)),
+      _mountConfig(config),
+      _mountConfigMutex(new std::mutex)
+{
+    gm_class_t::addMarkToPatternIdx("[ASIB-MOUNT]");
+
+    logDebug("Create Asibfm700Mount class instance ({})", this->getThreadId());
+
+    initMount();
+}
+// Asibfm700Mount::Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_ptr<spdlog::logger> logger)
+//     : mcc::ccte::erfa::MccCCTE_ERFA({.meteo{.temperature = 10.0, .humidity = 0.5, .pressure = 1010.0},
+//                                      .wavelength = config.refractWavelength(),
+//                                      .lat = config.siteLatitude(),
+//                                      .lon = config.siteLongitude(),
+//                                      .elev = config.siteElevation()}),
+//       Asibfm700PCM(config.pcmData()),
+//       base_gm_class_t(
+//           gm_class_t{AsibFM700ServoController{config.servoControllerConfig()}, mcc::MccTelemetry{this},
+//                      Asibfm700PZoneContainer{}, mcc::MccSimpleSlewingModel{this}, mcc::MccSimpleTrackingModel{this},
+//                      Asibfm700Logger{std::move(logger), Asibfm700Logger::LOGGER_DEFAULT_FORMAT}},
+//           Asibfm700StartState{}),
+//       _mountConfig(config),
+//       _mountConfigMutex(new std::mutex)
+// {
+//     addMarkToPatternIdx("ASIB-MOUNT");
+
+//     logDebug("Create Asibfm700Mount class instance ({})", this->getThreadId());
+
+//     initMount();
+// }
+
+
+Asibfm700Mount::~Asibfm700Mount()
+{
+    logDebug("Delete Asibfm700Mount class instance ({})", this->getThreadId());
+}
+
+
+
+/*    PUBIC METHODS    */
+
+Asibfm700Mount::error_t Asibfm700Mount::initMount()
+{
+    std::lock_guard lock{*_mountConfigMutex};
+
+    logInfo("Stop telemetry data updating");
+    stopInternalTelemetryDataUpdating();
+
+    logInfo("Init AstroSib FM-700 mount with configuration:");
+    logInfo("    site latitude: {}", _mountConfig.siteLatitude().sexagesimal());
+    logInfo("    site longitude: {}", _mountConfig.siteLongitude().sexagesimal());
+    logInfo("    site elevation: {} meters", _mountConfig.siteElevation());
+    logInfo("    refraction wavelength: {} mkm", _mountConfig.refractWavelength());
+    logInfo("    leap seconds filename: {}", _mountConfig.leapSecondFilename());
+    logInfo("    IERS Bulletin A filename: {}", _mountConfig.bulletinAFilename());
+
+    logInfo("");
+    logDebug("Delete previously defined prohobited zones");
+    clearPZones();
+    logInfo("Add prohibited zones ...");
+
+    logInfo("    Add MccAltLimitPZ zone: min alt = {}, lat = {} (pzone type: '{}')",
+            _mountConfig.pzMinAltitude().degrees(), _mountConfig.siteLatitude().degrees(),
+            "Minimal altitude prohibited zone");
+    addPZone(mcc::MccAltLimitPZ<mcc::MccAltLimitKind::MIN_ALT_LIMIT>{_mountConfig.pzMinAltitude(),
+                                                                     _mountConfig.siteLatitude(), this});
+
+    logInfo("    Add MccAxisLimitSwitchPZ zone: min value = {}, max value = {} (pzone type: '{}')",
+            _mountConfig.pzLimitSwitchHAMin().degrees(), _mountConfig.pzLimitSwitchHAMax().degrees(),
+            "HA-axis limit switch");
+    size_t pz_num = addPZone(mcc::MccAxisLimitSwitchPZ<mcc::MccCoordKind::COORDS_KIND_HA>{
+        _mountConfig.pzLimitSwitchHAMin(), _mountConfig.pzLimitSwitchHAMax(), this});
+
+    logInfo("{} prohibited zones were added successfully", pz_num);
+
+    auto mpars = _mountConfig.movingModelParams();
+
+    using secs_t = std::chrono::duration<double>;
+    auto to_msecs = [](double secs) {
+        auto s = secs_t{secs};
+        return std::chrono::duration_cast<std::chrono::milliseconds>(s);
+    };
+
+    auto hw_cfg = _mountConfig.servoControllerConfig();
+    logInfo("");
+    logInfo("Hardware initialization ...");
+    logInfo("     set hardware configuration:");
+    logInfo("         RunModel: {}", hw_cfg.devConfig.RunModel == 1 ? "MODEL-MODE" : "REAL-MODE");
+    logInfo("         mount dev path: {}", hw_cfg.MountDevPath);
+    logInfo("         encoder dev path: {}", hw_cfg.EncoderDevPath);
+    logInfo("         encoder X-dev path: {}", hw_cfg.EncoderXDevPath);
+    logInfo("         encoder Y-dev path: {}", hw_cfg.EncoderYDevPath);
+
+    logInfo("         EncoderDevSpeed: {}", hw_cfg.devConfig.EncoderDevSpeed);
+    logInfo("         SepEncoder: {}", hw_cfg.devConfig.SepEncoder);
+    logInfo("         MountReqInterval: {}", to_msecs(hw_cfg.devConfig.MountReqInterval));
+    logInfo("         EncoderReqInterval: {}", to_msecs(hw_cfg.devConfig.EncoderReqInterval));
+    logInfo("         EncoderSpeedInterval: {}", to_msecs(hw_cfg.devConfig.EncoderSpeedInterval));
+    logInfo("         PIDMaxDt: {}", to_msecs(hw_cfg.devConfig.PIDMaxDt));
+    logInfo("         PIDRefreshDt: {}", to_msecs(hw_cfg.devConfig.PIDRefreshDt));
+    logInfo("         PIDCycleDt: {}", to_msecs(hw_cfg.devConfig.PIDCycleDt));
+
+    logInfo("         XPIDC: [P: {}, I: {}, D: {}]", hw_cfg.devConfig.XPIDC.P, hw_cfg.devConfig.XPIDC.I,
+            hw_cfg.devConfig.XPIDC.D);
+    logInfo("         XPIDV: [P: {}, I: {}, D: {}]", hw_cfg.devConfig.XPIDV.P, hw_cfg.devConfig.XPIDV.I,
+            hw_cfg.devConfig.XPIDV.D);
+    logInfo("         YPIDC: [P: {}, I: {}, D: {}]", hw_cfg.devConfig.YPIDC.P, hw_cfg.devConfig.YPIDC.I,
+            hw_cfg.devConfig.YPIDC.D);
+    logInfo("         YPIDV: [P: {}, I: {}, D: {}]", hw_cfg.devConfig.YPIDV.P, hw_cfg.devConfig.YPIDV.I,
+            hw_cfg.devConfig.YPIDV.D);
+    logInfo("         XEncZero: {}", hw_cfg.devConfig.XEncZero);
+    logInfo("         YEncZero: {}", hw_cfg.devConfig.YEncZero);
+
+    // actually, only set this->_hardwareConfig.devConfig part and paths!!!
+    this->_hardwareConfig = hw_cfg;
+
+    logInfo("");
+    logInfo("     EEPROM data:");
+
+    if (hw_cfg.devConfig.RunModel != 1) {  // load EEPROM only in REAL HARDWARE mode
+        // load EEPROM part
+        auto cfg_err = this->hardwareUpdateConfig();
+        if (cfg_err) {
+            errorLogging("Cannot load EEPROM data:", cfg_err);
+            return cfg_err;
+        }
+
+        mcc::MccAngle ang{_hardwareConfig.hwConfig.Yconf.accel};  // Sidereal defines HA-axis as Y-axis
+
+        logInfo("         HA-axis accel: {} degs/s^2", ang.degrees());
+        ang = _hardwareConfig.hwConfig.Xconf.accel;  // Sidereal defines DEC-axis as X-axis
+        logInfo("         DEC-axis accel: {} degs/s^2", ang.degrees());
+        logInfo("         HA-axis backlash: {}", (double)_hardwareConfig.hwConfig.Yconf.backlash);
+        logInfo("         DEC-axis backlash: {}", (double)_hardwareConfig.hwConfig.Xconf.backlash);
+
+        logInfo("         HA-axis encoder ticks per revolution: {}",
+                _hardwareConfig.hwConfig.Ysetpr);  // Sidereal defines HA-axis as Y-axis
+        logInfo("         DEC-axis encoder ticks per revolution: {}",
+                _hardwareConfig.hwConfig.Xsetpr);  // Sidereal defines DEC-axis as X-axis
+        logInfo("         HA-motor encoder ticks per revolution: {}",
+                _hardwareConfig.hwConfig.Ymetpr);  // Sidereal defines HA-axis as Y-axis
+        logInfo("         DEC-motor encoder ticks per revolution: {}",
+                _hardwareConfig.hwConfig.Xmetpr);  // Sidereal defines DEC-axis as X-axis
+
+        ang = _hardwareConfig.hwConfig.Yslewrate;  // Sidereal defines HA-axis as Y-axis
+        logInfo("         HA-axis slew rate: {} degs/s", ang.degrees());
+        ang = _hardwareConfig.hwConfig.Xslewrate;  // Sidereal defines DEC-axis as X-axis
+        logInfo("         DEC-axis slew rate: {} degs/s", ang.degrees());
+    } else {
+        logWarn("         MODEL-MODE, no EEPROM data!");
+    }
+
+    logInfo("");
+    logInfo("Setup slewing and tracking parameters ...");
+    mpars.slewRateX = _mountConfig.getValue<mcc::MccAngle>("hwMaxRateHA").value_or(0.0);
+    mpars.slewRateY = _mountConfig.getValue<mcc::MccAngle>("hwMaxRateDEC").value_or(0.0);
+    if (hw_cfg.devConfig.RunModel != 1) {
+        mpars.brakingAccelX = _hardwareConfig.hwConfig.Yconf.accel;  // Sidereal defines HA-axis as Y-axis
+        mpars.brakingAccelY = _hardwareConfig.hwConfig.Xconf.accel;  // Sidereal defines DEC-axis as X-axis
+    } else {
+        mpars.brakingAccelX = 0.165806;  // Sidereal defines HA-axis as Y-axis
+        mpars.brakingAccelY = 0.219911;  // Sidereal defines DEC-axis as X-axis
+    }
+
+    auto max_dt_intvl = _mountConfig.getValue<std::chrono::milliseconds>("PIDMaxDt").value_or({});
+    auto min_dt_intvl = _mountConfig.getValue<std::chrono::milliseconds>("PIDRefreshDt").value_or({});
+
+    // check for polling interval consistency
+    auto intvl = mpars.slewingTelemetryInterval;
+    if (intvl > max_dt_intvl) {
+        mpars.slewingTelemetryInterval = max_dt_intvl;
+        logWarn(
+            "        slewingTelemetryInterval user value ({} ms) is greater than allowed! Set it to maximal "
+            "allowed one: {} ms",
+            intvl.count(), max_dt_intvl.count());
+    }
+    if (intvl < min_dt_intvl) {
+        mpars.slewingTelemetryInterval = min_dt_intvl;
+        logWarn(
+            "        slewingTelemetryInterval user value ({} ms) is lesser than allowed! Set it to minimal allowed "
+            "one: {} ms",
+            intvl.count(), min_dt_intvl.count());
+    }
+
+    intvl = mpars.trackingTelemetryInterval;
+    if (intvl > max_dt_intvl) {
+        mpars.trackingTelemetryInterval = max_dt_intvl;
+        logWarn(
+            "        trackingTelemetryInterval user value ({} ms) is greater than allowed! Set it to maximal "
+            "allowed one: {} ms",
+            intvl.count(), max_dt_intvl.count());
+    }
+    if (intvl < min_dt_intvl) {
+        mpars.trackingTelemetryInterval = min_dt_intvl;
+        logWarn(
+            "        trackingTelemetryInterval user value ({} ms) is lesser than allowed! Set it to minimal "
+            "allowed one: {} ms",
+            intvl.count(), min_dt_intvl.count());
+    }
+
+
+    auto st_err = setSlewingParams(mpars);
+    if (st_err) {
+        errorLogging("    An error occured while setting slewing parameters: ", st_err);
+    } else {
+        logInfo("    Max HA-axis speed: {} degs/s", mcc::MccAngle(mpars.slewRateX).degrees());
+        logInfo("    Max DEC-axis speed: {} degs/s", mcc::MccAngle(mpars.slewRateY).degrees());
+        logInfo("    HA-axis stop acceleration braking: {} degs/s^2", mcc::MccAngle(mpars.brakingAccelX).degrees());
+        logInfo("    DEC-axis stop acceleration braking: {} degs/s^2", mcc::MccAngle(mpars.brakingAccelY).degrees());
+
+        logInfo("    Slewing telemetry polling interval: {} millisecs", mpars.slewingTelemetryInterval.count());
+    }
+    st_err = setTrackingParams(_mountConfig.movingModelParams());
+    if (st_err) {
+        errorLogging("    An error occured while setting tracking parameters: ", st_err);
+    } else {
+        logInfo("    Tracking telemetry polling interval: {} millisecs", mpars.trackingTelemetryInterval.count());
+    }
+    logInfo("Slewing and tracking parameters have been set successfully");
+
+
+
+    // call base class initMount method
+    auto hw_err = gm_class_t::initMount();
+    // auto hw_err = base_gm_class_t::initMount();
+    if (hw_err) {
+        errorLogging("", hw_err);
+        return hw_err;
+    } else {
+        logInfo("Hardware initialization was performed sucessfully!");
+    }
+
+    logInfo("ERFA engine initialization ...");
+
+
+    // set ERFA state
+    Asibfm700CCTE::engine_state_t ccte_state{
+        .meteo = Asibfm700CCTE::_currentState.meteo,  // just use of previous values
+        .wavelength = _mountConfig.refractWavelength(),
+        .lat = _mountConfig.siteLatitude(),
+        .lon = _mountConfig.siteLongitude(),
+        .elev = _mountConfig.siteElevation()};
+
+
+    if (_mountConfig.leapSecondFilename().size()) {  // load leap seconds file
+        logInfo("Loading leap second file: '{}' ...", _mountConfig.leapSecondFilename());
+        bool ok = ccte_state._leapSeconds.load(_mountConfig.leapSecondFilename());
+        if (ok) {
+            logInfo("Leap second file was loaded successfully (expire date: {})", ccte_state._leapSeconds.expireDate());
+        } else {
+            logError("Leap second file loading failed! Using hardcoded defauls (expire date: {})",
+                     ccte_state._leapSeconds.expireDate());
+        }
+    } else {
+        logInfo("Using hardcoded leap seconds defauls (expire date: {})", ccte_state._leapSeconds.expireDate());
+    }
+
+    if (_mountConfig.bulletinAFilename().size()) {  // load IERS Bulletin A file
+        logInfo("Loading IERS Bulletin A file: '{}' ...", _mountConfig.bulletinAFilename());
+        bool ok = ccte_state._bulletinA.load(_mountConfig.bulletinAFilename());
+        if (ok) {
+            logInfo("IERS Bulletin A file was loaded successfully (date range: {} - {})",
+                    ccte_state._bulletinA.dateRange().begin, ccte_state._bulletinA.dateRange().end);
+        } else {
+            logError("IERS Bulletin A file loading failed! Using hardcoded defauls (date range: {} - {})",
+                     ccte_state._bulletinA.dateRange().begin, ccte_state._bulletinA.dateRange().end);
+        }
+    } else {
+        logInfo("Using hardcoded IERS Bulletin A defauls (date range: {} - {})",
+                ccte_state._bulletinA.dateRange().begin, ccte_state._bulletinA.dateRange().end);
+    }
+
+    setStateERFA(std::move(ccte_state));
+
+    // setTelemetryDataUpdateInterval(_mountConfig.hardwarePollingPeriod());
+    setTelemetryUpdateTimeout(_mountConfig.movingModelParams().telemetryTimeout);
+    startInternalTelemetryDataUpdating();
+
+    // std::this_thread::sleep_for(std::chrono::milliseconds(100));
+
+    bool ok = isInternalTelemetryDataUpdating();
+    if (ok) {
+        logInfo("Start updating telemetry data ...");
+        mcc::MccTelemetryData tdata;
+        auto err = waitForTelemetryData(&tdata, _mountConfig.movingModelParams().telemetryTimeout);
+        if (err) {
+            logError("Cannot update telemetry data (err = {} [{}, {}])!", err.message(), err.value(),
+                     err.category().name());
+        }
+    } else {
+        auto err = lastUpdateError();
+        logError("Cannot update telemetry data (err = {} [{}, {}])!", err.message(), err.value(),
+                 err.category().name());
+    }
+
+    return mcc::MccGenericMountErrorCode::ERROR_OK;
+}
+
+
+Asibfm700Mount::error_t Asibfm700Mount::updateMountConfig(const Asibfm700MountConfig& cfg)
+{
+    std::lock_guard lock{*_mountConfigMutex};
+
+    _mountConfig = cfg;
+
+    auto hw_cfg = _mountConfig.servoControllerConfig();
+    hardwareUpdateConfig(hw_cfg.devConfig);
+    hardwareUpdateConfig(hw_cfg.hwConfig);
+
+    return AsibFM700ServoControllerErrorCode::ERROR_OK;
+}
+
+
+/*    PROTECTED METHODS    */
+
+void Asibfm700Mount::errorLogging(const std::string& msg, const std::error_code& err)
+{
+    if (msg.empty()) {
+        logError("{}::{} ({})", err.category().name(), err.value(), err.message());
+    } else {
+        logError("{}: {}::{} ({})", msg, err.category().name(), err.value(), err.message());
+    }
+}
+
+}  // namespace asibfm700
--- a/asibfm700/asibfm700_mount.h
+++ b/asibfm700/asibfm700_mount.h
@@ -0,0 +1,189 @@
+#pragma once
+
+
+#include <mcc_generic_mount.h>
+#include <mcc_pzone_container.h>
+#include <mcc_slewing_model.h>
+#include <mcc_spdlog.h>
+#include <mcc_telemetry.h>
+#include <mcc_tracking_model.h>
+
+#include "asibfm700_common.h"
+#include "asibfm700_configfile.h"
+
+
+namespace asibfm700
+{
+
+
+class Asibfm700Mount : public Asibfm700CCTE,
+                       public Asibfm700PCM,
+                       public mcc::MccGenericMount<AsibFM700ServoController,
+                                                   mcc::MccTelemetry,
+                                                   Asibfm700PZoneContainer,
+                                                   Asibfm700SlewingModel,
+                                                   Asibfm700TrackingModel,
+                                                   Asibfm700Logger>
+{
+    typedef mcc::MccGenericMount<AsibFM700ServoController,
+                                 mcc::MccTelemetry,
+                                 Asibfm700PZoneContainer,
+                                 Asibfm700SlewingModel,
+                                 Asibfm700TrackingModel,
+                                 Asibfm700Logger>
+        gm_class_t;
+
+public:
+    using gm_class_t::error_t;
+
+    using Asibfm700CCTE::setStateERFA;
+    using Asibfm700CCTE::updateBulletinA;
+    using Asibfm700CCTE::updateLeapSeconds;
+    using Asibfm700CCTE::updateMeteoERFA;
+
+    using gm_class_t::logCritical;
+    using gm_class_t::logDebug;
+    using gm_class_t::logError;
+    using gm_class_t::logInfo;
+    using gm_class_t::logWarn;
+    // using Asibfm700Logger::logCritical;
+    // using Asibfm700Logger::logDebug;
+    // using Asibfm700Logger::logError;
+    // using Asibfm700Logger::logInfo;
+    // using Asibfm700Logger::logWarn;
+
+    // using Asibfm700PZoneContainer::addPZone;
+
+    Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_ptr<spdlog::logger> logger);
+
+    ~Asibfm700Mount();
+
+    Asibfm700Mount(Asibfm700Mount&&) = default;
+    Asibfm700Mount& operator=(Asibfm700Mount&&) = default;
+
+    Asibfm700Mount(const Asibfm700Mount&) = delete;
+    Asibfm700Mount& operator=(const Asibfm700Mount&) = delete;
+
+    error_t initMount();
+
+    error_t updateMountConfig(Asibfm700MountConfig const&);
+    Asibfm700MountConfig currentMountConfig();
+
+protected:
+    Asibfm700MountConfig _mountConfig;
+    std::unique_ptr<std::mutex> _mountConfigMutex;
+
+    void errorLogging(const std::string&, const std::error_code&);
+};
+
+
+/*
+class Asibfm700Mount : public Asibfm700CCTE,
+                       public Asibfm700PCM,
+                       public mcc::MccGenericFsmMount<mcc::MccGenericMount<AsibFM700ServoController,
+                                                                           mcc::MccTelemetry,
+                                                                           Asibfm700PZoneContainer,
+                                                                           mcc::MccSimpleSlewingModel,
+                                                                           mcc::MccSimpleTrackingModel,
+                                                                           Asibfm700Logger>>
+{
+    typedef mcc::MccGenericMount<AsibFM700ServoController,
+                                 mcc::MccTelemetry,
+                                 Asibfm700PZoneContainer,
+                                 mcc::MccSimpleSlewingModel,
+                                 mcc::MccSimpleTrackingModel,
+                                 Asibfm700Logger>
+        gm_class_t;
+
+    typedef mcc::MccGenericFsmMount<mcc::MccGenericMount<AsibFM700ServoController,
+                                                         mcc::MccTelemetry,
+                                                         Asibfm700PZoneContainer,
+                                                         mcc::MccSimpleSlewingModel,
+                                                         mcc::MccSimpleTrackingModel,
+                                                         Asibfm700Logger>>
+        base_gm_class_t;
+
+protected:
+    struct Asibfm700ErrorState : base_gm_class_t::MccGenericFsmMountBaseState {
+        static constexpr std::string_view ID{"ASIBFM700-MOUNT-ERROR-STATE"};
+
+        // void exit(MccGenericFsmMountErrorEvent& event)
+        // {
+        //     event.mount()->logWarn("The mount already in error state!");
+        // }
+
+        void enter(MccGenericFsmMountErrorEvent& event)
+        {
+            enterLog(event);
+
+            // event.mount()->logWarn("The mount already in error state!");
+            auto err = event.eventData();
+            event.mount()->logError("An error occured: {} [{} {}]", err.message(), err.value(), err.category().name());
+        }
+
+        void exit(mcc::fsm::traits::fsm_event_c auto& event)
+        {
+            exitLog(event);
+        }
+
+        void enter(mcc::fsm::traits::fsm_event_c auto& event)
+        {
+            enterLog(event);
+
+            // ...
+        }
+
+        using transition_t = mcc::fsm::fsm_transition_table_t<
+            std::pair<MccGenericFsmMountErrorEvent, Asibfm700ErrorState>,
+            std::pair<MccGenericFsmMountInitEvent, MccGenericFsmMountInitState<Asibfm700ErrorState>>,
+            std::pair<MccGenericFsmMountIdleEvent, MccGenericFsmMountIdleState<Asibfm700ErrorState>>>;
+    };
+
+
+    typedef base_gm_class_t::MccGenericFsmMountStartState<Asibfm700ErrorState> Asibfm700StartState;
+
+public:
+    using base_gm_class_t::error_t;
+
+    using Asibfm700CCTE::setStateERFA;
+    using Asibfm700CCTE::updateBulletinA;
+    using Asibfm700CCTE::updateLeapSeconds;
+    using Asibfm700CCTE::updateMeteoERFA;
+
+    using Asibfm700Logger::logCritical;
+    using Asibfm700Logger::logDebug;
+    using Asibfm700Logger::logError;
+    using Asibfm700Logger::logInfo;
+    using Asibfm700Logger::logWarn;
+
+    // using Asibfm700PZoneContainer::addPZone;
+
+    Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_ptr<spdlog::logger> logger);
+
+    ~Asibfm700Mount();
+
+    Asibfm700Mount(Asibfm700Mount&&) = default;
+    Asibfm700Mount& operator=(Asibfm700Mount&&) = default;
+
+    Asibfm700Mount(const Asibfm700Mount&) = delete;
+    Asibfm700Mount& operator=(const Asibfm700Mount&) = delete;
+
+    error_t initMount();
+
+    error_t updateMountConfig(Asibfm700MountConfig const&);
+    Asibfm700MountConfig currentMountConfig();
+
+protected:
+    Asibfm700MountConfig _mountConfig;
+    std::unique_ptr<std::mutex> _mountConfigMutex;
+
+    void errorLogging(const std::string&, const std::error_code&);
+};
+*/
+
+static_assert(mcc::mcc_position_controls_c<Asibfm700Mount>, "");
+static_assert(mcc::mcc_all_controls_c<Asibfm700Mount>, "");
+
+static_assert(mcc::mcc_generic_mount_c<Asibfm700Mount>, "");
+
+}  // namespace asibfm700
--- a/asibfm700/asibfm700_netserver.cpp
+++ b/asibfm700/asibfm700_netserver.cpp
@@ -0,0 +1,59 @@
+#include "asibfm700_netserver.h"
+
+
+namespace asibfm700
+{
+
+Asibfm700MountNetServer::Asibfm700MountNetServer(asio::io_context& ctx,
+                                                 Asibfm700Mount& mount,
+                                                 std::shared_ptr<spdlog::logger> logger)
+    : base_t(ctx, mount, std::move(logger), Asibfm700Logger::LOGGER_DEFAULT_FORMAT)
+{
+    addMarkToPatternIdx("[ASIB-NETSERVER]");
+
+    // to avoid possible compiler optimization (one needs to catch 'mount' strictly by reference)
+    auto* mount_ptr = &mount;
+
+    base_t::_handleMessageFunc = [mount_ptr, this](std::string_view command) {
+        // using mount_error_t = typename Asibfm700Mount::error_t;
+        std::error_code err{};
+
+        Asibfm700NetMessage input_msg;
+        using output_msg_t = Asibfm700NetMessage<handle_message_func_result_t>;
+        output_msg_t output_msg;
+
+        auto nn = std::this_thread::get_id();
+
+        auto ec = parseMessage(command, input_msg);
+
+        if (ec) {
+            output_msg.construct(mcc::network::MCC_COMMPROTO_KEYWORD_SERVER_ERROR_STR, ec);
+        } else {
+            if (input_msg.withKey(ASIBFM700_COMMPROTO_KEYWORD_METEO_STR)) {
+                // what is operation type (set or get)?
+                if (input_msg.paramSize()) {  // set operation
+                    auto vp = input_msg.paramValue<Asibfm700CCTE::meteo_t>(0);
+                    if (vp) {
+                        mount_ptr->updateMeteoERFA(vp.value());
+
+                        output_msg.construct(mcc::network::MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR, input_msg.byteRepr());
+                    } else {
+                        output_msg.construct(mcc::network::MCC_COMMPROTO_KEYWORD_SERVER_ERROR_STR, vp.error());
+                    }
+                } else {  // get operation
+                    output_msg.construct(mcc::network::MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR,
+                                         ASIBFM700_COMMPROTO_KEYWORD_METEO_STR, mount_ptr->getStateERFA().meteo);
+                }
+            } else {
+                // basic network message processing
+                output_msg = base_t::handleMessage<output_msg_t>(input_msg, mount_ptr);
+            }
+        }
+
+        return output_msg.template byteRepr<typename base_t::handle_message_func_result_t>();
+    };
+}
+
+Asibfm700MountNetServer::~Asibfm700MountNetServer() {}
+
+}  // namespace asibfm700
--- a/asibfm700/asibfm700_netserver.h
+++ b/asibfm700/asibfm700_netserver.h
@@ -0,0 +1,146 @@
+#pragma once
+
+#include <mcc_netserver.h>
+#include <mcc_netserver_proto.h>
+
+#include "asibfm700_common.h"
+#include "asibfm700_mount.h"
+
+namespace asibfm700
+{
+
+namespace details
+{
+
+template <typename VT, size_t N1, size_t N2>
+static constexpr auto merge_arrays(const std::array<VT, N1>& arr1, const std::array<VT, N2>& arr2)
+{
+    constexpr auto N = N1 + N2;
+    std::array<VT, N> res;
+
+    for (size_t i = 0; i < N1; ++i) {
+        res[i] = arr1[i];
+    }
+
+    for (size_t i = N1; i < N; ++i) {
+        res[i] = arr2[i - N1];
+    }
+
+    return res;
+}
+
+}  // namespace details
+
+constexpr static std::string_view ASIBFM700_COMMPROTO_KEYWORD_METEO_STR{"METEO"};
+
+struct Asibfm700NetMessageValidKeywords {
+    static constexpr std::array NETMSG_VALID_KEYWORDS =
+        details::merge_arrays(mcc::network::MccNetMessageValidKeywords::NETMSG_VALID_KEYWORDS,
+                              std::array{ASIBFM700_COMMPROTO_KEYWORD_METEO_STR});
+
+    // hashes of valid keywords
+    static constexpr std::array NETMSG_VALID_KEYWORD_HASHES = []<size_t... Is>(std::index_sequence<Is...>) {
+        return std::array{mcc::utils::FNV1aHash(NETMSG_VALID_KEYWORDS[Is])...};
+    }(std::make_index_sequence<NETMSG_VALID_KEYWORDS.size()>());
+
+    constexpr static const size_t* isKeywordValid(std::string_view key)
+    {
+        const auto hash = mcc::utils::FNV1aHash(key);
+
+        for (auto const& h : NETMSG_VALID_KEYWORD_HASHES) {
+            if (h == hash) {
+                return &h;
+            }
+        }
+
+        return nullptr;
+    }
+};
+
+template <mcc::traits::mcc_char_range BYTEREPR_T = std::string_view>
+class Asibfm700NetMessage : public mcc::network::MccNetMessage<BYTEREPR_T, Asibfm700NetMessageValidKeywords>
+{
+protected:
+    using base_t = mcc::network::MccNetMessage<BYTEREPR_T, Asibfm700NetMessageValidKeywords>;
+
+    class serializer_t : public base_t::DefaultSerializer
+    {
+    public:
+        template <typename T, mcc::traits::mcc_output_char_range OR>
+        void operator()(const T& value, OR& bytes)
+        {
+            if constexpr (std::same_as<T, Asibfm700CCTE::meteo_t>) {
+                // serialize just like a vector
+                std::vector<double> meteo{value.temperature, value.humidity, value.pressure};
+                base_t::DefaultSerializer::operator()(meteo, bytes);
+            } else {
+                base_t::DefaultSerializer::operator()(value, bytes);
+            }
+        }
+    } _serializer;
+
+
+    class deserializer_t : public base_t::DefaultDeserializer
+    {
+    public:
+        template <mcc::traits::mcc_input_char_range IR, typename VT>
+        std::error_code operator()(IR&& bytes, VT& value) const
+        {
+            if constexpr (std::same_as<VT, Asibfm700CCTE::meteo_t>) {
+                // deserialize just like a vector
+
+                std::vector<double> v;
+                auto ec = base_t::DefaultDeserializer::operator()(std::forward<IR>(bytes), v);
+                if (ec) {
+                    return ec;
+                }
+
+                if (v.size() < 3) {
+                    return std::make_error_code(std::errc::invalid_argument);
+                }
+
+                value.temperature = v[0];
+                value.humidity = v[1];
+                value.pressure = v[2];
+
+                return {};
+            } else {
+                return base_t::DefaultDeserializer::operator()(std::forward<IR>(bytes), value);
+            }
+        }
+    } _deserializer;
+
+
+
+public:
+    using base_t::base_t;
+
+    template <typename T>
+    std::expected<T, std::error_code> paramValue(size_t idx) const
+    {
+        return base_t::template paramValue<T>(idx, _deserializer);
+    }
+
+
+
+    template <mcc::traits::mcc_input_char_range KT, typename... PTs>
+    std::error_code construct(KT&& key, PTs&&... params)
+        requires mcc::traits::mcc_output_char_range<BYTEREPR_T>
+    {
+        return base_t::construct(_serializer, std::forward<KT>(key), std::forward<PTs>(params)...);
+    }
+};
+
+
+
+class Asibfm700MountNetServer : public mcc::network::MccGenericMountNetworkServer<Asibfm700Logger>
+{
+    using base_t = mcc::network::MccGenericMountNetworkServer<Asibfm700Logger>;
+
+public:
+    Asibfm700MountNetServer(asio::io_context& ctx, Asibfm700Mount& mount, std::shared_ptr<spdlog::logger> logger);
+
+    ~Asibfm700MountNetServer();
+};
+
+}  // namespace asibfm700
--- a/asibfm700/asibfm700_netserver_endpoint.h
+++ b/asibfm700/asibfm700_netserver_endpoint.h
@@ -0,0 +1,507 @@
+#pragma once
+
+#include <algorithm>
+#include <array>
+#include <charconv>
+#include <cstdint>
+#include <filesystem>
+#include <ranges>
+#include <string_view>
+
+#include "mcc_traits.h"
+
+namespace asibfm700
+{
+
+namespace utils
+{
+
+static constexpr bool charSubrangeCompare(const mcc::traits::mcc_char_view auto& what,
+                                          const mcc::traits::mcc_char_view auto& where,
+                                          bool case_insensitive = false)
+{
+    if (std::ranges::size(what) == std::ranges::size(where)) {
+        if (case_insensitive) {
+            auto f = std::ranges::search(where,
+                                         std::views::transform(what, [](const char& ch) { return std::tolower(ch); }));
+            return !f.empty();
+        } else {
+            auto f = std::ranges::search(where, what);
+            return !f.empty();
+        }
+    }
+
+    return false;
+}
+
+}  // namespace utils
+
+/*
+ *  Very simple various protocols endpoint parser and holder class
+ *
+ *  endpoint:  proto_mark://host_name:port_num/path
+ *             where "part" is optional for all non-local protocol kinds;
+ *
+ *             for local kind of protocols the endpoint must be given as:
+ *               local://stream/PATH
+ *               local://seqpacket/PATH
+ *               local://serial/PATH
+ *             where 'stream' and 'seqpacket' "host_name"-field marks the
+ *             stream-type and seqpacket-type UNIX domain sockets protocols;
+ *             'serial' marks a serial (RS232/485) protocol.
+ *             here, possible "port_num" field is allowed but ignored.
+ *
+ *             NOTE: "proto_mark" and "host_name" (for local kind) fields are parsed in case-insensitive manner!
+ *
+ *             EXAMPLES: tcp://192.168.70.130:3131
+ *                       local://serial/dev/ttyS1
+ *                       local://seqpacket/tmp/BM70_SERVER_SOCK
+ *
+ *
+ */
+
+
+class Asibfm700NetserverEndpoint
+{
+public:
+    static constexpr std::string_view protoHostDelim = "://";
+    static constexpr std::string_view hostPortDelim = ":";
+    static constexpr std::string_view portPathDelim = "/";
+
+    enum proto_id_t : uint8_t {
+        PROTO_ID_LOCAL,
+        PROTO_ID_SEQLOCAL,
+        PROTO_ID_SERLOCAL,
+        PROTO_ID_TCP,
+        PROTO_ID_TLS,
+        PROTO_ID_UNKNOWN
+    };
+
+    static constexpr std::string_view protoMarkLocal{"local"};  // UNIX domain
+    static constexpr std::string_view protoMarkTCP{"tcp"};      // TCP
+    static constexpr std::string_view protoMarkTLS{"tls"};      // TLS
+
+    static constexpr std::array validProtoMarks{protoMarkLocal, protoMarkTCP, protoMarkTLS};
+
+
+    static constexpr std::string_view localProtoTypeStream{"stream"};        // UNIX domain stream
+    static constexpr std::string_view localProtoTypeSeqpacket{"seqpacket"};  // UNIX domain seqpacket
+    static constexpr std::string_view localProtoTypeSerial{"serial"};        // serial (RS232/485)
+
+    static constexpr std::array validLocalProtoTypes{localProtoTypeStream, localProtoTypeSeqpacket,
+                                                     localProtoTypeSerial};
+
+
+    template <mcc::traits::mcc_input_char_range R>
+    Asibfm700NetserverEndpoint(const R& ept)
+    {
+        fromRange(ept);
+    }
+
+    Asibfm700NetserverEndpoint(const Asibfm700NetserverEndpoint& other)
+    {
+        copyInst(other);
+    }
+
+    Asibfm700NetserverEndpoint(Asibfm700NetserverEndpoint&& other)
+    {
+        moveInst(std::move(other));
+    }
+
+    virtual ~Asibfm700NetserverEndpoint() = default;
+
+
+    Asibfm700NetserverEndpoint& operator=(const Asibfm700NetserverEndpoint& other)
+    {
+        copyInst(other);
+
+        return *this;
+    }
+
+
+    Asibfm700NetserverEndpoint& operator=(Asibfm700NetserverEndpoint&& other)
+    {
+        moveInst(std::move(other));
+
+        return *this;
+    }
+
+    template <mcc::traits::mcc_input_char_range R>
+        requires std::ranges::contiguous_range<R>
+    bool fromRange(const R& ept)
+    {
+        _isValid = false;
+
+        // at least 'ws://a' (proto, proto-host delimiter and at least a single character of hostname)
+        if (std::ranges::size(ept) < 6) {
+            return _isValid;
+        }
+
+        if constexpr (std::is_array_v<std::remove_cvref_t<R>>) {
+            _endpoint = ept;
+        } else {
+            _endpoint.clear();
+            std::ranges::copy(ept, std::back_inserter(_endpoint));
+        }
+
+        auto found = std::ranges::search(_endpoint, protoHostDelim);
+        if (found.empty()) {
+            return _isValid;
+        }
+
+
+        ssize_t idx;
+        if ((idx = checkProtoMark(std::string_view{_endpoint.begin(), found.begin()})) < 0) {
+            return _isValid;
+        }
+
+        _proto = validProtoMarks[idx];
+
+        _host = std::string_view{found.end(), _endpoint.end()};
+
+        auto f1 = std::ranges::search(_host, portPathDelim);
+        // std::string_view port_sv;
+        if (f1.empty() && isLocal()) {  // no path, but it is mandatory for 'local'!
+            return _isValid;
+        } else {
+            _host = std::string_view(_host.begin(), f1.begin());
+
+            _path = std::string_view(f1.end(), &*_endpoint.end());
+
+            f1 = std::ranges::search(_host, hostPortDelim);
+            if (f1.empty() && !isLocal()) {  // no port, but it is mandatory for non-local!
+                return _isValid;
+            }
+
+            _portView = std::string_view(f1.end(), _host.end());
+            if (_portView.size()) {
+                _host = std::string_view(_host.begin(), f1.begin());
+
+                if (!isLocal()) {
+                    // convert port string to int
+                    auto end_ptr = _portView.data() + _portView.size();
+
+                    auto [ptr, ec] = std::from_chars(_portView.data(), end_ptr, _port);
+                    if (ec != std::errc() || ptr != end_ptr) {
+                        return _isValid;
+                    }
+                } else {  // ignore for local
+                    _port = -1;
+                }
+            } else {
+                _port = -1;
+            }
+
+            if (isLocal()) {  // check for special values
+                idx = 0;
+                if (std::ranges::any_of(validLocalProtoTypes, [&idx, this](const auto& el) {
+                        bool ok = utils::charSubrangeCompare(_host, el, true);
+                        if (!ok) {
+                            ++idx;
+                        }
+                        return ok;
+                    })) {
+                    _host = validLocalProtoTypes[idx];
+                } else {
+                    return _isValid;
+                }
+            }
+        }
+
+        _isValid = true;
+
+        return _isValid;
+    }
+
+
+    bool isValid() const
+    {
+        return _isValid;
+    }
+
+
+    auto endpoint() const
+    {
+        return _endpoint;
+    }
+
+    template <mcc::traits::mcc_view_or_output_char_range R>
+    R proto() const
+    {
+        return part<R>(PROTO_PART);
+    }
+
+    std::string_view proto() const
+    {
+        return proto<std::string_view>();
+    }
+
+    template <mcc::traits::mcc_view_or_output_char_range R>
+    R host() const
+    {
+        return part<R>(HOST_PART);
+    }
+
+    std::string_view host() const
+    {
+        return host<std::string_view>();
+    }
+
+    int port() const
+    {
+        return _port;
+    }
+
+    template <mcc::traits::mcc_view_or_output_char_range R>
+    R portView() const
+    {
+        return part<R>(PORT_PART);
+    }
+
+    std::string_view portView() const
+    {
+        return portView<std::string_view>();
+    }
+
+    template <mcc::traits::mcc_output_char_range R, mcc::traits::mcc_input_char_range RR = std::string_view>
+    R path(RR&& root_path) const
+    {
+        if (_path.empty()) {
+            if constexpr (mcc::traits::mcc_output_char_range<R>) {
+                R res;
+                std::ranges::copy(std::forward<RR>(root_path), std::back_inserter(res));
+
+                return res;
+            } else {  // can't add root path!!!
+                return part<R>(PATH_PART);
+            }
+        }
+
+        auto N = std::ranges::distance(root_path.begin(), root_path.end());
+
+        if (N) {
+            R res;
+            std::filesystem::path pt(root_path.begin(), root_path.end());
+
+            if (isLocal() && _path[0] == '\0') {
+                std::ranges::copy(std::string_view(" "), std::back_inserter(res));
+                pt /= _path.substr(1);
+                std::ranges::copy(pt.string(), std::back_inserter(res));
+                *res.begin() = '\0';
+            } else {
+                pt /= _path;
+                std::ranges::copy(pt.string(), std::back_inserter(res));
+            }
+
+            return res;
+        } else {
+            return part<R>(PATH_PART);
+        }
+    }
+
+    template <mcc::traits::mcc_input_char_range RR = std::string_view>
+    std::string path(RR&& root_path) const
+    {
+        return path<std::string, RR>(std::forward<RR>(root_path));
+    }
+
+    template <mcc::traits::mcc_view_or_output_char_range R>
+    R path() const
+    {
+        return part<R>(PATH_PART);
+    }
+
+    std::string_view path() const
+    {
+        return path<std::string_view>();
+    }
+
+
+    bool isLocal() const
+    {
+        return proto() == protoMarkLocal;
+    }
+
+    bool isLocalStream() const
+    {
+        return host() == localProtoTypeStream;
+    }
+
+    bool isLocalSerial() const
+    {
+        return host() == localProtoTypeSerial;
+    }
+
+    bool isLocalSeqpacket() const
+    {
+        return host() == localProtoTypeSeqpacket;
+    }
+
+
+    bool isTCP() const
+    {
+        return proto() == protoMarkTCP;
+    }
+
+    bool isTLS() const
+    {
+        return proto() == protoMarkTLS;
+    }
+
+
+    // add '\0' char (or replace special-meaning char/char-sequence) to construct UNIX abstract namespace
+    // endpoint path
+    template <typename T = std::nullptr_t>
+    Asibfm700NetserverEndpoint& makeAbstract(const T& mark = nullptr)
+        requires(mcc::traits::mcc_input_char_range<T> || std::same_as<std::remove_cv_t<T>, char> ||
+                 std::is_null_pointer_v<std::remove_cv_t<T>>)
+    {
+        if (!(isLocalStream() || isLocalSeqpacket())) {  // only local proto is valid!
+            return *this;
+        }
+
+        if constexpr (std::is_null_pointer_v<T>) {  // just insert '\0'
+            auto it = _endpoint.insert(std::string::const_iterator(_path.begin()), '\0');
+            _path = std::string_view(it, _endpoint.end());
+        } else if constexpr (std::same_as<std::remove_cv_t<T>, char>) {  // replace a character (mark)
+            auto pos = std::distance(_endpoint.cbegin(), std::string::const_iterator(_path.begin()));
+            if (_endpoint[pos] == mark) {
+                _endpoint[pos] = '\0';
+            }
+        } else {  // replace a character range (mark)
+            if (std::ranges::equal(_path | std::views::take(std::ranges::size(mark), mark))) {
+                auto pos = std::distance(_endpoint.cbegin(), std::string::const_iterator(_path.begin()));
+                _endpoint.replace(pos, std::ranges::size(mark), 1, '\0');
+                _path = std::string_view(_endpoint.begin() + pos, _endpoint.end());
+            }
+        }
+
+        return *this;
+    }
+
+protected:
+    std::string _endpoint;
+    std::string_view _proto, _host, _path, _portView;
+    int _port;
+    bool _isValid;
+
+
+    virtual ssize_t checkProtoMark(std::string_view proto_mark)
+    {
+        ssize_t idx = 0;
+
+        // case-insensitive look-up
+        bool found =
+            std::ranges::any_of(Asibfm700NetserverEndpoint::validProtoMarks, [&idx, &proto_mark](const auto& el) {
+                bool ok = utils::charSubrangeCompare(proto_mark, el, true);
+
+                if (!ok) {
+                    ++idx;
+                }
+
+                return ok;
+            });
+
+        return found ? idx : -1;
+    }
+
+    enum EndpointPart { PROTO_PART, HOST_PART, PATH_PART, PORT_PART };
+
+    template <mcc::traits::mcc_view_or_output_char_range R>
+    R part(EndpointPart what) const
+    {
+        R res;
+
+        // if (!_isValid) {
+        //     return res;
+        // }
+
+        auto part = _proto;
+
+        switch (what) {
+            case PROTO_PART:
+                part = _proto;
+                break;
+            case HOST_PART:
+                part = _host;
+                break;
+            case PATH_PART:
+                part = _path;
+                break;
+            case PORT_PART:
+                part = _portView;
+                break;
+            default:
+                break;
+        }
+
+        if constexpr (std::ranges::view<R>) {
+            return {part.begin(), part.end()};
+        } else {
+            std::ranges::copy(part, std::back_inserter(res));
+        }
+
+        return res;
+    }
+
+    void copyInst(const Asibfm700NetserverEndpoint& other)
+    {
+        if (&other != this) {
+            if (other._isValid) {
+                _isValid = other._isValid;
+                _endpoint = other._endpoint;
+                _proto = other._proto;
+
+                std::iterator_traits<const char*>::difference_type idx;
+                if (other.isLocal()) {  // for 'local' host is one of static class constants
+                    _host = other._host;
+                } else {
+                    idx = std::distance(other._endpoint.c_str(), other._host.data());
+                    _host = std::string_view(_endpoint.c_str() + idx, other._host.size());
+                }
+
+                idx = std::distance(other._endpoint.c_str(), other._path.data());
+                _path = std::string_view(_endpoint.c_str() + idx, other._path.size());
+
+                idx = std::distance(other._endpoint.c_str(), other._portView.data());
+                _portView = std::string_view(_endpoint.c_str() + idx, other._portView.size());
+
+                _port = other._port;
+            } else {
+                _isValid = false;
+                _endpoint = std::string();
+                _proto = std::string_view();
+                _host = std::string_view();
+                _path = std::string_view();
+                _portView = std::string_view();
+                _port = -1;
+            }
+        }
+    }
+
+
+    void moveInst(Asibfm700NetserverEndpoint&& other)
+    {
+        if (&other != this) {
+            if (other._isValid) {
+                _isValid = std::move(other._isValid);
+                _endpoint = std::move(other._endpoint);
+                _proto = other._proto;
+                _host = std::move(other._host);
+                _path = std::move(other._path);
+                _port = std::move(other._port);
+                _portView = std::move(other._portView);
+            } else {
+                _isValid = false;
+                _endpoint = std::string();
+                _proto = std::string_view();
+                _host = std::string_view();
+                _path = std::string_view();
+                _portView = std::string_view();
+                _port = -1;
+            }
+        }
+    }
+};
+
+}  // namespace asibfm700
--- a/asibfm700/asibfm700_netserver_main.cpp
+++ b/asibfm700/asibfm700_netserver_main.cpp
@@ -0,0 +1,172 @@
+#include <spdlog/sinks/basic_file_sink.h>
+#include <spdlog/sinks/stdout_color_sinks.h>
+
+#include <cxxopts.hpp>
+#include <iostream>
+
+#include <asio/thread_pool.hpp>
+
+#include <mcc_netserver_endpoint.h>
+#include "asibfm700_netserver.h"
+
+
+int main(int argc, char* argv[])
+{
+    /*  COMMANDLINE OPTS  */
+    cxxopts::Options options(argv[0], "Astrosib (c) BM700 mount server\n");
+
+    options.allow_unrecognised_options();
+
+    options.add_options()("h,help", "Print usage");
+
+    options.add_options()("D,daemon", "Demonize server");
+
+    options.add_options()("l,log", "Log filename (use stdout and stderr for standard output and error stream)",
+                          cxxopts::value<std::string>()->default_value(""));
+
+    options.add_options()("level", "Log level (see SPDLOG package description for valid values)",
+                          cxxopts::value<std::string>()->default_value("info"));
+
+    options.add_options()("c,config", "Mount configuration filename (by default use of hardcoded one)",
+                          cxxopts::value<std::string>()->default_value(""));
+
+    options.add_options()("dump", "Dump mount default configuration to file and exit",
+                          cxxopts::value<std::string>()->default_value(""));
+
+    options.add_options()(
+        "endpoints",
+        "endpoints server will be listening for. For 'local' endpoint the '@' symbol at the beginning of the path "
+        "means "
+        "abstract namespace socket.",
+        cxxopts::value<std::vector<std::string>>()->default_value("local://stream/@FM700_SERVER"));
+
+
+    options.positional_help("[endpoint0] [enpoint1] ... [endpointN]");
+    options.parse_positional({"endpoints"});
+
+    asio::io_context ctx(8);
+    // asio::io_context ctx;
+
+
+    try {
+        auto opt_result = options.parse(argc, argv);
+
+        if (opt_result["help"].count()) {
+            std::cout << options.help();
+            std::cout << "\n";
+            std::cout << "[endpoint0] [enpoint1] ... [endpointN] - endpoints server will be listening for. For 'local' "
+                         "endpoint the '@' symbol at the beginning of the path "
+                         "means abstract namespace socket (e.g. local://stream/@ASIBFM700_SERVER)."
+                      << "\n";
+            return 0;
+        }
+
+        asibfm700::Asibfm700MountConfig mount_cfg;
+
+        std::string fname = opt_result["dump"].as<std::string>();
+        if (fname.size()) {
+            bool ok = mount_cfg.dumpDefaultsToFile(fname);
+            if (!ok) {
+                return 255;
+            }
+
+            return 0;
+        } else {
+            // just ignore
+        }
+
+        auto logname = opt_result["log"].as<std::string>();
+
+        auto logger = [&logname]() {
+            if (logname == "stdout") {
+                return spdlog::stdout_color_mt("console");
+            } else if (logname == "stderr") {
+                return spdlog::stderr_color_mt("stderr");
+            } else if (logname == "") {
+                return spdlog::null_logger_mt("FM700_SERVER_NULL_LOGGER");
+            } else {
+                return spdlog::basic_logger_mt(logname, logname);
+            }
+        }();
+
+        std::string level_str = opt_result["level"].as<std::string>();
+        std::ranges::transform(level_str, level_str.begin(), [](const char& c) { return std::tolower(c); });
+
+        auto log_level = spdlog::level::from_str(level_str);
+        logger->set_level(log_level);
+        logger->flush_on(spdlog::level::trace);
+
+
+        logger->set_pattern("%v");
+        int w = 90;
+        // const std::string fmt = std::format("{{:*^{}}}", w);
+        constexpr std::string_view fmt = "{:*^90}";
+        logger->info("\n\n\n");
+        logger->info(fmt, "");
+        logger->info(fmt, " ASTROSIB FM700 MOUNT SERVER ");
+        auto zt = std::chrono::zoned_time(std::chrono::current_zone(),
+                                          std::chrono::floor<std::chrono::seconds>(std::chrono::system_clock::now()));
+        logger->info(fmt, std::format(" {} ", zt));
+        logger->info(fmt, "");
+        logger->info("\n");
+
+
+        logger->set_pattern("[%Y-%m-%d %T.%e][%l]: %v");
+        std::string mount_cfg_fname = opt_result["config"].as<std::string>();
+        if (mount_cfg_fname.size()) {
+            logger->info("Try to load mount configuration from file: {}", mount_cfg_fname);
+            auto err = mount_cfg.load(mount_cfg_fname);
+            if (err) {
+                logger->error("Cannot load mount configuration (err = {})! Use of defaults!", err.message());
+            } else {
+                logger->info("Mount configuration was loaded successfully!");
+            }
+            logger->info("\n");
+        }
+
+        asibfm700::Asibfm700Mount mount(mount_cfg, logger);
+        asibfm700::Asibfm700MountNetServer server(ctx, mount, logger);
+
+        server.setupSignals();
+
+        if (opt_result["daemon"].count()) {
+            server.daemonize();
+        }
+
+        // mcc::MccServerEndpoint epn(std::string_view("local://seqpacket/tmp/BM700_SERVER_SOCK"));
+        // mcc::MccServerEndpoint epn(std::string_view("local://stream/tmp/BM700_SERVER_SOCK"));
+        // mcc::MccServerEndpoint epn(std::string_view("local://stream/@tmp/BM700_SERVER_SOCK"));
+        // mcc::MccServerEndpoint epn(std::string_view("tcp://localhost:12345"));
+
+        // asio::co_spawn(ctx, server.listen(epn), asio::detached);
+
+        auto epnts = opt_result["endpoints"].as<std::vector<std::string>>();
+
+        for (auto& epnt : epnts) {
+            mcc::network::MccNetServerEndpoint ep(epnt);
+
+            if (ep.isValid()) {
+                ep.makeAbstract('@');
+
+                asio::co_spawn(ctx, server.listen(ep), asio::detached);
+            } else {
+                std::cerr << "Unrecognized endpoint: '" << epnt << "'! Ignore!\n";
+            }
+        }
+
+
+        // asio::thread_pool pool(5);
+
+        // asio::post(pool, [&ctx]() { ctx.run(); });
+
+        // pool.join();
+        ctx.run();
+
+    } catch (const std::system_error& ex) {
+        std::cerr << "An error occured: " << ex.code().message() << "\n";
+        return ex.code().value();
+    } catch (...) {
+        std::cerr << "Unhandled exceptions!\n";
+        return 255;
+    }
+}
--- a/asibfm700/asibfm700_servocontroller.cpp
+++ b/asibfm700/asibfm700_servocontroller.cpp
@@ -0,0 +1,292 @@
+#include "asibfm700_servocontroller.h"
+
+namespace asibfm700
+{
+
+const char* AsibFM700ServoControllerErrorCategory::name() const noexcept
+{
+    return "ASIBFM700-SERVOCONTROLLER-ERROR-CATEGORY";
+}
+
+std::string AsibFM700ServoControllerErrorCategory::message(int ec) const
+{
+    AsibFM700ServoControllerErrorCode err = static_cast<AsibFM700ServoControllerErrorCode>(ec);
+
+    switch (err) {
+        case AsibFM700ServoControllerErrorCode::ERROR_OK:
+            return "OK";
+        case AsibFM700ServoControllerErrorCode::ERROR_FATAL:
+            return "LibSidServo fatal error";
+        case AsibFM700ServoControllerErrorCode::ERROR_BADFORMAT:
+            return "LibSidServo wrong arguments of function";
+        case AsibFM700ServoControllerErrorCode::ERROR_ENCODERDEV:
+            return "LibSidServo encoder device error or can't open";
+        case AsibFM700ServoControllerErrorCode::ERROR_MOUNTDEV:
+            return "LibSidServo mount device error or can't open";
+        case AsibFM700ServoControllerErrorCode::ERROR_FAILED:
+            return "LibSidServo failed to run command";
+        case AsibFM700ServoControllerErrorCode::ERROR_NULLPTR:
+            return "nullptr argument";
+        case AsibFM700ServoControllerErrorCode::ERROR_POLLING_TIMEOUT:
+            return "polling timeout";
+
+        default:
+            return "UNKNOWN";
+    }
+}
+
+
+const AsibFM700ServoControllerErrorCategory& AsibFM700ServoControllerErrorCategory::get()
+{
+    static const AsibFM700ServoControllerErrorCategory constInst;
+    return constInst;
+}
+
+
+
+AsibFM700ServoController::AsibFM700ServoController() : _hardwareConfig(), _setStateMutex(new std::mutex) {}
+
+AsibFM700ServoController::AsibFM700ServoController(hardware_config_t config) : AsibFM700ServoController()
+{
+    _hardwareConfig = std::move(config);
+
+    _hardwareConfig.devConfig.MountDevPath = const_cast<char*>(_hardwareConfig.MountDevPath.c_str());
+    _hardwareConfig.devConfig.EncoderDevPath = const_cast<char*>(_hardwareConfig.EncoderDevPath.c_str());
+    _hardwareConfig.devConfig.EncoderXDevPath = const_cast<char*>(_hardwareConfig.EncoderXDevPath.c_str());
+    _hardwareConfig.devConfig.EncoderYDevPath = const_cast<char*>(_hardwareConfig.EncoderYDevPath.c_str());
+}
+
+
+AsibFM700ServoController::~AsibFM700ServoController() {}
+
+
+constexpr std::string_view AsibFM700ServoController::hardwareName() const
+{
+    return "Sidereal-ServoControllerII";
+}
+
+AsibFM700ServoController::error_t AsibFM700ServoController::hardwareStop()
+{
+    error_t err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.stop());
+    if (err) {
+        return err;
+    }
+
+    hardware_state_t hw_state;
+
+    auto start_tp = std::chrono::steady_clock::now();
+
+    // poll hardware till stopped-state detected ...
+    while (true) {
+        err = hardwareGetState(&hw_state);
+        if (err) {
+            return err;
+        }
+
+        if (hw_state.moving_state == hardware_moving_state_t::HW_MOVE_STOPPED) {
+            break;
+        }
+
+        if ((std::chrono::steady_clock::now() - start_tp) > _hardwareConfig.pollingTimeout) {
+            err = AsibFM700ServoControllerErrorCode::ERROR_POLLING_TIMEOUT;
+            break;
+        }
+
+        std::this_thread::sleep_for(_hardwareConfig.pollingInterval);
+    }
+
+    return err;
+}
+
+AsibFM700ServoController::error_t AsibFM700ServoController::hardwareInit()
+{
+    return static_cast<AsibFM700ServoControllerErrorCode>(Mount.init(&_hardwareConfig.devConfig));
+}
+
+
+AsibFM700ServoController::error_t AsibFM700ServoController::hardwareSetState(hardware_state_t state)
+{
+    std::lock_guard lock{*_setStateMutex};
+
+    if (state.moving_state == hardware_moving_state_t::HW_MOVE_STOPPED) {  // stop!
+        error_t err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.stop());
+        if (err) {
+            return err;
+        }
+
+        hardware_state_t hw_state;
+
+        auto start_tp = std::chrono::steady_clock::now();
+
+        // poll hardware till stopped-state detected ...
+        while (true) {
+            err = hardwareGetState(&hw_state);
+            if (err) {
+                return err;
+            }
+
+            if (hw_state.moving_state == hardware_moving_state_t::HW_MOVE_STOPPED) {
+                break;
+            }
+
+            if ((std::chrono::steady_clock::now() - start_tp) > _hardwareConfig.pollingTimeout) {
+                err = AsibFM700ServoControllerErrorCode::ERROR_POLLING_TIMEOUT;
+                break;
+            }
+
+            std::this_thread::sleep_for(_hardwareConfig.pollingInterval);
+        }
+
+        return err;
+    }
+
+    // static thread_local coordval_pair_t cvalpair{.X{0.0, 0.0}, .Y{0.0, 0.0}};
+    // static thread_local coordpair_t cpair{.X = 0.0, .Y = 0.0};
+
+    // cvalpair.X = {.val = state.Y, .t = tp};
+    // cvalpair.Y = {.val = state.X, .t = tp};
+
+    // cpair.X = state.tagY;
+    // cpair.Y = state.tagX;
+
+    // time point from sidservo library is 'double' number represented UNIXTIME with
+    // microseconds/nanoseconds precision
+    // double tp = std::chrono::duration<double>(state.time_point.time_since_epoch()).count();
+
+
+    // 2025-12-04: coordval_pair_t.X.t is now of type struct timespec
+    auto ns = std::chrono::duration_cast<std::chrono::nanoseconds>(state.time_point.time_since_epoch());
+    auto secs = std::chrono::floor<std::chrono::seconds>(ns);
+    ns -= secs;
+    std::timespec tp{.tv_sec = secs.count(), .tv_nsec = ns.count()};
+
+    // according to"SiTech protocol notes" X is DEC-axis and Y is HA-axis
+    coordval_pair_t cvalpair{.X{.val = state.Y, .t = tp}, .Y{.val = state.X, .t = tp}};
+    // coordpair_t cpair{.X = state.endptY, .Y = state.endptX};
+
+
+    // correctTo is asynchronous function!!!
+    //
+    // according to the Eddy's implementation of the LibSidServo library it is safe
+    // to pass the addresses of 'cvalpair' and 'cpair' automatic variables
+    // auto err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.correctTo(&cvalpair, &cpair));
+    auto err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.correctTo(&cvalpair));
+
+    return err;
+}
+
+AsibFM700ServoController::error_t AsibFM700ServoController::hardwareGetState(hardware_state_t* state)
+{
+    if (state == nullptr) {
+        return AsibFM700ServoControllerErrorCode::ERROR_NULLPTR;
+    }
+
+    using tp_t = decltype(hardware_state_t::time_point);
+
+    mountdata_t mdata;
+
+    error_t err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.getMountData(&mdata));
+    if (!err) {
+        // time point from sidservo library is 'double' number represented UNIXTIME with
+        // microseconds/nanoseconds precision (must be equal for encXposition and encYposition)
+
+        // using secs_t = std::chrono::duration<double>;
+
+        // secs_t secs = secs_t{mdata.encXposition.t};
+        // state->time_point = tp_t{std::chrono::duration_cast<tp_t::duration>(secs)};
+
+        // 2025-12-04: coordval_pair_t.X.t is now of type struct timespec
+        auto dr = std::chrono::duration_cast<decltype(state->time_point)::duration>(
+            std::chrono::seconds(mdata.encXposition.t.tv_sec) + std::chrono::nanoseconds(mdata.encXposition.t.tv_nsec));
+        state->time_point = decltype(state->time_point){dr};
+
+
+        // if (mcc::utils::isEqual(secs.count(), 0.0)) {  // model mode?
+        //     state->time_point = decltype(state->time_point)::clock::now();
+        // } else {
+        //     state->time_point = tp_t{std::chrono::duration_cast<tp_t::duration>(secs)};
+        // }
+        // WARNING: TEMPORARY (WAIT FOR Eddy fix its implementation of LibSidServo)!!!
+        //        state->time_point = decltype(state->time_point)::clock::now();
+
+        // according to "SiTech protocol notes" X is DEC-axis and Y is HA-axis
+        state->X = mdata.encYposition.val;
+        state->Y = mdata.encXposition.val;
+
+        state->speedX = mdata.encYspeed.val;
+        state->speedY = mdata.encXspeed.val;
+
+        state->stateX = mdata.Ystate;
+        state->stateY = mdata.Xstate;
+
+        if (mdata.Xstate == AXIS_ERROR || mdata.Ystate == AXIS_ERROR) {
+            state->moving_state = hardware_moving_state_t::HW_MOVE_ERROR;
+        } else {
+            if (mdata.Xstate == AXIS_STOPPED) {
+                if (mdata.Ystate == AXIS_STOPPED) {
+                    state->moving_state = hardware_moving_state_t::HW_MOVE_STOPPED;
+                } else if (mdata.Ystate == AXIS_SLEWING) {
+                    state->moving_state = hardware_moving_state_t::HW_MOVE_SLEWING;
+                } else if (mdata.Ystate == AXIS_POINTING) {
+                    state->moving_state = hardware_moving_state_t::HW_MOVE_ADJUSTING;
+                } else if (mdata.Ystate == AXIS_GUIDING) {
+                    state->moving_state = hardware_moving_state_t::HW_MOVE_GUIDING;
+                } else {
+                    state->moving_state = hardware_moving_state_t::HW_MOVE_UNKNOWN;
+                }
+            } else if (mdata.Xstate == AXIS_SLEWING) {
+                state->moving_state = hardware_moving_state_t::HW_MOVE_SLEWING;
+            } else if (mdata.Xstate == AXIS_POINTING) {
+                if (mdata.Ystate == AXIS_SLEWING) {
+                    state->moving_state = hardware_moving_state_t::HW_MOVE_SLEWING;
+                } else {
+                    state->moving_state = hardware_moving_state_t::HW_MOVE_ADJUSTING;
+                }
+            } else if (mdata.Xstate == AXIS_GUIDING) {
+                if (mdata.Ystate == AXIS_SLEWING) {
+                    state->moving_state = hardware_moving_state_t::HW_MOVE_SLEWING;
+                } else if (mdata.Ystate == AXIS_POINTING) {
+                    state->moving_state = hardware_moving_state_t::HW_MOVE_ADJUSTING;
+                } else {
+                    state->moving_state = hardware_moving_state_t::HW_MOVE_GUIDING;
+                }
+            } else {
+                state->moving_state = hardware_moving_state_t::HW_MOVE_UNKNOWN;
+            }
+        }
+    }
+
+    return err;
+}
+
+
+void AsibFM700ServoController::hardwareUpdateConfig(conf_t cfg)
+{
+    _hardwareConfig.devConfig = std::move(cfg);
+
+    _hardwareConfig.devConfig.MountDevPath = const_cast<char*>(_hardwareConfig.MountDevPath.c_str());
+    _hardwareConfig.devConfig.EncoderDevPath = const_cast<char*>(_hardwareConfig.EncoderDevPath.c_str());
+    _hardwareConfig.devConfig.EncoderXDevPath = const_cast<char*>(_hardwareConfig.EncoderXDevPath.c_str());
+    _hardwareConfig.devConfig.EncoderYDevPath = const_cast<char*>(_hardwareConfig.EncoderYDevPath.c_str());
+}
+
+
+AsibFM700ServoController::error_t AsibFM700ServoController::hardwareUpdateConfig(hardware_configuration_t cfg)
+{
+    _hardwareConfig.hwConfig = std::move(cfg);
+    return static_cast<AsibFM700ServoControllerErrorCode>(Mount.saveHWconfig(&_hardwareConfig.hwConfig));
+}
+
+
+AsibFM700ServoController::error_t AsibFM700ServoController::hardwareUpdateConfig()
+{
+    return static_cast<AsibFM700ServoControllerErrorCode>(Mount.getHWconfig(&_hardwareConfig.hwConfig));
+}
+
+
+AsibFM700ServoController::hardware_config_t AsibFM700ServoController::getHardwareConfig() const
+{
+    return _hardwareConfig;
+}
+
+}  // namespace asibfm700
--- a/asibfm700/asibfm700_servocontroller.h
+++ b/asibfm700/asibfm700_servocontroller.h
@@ -0,0 +1,144 @@
+#pragma once
+
+#include <mcc_defaults.h>
+#include <mcc_generics.h>
+
+#include "../LibSidServo/sidservo.h"
+
+
+namespace asibfm700
+{
+
+/*  error codes enum definition  */
+
+enum class AsibFM700ServoControllerErrorCode : int {
+    // error codes from sidservo library
+    ERROR_OK = MCC_E_OK,
+    ERROR_FATAL = MCC_E_FATAL,
+    ERROR_BADFORMAT = MCC_E_BADFORMAT,
+    ERROR_ENCODERDEV = MCC_E_ENCODERDEV,
+    ERROR_MOUNTDEV = MCC_E_MOUNTDEV,
+    ERROR_FAILED = MCC_E_FAILED,
+    // my codes ...
+    ERROR_POLLING_TIMEOUT,
+    ERROR_NULLPTR
+};
+
+// error category
+struct AsibFM700ServoControllerErrorCategory : public std::error_category {
+    const char* name() const noexcept;
+    std::string message(int ec) const;
+
+    static const AsibFM700ServoControllerErrorCategory& get();
+};
+
+
+static inline std::error_code make_error_code(AsibFM700ServoControllerErrorCode ec)
+{
+    return std::error_code(static_cast<int>(ec), AsibFM700ServoControllerErrorCategory::get());
+}
+
+}  // namespace asibfm700
+
+
+namespace std
+{
+
+template <>
+class is_error_code_enum<asibfm700::AsibFM700ServoControllerErrorCode> : public true_type
+{
+};
+
+}  // namespace std
+
+
+namespace asibfm700
+{
+
+class AsibFM700ServoController
+{
+public:
+    typedef std::error_code error_t;
+
+    enum class hardware_moving_state_t : int {
+        HW_MOVE_ERROR = -1,
+        HW_MOVE_STOPPED = 0,
+        HW_MOVE_SLEWING,
+        HW_MOVE_ADJUSTING,
+        HW_MOVE_TRACKING,
+        HW_MOVE_GUIDING,
+        HW_MOVE_UNKNOWN
+    };
+
+    struct hardware_state_t {
+        static constexpr mcc::MccCoordPairKind pair_kind = mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP;
+        mcc::MccTimePoint time_point;
+
+        double X, Y, speedX, speedY;
+        axis_status_t stateX, stateY;  // Eddy's LibSidServo axis state
+
+        hardware_moving_state_t moving_state;
+
+        // endpoint: a point on the trajectory of movement behind the guidance point (X,Y), taking into account
+        // the movement vector (i.e. sign of movement speed)
+        // this point is needed as Sidereal controller commands require not only moving speed but
+        // also 'target' point (point at which mount will stop)
+        // double endptX, endptY;
+    };
+
+
+    struct hardware_config_t {
+        // the 'char*' fields from conf_t:
+        //    wrap it to std::string
+        std::string MountDevPath;
+        std::string EncoderDevPath;
+        std::string EncoderXDevPath;
+        std::string EncoderYDevPath;
+
+        conf_t devConfig;                   // devices paths and PIDs parameters
+        hardware_configuration_t hwConfig;  // EEPROM-located configuration
+
+        std::chrono::milliseconds pollingInterval{300};   // hardware polling interval
+        std::chrono::milliseconds pollingTimeout{30000};  // hardware polling timeout
+    };
+
+    /*  constructors and destructor  */
+
+    AsibFM700ServoController();
+
+    AsibFM700ServoController(hardware_config_t config);
+
+    AsibFM700ServoController(const AsibFM700ServoController&) = delete;
+    AsibFM700ServoController& operator=(const AsibFM700ServoController&) = delete;
+
+    AsibFM700ServoController(AsibFM700ServoController&&) = default;
+    AsibFM700ServoController& operator=(AsibFM700ServoController&&) = default;
+
+    virtual ~AsibFM700ServoController();
+
+    /*  public methods  */
+
+    constexpr std::string_view hardwareName() const;
+
+    error_t hardwareSetState(hardware_state_t state);
+    error_t hardwareGetState(hardware_state_t* state);
+
+    error_t hardwareStop();
+    error_t hardwareInit();
+
+    void hardwareUpdateConfig(conf_t cfg);
+
+    // save config to EEPROM
+    error_t hardwareUpdateConfig(hardware_configuration_t cfg);
+    // load config from EEPROM
+    error_t hardwareUpdateConfig();
+
+    hardware_config_t getHardwareConfig() const;
+
+protected:
+    hardware_config_t _hardwareConfig;
+
+    std::unique_ptr<std::mutex> _setStateMutex;
+};
+
+}  // namespace asibfm700
--- a/asibfm700/tests/cfg_test.cpp
+++ b/asibfm700/tests/cfg_test.cpp
@@ -0,0 +1,69 @@
+#include <iostream>
+
+#include "../asibfm700_configfile.h"
+
+template <typename VT>
+struct rec_t {
+    std::string_view key;
+    VT value;
+};
+
+static std::string_view cfg_str = R"--(A   = 11
+   B=3.3
+   # this is comment
+C =  WWWWWeeeWWWW
+
+E = 10,20, 40, 32
+)--";
+
+int main()
+{
+    auto desc = std::make_tuple(rec_t{"A", 1}, rec_t{"B", 2.2}, rec_t{"C", std::string("EEE")}, rec_t{"D", 3.3},
+                                rec_t{"E", std::vector<int>{1, 2, 3}});
+
+    std::error_code err;
+
+    asibfm700::Asibfm700MountConfig acfg;
+    bool ok = acfg.dumpDefaultsToFile("/tmp/cfg.cfg");
+    if (!ok) {
+        std::cerr << "Cannot dump default configuration!\n";
+        exit(10);
+    }
+
+    auto ec = acfg.load("/tmp/cfg.cfg");
+    std::cout << "EC (load) = " << ec.message() << "\n";
+
+    std::cout << "refr w: " << acfg.refractWavelength() << "\n";
+
+    acfg.setValue("refractWavelength", 0.3);
+
+    auto e = acfg.getValue<double>("refractWavelength");
+    std::cout << "refr w: " << e.value_or(0.0) << "\n";
+    std::cout << "refr w: " << acfg.refractWavelength() << "\n";
+
+
+    mcc::utils::KeyValueHolder kvh(desc);
+    err = kvh.setValue("C", "ewlkjfde");
+    if (err) {
+        std::cout << "cannot set value: " << err.message() << "\n";
+    } else {
+        auto vs = kvh.getValue<std::string>("C");
+        std::cout << "kvh[C] = " << vs.value_or("<no value>") << "\n";
+    }
+
+    ec = kvh.fromCharRange(cfg_str);
+    if (ec) {
+        std::cout << "EC = " << ec.message() << "\n";
+    } else {
+        auto v3 = kvh.getValue<std::vector<int>>("E");
+        std::cout << "[";
+        for (auto& el : v3.value_or(std::vector<int>{0, 0, 0})) {
+            std::cout << el << " ";
+        }
+        std::cout << "]\n";
+    }
+
+
+
+    return 0;
+}
--- a/cmake/FindASIO.cmake
+++ b/cmake/FindASIO.cmake
@@ -6,13 +6,22 @@ set(ASIO_FOUND FALSE)

 find_package(Threads REQUIRED)

-find_path(ASIO_DIR asio.hpp HINTS ${ASIO_INSTALL_DIR} PATH_SUFFIXES include)
+set(ASIO_INSTALL_DIR "" CACHE STRING "ASIO install dir")
+set(ASIO_INSTALL_DIR_INTERNAL "" CACHE STRING "ASIO install dir")
+if(NOT "${ASIO_INSTALL_DIR}" STREQUAL "${ASIO_INSTALL_DIR_INTERNAL}") # ASIO_INSTALL_DIR is given in command-line
+    unset(ASIO_INCLUDE_DIR CACHE)
+    find_path(ASIO_DIR asio.hpp HINTS ${ASIO_INSTALL_DIR} PATH_SUFFIXES include)
+else() # in system path
+    find_path(ASIO_DIR asio.hpp PATH_SUFFIXES include)
+endif()
+
+

 if (NOT ASIO_DIR)
    message(WARNING "Cannot find ASIO library headers!")
    set(ASIO_FOUND FALSE)
 else()
-    message(STATUS "Found ASIO: TRUE (${ASIO_DIR})")
+    message(STATUS "Found ASIO: (${ASIO_DIR})")

    # ASIO is header-only library so it is IMPORTED target
    add_library(ASIO::ASIO INTERFACE IMPORTED GLOBAL)
--- a/cxx/CMakeLists.txt
+++ b/cxx/CMakeLists.txt
@@ -103,6 +103,8 @@ add_dependencies(ERFA_LIB erfalib)
 set(ERFA_INCLUDE_DIR ${CMAKE_BINARY_DIR}/erfa_lib)
 include_directories(${ERFA_INCLUDE_DIR})

+message(STATUS "ERFA: " ${ERFA_INCLUDE_DIR})
+
 option(WITH_TESTS "Build tests" ON)


@@ -132,15 +134,15 @@ set(MCC_LIBRARY_SRC mcc_mount_concepts.h mcc_fsm_mount.h mcc_generic_mount.h mcc
 set(MCC_LIBRARY mcc)
 add_library(${MCC_LIBRARY} INTERFACE ${MCC_LIBRARY_SRC})
 target_compile_features(${MCC_LIBRARY} INTERFACE cxx_std_23)
-target_include_directories(${MCC_LIBRARY} INTERFACE ${FITPACK_INCLUDE_DIR})
+target_include_directories(${MCC_LIBRARY} INTERFACE ${FITPACK_INCLUDE_DIR}  ${ERFA_INCLUDE_DIR})


-set(ASIBFM700_LIB_SRC asibfm700_common.h asibfm700_hardware.h asibfm700_hardware.cpp)
-set(ASIBFM700_LIB asibfm700)
-add_library(${ASIBFM700_LIB} STATIC ${ASIBFM700_LIB_SRC}
-    asibfm700_mount.h asibfm700_mount.cpp
+set(ASIBFM700_LIB_SRC asibfm700_common.h asibfm700_hardware.h asibfm700_hardware.cpp  asibfm700_mount.h asibfm700_mount.cpp
    asibfm700_config.h)
-target_include_directories(${ASIBFM700_LIB} PRIVATE ${FITPACK_INCLUDE_DIR})
+set(ASIBFM700_LIB asibfm700)
+add_library(${ASIBFM700_LIB} STATIC ${ASIBFM700_LIB_SRC})
+# target_include_directories(${ASIBFM700_LIB} PRIVATE ${FITPACK_INCLUDE_DIR}  ${ERFA_INCLUDE_DIR})
+target_include_directories(${ASIBFM700_LIB} PUBLIC ${FITPACK_INCLUDE_DIR}  ${ERFA_INCLUDE_DIR})

 # set(MOUNT_SERVER_APP_SRC mount.h mount_state.h mount_server.cpp comm_server.h comm_server_endpoint.h comm_server_configfile.h mount_astrom.h
 #     mount_astrom_default.h mcc_coord.h mount_pz.h mcc_fsm.h mcc_fsm_utils.h mcc_finite_state_machine.h mcc_mount_events_states.h)
@@ -161,7 +163,7 @@ if (WITH_TESTS)

    set(ASTROM_TEST_APP astrom_test)
    add_executable(${ASTROM_TEST_APP} tests/astrom_test.cpp)
-    target_include_directories(${ASTROM_TEST_APP} PRIVATE ${FITPACK_INCLUDE_DIR})
+    target_include_directories(${ASTROM_TEST_APP} PRIVATE ${FITPACK_INCLUDE_DIR} ${ERFA_INCLUDE_DIR})
    target_link_libraries(${ASTROM_TEST_APP} ERFA_LIB)

    set(FITPACK_TEST_APP fitpack_test)
--- a/cxx/asibfm700_common.h
+++ b/cxx/asibfm700_common.h
@@ -18,7 +18,7 @@
 namespace asibfm700
 {

-typedef mcc::astrom::erfa::MccMountAstromEngineERFA<mcc::MccAngle> AsibFM700AstromEngine;
+typedef mcc::astrom::erfa::MccMountAstromEngineERFA AsibFM700AstromEngine;

 typedef mcc::MccMountDefaultPEC<mcc::MccMountType::FORK_TYPE> AsibFM700PointingErrorCorrection;

--- a/cxx/asibfm700_mount.cpp
+++ b/cxx/asibfm700_mount.cpp
@@ -7,12 +7,12 @@ template <mcc::traits::mcc_range_of_input_char_range R>
 AsibFM700Mount::AsibFM700Mount(AsibFM700Config config, std::shared_ptr<spdlog::logger> logger, const R& pattern_range)
    : mcc::utils::MccSpdlogLogger(std::move(logger), pattern_range),
      _currentConfig(std::move(config)),
-      base_gm_t(std::make_tuple(_currentConfig.astromEngineState),
-                std::make_tuple(_currentConfig.hardwareConfig),
-                std::make_tuple(_currentConfig.pecData),
-                std::make_tuple(std::ref(_astromEngine), std::ref(_pec), std::ref(_hardware)),
-                std::make_tuple(std::ref(_telemetry), std::ref(_hardware), std::ref(_pzFuncs)),
-                std::make_tuple(std::ref(_telemetry), std::ref(_hardware), std::ref(_pzFuncs)))
+      base_gm_t({_currentConfig.astromEngineState},
+                {_currentConfig.hardwareConfig},
+                {_currentConfig.pecData},
+                AsibFM700Telemetry{&_astromEngine, &_pec, &_hardware},
+                slew_model_t{&_telemetry, &_hardware, &_pzFuncs},
+                guiding_model_t{&_telemetry, &_hardware, &_pzFuncs})
 {
 }

--- a/cxx/asibfm700_mount.h
+++ b/cxx/asibfm700_mount.h
@@ -29,6 +29,9 @@ class AsibFM700Mount : public mcc::utils::MccSpdlogLogger,
                                           AsibFM700GuidingModel<mcc::utils::MccSpdlogLogger>>;

 public:
+    typedef AsibFM700SlewModel<mcc::utils::MccSpdlogLogger> slew_model_t;
+    typedef AsibFM700GuidingModel<mcc::utils::MccSpdlogLogger> guiding_model_t;
+
    template <mcc::traits::mcc_range_of_input_char_range R = decltype(LOGGER_DEFAULT_FORMAT)>
    AsibFM700Mount(AsibFM700Config config,
                   std::shared_ptr<spdlog::logger> logger,
--- a/cxx/mcc_astrom_iers_default.h
+++ b/cxx/mcc_astrom_iers_default.h
@@ -67,7 +67,7 @@ static std::string MCC_DEFAULT_IERS_BULLETIN_A_FILE = R"--(
      *                                                                    *   
      *           Rapid Service/Prediction of Earth Orientation            *   
      **********************************************************************   
-      31 July 2025                                      Vol. XXXVIII No. 031   
+      14 August 2025                                    Vol. XXXVIII No. 033   
      ______________________________________________________________________   
      GENERAL INFORMATION:                                                     
         MJD = Julian Date - 2 400 000.5 days                                  
@@ -116,13 +116,13 @@ static std::string MCC_DEFAULT_IERS_BULLETIN_A_FILE = R"--(
                              IERS Rapid Service                               
              MJD      x    error     y    error   UT1-UTC   error             
                       "      "       "      "        s        s               
-   25  7 25  60881 0.19849 .00009 0.43231 .00009  0.060664 0.000023          
-   25  7 26  60882 0.19962 .00009 0.43171 .00009  0.061061 0.000018          
-   25  7 27  60883 0.20063 .00009 0.43095 .00009  0.061275 0.000018          
-   25  7 28  60884 0.20201 .00009 0.43031 .00009  0.061376 0.000016          
-   25  7 29  60885 0.20393 .00009 0.42977 .00009  0.061481 0.000016          
-   25  7 30  60886 0.20609 .00009 0.42900 .00009  0.061552 0.000012          
-   25  7 31  60887 0.20824 .00009 0.42803 .00009  0.061682 0.000006          
+   25  8  8  60895 0.21521 .00009 0.41904 .00009  0.069826 0.000016          
+   25  8  9  60896 0.21558 .00009 0.41771 .00009  0.070764 0.000016          
+   25  8 10  60897 0.21616 .00009 0.41640 .00009  0.071442 0.000017          
+   25  8 11  60898 0.21726 .00009 0.41513 .00009  0.071836 0.000016          
+   25  8 12  60899 0.21832 .00009 0.41407 .00009  0.071996 0.000017          
+   25  8 13  60900 0.21871 .00009 0.41314 .00009  0.072040 0.000013          
+   25  8 14  60901 0.21892 .00009 0.41223 .00009  0.072161 0.000011          
                                                                               
      _______________________________________________________________________  
                                                                               
@@ -130,402 +130,387 @@ static std::string MCC_DEFAULT_IERS_BULLETIN_A_FILE = R"--(
      The following formulas will not reproduce the predictions given below,   
      but may be used to extend the predictions beyond the end of this table.  
                                                                               
-      x =  0.1419 + 0.0946 cos A + 0.1166 sin A - 0.0303 cos C - 0.0701 sin C  
-      y =  0.3863 + 0.1145 cos A - 0.0825 sin A - 0.0701 cos C + 0.0303 sin C  
-         UT1-UTC =  0.0464 + 0.00010 (MJD - 60895) - (UT2-UT1)                 
+      x =  0.1410 + 0.1141 cos A + 0.0905 sin A - 0.0377 cos C - 0.0594 sin C  
+      y =  0.3821 + 0.0927 cos A - 0.1005 sin A - 0.0594 cos C + 0.0377 sin C  
+         UT1-UTC =  0.0478 + 0.00010 (MJD - 60909) - (UT2-UT1)                 
                                                                               
-      where A = 2*pi*(MJD-60887)/365.25 and C = 2*pi*(MJD-60887)/435.          
+      where A = 2*pi*(MJD-60901)/365.25 and C = 2*pi*(MJD-60901)/435.          
                                                                               
-         TAI-UTC(MJD 60888) = 37.0                                             
+         TAI-UTC(MJD 60902) = 37.0                                             
      The accuracy may be estimated from the expressions:                      
-      S x,y = 0.00068 (MJD-60887)**0.80   S t = 0.00025 (MJD-60887)**0.75      
+      S x,y = 0.00068 (MJD-60901)**0.80   S t = 0.00025 (MJD-60901)**0.75      
      Estimated accuracies are:  Predictions     10 d   20 d   30 d   40 d     
                                 Polar coord's  0.004  0.007  0.010  0.013     
                                 UT1-UTC        0.0014 0.0024 0.0032 0.0040    
                                                                               
                    MJD      x(arcsec)   y(arcsec)   UT1-UTC(sec)              
-       2025  8  1  60888       0.2101      0.4272      0.06205         
-       2025  8  2  60889       0.2119      0.4263      0.06269         
-       2025  8  3  60890       0.2133      0.4254      0.06357         
-       2025  8  4  60891       0.2145      0.4244      0.06468         
-       2025  8  5  60892       0.2156      0.4234      0.06594         
-       2025  8  6  60893       0.2167      0.4224      0.06727         
-       2025  8  7  60894       0.2177      0.4213      0.06856         
-       2025  8  8  60895       0.2187      0.4202      0.06970         
-       2025  8  9  60896       0.2197      0.4190      0.07060         
-       2025  8 10  60897       0.2206      0.4177      0.07120         
-       2025  8 11  60898       0.2215      0.4164      0.07146         
-       2025  8 12  60899       0.2224      0.4152      0.07142         
-       2025  8 13  60900       0.2232      0.4139      0.07120         
-       2025  8 14  60901       0.2240      0.4127      0.07098         
-       2025  8 15  60902       0.2248      0.4114      0.07091         
-       2025  8 16  60903       0.2255      0.4101      0.07106         
-       2025  8 17  60904       0.2262      0.4089      0.07146         
-       2025  8 18  60905       0.2269      0.4076      0.07208         
-       2025  8 19  60906       0.2275      0.4063      0.07281         
-       2025  8 20  60907       0.2281      0.4049      0.07354         
-       2025  8 21  60908       0.2286      0.4036      0.07414         
-       2025  8 22  60909       0.2291      0.4023      0.07454         
-       2025  8 23  60910       0.2296      0.4009      0.07474         
-       2025  8 24  60911       0.2301      0.3996      0.07478         
-       2025  8 25  60912       0.2305      0.3982      0.07473         
-       2025  8 26  60913       0.2309      0.3968      0.07466         
-       2025  8 27  60914       0.2313      0.3954      0.07467         
-       2025  8 28  60915       0.2316      0.3941      0.07483         
-       2025  8 29  60916       0.2320      0.3927      0.07516         
-       2025  8 30  60917       0.2322      0.3913      0.07569         
-       2025  8 31  60918       0.2325      0.3899      0.07639         
-       2025  9  1  60919       0.2327      0.3885      0.07722         
-       2025  9  2  60920       0.2330      0.3871      0.07811         
-       2025  9  3  60921       0.2331      0.3857      0.07897         
-       2025  9  4  60922       0.2333      0.3843      0.07971         
-       2025  9  5  60923       0.2334      0.3828      0.08022         
-       2025  9  6  60924       0.2335      0.3814      0.08044         
-       2025  9  7  60925       0.2336      0.3800      0.08033         
-       2025  9  8  60926       0.2336      0.3786      0.07993         
-       2025  9  9  60927       0.2336      0.3772      0.07935         
-       2025  9 10  60928       0.2336      0.3757      0.07876         
-       2025  9 11  60929       0.2336      0.3743      0.07832         
-       2025  9 12  60930       0.2335      0.3729      0.07814         
-       2025  9 13  60931       0.2334      0.3715      0.07825         
-       2025  9 14  60932       0.2333      0.3701      0.07859         
-       2025  9 15  60933       0.2331      0.3686      0.07906         
-       2025  9 16  60934       0.2329      0.3672      0.07952         
-       2025  9 17  60935       0.2327      0.3658      0.07987         
-       2025  9 18  60936       0.2325      0.3644      0.08003         
-       2025  9 19  60937       0.2322      0.3630      0.07996         
-       2025  9 20  60938       0.2319      0.3616      0.07969         
-       2025  9 21  60939       0.2316      0.3602      0.07928         
-       2025  9 22  60940       0.2313      0.3588      0.07881         
-       2025  9 23  60941       0.2309      0.3574      0.07837         
-       2025  9 24  60942       0.2305      0.3560      0.07804         
-       2025  9 25  60943       0.2301      0.3546      0.07786         
-       2025  9 26  60944       0.2297      0.3532      0.07787         
-       2025  9 27  60945       0.2292      0.3518      0.07805         
-       2025  9 28  60946       0.2287      0.3505      0.07838         
-       2025  9 29  60947       0.2282      0.3491      0.07880         
-       2025  9 30  60948       0.2276      0.3478      0.07924         
-       2025 10  1  60949       0.2270      0.3464      0.07962         
-       2025 10  2  60950       0.2264      0.3451      0.07983         
-       2025 10  3  60951       0.2258      0.3438      0.07978         
-       2025 10  4  60952       0.2252      0.3424      0.07944         
-       2025 10  5  60953       0.2245      0.3411      0.07878         
-       2025 10  6  60954       0.2238      0.3398      0.07790         
-       2025 10  7  60955       0.2231      0.3386      0.07692         
-       2025 10  8  60956       0.2223      0.3373      0.07603         
-       2025 10  9  60957       0.2215      0.3360      0.07538         
-       2025 10 10  60958       0.2207      0.3348      0.07506         
-       2025 10 11  60959       0.2199      0.3335      0.07504         
-       2025 10 12  60960       0.2191      0.3323      0.07523         
-       2025 10 13  60961       0.2182      0.3311      0.07547         
-       2025 10 14  60962       0.2173      0.3299      0.07564         
-       2025 10 15  60963       0.2164      0.3287      0.07565         
-       2025 10 16  60964       0.2155      0.3275      0.07545         
-       2025 10 17  60965       0.2145      0.3263      0.07507         
-       2025 10 18  60966       0.2136      0.3252      0.07454         
-       2025 10 19  60967       0.2126      0.3241      0.07396         
-       2025 10 20  60968       0.2116      0.3229      0.07339         
-       2025 10 21  60969       0.2105      0.3218      0.07290         
-       2025 10 22  60970       0.2095      0.3207      0.07257         
-       2025 10 23  60971       0.2084      0.3197      0.07242         
-       2025 10 24  60972       0.2073      0.3186      0.07246         
-       2025 10 25  60973       0.2062      0.3176      0.07267         
-       2025 10 26  60974       0.2050      0.3166      0.07299         
-       2025 10 27  60975       0.2039      0.3156      0.07336         
-       2025 10 28  60976       0.2027      0.3146      0.07370         
-       2025 10 29  60977       0.2015      0.3136      0.07393         
-       2025 10 30  60978       0.2003      0.3126      0.07395         
-       2025 10 31  60979       0.1991      0.3117      0.07371         
-       2025 11  1  60980       0.1979      0.3108      0.07317         
-       2025 11  2  60981       0.1966      0.3099      0.07238         
-       2025 11  3  60982       0.1953      0.3090      0.07144         
-       2025 11  4  60983       0.1941      0.3082      0.07049         
-       2025 11  5  60984       0.1928      0.3073      0.06970         
-       2025 11  6  60985       0.1914      0.3065      0.06920         
-       2025 11  7  60986       0.1901      0.3057      0.06903         
-       2025 11  8  60987       0.1888      0.3050      0.06912         
-       2025 11  9  60988       0.1874      0.3042      0.06933         
-       2025 11 10  60989       0.1860      0.3035      0.06951         
-       2025 11 11  60990       0.1847      0.3028      0.06956         
-       2025 11 12  60991       0.1833      0.3021      0.06941         
-       2025 11 13  60992       0.1819      0.3014      0.06907         
-       2025 11 14  60993       0.1804      0.3008      0.06861         
-       2025 11 15  60994       0.1790      0.3001      0.06809         
-       2025 11 16  60995       0.1776      0.2995      0.06758         
-       2025 11 17  60996       0.1761      0.2989      0.06707         
-       2025 11 18  60997       0.1747      0.2984      0.06669         
-       2025 11 19  60998       0.1732      0.2979      0.06650         
-       2025 11 20  60999       0.1717      0.2973      0.06650         
-       2025 11 21  61000       0.1702      0.2969      0.06668         
-       2025 11 22  61001       0.1687      0.2964      0.06699         
-       2025 11 23  61002       0.1672      0.2959      0.06738         
-       2025 11 24  61003       0.1657      0.2955      0.06776         
-       2025 11 25  61004       0.1642      0.2951      0.06806         
-       2025 11 26  61005       0.1627      0.2948      0.06820         
-       2025 11 27  61006       0.1612      0.2944      0.06812         
-       2025 11 28  61007       0.1596      0.2941      0.06779         
-       2025 11 29  61008       0.1581      0.2938      0.06722         
-       2025 11 30  61009       0.1566      0.2935      0.06647         
-       2025 12  1  61010       0.1550      0.2933      0.06567         
-       2025 12  2  61011       0.1535      0.2930      0.06495         
-       2025 12  3  61012       0.1519      0.2928      0.06445         
-       2025 12  4  61013       0.1504      0.2926      0.06426         
-       2025 12  5  61014       0.1488      0.2925      0.06435         
-       2025 12  6  61015       0.1473      0.2924      0.06463         
-       2025 12  7  61016       0.1457      0.2923      0.06493         
-       2025 12  8  61017       0.1441      0.2922      0.06513         
-       2025 12  9  61018       0.1426      0.2921      0.06512         
-       2025 12 10  61019       0.1410      0.2921      0.06492         
-       2025 12 11  61020       0.1395      0.2921      0.06456         
-       2025 12 12  61021       0.1379      0.2921      0.06414         
-       2025 12 13  61022       0.1364      0.2921      0.06372         
-       2025 12 14  61023       0.1348      0.2922      0.06339         
-       2025 12 15  61024       0.1333      0.2923      0.06320         
-       2025 12 16  61025       0.1318      0.2924      0.06318         
-       2025 12 17  61026       0.1302      0.2925      0.06335         
-       2025 12 18  61027       0.1287      0.2927      0.06371         
-       2025 12 19  61028       0.1272      0.2929      0.06421         
-       2025 12 20  61029       0.1256      0.2931      0.06480         
-       2025 12 21  61030       0.1241      0.2933      0.06540         
-       2025 12 22  61031       0.1226      0.2936      0.06593         
-       2025 12 23  61032       0.1211      0.2939      0.06631         
-       2025 12 24  61033       0.1196      0.2942      0.06648         
-       2025 12 25  61034       0.1181      0.2945      0.06642         
-       2025 12 26  61035       0.1166      0.2948      0.06614         
-       2025 12 27  61036       0.1152      0.2952      0.06567         
-       2025 12 28  61037       0.1137      0.2956      0.06513         
-       2025 12 29  61038       0.1122      0.2960      0.06463         
-       2025 12 30  61039       0.1108      0.2965      0.06430         
-       2025 12 31  61040       0.1094      0.2970      0.06422         
-       2026  1  1  61041       0.1079      0.2974      0.06441         
-       2026  1  2  61042       0.1065      0.2980      0.06480         
-       2026  1  3  61043       0.1051      0.2985      0.06526         
-       2026  1  4  61044       0.1037      0.2991      0.06565         
-       2026  1  5  61045       0.1024      0.2996      0.06585         
-       2026  1  6  61046       0.1010      0.3002      0.06581         
-       2026  1  7  61047       0.0996      0.3009      0.06558         
-       2026  1  8  61048       0.0983      0.3015      0.06522         
-       2026  1  9  61049       0.0970      0.3022      0.06485         
-       2026  1 10  61050       0.0957      0.3029      0.06455         
-       2026  1 11  61051       0.0944      0.3036      0.06438         
-       2026  1 12  61052       0.0931      0.3043      0.06439         
-       2026  1 13  61053       0.0918      0.3051      0.06459         
-       2026  1 14  61054       0.0906      0.3058      0.06498         
-       2026  1 15  61055       0.0893      0.3066      0.06552         
-       2026  1 16  61056       0.0881      0.3074      0.06616         
-       2026  1 17  61057       0.0869      0.3083      0.06682         
-       2026  1 18  61058       0.0858      0.3091      0.06743         
-       2026  1 19  61059       0.0846      0.3100      0.06790         
-       2026  1 20  61060       0.0834      0.3109      0.06816         
-       2026  1 21  61061       0.0823      0.3118      0.06818         
-       2026  1 22  61062       0.0812      0.3127      0.06797         
-       2026  1 23  61063       0.0801      0.3136      0.06757         
-       2026  1 24  61064       0.0791      0.3146      0.06710         
-       2026  1 25  61065       0.0780      0.3156      0.06666         
-       2026  1 26  61066       0.0770      0.3166      0.06637         
-       2026  1 27  61067       0.0760      0.3176      0.06631         
-       2026  1 28  61068       0.0750      0.3186      0.06653         
-       2026  1 29  61069       0.0740      0.3196      0.06698         
-       2026  1 30  61070       0.0731      0.3207      0.06754         
-       2026  1 31  61071       0.0721      0.3218      0.06810         
-       2026  2  1  61072       0.0712      0.3229      0.06853         
-       2026  2  2  61073       0.0704      0.3240      0.06874         
-       2026  2  3  61074       0.0695      0.3251      0.06875         
-       2026  2  4  61075       0.0687      0.3262      0.06861         
-       2026  2  5  61076       0.0678      0.3273      0.06843         
-       2026  2  6  61077       0.0671      0.3285      0.06830         
-       2026  2  7  61078       0.0663      0.3297      0.06830         
-       2026  2  8  61079       0.0655      0.3309      0.06846         
-       2026  2  9  61080       0.0648      0.3321      0.06880         
-       2026  2 10  61081       0.0641      0.3333      0.06930         
-       2026  2 11  61082       0.0635      0.3345      0.06993         
-       2026  2 12  61083       0.0628      0.3357      0.07063         
-       2026  2 13  61084       0.0622      0.3370      0.07134         
-       2026  2 14  61085       0.0616      0.3382      0.07197         
-       2026  2 15  61086       0.0610      0.3395      0.07244         
-       2026  2 16  61087       0.0605      0.3407      0.07269         
-       2026  2 17  61088       0.0599      0.3420      0.07266         
-       2026  2 18  61089       0.0594      0.3433      0.07235         
-       2026  2 19  61090       0.0590      0.3446      0.07181         
-       2026  2 20  61091       0.0585      0.3459      0.07115         
-       2026  2 21  61092       0.0581      0.3472      0.07049         
-       2026  2 22  61093       0.0577      0.3485      0.06996         
-       2026  2 23  61094       0.0573      0.3499      0.06966         
-       2026  2 24  61095       0.0570      0.3512      0.06961         
-       2026  2 25  61096       0.0567      0.3525      0.06978         
-       2026  2 26  61097       0.0564      0.3539      0.07006         
-       2026  2 27  61098       0.0561      0.3552      0.07033         
-       2026  2 28  61099       0.0559      0.3566      0.07045         
-       2026  3  1  61100       0.0557      0.3579      0.07033         
-       2026  3  2  61101       0.0555      0.3593      0.06993         
-       2026  3  3  61102       0.0553      0.3607      0.06927         
-       2026  3  4  61103       0.0552      0.3620      0.06843         
-       2026  3  5  61104       0.0551      0.3634      0.06752         
-       2026  3  6  61105       0.0550      0.3648      0.06663         
-       2026  3  7  61106       0.0550      0.3662      0.06588         
-       2026  3  8  61107       0.0549      0.3675      0.06529         
-       2026  3  9  61108       0.0549      0.3689      0.06488         
-       2026  3 10  61109       0.0550      0.3703      0.06460         
-       2026  3 11  61110       0.0550      0.3717      0.06447         
-       2026  3 12  61111       0.0551      0.3731      0.06446         
-       2026  3 13  61112       0.0552      0.3744      0.06443         
-       2026  3 14  61113       0.0554      0.3758      0.06436         
-       2026  3 15  61114       0.0555      0.3772      0.06408         
-       2026  3 16  61115       0.0557      0.3786      0.06349         
-       2026  3 17  61116       0.0559      0.3799      0.06259         
-       2026  3 18  61117       0.0562      0.3813      0.06141         
-       2026  3 19  61118       0.0564      0.3827      0.06005         
-       2026  3 20  61119       0.0567      0.3840      0.05860         
-       2026  3 21  61120       0.0570      0.3854      0.05727         
-       2026  3 22  61121       0.0574      0.3867      0.05618         
-       2026  3 23  61122       0.0577      0.3881      0.05536         
-       2026  3 24  61123       0.0581      0.3894      0.05478         
-       2026  3 25  61124       0.0586      0.3907      0.05438         
-       2026  3 26  61125       0.0590      0.3921      0.05402         
-       2026  3 27  61126       0.0595      0.3934      0.05356         
-       2026  3 28  61127       0.0600      0.3947      0.05298         
-       2026  3 29  61128       0.0605      0.3960      0.05224         
-       2026  3 30  61129       0.0610      0.3973      0.05131         
-       2026  3 31  61130       0.0616      0.3986      0.05030         
-       2026  4  1  61131       0.0622      0.3999      0.04920         
-       2026  4  2  61132       0.0628      0.4012      0.04819         
-       2026  4  3  61133       0.0635      0.4024      0.04731         
-       2026  4  4  61134       0.0641      0.4037      0.04672         
-       2026  4  5  61135       0.0648      0.4050      0.04635         
-       2026  4  6  61136       0.0656      0.4062      0.04618         
-       2026  4  7  61137       0.0663      0.4074      0.04628         
-       2026  4  8  61138       0.0671      0.4086      0.04646         
-       2026  4  9  61139       0.0678      0.4098      0.04671         
-       2026  4 10  61140       0.0686      0.4110      0.04691         
-       2026  4 11  61141       0.0695      0.4122      0.04694         
-       2026  4 12  61142       0.0703      0.4134      0.04670         
-       2026  4 13  61143       0.0712      0.4145      0.04619         
-       2026  4 14  61144       0.0721      0.4157      0.04540         
-       2026  4 15  61145       0.0730      0.4168      0.04436         
-       2026  4 16  61146       0.0739      0.4179      0.04323         
-       2026  4 17  61147       0.0749      0.4190      0.04215         
-       2026  4 18  61148       0.0759      0.4201      0.04125         
-       2026  4 19  61149       0.0768      0.4211      0.04060         
-       2026  4 20  61150       0.0779      0.4222      0.04022         
-       2026  4 21  61151       0.0789      0.4232      0.04012         
-       2026  4 22  61152       0.0799      0.4242      0.04007         
-       2026  4 23  61153       0.0810      0.4253      0.03998         
-       2026  4 24  61154       0.0821      0.4262      0.03981         
-       2026  4 25  61155       0.0832      0.4272      0.03945         
-       2026  4 26  61156       0.0843      0.4282      0.03896         
-       2026  4 27  61157       0.0855      0.4291      0.03839         
-       2026  4 28  61158       0.0866      0.4300      0.03777         
-       2026  4 29  61159       0.0878      0.4309      0.03717         
-       2026  4 30  61160       0.0890      0.4318      0.03670         
-       2026  5  1  61161       0.0902      0.4327      0.03647         
-       2026  5  2  61162       0.0914      0.4335      0.03650         
-       2026  5  3  61163       0.0927      0.4343      0.03671         
-       2026  5  4  61164       0.0939      0.4351      0.03710         
-       2026  5  5  61165       0.0952      0.4359      0.03768         
-       2026  5  6  61166       0.0965      0.4367      0.03826         
-       2026  5  7  61167       0.0978      0.4374      0.03880         
-       2026  5  8  61168       0.0991      0.4382      0.03926         
-       2026  5  9  61169       0.1004      0.4389      0.03960         
-       2026  5 10  61170       0.1017      0.4396      0.03969         
-       2026  5 11  61171       0.1030      0.4402      0.03958         
-       2026  5 12  61172       0.1044      0.4409      0.03924         
-       2026  5 13  61173       0.1058      0.4415      0.03874         
-       2026  5 14  61174       0.1071      0.4421      0.03822         
-       2026  5 15  61175       0.1085      0.4427      0.03781         
-       2026  5 16  61176       0.1099      0.4432      0.03762         
-       2026  5 17  61177       0.1113      0.4438      0.03770         
-       2026  5 18  61178       0.1127      0.4443      0.03797         
-       2026  5 19  61179       0.1141      0.4448      0.03848         
-       2026  5 20  61180       0.1156      0.4453      0.03905         
-       2026  5 21  61181       0.1170      0.4457      0.03952         
-       2026  5 22  61182       0.1185      0.4461      0.03983         
-       2026  5 23  61183       0.1199      0.4465      0.03997         
-       2026  5 24  61184       0.1214      0.4469      0.03987         
-       2026  5 25  61185       0.1228      0.4473      0.03969         
-       2026  5 26  61186       0.1243      0.4476      0.03958         
-       2026  5 27  61187       0.1257      0.4479      0.03953         
-       2026  5 28  61188       0.1272      0.4482      0.03962         
-       2026  5 29  61189       0.1287      0.4485      0.03986         
-       2026  5 30  61190       0.1302      0.4487      0.04031         
-       2026  5 31  61191       0.1317      0.4489      0.04088         
-       2026  6  1  61192       0.1331      0.4491      0.04159         
-       2026  6  2  61193       0.1346      0.4493      0.04244         
-       2026  6  3  61194       0.1361      0.4494      0.04341         
-       2026  6  4  61195       0.1376      0.4496      0.04430         
-       2026  6  5  61196       0.1391      0.4497      0.04511         
-       2026  6  6  61197       0.1406      0.4497      0.04574         
-       2026  6  7  61198       0.1421      0.4498      0.04612         
-       2026  6  8  61199       0.1436      0.4498      0.04627         
-       2026  6  9  61200       0.1451      0.4498      0.04633         
-       2026  6 10  61201       0.1465      0.4498      0.04635         
-       2026  6 11  61202       0.1480      0.4498      0.04643         
-       2026  6 12  61203       0.1495      0.4497      0.04676         
-       2026  6 13  61204       0.1510      0.4496      0.04741         
-       2026  6 14  61205       0.1525      0.4495      0.04834         
-       2026  6 15  61206       0.1539      0.4494      0.04956         
-       2026  6 16  61207       0.1554      0.4492      0.05075         
-       2026  6 17  61208       0.1568      0.4490      0.05178         
-       2026  6 18  61209       0.1583      0.4488      0.05255         
-       2026  6 19  61210       0.1597      0.4486      0.05301         
-       2026  6 20  61211       0.1612      0.4483      0.05328         
-       2026  6 21  61212       0.1626      0.4481      0.05345         
-       2026  6 22  61213       0.1640      0.4478      0.05361         
-       2026  6 23  61214       0.1655      0.4474      0.05393         
-       2026  6 24  61215       0.1669      0.4471      0.05442         
-       2026  6 25  61216       0.1683      0.4467      0.05512         
-       2026  6 26  61217       0.1697      0.4463      0.05611         
-       2026  6 27  61218       0.1711      0.4459      0.05729         
-       2026  6 28  61219       0.1724      0.4455      0.05868         
-       2026  6 29  61220       0.1738      0.4450      0.06008         
-       2026  6 30  61221       0.1751      0.4446      0.06159         
-       2026  7  1  61222       0.1765      0.4441      0.06300         
-       2026  7  2  61223       0.1778      0.4435      0.06426         
-       2026  7  3  61224       0.1791      0.4430      0.06534         
-       2026  7  4  61225       0.1804      0.4424      0.06625         
-       2026  7  5  61226       0.1817      0.4418      0.06692         
-       2026  7  6  61227       0.1830      0.4412      0.06750         
-       2026  7  7  61228       0.1843      0.4406      0.06802         
-       2026  7  8  61229       0.1855      0.4400      0.06856         
-       2026  7  9  61230       0.1868      0.4393      0.06919         
-       2026  7 10  61231       0.1880      0.4386      0.06998         
-       2026  7 11  61232       0.1892      0.4379      0.07112         
-       2026  7 12  61233       0.1904      0.4372      0.07248         
-       2026  7 13  61234       0.1916      0.4364      0.07398         
-       2026  7 14  61235       0.1927      0.4357      0.07539         
-       2026  7 15  61236       0.1939      0.4349      0.07656         
-       2026  7 16  61237       0.1950      0.4341      0.07751         
-       2026  7 17  61238       0.1961      0.4333      0.07821         
-       2026  7 18  61239       0.1972      0.4324      0.07881         
-       2026  7 19  61240       0.1983      0.4316      0.07932         
-       2026  7 20  61241       0.1993      0.4307      0.07987         
-       2026  7 21  61242       0.2003      0.4298      0.08067         
-       2026  7 22  61243       0.2014      0.4289      0.08162         
-       2026  7 23  61244       0.2024      0.4280      0.08281         
-       2026  7 24  61245       0.2033      0.4271      0.08417         
-       2026  7 25  61246       0.2043      0.4261      0.08568         
-       2026  7 26  61247       0.2052      0.4251      0.08728         
-       2026  7 27  61248       0.2061      0.4242      0.08887         
-       2026  7 28  61249       0.2070      0.4232      0.09042         
-       2026  7 29  61250       0.2079      0.4221      0.09183         
-       2026  7 30  61251       0.2088      0.4211      0.09304         
-       2026  7 31  61252       0.2096      0.4201      0.09407         
+       2025  8 15  60902       0.2191      0.4112      0.07241         
+       2025  8 16  60903       0.2193      0.4101      0.07289         
+       2025  8 17  60904       0.2196      0.4090      0.07364         
+       2025  8 18  60905       0.2200      0.4078      0.07462         
+       2025  8 19  60906       0.2205      0.4066      0.07573         
+       2025  8 20  60907       0.2210      0.4054      0.07685         
+       2025  8 21  60908       0.2215      0.4042      0.07788         
+       2025  8 22  60909       0.2220      0.4029      0.07870         
+       2025  8 23  60910       0.2225      0.4018      0.07929         
+       2025  8 24  60911       0.2229      0.4006      0.07964         
+       2025  8 25  60912       0.2233      0.3994      0.07982         
+       2025  8 26  60913       0.2237      0.3982      0.07994         
+       2025  8 27  60914       0.2241      0.3970      0.08012         
+       2025  8 28  60915       0.2244      0.3957      0.08043         
+       2025  8 29  60916       0.2247      0.3945      0.08090         
+       2025  8 30  60917       0.2250      0.3932      0.08154         
+       2025  8 31  60918       0.2253      0.3919      0.08233         
+       2025  9  1  60919       0.2256      0.3907      0.08321         
+       2025  9  2  60920       0.2258      0.3894      0.08411         
+       2025  9  3  60921       0.2260      0.3881      0.08494         
+       2025  9  4  60922       0.2262      0.3868      0.08561         
+       2025  9  5  60923       0.2263      0.3855      0.08601         
+       2025  9  6  60924       0.2265      0.3842      0.08608         
+       2025  9  7  60925       0.2266      0.3829      0.08580         
+       2025  9  8  60926       0.2267      0.3816      0.08522         
+       2025  9  9  60927       0.2267      0.3803      0.08448         
+       2025  9 10  60928       0.2267      0.3790      0.08373         
+       2025  9 11  60929       0.2267      0.3777      0.08314         
+       2025  9 12  60930       0.2267      0.3764      0.08283         
+       2025  9 13  60931       0.2267      0.3751      0.08283         
+       2025  9 14  60932       0.2266      0.3738      0.08308         
+       2025  9 15  60933       0.2265      0.3724      0.08349         
+       2025  9 16  60934       0.2263      0.3711      0.08390         
+       2025  9 17  60935       0.2262      0.3698      0.08421         
+       2025  9 18  60936       0.2260      0.3685      0.08434         
+       2025  9 19  60937       0.2258      0.3672      0.08426         
+       2025  9 20  60938       0.2256      0.3659      0.08400         
+       2025  9 21  60939       0.2253      0.3646      0.08360         
+       2025  9 22  60940       0.2250      0.3633      0.08315         
+       2025  9 23  60941       0.2247      0.3620      0.08272         
+       2025  9 24  60942       0.2244      0.3607      0.08239         
+       2025  9 25  60943       0.2240      0.3595      0.08220         
+       2025  9 26  60944       0.2236      0.3582      0.08219         
+       2025  9 27  60945       0.2232      0.3569      0.08235         
+       2025  9 28  60946       0.2228      0.3556      0.08264         
+       2025  9 29  60947       0.2223      0.3544      0.08302         
+       2025  9 30  60948       0.2218      0.3531      0.08339         
+       2025 10  1  60949       0.2213      0.3519      0.08369         
+       2025 10  2  60950       0.2208      0.3506      0.08381         
+       2025 10  3  60951       0.2202      0.3494      0.08367         
+       2025 10  4  60952       0.2196      0.3482      0.08322         
+       2025 10  5  60953       0.2190      0.3470      0.08244         
+       2025 10  6  60954       0.2184      0.3458      0.08143         
+       2025 10  7  60955       0.2177      0.3446      0.08031         
+       2025 10  8  60956       0.2171      0.3434      0.07929         
+       2025 10  9  60957       0.2164      0.3422      0.07851         
+       2025 10 10  60958       0.2156      0.3410      0.07804         
+       2025 10 11  60959       0.2149      0.3399      0.07788         
+       2025 10 12  60960       0.2141      0.3387      0.07790         
+       2025 10 13  60961       0.2133      0.3376      0.07799         
+       2025 10 14  60962       0.2125      0.3365      0.07800         
+       2025 10 15  60963       0.2117      0.3354      0.07785         
+       2025 10 16  60964       0.2108      0.3343      0.07750         
+       2025 10 17  60965       0.2100      0.3332      0.07696         
+       2025 10 18  60966       0.2091      0.3321      0.07629         
+       2025 10 19  60967       0.2082      0.3311      0.07556         
+       2025 10 20  60968       0.2072      0.3300      0.07484         
+       2025 10 21  60969       0.2063      0.3290      0.07422         
+       2025 10 22  60970       0.2053      0.3280      0.07375         
+       2025 10 23  60971       0.2043      0.3270      0.07347         
+       2025 10 24  60972       0.2033      0.3260      0.07337         
+       2025 10 25  60973       0.2022      0.3250      0.07345         
+       2025 10 26  60974       0.2012      0.3241      0.07364         
+       2025 10 27  60975       0.2001      0.3231      0.07388         
+       2025 10 28  60976       0.1990      0.3222      0.07410         
+       2025 10 29  60977       0.1979      0.3213      0.07419         
+       2025 10 30  60978       0.1968      0.3204      0.07409         
+       2025 10 31  60979       0.1957      0.3196      0.07374         
+       2025 11  1  60980       0.1945      0.3187      0.07309         
+       2025 11  2  60981       0.1933      0.3179      0.07220         
+       2025 11  3  60982       0.1922      0.3171      0.07115         
+       2025 11  4  60983       0.1910      0.3163      0.07011         
+       2025 11  5  60984       0.1898      0.3155      0.06924         
+       2025 11  6  60985       0.1885      0.3147      0.06866         
+       2025 11  7  60986       0.1873      0.3140      0.06841         
+       2025 11  8  60987       0.1860      0.3133      0.06842         
+       2025 11  9  60988       0.1848      0.3126      0.06856         
+       2025 11 10  60989       0.1835      0.3119      0.06868         
+       2025 11 11  60990       0.1822      0.3112      0.06866         
+       2025 11 12  60991       0.1809      0.3106      0.06845         
+       2025 11 13  60992       0.1796      0.3100      0.06806         
+       2025 11 14  60993       0.1782      0.3094      0.06755         
+       2025 11 15  60994       0.1769      0.3088      0.06698         
+       2025 11 16  60995       0.1755      0.3082      0.06643         
+       2025 11 17  60996       0.1742      0.3077      0.06596         
+       2025 11 18  60997       0.1728      0.3072      0.06564         
+       2025 11 19  60998       0.1714      0.3067      0.06550         
+       2025 11 20  60999       0.1701      0.3062      0.06555         
+       2025 11 21  61000       0.1687      0.3058      0.06578         
+       2025 11 22  61001       0.1673      0.3053      0.06615         
+       2025 11 23  61002       0.1659      0.3049      0.06660         
+       2025 11 24  61003       0.1644      0.3045      0.06704         
+       2025 11 25  61004       0.1630      0.3042      0.06739         
+       2025 11 26  61005       0.1616      0.3038      0.06759         
+       2025 11 27  61006       0.1602      0.3035      0.06756         
+       2025 11 28  61007       0.1587      0.3032      0.06728         
+       2025 11 29  61008       0.1573      0.3029      0.06677         
+       2025 11 30  61009       0.1558      0.3027      0.06607         
+       2025 12  1  61010       0.1544      0.3024      0.06523         
+       2025 12  2  61011       0.1529      0.3022      0.06448         
+       2025 12  3  61012       0.1515      0.3020      0.06395         
+       2025 12  4  61013       0.1500      0.3019      0.06373         
+       2025 12  5  61014       0.1486      0.3017      0.06379         
+       2025 12  6  61015       0.1471      0.3016      0.06403         
+       2025 12  7  61016       0.1456      0.3015      0.06430         
+       2025 12  8  61017       0.1442      0.3015      0.06446         
+       2025 12  9  61018       0.1427      0.3014      0.06442         
+       2025 12 10  61019       0.1413      0.3014      0.06419         
+       2025 12 11  61020       0.1398      0.3014      0.06380         
+       2025 12 12  61021       0.1383      0.3014      0.06335         
+       2025 12 13  61022       0.1369      0.3015      0.06291         
+       2025 12 14  61023       0.1354      0.3015      0.06256         
+       2025 12 15  61024       0.1340      0.3016      0.06234         
+       2025 12 16  61025       0.1325      0.3017      0.06230         
+       2025 12 17  61026       0.1311      0.3019      0.06246         
+       2025 12 18  61027       0.1297      0.3020      0.06279         
+       2025 12 19  61028       0.1282      0.3022      0.06328         
+       2025 12 20  61029       0.1268      0.3024      0.06386         
+       2025 12 21  61030       0.1254      0.3027      0.06444         
+       2025 12 22  61031       0.1239      0.3029      0.06496         
+       2025 12 23  61032       0.1225      0.3032      0.06533         
+       2025 12 24  61033       0.1211      0.3035      0.06550         
+       2025 12 25  61034       0.1197      0.3038      0.06544         
+       2025 12 26  61035       0.1183      0.3041      0.06515         
+       2025 12 27  61036       0.1170      0.3045      0.06469         
+       2025 12 28  61037       0.1156      0.3049      0.06414         
+       2025 12 29  61038       0.1142      0.3053      0.06364         
+       2025 12 30  61039       0.1129      0.3057      0.06331         
+       2025 12 31  61040       0.1115      0.3062      0.06323         
+       2026  1  1  61041       0.1102      0.3066      0.06342         
+       2026  1  2  61042       0.1089      0.3071      0.06382         
+       2026  1  3  61043       0.1076      0.3077      0.06429         
+       2026  1  4  61044       0.1063      0.3082      0.06469         
+       2026  1  5  61045       0.1050      0.3087      0.06489         
+       2026  1  6  61046       0.1037      0.3093      0.06486         
+       2026  1  7  61047       0.1024      0.3099      0.06463         
+       2026  1  8  61048       0.1012      0.3105      0.06428         
+       2026  1  9  61049       0.0999      0.3112      0.06391         
+       2026  1 10  61050       0.0987      0.3118      0.06361         
+       2026  1 11  61051       0.0975      0.3125      0.06344         
+       2026  1 12  61052       0.0963      0.3132      0.06344         
+       2026  1 13  61053       0.0951      0.3139      0.06364         
+       2026  1 14  61054       0.0940      0.3147      0.06401         
+       2026  1 15  61055       0.0928      0.3154      0.06454         
+       2026  1 16  61056       0.0917      0.3162      0.06517         
+       2026  1 17  61057       0.0906      0.3170      0.06582         
+       2026  1 18  61058       0.0895      0.3178      0.06640         
+       2026  1 19  61059       0.0884      0.3186      0.06684         
+       2026  1 20  61060       0.0874      0.3195      0.06707         
+       2026  1 21  61061       0.0863      0.3203      0.06706         
+       2026  1 22  61062       0.0853      0.3212      0.06680         
+       2026  1 23  61063       0.0843      0.3221      0.06636         
+       2026  1 24  61064       0.0833      0.3230      0.06582         
+       2026  1 25  61065       0.0823      0.3239      0.06531         
+       2026  1 26  61066       0.0814      0.3249      0.06494         
+       2026  1 27  61067       0.0804      0.3259      0.06479         
+       2026  1 28  61068       0.0795      0.3268      0.06489         
+       2026  1 29  61069       0.0786      0.3278      0.06520         
+       2026  1 30  61070       0.0778      0.3288      0.06562         
+       2026  1 31  61071       0.0769      0.3298      0.06599         
+       2026  2  1  61072       0.0761      0.3309      0.06620         
+       2026  2  2  61073       0.0753      0.3319      0.06617         
+       2026  2  3  61074       0.0745      0.3330      0.06589         
+       2026  2  4  61075       0.0737      0.3341      0.06543         
+       2026  2  5  61076       0.0730      0.3351      0.06490         
+       2026  2  6  61077       0.0723      0.3362      0.06439         
+       2026  2  7  61078       0.0716      0.3373      0.06401         
+       2026  2  8  61079       0.0709      0.3385      0.06379         
+       2026  2  9  61080       0.0703      0.3396      0.06378         
+       2026  2 10  61081       0.0696      0.3407      0.06396         
+       2026  2 11  61082       0.0690      0.3419      0.06432         
+       2026  2 12  61083       0.0685      0.3431      0.06481         
+       2026  2 13  61084       0.0679      0.3442      0.06537         
+       2026  2 14  61085       0.0674      0.3454      0.06590         
+       2026  2 15  61086       0.0669      0.3466      0.06634         
+       2026  2 16  61087       0.0664      0.3478      0.06660         
+       2026  2 17  61088       0.0659      0.3490      0.06664         
+       2026  2 18  61089       0.0655      0.3503      0.06646         
+       2026  2 19  61090       0.0651      0.3515      0.06608         
+       2026  2 20  61091       0.0647      0.3527      0.06560         
+       2026  2 21  61092       0.0643      0.3540      0.06514         
+       2026  2 22  61093       0.0640      0.3552      0.06482         
+       2026  2 23  61094       0.0637      0.3564      0.06470         
+       2026  2 24  61095       0.0634      0.3577      0.06483         
+       2026  2 25  61096       0.0632      0.3590      0.06515         
+       2026  2 26  61097       0.0629      0.3602      0.06557         
+       2026  2 27  61098       0.0627      0.3615      0.06596         
+       2026  2 28  61099       0.0625      0.3628      0.06620         
+       2026  3  1  61100       0.0624      0.3641      0.06619         
+       2026  3  2  61101       0.0623      0.3654      0.06591         
+       2026  3  3  61102       0.0622      0.3666      0.06538         
+       2026  3  4  61103       0.0621      0.3679      0.06470         
+       2026  3  5  61104       0.0620      0.3692      0.06398         
+       2026  3  6  61105       0.0620      0.3705      0.06332         
+       2026  3  7  61106       0.0620      0.3718      0.06280         
+       2026  3  8  61107       0.0620      0.3731      0.06247         
+       2026  3  9  61108       0.0621      0.3744      0.06235         
+       2026  3 10  61109       0.0621      0.3757      0.06241         
+       2026  3 11  61110       0.0622      0.3770      0.06263         
+       2026  3 12  61111       0.0624      0.3783      0.06293         
+       2026  3 13  61112       0.0625      0.3796      0.06322         
+       2026  3 14  61113       0.0627      0.3809      0.06341         
+       2026  3 15  61114       0.0629      0.3821      0.06342         
+       2026  3 16  61115       0.0631      0.3834      0.06320         
+       2026  3 17  61116       0.0634      0.3847      0.06271         
+       2026  3 18  61117       0.0637      0.3860      0.06199         
+       2026  3 19  61118       0.0640      0.3873      0.06113         
+       2026  3 20  61119       0.0643      0.3885      0.06024         
+       2026  3 21  61120       0.0647      0.3898      0.05943         
+       2026  3 22  61121       0.0651      0.3911      0.05880         
+       2026  3 23  61122       0.0655      0.3923      0.05842         
+       2026  3 24  61123       0.0659      0.3936      0.05830         
+       2026  3 25  61124       0.0664      0.3948      0.05832         
+       2026  3 26  61125       0.0668      0.3961      0.05841         
+       2026  3 27  61126       0.0673      0.3973      0.05840         
+       2026  3 28  61127       0.0679      0.3985      0.05821         
+       2026  3 29  61128       0.0684      0.3997      0.05777         
+       2026  3 30  61129       0.0690      0.4010      0.05709         
+       2026  3 31  61130       0.0696      0.4022      0.05624         
+       2026  4  1  61131       0.0702      0.4034      0.05523         
+       2026  4  2  61132       0.0709      0.4045      0.05420         
+       2026  4  3  61133       0.0715      0.4057      0.05330         
+       2026  4  4  61134       0.0722      0.4069      0.05257         
+       2026  4  5  61135       0.0729      0.4080      0.05202         
+       2026  4  6  61136       0.0737      0.4092      0.05164         
+       2026  4  7  61137       0.0744      0.4103      0.05137         
+       2026  4  8  61138       0.0752      0.4114      0.05123         
+       2026  4  9  61139       0.0760      0.4125      0.05118         
+       2026  4 10  61140       0.0768      0.4136      0.05105         
+       2026  4 11  61141       0.0777      0.4147      0.05087         
+       2026  4 12  61142       0.0786      0.4158      0.05044         
+       2026  4 13  61143       0.0794      0.4169      0.04970         
+       2026  4 14  61144       0.0803      0.4179      0.04867         
+       2026  4 15  61145       0.0813      0.4189      0.04739         
+       2026  4 16  61146       0.0822      0.4200      0.04601         
+       2026  4 17  61147       0.0832      0.4210      0.04462         
+       2026  4 18  61148       0.0842      0.4219      0.04343         
+       2026  4 19  61149       0.0852      0.4229      0.04254         
+       2026  4 20  61150       0.0862      0.4239      0.04195         
+       2026  4 21  61151       0.0872      0.4248      0.04156         
+       2026  4 22  61152       0.0883      0.4258      0.04129         
+       2026  4 23  61153       0.0894      0.4267      0.04098         
+       2026  4 24  61154       0.0905      0.4276      0.04050         
+       2026  4 25  61155       0.0916      0.4284      0.03988         
+       2026  4 26  61156       0.0927      0.4293      0.03914         
+       2026  4 27  61157       0.0939      0.4302      0.03829         
+       2026  4 28  61158       0.0950      0.4310      0.03744         
+       2026  4 29  61159       0.0962      0.4318      0.03659         
+       2026  4 30  61160       0.0974      0.4326      0.03591         
+       2026  5  1  61161       0.0986      0.4334      0.03540         
+       2026  5  2  61162       0.0998      0.4341      0.03522         
+       2026  5  3  61163       0.1010      0.4348      0.03525         
+       2026  5  4  61164       0.1023      0.4356      0.03547         
+       2026  5  5  61165       0.1035      0.4363      0.03594         
+       2026  5  6  61166       0.1048      0.4369      0.03644         
+       2026  5  7  61167       0.1061      0.4376      0.03697         
+       2026  5  8  61168       0.1074      0.4382      0.03741         
+       2026  5  9  61169       0.1087      0.4389      0.03765         
+       2026  5 10  61170       0.1100      0.4395      0.03762         
+       2026  5 11  61171       0.1114      0.4400      0.03733         
+       2026  5 12  61172       0.1127      0.4406      0.03682         
+       2026  5 13  61173       0.1140      0.4411      0.03611         
+       2026  5 14  61174       0.1154      0.4416      0.03540         
+       2026  5 15  61175       0.1168      0.4421      0.03481         
+       2026  5 16  61176       0.1182      0.4426      0.03447         
+       2026  5 17  61177       0.1195      0.4431      0.03440         
+       2026  5 18  61178       0.1209      0.4435      0.03458         
+       2026  5 19  61179       0.1223      0.4439      0.03496         
+       2026  5 20  61180       0.1237      0.4443      0.03531         
+       2026  5 21  61181       0.1252      0.4447      0.03553         
+       2026  5 22  61182       0.1266      0.4450      0.03563         
+       2026  5 23  61183       0.1280      0.4453      0.03555         
+       2026  5 24  61184       0.1294      0.4456      0.03538         
+       2026  5 25  61185       0.1309      0.4459      0.03522         
+       2026  5 26  61186       0.1323      0.4462      0.03510         
+       2026  5 27  61187       0.1337      0.4464      0.03509         
+       2026  5 28  61188       0.1352      0.4466      0.03526         
+       2026  5 29  61189       0.1366      0.4468      0.03571         
+       2026  5 30  61190       0.1381      0.4469      0.03643         
+       2026  5 31  61191       0.1395      0.4471      0.03730         
+       2026  6  1  61192       0.1410      0.4472      0.03832         
+       2026  6  2  61193       0.1425      0.4473      0.03948         
+       2026  6  3  61194       0.1439      0.4474      0.04058         
+       2026  6  4  61195       0.1454      0.4474      0.04160         
+       2026  6  5  61196       0.1468      0.4474      0.04249         
+       2026  6  6  61197       0.1483      0.4475      0.04322         
+       2026  6  7  61198       0.1497      0.4474      0.04372         
+       2026  6  8  61199       0.1512      0.4474      0.04404         
+       2026  6  9  61200       0.1526      0.4473      0.04420         
+       2026  6 10  61201       0.1541      0.4472      0.04427         
+       2026  6 11  61202       0.1555      0.4471      0.04441         
+       2026  6 12  61203       0.1570      0.4470      0.04471         
+       2026  6 13  61204       0.1584      0.4468      0.04527         
+       2026  6 14  61205       0.1598      0.4467      0.04607         
+       2026  6 15  61206       0.1613      0.4465      0.04699         
+       2026  6 16  61207       0.1627      0.4462      0.04805         
+       2026  6 17  61208       0.1641      0.4460      0.04907         
+       2026  6 18  61209       0.1655      0.4457      0.04991         
+       2026  6 19  61210       0.1669      0.4454      0.05056         
+       2026  6 20  61211       0.1683      0.4451      0.05105         
+       2026  6 21  61212       0.1697      0.4448      0.05136         
+       2026  6 22  61213       0.1711      0.4444      0.05165         
+       2026  6 23  61214       0.1725      0.4440      0.05210         
+       2026  6 24  61215       0.1738      0.4436      0.05266         
+       2026  6 25  61216       0.1752      0.4432      0.05340         
+       2026  6 26  61217       0.1765      0.4428      0.05430         
+       2026  6 27  61218       0.1779      0.4423      0.05539         
+       2026  6 28  61219       0.1792      0.4418      0.05654         
+       2026  6 29  61220       0.1805      0.4413      0.05779         
+       2026  6 30  61221       0.1818      0.4408      0.05910         
+       2026  7  1  61222       0.1831      0.4402      0.06048         
+       2026  7  2  61223       0.1844      0.4397      0.06171         
+       2026  7  3  61224       0.1856      0.4391      0.06280         
+       2026  7  4  61225       0.1869      0.4385      0.06369         
+       2026  7  5  61226       0.1881      0.4378      0.06434         
+       2026  7  6  61227       0.1893      0.4372      0.06480         
+       2026  7  7  61228       0.1905      0.4365      0.06523         
+       2026  7  8  61229       0.1917      0.4358      0.06572         
+       2026  7  9  61230       0.1929      0.4351      0.06633         
+       2026  7 10  61231       0.1941      0.4344      0.06723         
+       2026  7 11  61232       0.1952      0.4336      0.06843         
+       2026  7 12  61233       0.1964      0.4329      0.06985         
+       2026  7 13  61234       0.1975      0.4321      0.07146         
+       2026  7 14  61235       0.1986      0.4313      0.07292         
+       2026  7 15  61236       0.1996      0.4304      0.07413         
+       2026  7 16  61237       0.2007      0.4296      0.07502         
+       2026  7 17  61238       0.2018      0.4288      0.07557         
+       2026  7 18  61239       0.2028      0.4279      0.07596         
+       2026  7 19  61240       0.2038      0.4270      0.07629         
+       2026  7 20  61241       0.2048      0.4261      0.07668         
+       2026  7 21  61242       0.2058      0.4252      0.07728         
+       2026  7 22  61243       0.2067      0.4242      0.07807         
+       2026  7 23  61244       0.2076      0.4233      0.07908         
+       2026  7 24  61245       0.2085      0.4223      0.08036         
+       2026  7 25  61246       0.2094      0.4213      0.08180         
+       2026  7 26  61247       0.2103      0.4203      0.08338         
+       2026  7 27  61248       0.2112      0.4193      0.08491         
+       2026  7 28  61249       0.2120      0.4183      0.08647         
+       2026  7 29  61250       0.2128      0.4173      0.08786         
+       2026  7 30  61251       0.2136      0.4162      0.08904         
+       2026  7 31  61252       0.2143      0.4151      0.08998         
+       2026  8  1  61253       0.2151      0.4141      0.09076         
+       2026  8  2  61254       0.2158      0.4130      0.09130         
+       2026  8  3  61255       0.2165      0.4119      0.09180         
+       2026  8  4  61256       0.2172      0.4108      0.09232         
+       2026  8  5  61257       0.2178      0.4096      0.09294         
+       2026  8  6  61258       0.2184      0.4085      0.09372         
+       2026  8  7  61259       0.2190      0.4074      0.09466         
+       2026  8  8  61260       0.2196      0.4062      0.09591         
+       2026  8  9  61261       0.2202      0.4050      0.09728         
+       2026  8 10  61262       0.2207      0.4039      0.09868         
+       2026  8 11  61263       0.2212      0.4027      0.09988         
+       2026  8 12  61264       0.2217      0.4015      0.10077         
+       2026  8 13  61265       0.2221      0.4003      0.10141         
+       2026  8 14  61266       0.2226      0.3991      0.10182         
      These predictions are based on all announced leap seconds.               
                                                                               
-      CELESTIAL POLE OFFSET SERIES:                                            
-                           NEOS Celestial Pole Offset Series                   
-                       MJD      dpsi    error     deps    error                
-                                        (msec. of arc)                         
-                      60865  -116.77    0.98  -11.24    0.21   
-                      60866  -116.93    0.98  -11.18    0.21   
-                      60867  -116.98    0.98  -10.97    0.21   
-                                                            
-                     IAU2000A Celestial Pole Offset Series  
-                      MJD      dX     error     dY     error
-                                    (msec. of arc)          
-                      60865    0.402  0.390   -0.210   0.213          
-                      60866    0.393  0.390   -0.229   0.213          
-                      60867    0.382  0.390   -0.247   0.213          
-                                                                               
 )--";


--- a/cxx/mcc_generic_mount.h
+++ b/cxx/mcc_generic_mount.h
@@ -32,6 +32,22 @@ struct MccPZoneWrapper {
    pz_inzone_func_t inZone;
    pz_timeto_func_t timeTo;
    pz_timefrom_func_t timeFrom;
+
+    MccPZoneWrapper(MccPZoneWrapper&& other)
+        : inZone(std::move(other.inZone)), timeTo(std::move(other.timeTo)), timeFrom(std::move(other.timeFrom)) {};
+
+    MccPZoneWrapper& operator=(MccPZoneWrapper&& other)
+    {
+        if (this != &other) {
+            inZone = std::move(other.inZone);
+            timeTo = std::move(other.timeTo);
+            timeFrom = std::move(other.timeFrom);
+        }
+
+        return *this;
+    };
+
+    MccPZoneWrapper() = default;
 };


@@ -56,24 +72,18 @@ public:

    static constexpr MccMountType mountType = pec_t::mountType;

-    template <traits::mcc_tuple_c ASTROM_ENGINE_CTOR_T,
-              traits::mcc_tuple_c HARDWARE_CTOR_T,
-              traits::mcc_tuple_c PEC_CTOR_T,
-              traits::mcc_tuple_c TELEMETRY_CTOR_T,
-              traits::mcc_tuple_c SLEWMODEL_CTOR_T,
-              traits::mcc_tuple_c GUIDINGMODEL_CTOR_T>
-    MccGenericMount(ASTROM_ENGINE_CTOR_T aengine_ctor_args,
-                    HARDWARE_CTOR_T hw_ctor_args,
-                    PEC_CTOR_T pec_ctor_args,
-                    TELEMETRY_CTOR_T t_ctor_args,
-                    SLEWMODEL_CTOR_T smodel_ctor_args,
-                    GUIDINGMODEL_CTOR_T gmodel_ctor_args)
-        : _astromEngine(std::make_from_tuple<ASTROM_ENGINE_T>(std::move(aengine_ctor_args))),
-          _hardware(std::make_from_tuple<HARDWARE_T>(std::move(hw_ctor_args))),
-          _pec(std::make_from_tuple<PEC_T>(std::move(pec_ctor_args))),
-          _telemetry(std::make_from_tuple<TELEMETRY_T>(std::move(t_ctor_args))),
-          _slewModel(std::make_from_tuple<SLEWMODEL_T>(std::move(smodel_ctor_args))),
-          _guidingModel(std::make_from_tuple<GUIDINGMODEL_T>(std::move(gmodel_ctor_args)))
+    MccGenericMount(ASTROM_ENGINE_T aengine,
+                    HARDWARE_T hw,
+                    PEC_T pec,
+                    TELEMETRY_T tmtry,
+                    SLEWMODEL_T smodel,
+                    GUIDINGMODEL_T gmodel)
+        : _astromEngine(std::move(aengine)),
+          _hardware(std::move(hw)),
+          _pec(std::move(pec)),
+          _telemetry(std::move(tmtry)),
+          _slewModel(std::move(smodel)),
+          _guidingModel(std::move(gmodel))
    {
    }

--- a/cxx/mcc_guiding_model.h
+++ b/cxx/mcc_guiding_model.h
@@ -49,7 +49,10 @@ namespace mcc
 struct MccSimpleGuidingModelCategory : public std::error_category {
    MccSimpleGuidingModelCategory() : std::error_category() {}

-    const char* name() const noexcept { return "ADC_GENERIC_DEVICE"; }
+    const char* name() const noexcept
+    {
+        return "ADC_GENERIC_DEVICE";
+    }

    std::string message(int ec) const
    {
@@ -116,11 +119,12 @@ public:

    template <traits::mcc_mount_telemetry_c TELEMETRY_T,
              traits::mcc_mount_hardware_c HARDWARE_T,
-              traits::mcc_tuple_c PZ_T,
+              traits::mcc_irange_of_pzones_c<typename TELEMETRY_T::mount_telemetry_data_t> PZ_T,
+              // traits::mcc_tuple_c PZ_T,
              typename... LoggerCtorArgTs>
-    MccSimpleGuidingModel(TELEMETRY_T& telemetry,
-                          HARDWARE_T& hardware,
-                          PZ_T& prohibited_zone,
+    MccSimpleGuidingModel(TELEMETRY_T* telemetry,
+                          HARDWARE_T* hardware,
+                          PZ_T* prohibited_zone,
                          LoggerCtorArgTs&&... ctor_args)
        requires(!std::same_as<LoggerT, MccNullLogger>)
        : LoggerT(std::forward<LoggerCtorArgTs>(ctor_args)...)
@@ -130,14 +134,16 @@ public:
        init(telemetry, hardware, prohibited_zone);
    }

-    template <traits::mcc_mount_telemetry_c TELEMETRY_T,
-              traits::mcc_mount_hardware_c HARDWARE_T,
-              traits::mcc_tuple_c PZ_T>
-    MccSimpleGuidingModel(TELEMETRY_T& telemetry, HARDWARE_T& hardware, PZ_T& prohibited_zone)
-        requires(std::same_as<LoggerT, MccNullLogger>)
-    {
-        init(telemetry, hardware, prohibited_zone);
-    }
+    // template <traits::mcc_mount_telemetry_c TELEMETRY_T,
+    //           traits::mcc_mount_hardware_c HARDWARE_T,
+    //           traits::mcc_irange_of_pzones_c<typename TELEMETRY_T::mount_telemetry_data_t> PZ_T
+    //           // traits::mcc_tuple_c PZ_T
+    //           >
+    // MccSimpleGuidingModel(TELEMETRY_T& telemetry, HARDWARE_T& hardware, PZ_T& prohibited_zone)
+    //     requires(std::same_as<LoggerT, MccNullLogger>)
+    // {
+    //     init(telemetry, hardware, prohibited_zone);
+    // }


    MccSimpleGuidingModel(MccSimpleGuidingModel&& other)
@@ -166,13 +172,27 @@ public:
    }


-    error_t guiding(guiding_point_t guiding_point) { return _guidingFunc(std::move(guiding_point)); }
+    error_t guiding(guiding_point_t guiding_point)
+    {
+        return _guidingFunc(std::move(guiding_point));
+    }

-    error_t stopGuiding(bool off) { _doCorrection = off; }
+    error_t stopGuiding(bool off)
+    {
+        _doCorrection = off;

-    bool inGuiding() { return _doCorrection; }
+        return MccSimpleGuidingModelErrorCode::ERROR_OK;
+    }

-    error_t stop() { return MccSimpleGuidingModelErrorCode::ERROR_OK; }
+    bool inGuiding()
+    {
+        return _doCorrection;
+    }
+
+    error_t stop()
+    {
+        return MccSimpleGuidingModelErrorCode::ERROR_OK;
+    }

 protected:
    std::function<error_t(guiding_point_t)> _guidingFunc{};
@@ -181,22 +201,22 @@ protected:



-    error_t init(auto& telemetry, auto& hardware, auto& prohibited_zones)
+    void init(auto* p_telemetry, auto* p_hardware, auto* p_prohibited_zones)
    {
        // deduce controls types
        // deduce controls types
-        using hardware_t = decltype(hardware);
-        using telemetry_t = decltype(telemetry);
+        using hardware_t = decltype(*p_hardware);
+        using telemetry_t = decltype(*p_telemetry);
        static_assert(traits::mcc_mount_default_telemetry_c<telemetry_t>,
                      "TELEMETRY CLASS MUST BE A DESCENDANT OF 'MccMountTelemetry'!");

        using astrom_engine_t = typename telemetry_t::astrom_engine_t;

-        static constexpr size_t Nzones = std::tuple_size_v<decltype(prohibited_zones)>;
+        static constexpr size_t Nzones = std::tuple_size_v<decltype(*p_prohibited_zones)>;

-        const auto p_telemetry = &telemetry;
-        const auto p_hardware = &hardware;
-        const auto p_prohibited_zones = &prohibited_zones;
+        // const auto p_telemetry = &telemetry;
+        // const auto p_hardware = &hardware;
+        // const auto p_prohibited_zones = &prohibited_zones;

        _guidingFunc = [p_telemetry, p_hardware, p_prohibited_zones, this](guiding_point_t guiding_point) {
            _stopRequested = false;
--- a/cxx/mcc_mount_astro_erfa.h
+++ b/cxx/mcc_mount_astro_erfa.h
@@ -58,7 +58,10 @@ namespace mcc::astrom::erfa
 struct MccMountAstromEngineERFACategory : public std::error_category {
    MccMountAstromEngineERFACategory() : std::error_category() {}

-    const char* name() const noexcept { return "ADC_GENERIC_DEVICE"; }
+    const char* name() const noexcept
+    {
+        return "ADC_GENERIC_DEVICE";
+    }

    std::string message(int ec) const
    {
@@ -107,11 +110,6 @@ inline std::error_code make_error_code(MccMountAstromEngineERFAErrorCode ec)



-/*  A concept for ERFA-library compatible type to represent anglular quantities  */
-template <typename T>
-concept mcc_erfa_angle_t = std::constructible_from<T, double> && std::convertible_to<T, double>;
-
-template <mcc_erfa_angle_t AngleT = MccAngle>
 class MccMountAstromEngineERFA
 {
 public:
@@ -119,6 +117,9 @@ public:

    typedef std::error_code error_t;

+    /*  use of the same type for representation of celestial and geodetic coordinates, celestial angles (e.g. P.A.),
+     *  and sideral time */
+    typedef double coord_t;

    // meteo parameters (to compute refraction)
    struct meteo_t {
@@ -136,8 +137,8 @@ public:

        double wavelength = DEFAULT_WAVELENGTH;  // observed wavelength in mkm

-        AngleT lat = "00:00:00"_dms;  // site latitude
-        AngleT lon = "00:00:00"_dms;  // site longitude
+        coord_t lat = "00:00:00"_dms;  // site latitude
+        coord_t lon = "00:00:00"_dms;  // site longitude
        double elev = 0.0;             // site elevation (in meters)

        mcc::astrom::iers::MccLeapSeconds _leapSeconds{};
@@ -152,13 +153,10 @@ public:
    };


-    /*  use of the same type for representation of celestial and geodetic coordinates, celestial angles (e.g. P.A.),
-     *  and sideral time */
-    typedef AngleT coord_t;

-    typedef AngleT sideral_time_t;
-    typedef AngleT pa_t;
-    typedef AngleT eo_t;
+    typedef coord_t sideral_time_t;
+    typedef coord_t pa_t;
+    typedef coord_t eo_t;

    struct refract_result_t {
        double refa, refb;
@@ -259,7 +257,10 @@ public:

    /*   time-related methods    */

-    static time_point_t timePointNow() { return time_point_t::clock::now(); }
+    static time_point_t timePointNow()
+    {
+        return time_point_t::clock::now();
+    }

    // templated generic version
    template <mcc::traits::mcc_systime_c TpT>
@@ -556,17 +557,193 @@ public:
        return MccMountAstromEngineERFAErrorCode::ERROR_OK;
    }

+    error_t coord2coord(MccCoordPairKind coord_from_kind,
+                        coord_t x_from,
+                        coord_t y_from,
+                        time_point_t time_point_from,
+                        MccCoordPairKind coord_to_kind,
+                        coord_t& x_to,
+                        coord_t& y_to,
+                        time_point_t time_point_to)
+    {
+        error_t ret = MccMountAstromEngineERFAErrorCode::ERROR_OK;
+
+        // no convertion
+        if (time_point_from == time_point_to && coord_from_kind == coord_to_kind) {
+            x_to = x_from;
+            y_to = y_from;
+            return ret;
+        }
+
+
+        juldate_t jd;
+        eo_t eo;
+        coord_t ra, dec, ha, az, alt;
+        sideral_time_t lst;
+
+        auto lst_eo = [&]() {
+            ret = greg2jul(time_point_from, jd);
+            if (!ret) {
+                ret = apparentSiderTime(jd, lst, true);
+                if (!ret) {
+                    ret = eqOrigins(jd, eo);
+                }
+            }
+        };
+
+        // special case: to ICRS from apparent
+        if (coord_to_kind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
+            if (coord_from_kind == MccCoordPairKind::COORDS_KIND_AZALT ||
+                coord_from_kind == MccCoordPairKind::COORDS_KIND_AZZD ||
+                coord_from_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP ||
+                coord_from_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
+                //
+                ret = greg2jul(time_point_from, jd);
+                if (!ret) {
+                    ret = obs2icrs(coord_from_kind, x_from, y_from, jd, x_to, y_to);
+                }
+            } else {
+                ret = MccMountAstromEngineERFAErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
+            }
+            return ret;
+        }
+
+        // special case: from ICRS to apparent
+        if (coord_from_kind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
+            if (coord_to_kind == MccCoordPairKind::COORDS_KIND_AZALT ||
+                coord_to_kind == MccCoordPairKind::COORDS_KIND_AZZD ||
+                coord_to_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP ||
+                coord_to_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
+                //
+                ret = greg2jul(time_point_to, jd);
+                if (!ret) {
+                    ret = icrs2obs(x_from, y_from, jd, ra, dec, ha, az, alt, eo);
+
+                    if (!ret) {
+                        if (coord_to_kind == MccCoordPairKind::COORDS_KIND_AZALT) {
+                            x_to = az;
+                            y_to = alt;
+                        } else if (coord_to_kind == MccCoordPairKind::COORDS_KIND_AZZD) {
+                            x_to = az;
+                            y_to = std::numbers::pi / 2.0 - alt;
+                        } else if (coord_to_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
+                            x_to = ra;
+                            y_to = dec;
+                        } else if (coord_to_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
+                            x_to = ha;
+                            y_to = dec;
+                        }
+                    }
+                }
+            } else {
+                ret = MccMountAstromEngineERFAErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
+            }
+
+            return ret;
+        }
+
+        // from apparent to apparent
+        if (time_point_from != time_point_to) {  // first, convert 'from' coordinates to ICRS
+            ret = greg2jul(time_point_from, jd);
+            if (!ret) {
+                ret = obs2icrs(coord_from_kind, x_from, y_from, jd, ra, dec);
+                if (!ret) {  // from ICRS to required
+                    return coord2coord(MccCoordPairKind::COORDS_KIND_RADEC_ICRS, ra, dec, time_point_from,
+                                       coord_to_kind, x_to, y_to, time_point_to);
+                }
+            }
+        } else {  // same time points
+            if (coord_from_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
+                // first, compute HA from CIO-based RA!!!
+                lst_eo();
+                if (!ret) {
+                    ha = lst - x_from + eo;
+                } else {
+                    return ret;
+                }
+
+
+                if (coord_to_kind == MccCoordPairKind::COORDS_KIND_AZALT) {
+                    ret = hadec2azalt(ha, y_from, x_to, y_to);
+                } else if (coord_to_kind == MccCoordPairKind::COORDS_KIND_AZZD) {
+                    ret = hadec2azalt(ha, y_from, x_to, y_to);
+                    if (!ret) {
+                        y_to = std::numbers::pi / 2.0 - y_to;
+                    }
+                } else if (coord_to_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
+                    x_to = ha;
+                    y_to = y_from;
+                } else {
+                    ret = MccMountAstromEngineERFAErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
+                }
+            } else if (coord_from_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
+                if (coord_to_kind == MccCoordPairKind::COORDS_KIND_AZALT) {
+                    ret = hadec2azalt(x_from, y_from, x_to, y_to);
+                } else if (coord_to_kind == MccCoordPairKind::COORDS_KIND_AZZD) {
+                    ret = hadec2azalt(x_from, y_from, x_to, y_to);
+                    if (!ret) {
+                        y_to = std::numbers::pi / 2.0 - y_to;
+                    }
+                } else if (coord_to_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
+                    lst_eo();
+                    if (!ret) {
+                        x_to = lst - x_from + eo;
+                        y_to = y_from;
+                    }
+                } else {
+                    ret = MccMountAstromEngineERFAErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
+                }
+            } else if (coord_from_kind == MccCoordPairKind::COORDS_KIND_AZALT) {
+                if (coord_to_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
+                    ret = azalt2hadec(x_from, y_from, x_to, y_to);
+                    if (!ret) {
+                        lst_eo();
+                        if (!ret) {
+                            x_to = lst - x_to + eo;
+                        }
+                    }
+                } else if (coord_to_kind == MccCoordPairKind::COORDS_KIND_AZZD) {
+                    x_to = x_from;
+                    y_to = std::numbers::pi / 2.0 - y_from;
+                } else if (coord_to_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
+                    ret = azalt2hadec(x_from, y_from, x_to, y_to);
+                } else {
+                    ret = MccMountAstromEngineERFAErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
+                }
+            } else if (coord_from_kind == MccCoordPairKind::COORDS_KIND_AZZD) {
+                return coord2coord(MccCoordPairKind::COORDS_KIND_AZALT, std::move(x_from),
+                                   std::numbers::pi / 2.0 - y_to, time_point_from, coord_to_kind, x_to, y_to,
+                                   time_point_to);
+            } else {
+                ret = MccMountAstromEngineERFAErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
+            }
+        }
+
+        return ret;
+    }

    /*  helper mathods  */

-    auto leapSecondsExpireDate() const { return _currentState._leapSeconds.expireDate(); }
+    auto leapSecondsExpireDate() const
+    {
+        return _currentState._leapSeconds.expireDate();
+    }

-    auto leapSecondsExpireMJD() const { return _currentState._leapSeconds.expireMJD(); }
+    auto leapSecondsExpireMJD() const
+    {
+        return _currentState._leapSeconds.expireMJD();
+    }


-    auto bulletinADateRange() const { return _currentState._bulletinA.dateRange(); }
+    auto bulletinADateRange() const
+    {
+        return _currentState._bulletinA.dateRange();
+    }

-    auto bulletinADateRangeMJD() const { return _currentState._bulletinA.dateRangeMJD(); }
+    auto bulletinADateRangeMJD() const
+    {
+        return _currentState._bulletinA.dateRangeMJD();
+    }

 protected:
    engine_state_t _currentState{};
@@ -577,4 +754,4 @@ protected:
 }  // namespace mcc::astrom::erfa


-static_assert(mcc::traits::mcc_astrom_engine_c<mcc::astrom::erfa::MccMountAstromEngineERFA<>>, "");
+static_assert(mcc::traits::mcc_astrom_engine_c<mcc::astrom::erfa::MccMountAstromEngineERFA>, "");
--- a/cxx/mcc_mount_concepts.h
+++ b/cxx/mcc_mount_concepts.h
@@ -60,7 +60,10 @@ struct MccNullLogger {
    typedef int loglevel_t;

    void setLogLevel(loglevel_t){};
-    loglevel_t getLogLevel() const { return 0; };
+    loglevel_t getLogLevel() const
+    {
+        return 0;
+    };

    void logMessage(loglevel_t, const std::string&) {};
    void logError(const std::string&) {};
@@ -98,6 +101,43 @@ concept mcc_logger_c = requires(T t, const T t_const) {
 };


+/*  A CONCEPT FOR COORDINATE REPRESENTATION  */
+
+// it is a fundametal floating-point type or
+// a class that can be constructed from or converted to the double fundametal type
+template <typename T>
+concept mcc_coord_t = std::floating_point<T> || (std::convertible_to<T, double> && std::constructible_from<T, double>);
+
+
+/*  A CONCEPT FOR UTC TIME POINT REPRESENTATION */
+
+// it is a std::chrono::sys_time<Duration> or
+// fundamental arithmetic type that represent number of seconds after the 00:00:00 of 1 January 1970 (UNIX time)
+template <typename T>
+concept mcc_utc_time_point_c = mcc_systime_c<T> || std::is_arithmetic_v<T>;
+
+/*  A CONCEPT FOR CLASS TO REPRESENT CELESTIAL POINT  */
+
+
+template <typename T>
+concept mcc_celestial_point_c = requires(T t) {
+    // a type to represent UTC time point of coordinates
+    // it's clear that this makes sense for apparent coordinates
+    typename T::time_point_t;
+
+    // coordinates pair type (e.g. IRCS RA,DEC, Az,Alt and so on)
+    requires std::same_as<decltype(t.coordPairKind), MccCoordPairKind>;
+
+    typename T::coord_t;
+
+    // co-longitude (e.g. RA or Az)
+    requires std::same_as<decltype(t.x), typename T::coord_t>;
+
+    // co-latitude (e.g. DEC or ZD)
+    requires std::same_as<decltype(t.y), typename T::coord_t>;
+};
+
+
 /*  ASTROMETRY-RELATED COMPUTATION ENGINE  */

 template <typename T>
@@ -128,10 +168,10 @@ concept mcc_astrom_engine_c = requires(T t, const T t_const) {
    } -> std::same_as<typename T::error_t>;

    // observed place to ICRS RA and DEC: obs2icrs(type, x, y, jd, ra_icrs, dec_icrs)
-    // (x,y) = (AZ, ZD) if type = MccCoordPairKind::COORDS_KIND_AZZD
-    // (x,y) = (AZ, ALT) if type = MccCoordPairKind::COORDS_KIND_AZALT
-    // (x,y) = (HA, DEC) if type = MccCoordPairKind::COORDS_KIND_HADEC_APP
-    // (x,y) = (RA, DEC) if type = MccCoordPairKind::COORDS_KIND_RADEC_APP
+    // (x, y) = (AZ, ZD) if type == MccCoordPairKind::COORDS_KIND_AZZD
+    // (x, y) = (AZ, ALT) if type == MccCoordPairKind::COORDS_KIND_AZALT
+    // (x, y) = (HA, DEC) if type == MccCoordPairKind::COORDS_KIND_HADEC_APP
+    // (x, y) = (RA, DEC) if type == MccCoordPairKind::COORDS_KIND_RADEC_APP
    {
        t.obs2icrs(std::declval<MccCoordPairKind>(), std::declval<typename T::coord_t>(),
                   std::declval<typename T::coord_t>(), std::declval<typename T::juldate_t>(),
@@ -157,6 +197,26 @@ concept mcc_astrom_engine_c = requires(T t, const T t_const) {
                   std::declval<typename T::pa_t&>())
    } -> std::same_as<typename T::error_t>;

+
+    // transform coordinates according to its pair types and time points (a high-level wrapper):
+    //
+    // coord2coord(coord_pair_kind_from, x_from, y_from, time_point_from, coord_pair_kind_to, x_to, y_to, time_point_to)
+    //
+    // (x_*, y_*) = (AZ, ZD) if coord_pair_kind_* == MccCoordPairKind::COORDS_KIND_AZZD
+    // (x_*, y_*) = (AZ, ALT) if coord_pair_kind_* == MccCoordPairKind::COORDS_KIND_AZALT
+    // (x_*, y_*) = (HA, DEC) if coord_pair_kind_* == MccCoordPairKind::COORDS_KIND_HADEC_APP (apparent)
+    // (x_*, y_*) = (RA, DEC) if coord_pair_kind_* == MccCoordPairKind::COORDS_KIND_RADEC_APP (apparent)
+    // (x_*, y_*) = (RA, DEC) if coord_pair_kind_* == MccCoordPairKind::COORDS_KIND_RADEC_ICRS (ICRS)
+    //
+    // if  coord_pair_kind_* and time_point_* are equal then x_to = x_from, y_to = y_from
+    {
+        t.coord2coord(std::declval<MccCoordPairKind>(), std::declval<typename T::coord_t>(),
+                      std::declval<typename T::coord_t>(), std::declval<typename T::time_point_t>(),
+                      std::declval<MccCoordPairKind>(), std::declval<typename T::coord_t&>(),
+                      std::declval<typename T::coord_t&>(), std::declval<typename T::time_point_t>())
+    } -> std::same_as<typename T::error_t>;
+
+
    // compute equation of origins
    {
        t.eqOrigins(std::declval<typename T::juldate_t>(), std::declval<typename T::eo_t&>())
@@ -355,23 +415,6 @@ concept mcc_mount_telemetry_c = requires(T t, const T t_const) {
 };


-/*  A CONCEPT FOR CLASS TO REPRESENT CELESTIAL POINT  */
-
-
-template <typename T>
-concept mcc_celestial_point_c = requires(T t) {
-    // input coordinates pair type (e.g. IRCS RA,DEC, Az,Alt and so on)
-    requires std::same_as<decltype(t.coordPairKind), MccCoordPairKind>;
-
-    typename T::coord_t;
-
-    // co-longitude (e.g. RA or Az)
-    requires std::same_as<decltype(t.x), typename T::coord_t>;
-
-    // co-latitude (e.g. DEC or ZD)
-    requires std::same_as<decltype(t.y), typename T::coord_t>;
-};
-

 // /*  SLEW PARAMETERS  */

@@ -420,16 +463,87 @@ concept mcc_guiding_model_c = requires(T t) {

 /*  MOUNT PROHIBITED ZONE  */

+
+struct MccPzoneAbstractInterface {
+    bool inZone(this auto&& self, mcc_mount_telemetry_data_c auto const& telemetry_data)
+    {
+        using self_t = decltype(self);
+
+        if constexpr (std::same_as<std::remove_cvref_t<self_t>, MccPzoneAbstractInterface>) {
+            static_assert(false, "Call an empty MccPzoneAbstractInterface::inZone method");
+        } else {
+            return std::forward<self_t>(self).inZone(telemetry_data);
+        }
+    }
+
+    bool inZone(this auto&& self, mcc_celestial_point_c auto const& sky_point)
+    {
+        using self_t = decltype(self);
+
+        if constexpr (std::same_as<std::remove_cvref_t<self_t>, MccPzoneAbstractInterface>) {
+            static_assert(false, "Call an empty MccPzoneAbstractInterface::inZone method");
+        } else {
+            return std::forward<self_t>(self).inZone(sky_point);
+        }
+    }
+
+    // returns a time to reach the zone
+    auto timeTo(this auto&& self, mcc_mount_telemetry_data_c auto const& telemetry_data)
+    {
+        using self_t = decltype(self);
+
+        if constexpr (std::same_as<std::remove_cvref_t<self_t>, MccPzoneAbstractInterface>) {
+            static_assert(false, "Call an empty MccPzoneAbstractInterface::timeTo method");
+        } else {
+            return std::forward<self_t>(self).timeTo(telemetry_data);
+        }
+    }
+
+    auto timeTo(this auto&& self, mcc_celestial_point_c auto const& sky_point)
+    {
+        using self_t = decltype(self);
+
+        if constexpr (std::same_as<std::remove_cvref_t<self_t>, MccPzoneAbstractInterface>) {
+            static_assert(false, "Call an empty MccPzoneAbstractInterface::timeTo method");
+        } else {
+            return std::forward<self_t>(self).timeTo(sky_point);
+        }
+    }
+
+    // returns a time to exit from the zone
+    auto timeFrom(this auto&& self, mcc_mount_telemetry_data_c auto const& telemetry_data)
+    {
+        using self_t = decltype(self);
+
+        if constexpr (std::same_as<std::remove_cvref_t<self_t>, MccPzoneAbstractInterface>) {
+            static_assert(false, "Call an empty MccPzoneAbstractInterface::timeFrom method");
+        } else {
+            return std::forward<self_t>(self).timeFrom(telemetry_data);
+        }
+    }
+
+    auto timeFrom(this auto&& self, mcc_celestial_point_c auto const& sky_point)
+    {
+        using self_t = decltype(self);
+
+        if constexpr (std::same_as<std::remove_cvref_t<self_t>, MccPzoneAbstractInterface>) {
+            static_assert(false, "Call an empty MccPzoneAbstractInterface::timeFrom method");
+        } else {
+            return std::forward<self_t>(self).timeFrom(sky_point);
+        }
+    }
+};
+
 template <typename T, typename TelemetryDataT>
 concept mcc_prohibited_zone_c =
    mcc_mount_telemetry_data_c<TelemetryDataT> && std::movable<T> && requires(T t, const T t_const) {
-        // typename T::coord_t;
+        typename T::coord_t;
        // typename T::time_point_t;
        requires mcc_time_duration_c<typename T::duration_t>;

-        // static constexpr member to represent inifite duration
+        // static constexpr member to represent infinite duration
        requires requires {
-            requires std::same_as<decltype(T::infiniteDuration), typename T::duration_t>;
+            requires std::same_as<decltype(T::infiniteDuration), typename T::duration_t const>;
            []() {
                constexpr auto val = T::infiniteDuration;
                return val;
@@ -438,7 +552,7 @@ concept mcc_prohibited_zone_c =

        // static constexpr member to represent zero duration
        requires requires {
-            requires std::same_as<decltype(T::zeroDuration), typename T::duration_t>;
+            requires std::same_as<decltype(T::zeroDuration), typename T::duration_t const>;
            []() {
                constexpr auto val = T::zeroDuration;
                return val;
@@ -446,46 +560,11 @@ concept mcc_prohibited_zone_c =
        };


-        // the type 'T' must define a static constexpr member of type MccCoordPairKind
-        // to declarate type of coordinate pair used to describe the zone.
-        // This coordinate pair must be used as input in the 'inZone' class method.
-        requires requires {
-            requires std::same_as<decltype(T::zoneCoordPairKind), const MccCoordPairKind>;
-            []() {
-                constexpr MccCoordPairKind val = T::zoneCoordPairKind;
-                return val;
-            }();  // to ensure that 'zoneCoordPairKind' can be used at compile-time context
-        };
-
        // return a name of the zone
        { t_const.name() } -> mcc_formattable;


        // check if given coordinates are into the zone.
-        // input coordinates interpretation is in according to 'zoneCoordPairKind' static constexpr member
-        // {
-        //     t.inZone(std::declval<typename T::coord_t>(), std::declval<typename T::coord_t>())
-        // } -> std::convertible_to<bool>;
-
-
-        // // for given coordinates and time the method computes a time to reach the zone.
-        // // implementation of the method must assume that input coordinates are apparent RA and DEC at given time
-        // // point, while the time point is one from which computation should be performed (e.g. current time moment)
-        // {
-        //     t.timeTo(std::declval<typename T::coord_t>(), std::declval<typename T::coord_t>(),
-        //              std::declval<typename T::time_point_t>())
-        // } -> mcc_time_duration_c;
-
-
-        // // for given coordinates and time the method computes a time to exit from the zone
-        // {
-        //     t.timeFrom(std::declval<typename T::coord_t>(), std::declval<typename T::coord_t>(),
-        //                std::declval<typename T::time_point_t>())
-        // } -> mcc_time_duration_c;
-
-        // requires for the methods above with the first argument of type
-        // 'const mcc_mount_telemetry_data_c&' (const lvalue reference)
-
        { t.inZone(std::declval<const TelemetryDataT&>()) } -> std::convertible_to<bool>;

        // a time duration to reach the zone.
@@ -506,6 +585,122 @@ concept mcc_irange_of_pzones_c = mcc_mount_telemetry_data_c<TelemetryDataT> && s
                                 mcc_prohibited_zone_c<std::ranges::range_value_t<T>, TelemetryDataT>;


+// // a concept for a callable with the first argument of type satisfied to 'mcc_prohibited_zone_c'
+// template <typename T, typename TelemetryDataT>
+// concept mcc_pzone_foreach_func_c = mcc_is_callable<T> && mcc_mount_telemetry_data_c<TelemetryDataT> &&
+//                                    mcc_prohibited_zone_c<mcc_func_arg1_t<T>, TelemetryDataT>;
+
+
+// There is no way to declare a concept of class with templated method so one needs to define
+// a generic interface of prohibited zones holder/container explicitly
+template <mcc_mount_telemetry_data_c TelemetryDataT>
+struct MccPZoneAbstractContainer {
+    virtual ~MccPZoneAbstractContainer() = default;
+
+    // must return a size of the container after the addition of the given zone
+    template <mcc_prohibited_zone_c<TelemetryDataT> ZT>
+    size_t pzAddZone(this auto&& self, ZT zone)
+    {
+        using self_t = decltype(self);
+
+        if constexpr (std::same_as<std::remove_cvref_t<self_t>, MccPZoneAbstractContainer>) {
+            static_assert(false, "Call an empty MccPZoneAbstractContainer::pzAddZone method");
+        } else {
+            return std::forward<self_t>(self).pzAddZone(std::move(zone));
+        }
+    }
+
+    // clear the container
+    auto pzClearZones(this auto&& self)
+    {
+        using self_t = decltype(self);
+
+        if constexpr (std::same_as<std::remove_cvref_t<self_t>, MccPZoneAbstractContainer>) {
+            static_assert(false, "Call an empty MccPZoneAbstractContainer::pzClearZones method");
+        } else {
+            return std::forward<self_t>(self).pzClearZones();
+        }
+    }
+
+    // must return the size of the container (number of zones)
+    size_t pzSize(this auto&& self)
+    {
+        using self_t = decltype(self);
+
+        if constexpr (std::same_as<std::remove_cvref_t<self_t>, MccPZoneAbstractContainer>) {
+            static_assert(false, "Call an empty MccPZoneAbstractContainer::pzSize method");
+        } else {
+            return std::forward<self_t>(self).pzSize();
+        }
+    }
+
+
+    // must return true if the given telemetry coordinates are in any of zones in the container and
+    // false otherwise
+    template <typename RT>
+    bool pzInZone(this auto&& self, const TelemetryDataT& tdata, RT& result)
+    {
+        using self_t = decltype(self);
+
+        if constexpr (std::same_as<std::remove_cvref_t<self_t>, MccPZoneAbstractContainer>) {
+            static_assert(false, "Call an empty MccPZoneAbstractContainer::pzInZone method");
+        } else {
+            return std::forward<self_t>(self).pzInZone(tdata, result);
+        }
+    }
+
+    template <typename RT>
+    auto pzTimeTo(this auto&& self, const TelemetryDataT& tdata, RT& result)
+    {
+        using self_t = decltype(self);
+
+        if constexpr (std::same_as<std::remove_cvref_t<self_t>, MccPZoneAbstractContainer>) {
+            static_assert(false, "Call an empty MccPZoneAbstractContainer::pzInZone method");
+        } else {
+            return std::forward<self_t>(self).pzTimeTo(tdata, result);
+        }
+    }
+
+    template <typename RT>
+    auto pzTimeFrom(this auto&& self, const TelemetryDataT& tdata, RT& result)
+    {
+        using self_t = decltype(self);
+
+        if constexpr (std::same_as<std::remove_cvref_t<self_t>, MccPZoneAbstractContainer>) {
+            static_assert(false, "Call an empty MccPZoneAbstractContainer::pzInZone method");
+        } else {
+            return std::forward<self_t>(self).pzTimeFrom(tdata, result);
+        }
+    }
+
+protected:
+    MccPZoneAbstractContainer() = default;
+};
+
+// a full concept for prohibited zones container
+template <typename T, typename TelemetryDataT>
+concept mcc_mount_pzones_container_c = std::derived_from<T, MccPZoneAbstractContainer<TelemetryDataT>> && requires {
+    // common time duration type for zones 'timeTo' and 'timeFrom' methods
+    requires mcc_time_duration_c<typename T::duration_t>;
+
+    // static constexpr member to represent infinite duration
+    requires requires {
+        requires std::same_as<decltype(T::infiniteDuration), typename T::duration_t const>;
+        []() {
+            constexpr auto val = T::infiniteDuration;
+            return val;
+        };
+    };
+
+    // static constexpr member to represent zero duration
+    requires requires {
+        requires std::same_as<decltype(T::zeroDuration), typename T::duration_t const>;
+        []() {
+            constexpr auto val = T::zeroDuration;
+            return val;
+        };
+    };
+};

 /*  MOUNT GENERIC CONTROLS  */

--- a/cxx/mcc_mount_pz.h
+++ b/cxx/mcc_mount_pz.h
@@ -1,10 +1,14 @@
 #pragma once

+
 /*                          MOUNT CONTROL COMPONENTS LIBRARY                            */

+
 /*                          PROHIBITED ZONE IMPLEMENTATION                              */

+
 #include <chrono>
+#include <iostream>
 #include <string_view>

 #include "mcc_mount_concepts.h"
@@ -29,6 +33,7 @@ template <MccAltLimitKind KIND = MccAltLimitKind::MIN_ALT_LIMIT>
 class MccAltLimitPZ
 // class MccAltLimitPZ : public MccProhibitedZone
 {
+protected:
    static constexpr auto pi2 = std::numbers::pi * 2.0;

 public:
@@ -36,23 +41,40 @@ public:

    static constexpr MccAltLimitKind altLimitKind = KIND;

+    typedef double coord_t;
+    // typedef MccAngle coord_t;
    // floating-point time duration (seconds)
    typedef std::chrono::duration<double> duration_t;

-    typedef MccAngle coord_t;
    typedef std::chrono::system_clock::time_point time_point_t;

    static constexpr duration_t infiniteDuration{std::numeric_limits<double>::infinity()};
    static constexpr duration_t zeroDuration{0.0};

-    MccAltLimitPZ(const MccAngle& alt_limit, const MccAngle& lat)
+    MccAltLimitPZ(const coord_t& alt_limit, const coord_t& lat, traits::mcc_astrom_engine_c auto* astrom_engine)
        // : MccProhibitedZone(KIND == MccAltLimitKind::MIN_ALT_LIMIT   ? "MINALT-ZONE"
        //                     : KIND == MccAltLimitKind::MAX_ALT_LIMIT ? "MAXALT-ZONE"
        //                                                              : "ALTLIMIT-UNKNOWN"),
        : _altLimit(alt_limit), _latitude(lat), _abs_lat(std::abs(_latitude)), _lat_lim(pi2 - _abs_lat)
    {
        _lat_lim = pi2 - _abs_lat;
-        _altLimit.normalize<MccAngle::NORM_KIND_90_90>();
+        // _altLimit.normalize<MccAngle::NORM_KIND_90_90>();
+        _altLimit = MccAngle(_altLimit).normalize<MccAngle::NORM_KIND_90_90>();
+
+        using astrom_engine_t = std::remove_cvref_t<decltype(*astrom_engine)>;
+        using astrom_coord_t = typename astrom_engine_t::coord_t;
+
+        static_assert(std::convertible_to<coord_t, astrom_coord_t>,
+                      "ASTROMETRY ENGINE AND THE ZONE COORDINATE TYPE ARE NOT COMPATIBLE!");
+        static_assert(std::convertible_to<astrom_coord_t, coord_t>,
+                      "ASTROMETRY ENGINE AND THE ZONE COORDINATE TYPE ARE NOT COMPATIBLE!");
+
+        _coord2coord = [astrom_engine, this](MccCoordPairKind kind_from, coord_t x_from, coord_t y_from,
+                                             time_point_t tpoint, MccCoordPairKind kind_to, coord_t& x_to,
+                                             coord_t& y_to) {
+            auto err = astrom_engine->coord2coord(kind_from, std::move(x_from), std::move(y_from), tpoint, kind_to,
+                                                  x_to, y_to, tpoint);
+        };
    }


@@ -118,59 +140,142 @@ public:
        }
    }

-    template <std::derived_from<MccAngle> XT, std::derived_from<MccAngle> YT>
-    // bool inZone(const XT& x, const YT& y, traits::mcc_systime_c auto const& utc = std::chrono::system_clock::now())
-    bool inZone(const XT& x, const YT& y)
+    bool inZone(traits::mcc_celestial_point_c auto const& target)
    {
-        static constexpr MccCoordPairKind coord_kind = traits::mcc_type_pair_hash<XT, YT>();
+        coord_t alt, az;
+
+        _coord2coord(target.coordPairKind, target.x, target.y, target.time_point, MccCoordPairKind::COORDS_KIND_AZALT,
+                     az, alt);

-        if constexpr (coord_kind == MccCoordPairKind::COORDS_KIND_AZALT) {  // trivial case
        if constexpr (KIND == MccAltLimitKind::MIN_ALT_LIMIT) {
-                return y <= _altLimit;
+            return alt <= _altLimit;
        } else if constexpr (KIND == MccAltLimitKind::MAX_ALT_LIMIT) {
-                return y >= _altLimit;
+            return alt >= _altLimit;
        }
-        } else if constexpr (coord_kind == MccCoordPairKind::COORDS_KIND_AZZD) {  // trivial case
-            // return inZone(x, MccAngleALT(std::numbers::pi / 2 - (double)y), utc);
-            return inZone(x, MccAngleALT(std::numbers::pi / 2 - (double)y));
-        } else if constexpr (coord_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
-            // implementation ...
-            return false;
-        } else if constexpr (coord_kind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
-            // implementation ...
-            return false;
-        } else {
-            throw std::system_error(std::make_error_code(std::errc::operation_not_supported));
    }

-        return false;
-    }
-
-
-    template <std::derived_from<MccAngle> XT, std::derived_from<MccAngle> YT>
-    duration_t timeTo(const XT& x,
-                      const YT& y,
-                      traits::mcc_systime_c auto const& utc = std::chrono::system_clock::now())
+    duration_t timeTo(traits::mcc_celestial_point_c auto const& target)
    {
-        return duration_t{std::numeric_limits<double>::infinity()};
+        coord_t ha, dec;
+
+        if (inZone(target)) {
+            return zeroDuration;
+        }
+
+        _coord2coord(target.coordPairKind, target.x, target.y, target.time_point,
+                     MccCoordPairKind::COORDS_KIND_HADEC_APP, ha, dec);
+
+        if (!doesObjectReachZone(dec)) {
+            return infiniteDuration;
+        }
+
+        if constexpr (KIND ==
+                      MccAltLimitKind::MIN_ALT_LIMIT) {  // the closest time point is one after upper culmination
+            return compute(ha, dec, false);
+        } else if constexpr (KIND == MccAltLimitKind::MAX_ALT_LIMIT) {  // the closest time point is one before upper
+                                                                        // culmination
+            return compute(ha, dec, true);
+        }
+    }
+
+    duration_t timeFrom(traits::mcc_celestial_point_c auto const& target)
+    {
+        coord_t ha, dec;
+
+        if (!inZone(target)) {
+            return zeroDuration;
+        }
+
+        _coord2coord(target.coordPairKind, target.x, target.y, target.time_point,
+                     MccCoordPairKind::COORDS_KIND_HADEC_APP, ha, dec);
+
+        if (!doesObjectExitFromZone(dec)) {
+            return infiniteDuration;
+        }
+
+        if (!doesObjectReachZone(dec)) {
+            return zeroDuration;
+        }
+
+        if constexpr (KIND ==
+                      MccAltLimitKind::MIN_ALT_LIMIT) {  // the closest time point is one before upper culmination
+            return compute(ha, dec, true);
+        } else if constexpr (KIND == MccAltLimitKind::MAX_ALT_LIMIT) {  // the closest time point is one after upper
+                                                                        // culmination
+            return compute(ha, dec, false);
+        }
+    }
+
+    // compute intersection point for the case of sideral-like moving
+    bool intersectPoint(traits::mcc_celestial_point_c auto const& target, traits::mcc_celestial_point_c auto& int_point)
+    {
+        coord_t ha, dec, az;
+
+        _coord2coord(target.coordPairKind, target.x, target.y, target.time_point,
+                     MccCoordPairKind::COORDS_KIND_HADEC_APP, ha, dec);
+
+        // _altLimit = 0.001_degs;
+        // compute HA for intersection point
+        double cos_ha =
+            (std::sin(_altLimit) - std::sin(dec) * std::sin(_latitude)) / std::cos(dec) / std::cos(_latitude);
+
+        std::cout << "HA(inter) = " << MccAngle(ha).sexagesimal(true) << "\n";
+        std::cout << "DEC(inter) = " << MccAngle(dec).sexagesimal() << "\n";
+        std::cout << "HA(85.0) = " << MccAngle(acos(cos_ha)).sexagesimal(true) << "\n";
+        std::cout << "HA(85.0) = " << MccAngle(-acos(cos_ha)).sexagesimal(true) << "\n";
+        std::cout << "PHI = " << MccAngle(_latitude).sexagesimal() << "\n";
+        std::cout << "COS_HA = " << cos_ha << "\n";
+
+        if (cos_ha > 1.0) {  // no intersection
+            // compute culmination points?
+            return false;
        }


-    template <std::derived_from<MccAngle> XT, std::derived_from<MccAngle> YT>
-    duration_t timeFrom(const XT& x,
-                        const YT& y,
-                        traits::mcc_systime_c auto const& utc = std::chrono::system_clock::now())
-    {
-        return duration_t{0.0};
+        double cosA =
+            (-std::sin(dec) * std::cos(_latitude) + std::cos(dec) * std::sin(_latitude) * cos_ha) / cos(_altLimit);
+        // cosA /= std::cos(_altLimit);
+
+        std::cout << "COS_A = " << cosA << "\n";
+
+        double sinA = std::cos(dec) * sqrt(1.0 - cos_ha * cos_ha) / cos(_altLimit);
+
+        double tgA = sqrt(1.0 - cos_ha * cos_ha) / (cos(_latitude) * tan(dec) - sin(_latitude) * cos_ha);
+
+        auto z = (-std::sin(dec) * std::cos(_latitude) + std::cos(dec) * std::sin(_latitude) * cos_ha) / cosA;
+        // (-std::sin(dec) * std::cos(_latitude) + std::cos(dec) * std::sin(_latitude) * cos_ha) / cos(133.75_degs);
+        std::cout << "Z = " << MccAngle(asin(z)).sexagesimal() << "\n";
+
+        if constexpr (KIND ==
+                      MccAltLimitKind::MIN_ALT_LIMIT) {  // the closest time point is one after upper culmination
+            az = std::acos(cosA);
+            // az = atan2(sinA, cosA);
+        } else if constexpr (KIND == MccAltLimitKind::MAX_ALT_LIMIT) {  // the closest time point is one before upper
+                                                                        // culmination
+            az = -std::acos(cosA) + std::numbers::pi;  // to system of azimuth started from the North!!!
+            // az = atan(tgA);
+            // az = std::asin(sinA);
+            // az = atan2(sinA, cosA);
+        }
+
+        _coord2coord(MccCoordPairKind::COORDS_KIND_AZALT, az, _altLimit, target.time_point, int_point.coordPairKind,
+                     int_point.x, int_point.y);
+
+
+        return true;
    }

 private:
-    MccAngle _altLimit, _latitude, _abs_lat, _lat_lim;
+    coord_t _altLimit, _latitude, _abs_lat, _lat_lim;

-    bool doesObjectReachZone(traits::mcc_mount_telemetry_data_c auto const& telemetry_data)
+    // wrapper function
+    std::function<void(MccCoordPairKind, coord_t, coord_t, time_point_t, MccCoordPairKind, coord_t&, coord_t&)>
+        _coord2coord{};
+
+    bool doesObjectReachZone(const coord_t& dec_app)
    {
        // check for limit conditions
-        auto dd = std::abs(telemetry_data.mntDEC);
+        auto dd = std::abs(dec_app);

        if constexpr (KIND == MccAltLimitKind::MIN_ALT_LIMIT) {
            dd += _altLimit;
@@ -189,11 +294,16 @@ private:
        return true;
    }

+    bool doesObjectReachZone(traits::mcc_mount_telemetry_data_c auto const& telemetry_data)
+    {
+        return doesObjectReachZone(telemetry_data.mntDEC);
+    }

-    bool doesObjectExitFromZone(traits::mcc_mount_telemetry_data_c auto const& telemetry_data)
+
+    bool doesObjectExitFromZone(const coord_t& dec_app)
    {
        // check for limit conditions
-        auto dd = std::abs(telemetry_data.mntDEC);
+        auto dd = std::abs(dec_app);

        if constexpr (KIND == MccAltLimitKind::MIN_ALT_LIMIT) {
            dd -= _altLimit;
@@ -212,23 +322,30 @@ private:
        return true;
    }

-    duration_t compute(traits::mcc_mount_telemetry_data_c auto const& telemetry_data, bool before_upper_culm)
+    bool doesObjectExitFromZone(traits::mcc_mount_telemetry_data_c auto const& telemetry_data)
    {
-        double cos_ha = (std::sin(_altLimit) - std::sin(telemetry_data.mntDEC) * std::sin(_latitude)) /
-                        std::cos(telemetry_data.mntDEC) / std::cos(_latitude);
+        return doesObjectExitFromZone(telemetry_data.mntDEC);
+    }
+
+
+    duration_t compute(const coord_t& ha_app, const coord_t& dec_app, bool before_upper_culm)
+    {
+        double cos_ha =
+            (std::sin(_altLimit) - std::sin(dec_app) * std::sin(_latitude)) / std::cos(dec_app) / std::cos(_latitude);

        if (cos_ha > 1.0) {  // should not be!
            return infiniteDuration;
        }

        double ha;
+        // WARNING: what about south hemisphere?!!!
        if (before_upper_culm) {
            ha = -std::acos(cos_ha);  // HA before upper culmination
        } else {
            ha = std::acos(cos_ha);  // HA after upper culmination!!
        }

-        MccAngle time_ang = ha - telemetry_data.mntHA;  // in sideral time scale
+        coord_t time_ang = ha - ha_app;  // in sideral time scale

        if (time_ang < 0.0) {  // next day
            time_ang += pi2;
@@ -236,11 +353,19 @@ private:

        time_ang /= mcc_sideral_to_UT1_ratio;  // to UT1 time scale

-        return duration_t{time_ang.seconds()};
+        return duration_t{MccAngle(time_ang).seconds()};
+        // return duration_t{time_ang.seconds()};
+    }
+
+    duration_t compute(traits::mcc_mount_telemetry_data_c auto const& telemetry_data, bool before_upper_culm)
+    {
+        return compute(telemetry_data.mntHA, telemetry_data.mntDEC, before_upper_culm);
    }
 };

 typedef MccAltLimitPZ<MccAltLimitKind::MIN_ALT_LIMIT> MccMinAltPZ;
 typedef MccAltLimitPZ<MccAltLimitKind::MAX_ALT_LIMIT> MccMaxAltPZ;

+static_assert(std::movable<MccMinAltPZ>);
+
 }  // namespace mcc
--- a/cxx/mcc_mount_pz_container.h
+++ b/cxx/mcc_mount_pz_container.h
@@ -0,0 +1,267 @@
+#pragma once
+
+/*                          MOUNT CONTROL COMPONENTS LIBRARY                            */
+
+
+/*                          A DEFAULT IMPLEMENTATION OF PROHIBITED ZONES HOLDER        */
+
+#include "mcc_mount_concepts.h"
+
+namespace mcc
+{
+
+template <traits::mcc_mount_telemetry_data_c TelemetryDataT>
+class MccPZoneContainer : public traits::MccPZoneAbstractContainer<TelemetryDataT>
+{
+public:
+    typedef TelemetryDataT telemetry_data_t;
+
+    // a type to which the result of calling prohibited zone class methods 'timeTo' and 'timeFrom' will be converted
+    typedef std::chrono::duration<double> duration_t;  // seconds as floating-point number
+
+    // adaptor class for prohibited zones
+    struct MccPZoneWrapper {
+        using duration_t = MccPZoneContainer::duration_t;
+
+        static constexpr duration_t infiniteDuration{std::numeric_limits<double>::infinity()};
+        static constexpr duration_t zeroDuration{0.0};
+
+        typedef std::function<bool(const TelemetryDataT&)> pz_inzone_func_t;
+        typedef std::function<duration_t(const TelemetryDataT&)> pz_timeto_func_t;
+        typedef std::function<duration_t(const TelemetryDataT&)> pz_timefrom_func_t;
+
+        MccCoordPairKind coordPairKind;
+        const std::function<std::string()> name;
+        pz_inzone_func_t inZone;
+        pz_timeto_func_t timeTo;
+        pz_timefrom_func_t timeFrom;
+
+        MccPZoneWrapper(MccPZoneWrapper&& other)
+            : inZone(std::move(other.inZone)), timeTo(std::move(other.timeTo)), timeFrom(std::move(other.timeFrom)) {};
+
+        MccPZoneWrapper& operator=(MccPZoneWrapper&& other)
+        {
+            if (this != &other) {
+                inZone = std::move(other.inZone);
+                timeTo = std::move(other.timeTo);
+                timeFrom = std::move(other.timeFrom);
+            }
+
+            return *this;
+        };
+
+        MccPZoneWrapper() = default;
+    };
+
+    MccPZoneContainer() = default;
+    virtual ~MccPZoneContainer() = default;
+
+
+    size_t pzSize() const { return _pzWrapperVec.size(); }
+
+    // add zone/zones
+    template <traits::mcc_prohibited_zone_c<telemetry_data_t> ZT,
+              traits::mcc_prohibited_zone_c<telemetry_data_t>... ZTs>
+    size_t pzAddZone(ZT zone, ZTs... zones)
+    {
+        auto zone_ptr = std::make_shared<ZT>(std::move(zone));
+
+        using d_t = typename MccPZoneWrapper::duration_t;
+
+        _pzWrapperVec.emplace_back(
+            {.coordPairKind = ZT::zoneCoordPairKind,
+             .name = [zone_ptr]() { return std::format("{}", zone_ptr->name()); },
+             .inZone = [zone_ptr](const telemetry_data_t& tmry_data) { return zone_ptr->inZone(tmry_data); },
+             .timeTo =
+                 [zone_ptr](const telemetry_data_t& tmry_data) {
+                     auto d = zone_ptr->timeTo(tmry_data);
+
+                     if constexpr (std::same_as<typename ZT::duration_t, d_t>) {
+                         return d;
+                     } else {
+                         if (d == ZT::infiniteDuration) {
+                             return MccPZoneWrapper::infiniteDuration;
+                         } else if (d == ZT::zeroDuration) {
+                             return MccPZoneWrapper::zeroDuration;
+                         }
+                         return std::chrono::duration_cast<d_t>(d);
+                     }
+                 },
+             .timeFrom =
+                 [zone_ptr](const telemetry_data_t& tmry_data) {
+                     auto d = zone_ptr->timeFrom(tmry_data);
+
+                     if constexpr (std::same_as<typename ZT::duration_t, d_t>) {
+                         return d;
+                     } else {
+                         if (d == ZT::infiniteDuration) {
+                             return MccPZoneWrapper::infiniteDuration;
+                         } else if (d == ZT::zeroDuration) {
+                             return MccPZoneWrapper::zeroDuration;
+                         }
+                         return std::chrono::duration_cast<d_t>(d);
+                     }
+                 }});
+
+
+        if constexpr (sizeof...(ZTs)) {
+            pzAddZone(std::move(zones)...);
+        }
+
+        return _pzWrapperVec.size();
+    }
+
+    void pzClearZones()
+    {
+        // stop mount here?!!
+        _pzWrapperVec.clear();
+    }
+
+
+    // visitors
+    template <std::invocable<MccPZoneWrapper> FT>
+    auto pzForeachZone(FT&& func)
+        requires std::same_as<std::invoke_result_t<FT, MccPZoneWrapper>, void>
+    {
+        for (auto& wr : _pzWrapperVec) {
+            std::forward<FT>(func)(wr);
+        }
+    }
+
+    template <std::invocable<MccPZoneWrapper> FT,
+              std::ranges::output_range<std::invoke_result_t<FT, MccPZoneWrapper>> ResT =
+                  std::vector<std::invoke_result_t<FT, MccPZoneWrapper>>>
+    auto pzForeachZone(FT&& func)
+        requires(!std::same_as<std::invoke_result_t<FT, MccPZoneWrapper>, void>)
+    {
+        ResT result;
+
+        for (auto& wr : _pzWrapperVec) {
+            std::back_inserter(result) = std::forward<FT>(func)(wr);
+        }
+
+        return result;
+    }
+
+    template <std::ranges::output_range<bool> RT>
+    bool pzInZone(const telemetry_data_t& tdata, RT& result)
+    {
+        bool in_zone = false;
+
+        auto const p_tdata = &tdata;
+
+        result = pzForeachZone<RT>([&in_zone, p_tdata](auto& wr) {
+            bool r = wr.inZone(*p_tdata);
+            in_zone |= r;
+
+            return r;
+        });
+
+        return in_zone;
+    }
+
+    template <std::ranges::output_range<bool> RT>
+    bool pzInZone(traits::mcc_celestial_point_c auto const& target, RT& result)
+    {
+        bool in_zone = false;
+
+        auto const p_target = &target;
+
+        result = pzForeachZone<RT>([&in_zone, p_target](auto& wr) {
+            bool r = wr.inZone(*p_target);
+            in_zone |= r;
+
+            return r;
+        });
+
+        return in_zone;
+    }
+
+protected:
+    std::vector<MccPZoneWrapper> _pzWrapperVec{};
+};
+
+
+
+class PZC
+{
+protected:
+    struct point_t {
+        typedef std::chrono::system_clock::time_point time_point_t;
+        typedef double coord_t;
+
+        time_point_t time_point;
+        MccCoordPairKind coordPairKind;
+        coord_t x, y;
+    };
+
+    static_assert(traits::mcc_celestial_point_c<point_t>);
+
+    template <typename ZT>
+    static inline std::unordered_map<const PZC*, std::vector<std::shared_ptr<ZT>>> _zones{};
+
+    std::vector<std::function<void()>> _clearFunc{};
+
+    // template <typename ZT, typename CPT>
+    // static inline std::unordered_map<const PZC*, std::function<std::vector<bool>(const CPT&)>> _inZoneFunc = [](){
+
+    // };
+    // template <typename ZT, typename CPT>
+    // static inline std::function<std::vector<bool>(const PZC*, const CPT&)> _inZoneFunc =
+    //     [](const PZC* cont, const CPT& cp) {
+    //         std::vector<bool> res;
+
+    //         for (ZT& zone : _zones<ZT>[cont]) {
+    //             res.emplace_back(zone.inZone(cp));
+    //         }
+
+    //         return res;
+    //     };
+
+    std::vector<std::function<bool(const point_t&)>> _inZoneFunc;
+
+public:
+    template <typename ZT>
+    size_t addZone(ZT zone)
+    {
+        auto sptr = std::make_shared<ZT>(std::move(zone));
+
+        _zones<ZT>[this].emplace_back(sptr);
+
+        if (_zones<ZT>[this].size() == 1) {
+            _clearFunc.emplace_back([this]() { _zones<ZT>[this].clear(); });
+
+            _inZoneFunc.emplace_back([sptr](const point_t& cp) { return sptr->inZone(cp); });
+        }
+    }
+
+    template <typename CPT, std::ranges::output_range<bool> RT>
+    bool inZone(const CPT& cp, RT& res)
+    {
+        using tp_t = typename point_t::time_point_t;
+        using cp_tp_t = typename CPT::time_point_t;
+
+        bool in_zone = false, r;
+
+        point_t pt{.coordPairKind = cp.coordPairKind, .x = cp.x, .y = cp.y};
+        if constexpr (traits::mcc_systime_c<cp_tp_t>) {
+            pt.time_point = std::chrono::time_point_cast<tp_t>(cp.time_point);
+        } else if constexpr (std::is_arithmetic_v<cp_tp_t>) {
+            pt.time_point = tp_t{std::chrono::duration<tp_t::rep>(static_cast<tp_t::rep>(cp.time_point))};
+        } else {
+            static_assert(false, "INVALID TYPE!");
+        }
+
+        res = RT();
+        for (auto& func : _inZoneFunc) {
+            r = func(pt);
+            in_zone |= r;
+
+            std::back_inserter(res) = r;
+        }
+
+        return in_zone;
+    }
+};
+
+}  // namespace mcc
--- a/cxx/mcc_mount_telemetry.h
+++ b/cxx/mcc_mount_telemetry.h
@@ -19,7 +19,10 @@ enum class MccMountTelemetryErrorCode : int { ERROR_OK, ERROR_HARDWARE, ERROR_DA
 struct MccMountTelemetryCategory : public std::error_category {
    MccMountTelemetryCategory() : std::error_category() {}

-    const char* name() const noexcept { return "ADC_GENERIC_DEVICE"; }
+    const char* name() const noexcept
+    {
+        return "ADC_GENERIC_DEVICE";
+    }

    std::string message(int ec) const
    {
@@ -143,7 +146,7 @@ public:
        typename ASTROM_ENGINE_T::coord_t xdiff, ydiff, r2;
    };

-    MccMountTelemetry(astrom_engine_t& astrom_engine, pec_t& pec, hardware_t& hardware)
+    MccMountTelemetry(astrom_engine_t* astrom_engine, pec_t* pec, hardware_t* hardware)
        : base_t(astrom_engine, pec), _hardware(hardware)
    {
    }
@@ -221,7 +224,7 @@ public:

        typename hardware_t::axes_pos_t ax_pos;

-        auto err = _hardware.getPos(ax_pos);
+        auto err = _hardware->getPos(ax_pos);
        if (err) {
            if constexpr (std::same_as<error_t, decltype(err)>) {
                return err;
@@ -296,7 +299,7 @@ public:
            ast_err = this->_astromEngine.hadec2pa(current_data.mntHA, current_data.mntDEC, current_data.mntPA);
            if (!ast_err) {
                // target coordinates (assuming its ICRS RA-DEC are already given or computed)
-                typename mount_telemetry_data_t::eo_t eo;
+                typename astrom_engine_t::eo_t eo;
                ast_err = this->_astromEngine.icrs2obs(current_data.tagRA_ICRS, current_data.tagDEC_ICRS,
                                                       current_data.jd, current_data.tagRA, current_data.tagDEC,
                                                       current_data.tagHA, current_data.tagAZ, current_data.tagALT, eo);
@@ -357,7 +360,7 @@ public:

 protected:
    mount_telemetry_data_t _data{};
-    hardware_t& _hardware;
+    hardware_t* _hardware;

    std::unique_ptr<std::mutex> _updateMutex;
    std::unique_ptr<std::condition_variable> _updateCondVar;
@@ -369,10 +372,10 @@ namespace traits

 template <typename T>
 concept mcc_mount_default_telemetry_c = requires {
-    mcc_astrom_engine_c<typename T::astrom_engine_t>;
-    mcc_mount_pec_c<typename T::pec_t>;
-    mcc_mount_hardware_c<typename T::hardware_t>;
-    mcc_mount_telemetry_data_c<typename T::mount_telemetry_data_t>;
+    requires mcc_astrom_engine_c<typename T::astrom_engine_t>;
+    requires mcc_mount_pec_c<typename T::pec_t>;
+    requires mcc_mount_hardware_c<typename T::hardware_t>;
+    requires mcc_mount_telemetry_data_c<typename T::mount_telemetry_data_t>;

    requires std::derived_from<T, mcc::MccMountTelemetry<typename T::astrom_engine_t, typename T::pec_t,
                                                         typename T::hardware_t, typename T::mount_telemetry_data_t>>;
--- a/cxx/mcc_mount_telemetry_astrom.h
+++ b/cxx/mcc_mount_telemetry_astrom.h
@@ -104,7 +104,7 @@ public:

    typedef std::error_code error_t;

-    MccMountTelemetryAstromTransform(astrom_engine_t& astrom_engine, pec_t& pec)
+    MccMountTelemetryAstromTransform(astrom_engine_t* astrom_engine, pec_t* pec)
        : _astromEngine(astrom_engine), _pec(pec)
    {
    }
@@ -117,12 +117,10 @@ public:

    MccMountTelemetryAstromTransform& operator=(MccMountTelemetryAstromTransform&& other)
    {
-        if (this == &other) {
-            return;
-        }
-
+        if (this != &other) {
            _pec = other._pec;
            _astromEngine = other._astromEngine;
+        }

        return *this;
    }
@@ -134,12 +132,10 @@ public:

    MccMountTelemetryAstromTransform& operator=(const MccMountTelemetryAstromTransform& other)
    {
-        if (this == &other) {
-            return;
-        }
-
+        if (this != &other) {
            _pec = other._pec;
            _astromEngine = other._astromEngine;
+        }

        return *this;
    }
@@ -166,9 +162,9 @@ public:
        typename pec_t::error_t pec_err;

        auto get_jd_lst_eo = [&time_point, this](jd_t& jd, sideral_time_t& lst, eo_t& eo) {
-            auto ast_err = _astromEngine.greg2jul(time_point, jd);
+            auto ast_err = _astromEngine->greg2jul(time_point, jd);
            if (!ast_err) {
-                ast_err = _astromEngine.apparentSiderTime(jd, lst, true);
+                ast_err = _astromEngine->apparentSiderTime(jd, lst, true);

                if (!ast_err) {
                    ast_err = _astromEngine->eqOrigins(jd, eo);
@@ -180,7 +176,7 @@ public:

        if (coord.coordPairKind == MccCoordPairKind::COORDS_KIND_XY) {  // from encoder's
            typename pec_t::pec_result_t pec_res;
-            pec_err = _pec.compute(coord.x, coord.y, pec_res);
+            pec_err = _pec->compute(coord.x, coord.y, pec_res);
            if (!pec_err) {
                X_app = coord.x + pec_res.dx;
                Y_app = coord.y + pec_res.dy;
@@ -202,7 +198,7 @@ public:
                    Y_app = coord.y;
                    XX_app = HA;
                } else if constexpr (altAzMount) {
-                    ast_err = _astromEngine.hadec2azalt(HA, coord.y, X_app, Y_app);
+                    ast_err = _astromEngine->hadec2azalt(HA, coord.y, X_app, Y_app);
                } else {
                    static_assert(false, "UNSUPPORTED MOUNT TYPE!");
                }
@@ -217,14 +213,14 @@ public:
                    Y_app = coord.y;
                    XX_app = lst - coord.x + eo;
                } else if constexpr (altAzMount) {
-                    ast_err = _astromEngine.hadec2azalt(coord.x, coord.y, X_app, Y_app);
+                    ast_err = _astromEngine->hadec2azalt(coord.x, coord.y, X_app, Y_app);
                } else {
                    static_assert(false, "UNSUPPORTED MOUNT TYPE!");
                }
            }
        } else if (coord.coordPairKind == MccCoordPairKind::COORDS_KIND_AZALT) {  // from app AZ-ALT
            if constexpr (equatorialMount) {
-                ast_err = _astromEngine.azalt2hadec(coord.x, coord.y, X_app, Y_app);  // compute HA-DEC
+                ast_err = _astromEngine->azalt2hadec(coord.x, coord.y, X_app, Y_app);  // compute HA-DEC
                if (!ast_err) {                                                        // compute CIO RA (as XX_app)
                    coord.coordPairKind == MccCoordPairKind::COORDS_KIND_HADEC_APP;
                    coord.x = X_app;
@@ -250,9 +246,9 @@ public:
            // for alt-azimuthal mount:
            //     X_app = AZ, Y_app = ALT

-            ast_err = _astromEngine.greg2jul(time_point, jd);
+            ast_err = _astromEngine->greg2jul(time_point, jd);
            if (!ast_err) {
-                ast_err = _astromEngine.icrs2obs(coord.x, coord.y, jd, X_app, Y_app, XX_app, az, alt, eo);
+                ast_err = _astromEngine->icrs2obs(coord.x, coord.y, jd, X_app, Y_app, XX_app, az, alt, eo);

                if (!ast_err) {
                    if constexpr (equatorialMount) {
@@ -297,7 +293,7 @@ public:

        if (coord.coordPairKind == MccCoordPairKind::COORDS_KIND_XY) {  // from encoder's
            typename pec_t::pec_result_t pec_res;
-            pec_err = _pec.compute(coord.x, coord.y, pec_res);
+            pec_err = _pec->compute(coord.x, coord.y, pec_res);
            if (!pec_err) {
                coord.x += pec_res.dx;
                coord.y += pec_res.dy;
@@ -332,9 +328,9 @@ public:
        if (coord.coordPairKind != MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
            typename astrom_engine_t::jd_t jd;

-            ast_err = _astromEngine.greg2jul(astrom_engine_t::timePointNow(), jd);
+            ast_err = _astromEngine->greg2jul(astrom_engine_t::timePointNow(), jd);
            if (!ast_err) {
-                ast_err = _astromEngine.obs2icrs(coord.coordPairKind, coord.x, coord.y, jd, RA, DEC);
+                ast_err = _astromEngine->obs2icrs(coord.coordPairKind, coord.x, coord.y, jd, RA, DEC);
            }
        }

@@ -371,9 +367,9 @@ public:
        sideral_time_t lst;

        auto get_jd_lst_eo = [&time_point, this](jd_t& jd, sideral_time_t& lst, eo_t& eo) {
-            auto ast_err = _astromEngine.greg2jul(time_point, jd);
+            auto ast_err = _astromEngine->greg2jul(time_point, jd);
            if (!ast_err) {
-                ast_err = _astromEngine.apparentSiderTime(jd, lst, true);
+                ast_err = _astromEngine->apparentSiderTime(jd, lst, true);

                if (!ast_err) {
                    ast_err = _astromEngine->eqOrigins(jd, eo);
@@ -404,7 +400,7 @@ public:
            if constexpr (equatorialMount) {
                typename pec_t::pec_result_t pec_res;

-                pec_err = _pec.compute(coord.x, coord.y, pec_res);
+                pec_err = _pec->compute(coord.x, coord.y, pec_res);
                if (!pec_err) {
                    X = coord.x - pec_res.dx;
                    Y = coord.y - pec_res.dy;
@@ -413,7 +409,7 @@ public:
                }
            } else if constexpr (altAzMount) {
                coord_t az, alt;
-                ast_err = _astromEngine.hadec2azalt(coord.x, coord.y, az, alt);
+                ast_err = _astromEngine->hadec2azalt(coord.x, coord.y, az, alt);
                if (!ast_err) {
                    coord.coordPairKind == MccCoordPairKind::COORDS_KIND_AZALT;
                    coord.x = az;
@@ -427,7 +423,7 @@ public:
        } else if (coord.coordPairKind == MccCoordPairKind::COORDS_KIND_AZALT) {  // from app AZ-ALT
            if constexpr (equatorialMount) {
                coord_t ha, dec;
-                ast_err = _astromEngine.azalt2hadec(coord.x, coord.y, ha, dec);
+                ast_err = _astromEngine->azalt2hadec(coord.x, coord.y, ha, dec);
                if (!ast_err) {
                    coord.coordPairKind == MccCoordPairKind::COORDS_KIND_HADEC_APP;
                    coord.x = ha;
@@ -438,7 +434,7 @@ public:
            } else if constexpr (altAzMount) {
                typename pec_t::pec_result_t pec_res;

-                pec_err = _pec.compute(coord.x, coord.y, pec_res);
+                pec_err = _pec->compute(coord.x, coord.y, pec_res);
                if (!pec_err) {
                    X = coord.x - pec_res.dx;
                    Y = coord.y - pec_res.dy;
@@ -456,7 +452,7 @@ public:
            coord_t ra, dec, ha, az, alt;
            eo_t eo;

-            ast_err = _astromEngine.greg2jul(time_point, jd);
+            ast_err = _astromEngine->greg2jul(time_point, jd);
            if (!ast_err) {
                ast_err = icrs2obs(coord.x, coord.y, jd, ra, dec, ha, az, alt, eo);
                if (!ast_err) {
@@ -499,8 +495,8 @@ public:
    }

 protected:
-    astrom_engine_t& _astromEngine;
-    pec_t& _pec;
+    astrom_engine_t* _astromEngine;
+    pec_t* _pec;
 };


--- a/cxx/mcc_slew_guiding_model_common.h
+++ b/cxx/mcc_slew_guiding_model_common.h
@@ -16,6 +16,7 @@ namespace mcc

 struct MccCelestialPoint {
    typedef double coord_t;
+    typedef std::chrono::system_clock::time_point time_point_t;

    MccCoordPairKind coordPairKind{MccCoordPairKind::COORDS_KIND_RADEC_ICRS};
    coord_t x{0.0}, y{0.0};
--- a/cxx/mcc_slew_model.h
+++ b/cxx/mcc_slew_model.h
@@ -52,7 +52,10 @@ namespace mcc
 struct MccSimpleSlewModelCategory : public std::error_category {
    MccSimpleSlewModelCategory() : std::error_category() {}

-    const char* name() const noexcept { return "ADC_GENERIC_DEVICE"; }
+    const char* name() const noexcept
+    {
+        return "ADC_GENERIC_DEVICE";
+    }

    std::string message(int ec) const
    {
@@ -126,11 +129,12 @@ public:

    template <traits::mcc_mount_telemetry_c TELEMETRY_T,
              traits::mcc_mount_hardware_c HARDWARE_T,
-              traits::mcc_tuple_c PZ_T,  // std::tuple of prohibited zones
+              traits::mcc_irange_of_pzones_c<typename TELEMETRY_T::mount_telemetry_data_t> PZ_T,
+              // traits::mcc_tuple_c PZ_T,  // std::tuple of prohibited zones
              typename... LoggerCtorArgTs>
-    MccSimpleSlewModel(TELEMETRY_T& telemetry,
-                       HARDWARE_T& hardware,
-                       PZ_T& prohibited_zone,
+    MccSimpleSlewModel(TELEMETRY_T* telemetry,
+                       HARDWARE_T* hardware,
+                       PZ_T* prohibited_zone,
                       LoggerCtorArgTs&&... ctor_args)
        requires(!std::same_as<LoggerT, MccNullLogger>)
        : LoggerT(std::forward<LoggerCtorArgTs>(ctor_args)...)
@@ -140,15 +144,16 @@ public:
        init(telemetry, hardware, prohibited_zone);
    }

-    template <traits::mcc_mount_telemetry_c TELEMETRY_T,
-              traits::mcc_mount_hardware_c HARDWARE_T,
-              traits::mcc_tuple_c PZ_T  // std::tuple of prohibited zones
-              >
-    MccSimpleSlewModel(TELEMETRY_T& telemetry, HARDWARE_T& hardware, PZ_T& prohibited_zone)
-        requires(std::same_as<LoggerT, MccNullLogger>)
-    {
-        init(telemetry, hardware, prohibited_zone);
-    }
+    // template <traits::mcc_mount_telemetry_c TELEMETRY_T,
+    //           traits::mcc_mount_hardware_c HARDWARE_T,
+    //           traits::mcc_irange_of_pzones_c<typename TELEMETRY_T::mount_telemetry_data_t> PZ_T
+    //           // traits::mcc_tuple_c PZ_T  // std::tuple of prohibited zones
+    //           >
+    // MccSimpleSlewModel(TELEMETRY_T& telemetry, HARDWARE_T& hardware, PZ_T& prohibited_zone)
+    //     requires(std::same_as<LoggerT, MccNullLogger>)
+    // {
+    //     init(telemetry, hardware, prohibited_zone);
+    // }

    MccSimpleSlewModel(MccSimpleSlewModel&& other)
        : _stopRequested(other._stopRequested.load()), _slewFunc(std::move(other._slewFunc))
@@ -162,7 +167,7 @@ public:
        }

        _stopRequested = other._stopRequested.load();
-        _slewFunc = std::move(_slewFunc);
+        _slewFunc = std::move(other._slewFunc);

        return *this;
    };
@@ -193,21 +198,21 @@ protected:
    std::atomic_bool _stopRequested{false};
    std::function<error_t(const slew_point_t&)> _slewFunc{};

-    void init(auto& telemetry, auto& hardware, auto& prohibited_zones)
+    void init(auto* p_telemetry, auto* p_hardware, auto* p_prohibited_zones)
    {
        // deduce controls types
-        using hardware_t = decltype(hardware);
-        using telemetry_t = decltype(telemetry);
+        using hardware_t = decltype(*p_hardware);
+        using telemetry_t = decltype(*p_telemetry);
        static_assert(traits::mcc_mount_default_telemetry_c<telemetry_t>,
                      "TELEMETRY CLASS MUST BE A DESCENDANT OF 'MccMountTelemetry'!");

        using astrom_engine_t = typename telemetry_t::astrom_engine_t;

-        static constexpr size_t Nzones = std::tuple_size_v<decltype(prohibited_zones)>;
+        static constexpr size_t Nzones = std::tuple_size_v<decltype(*p_prohibited_zones)>;

-        const auto p_telemetry = &telemetry;
-        const auto p_hardware = &hardware;
-        const auto p_prohibited_zones = &prohibited_zones;
+        // const auto p_telemetry = &telemetry;
+        // const auto p_hardware = &hardware;
+        // const auto p_prohibited_zones = &prohibited_zones;

        _slewFunc = [p_telemetry, p_hardware, p_prohibited_zones, this](slew_point_t slew_point) {
            _stopRequested = false;
--- a/cxx/mcc_spdlog.h
+++ b/cxx/mcc_spdlog.h
@@ -24,7 +24,7 @@ public:

    template <traits::mcc_range_of_input_char_range R = decltype(LOGGER_DEFAULT_FORMAT)>
    MccSpdlogLogger(std::shared_ptr<spdlog::logger> logger, const R& pattern_range = LOGGER_DEFAULT_FORMAT)
-        : _loggerSPtr(logger), _currentLogPatternRange(), _currentLogPattern()
+        : _currentLogPatternRange(), _currentLogPattern(), _loggerSPtr(logger)
    {
        if (std::distance(pattern_range.begin(), pattern_range.end())) {
            std::ranges::copy(
@@ -178,10 +178,8 @@ protected:

    void addMarkToPatternIdx(const char* mark, size_t after_idx = 1)
    {
-        addMarkToPatternIdx(std::string_view{mark});
+        addMarkToPatternIdx(std::string_view{mark}, after_idx);
    }
 };

-
-
 }  // namespace mcc::utils
--- a/cxx/tests/astrom_test.cpp
+++ b/cxx/tests/astrom_test.cpp
@@ -163,7 +163,9 @@ int main(int argc, char* argv[])

    // std::cout << "\n\n\n\n";

-    using engine_t = mcc::astrom::erfa::MccMountAstromEngineERFA<>;
+    auto as_sgs = [](double v, bool hms = false) { return mcc::MccAngle(v).sexagesimal(hms); };
+
+    using engine_t = mcc::astrom::erfa::MccMountAstromEngineERFA;
    engine_t::engine_state_t state;
    state.lon = 41.440732_degs;
    state.lat = 43.646711_degs;
@@ -171,8 +173,8 @@ int main(int argc, char* argv[])

    state.meteo = {10.0, 0.5, 1010.0};

-    std::cout << "LON = " << state.lon.sexagesimal() << "\n";
-    std::cout << "LAT = " << state.lat.sexagesimal() << "\n\n";
+    std::cout << "LON = " << mcc::MccAngle(state.lon).sexagesimal() << "\n";
+    std::cout << "LAT = " << mcc::MccAngle(state.lat).sexagesimal() << "\n\n";

    engine_t erfa(state);
    engine_t::juldate_t jd{60861.72};
@@ -181,38 +183,38 @@ int main(int argc, char* argv[])
    erfa.greg2jul(now, jd);
    std::cout << "MJD(" << now << ") = " << jd.mjd << "\n";

-    mcc::MccAngle lst;
+    double lst;
    erfa.apparentSiderTime(jd, lst, true);
-    std::cout << "LST(MJD = " << jd.mjd << ") = " << lst.sexagesimal(true) << "\n\n";
+    std::cout << "LST(MJD = " << jd.mjd << ") = " << mcc::MccAngle(lst).sexagesimal(true) << "\n\n";


    // mcc::MccAngle ra1{"10:00:00", mcc::mcc_hms}, dec1{"68:25:10.43"}, ra_o, dec_o, ha1, az1, alt1;
-    mcc::MccAngle ra1{"5:00:00", mcc::mcc_hms}, dec1{"38:25:10.43"}, ra_o, dec_o, ha1, az1, alt1;
-    mcc::MccAngle eor;
+    mcc::MccAngle ra1{"5:00:00", mcc::mcc_hms}, dec1{"38:25:10.43"};
+    double ra_o, dec_o, ha1, az1, alt1, eor;

    std::cout << "RA = " << ra1.sexagesimal(true) << ", DEC = " << dec1.sexagesimal() << "\n";

    auto res = erfa.icrs2obs(ra1, dec1, jd, ra_o, dec_o, ha1, az1, alt1, eor);
-    std::cout << "eq of origins (from icrs2obs) = " << eor.sexagesimal(true) << "\n";
+    std::cout << "eq of origins (from icrs2obs) = " << mcc::MccAngle(eor).sexagesimal(true) << "\n";

    std::cout << "ret code (icrs2obs) = " << res.message() << "\n";
-    std::cout << "alt = " << alt1.sexagesimal() << "\n";
-    std::cout << "az = " << az1.sexagesimal() << "\n";
+    std::cout << "alt = " << mcc::MccAngle(alt1).sexagesimal() << "\n";
+    std::cout << "az = " << mcc::MccAngle(az1).sexagesimal() << "\n";

-    std::cout << "HA_app = " << ha1.sexagesimal(true) << "\n";
-    std::cout << "RA_app = " << ra_o.sexagesimal(true) << "\n";
-    std::cout << "DEC_app = " << dec_o.sexagesimal() << "\n";
+    std::cout << "HA_app = " << mcc::MccAngle(ha1).sexagesimal(true) << "\n";
+    std::cout << "RA_app = " << mcc::MccAngle(ra_o).sexagesimal(true) << "\n";
+    std::cout << "DEC_app = " << mcc::MccAngle(dec_o).sexagesimal() << "\n";

    res = erfa.eqOrigins(jd, eor);

-    std::cout << "eq of origins (from eqOrigins) = " << eor.sexagesimal(true) << "\n";
-    std::cout << "RA_app_comp = " << (lst - ha1 + eor).sexagesimal(true) << "\n";
+    std::cout << "eq of origins (from eqOrigins) = " << mcc::MccAngle(eor).sexagesimal(true) << "\n";
+    std::cout << "RA_app_comp = " << mcc::MccAngle(lst - ha1 + eor).sexagesimal(true) << "\n";


    std::cout << "\n\n\n\n";

-    mcc::MccMinAltPZ minalt_pz(10.0_degs, state.lat);
-    mcc::MccMaxAltPZ maxalt_pz(85.0_degs, state.lat);
+    mcc::MccMinAltPZ minalt_pz(10.0_degs, state.lat, &erfa);
+    mcc::MccMaxAltPZ maxalt_pz(85.0_degs, state.lat, &erfa);

    // tel_data_t tdata{std::chrono::system_clock::now(), ra_o, dec_o, ha1, az1, alt1, 0.0, 0.0, 0.0, 0.0};
    mcc::MccMountTelemetryData<engine_t> tdata{.time_point = engine_t::timePointNow(),
@@ -247,12 +249,12 @@ int main(int argc, char* argv[])
    dec1 = "40:25:10.43"_dms;
    res = erfa.icrs2obs(ra1, dec1, jd, ra_o, dec_o, ha1, az1, alt1, eor);
    std::cout << "ret code (icrs2obs) = " << res.message() << "\n";
-    std::cout << "alt = " << alt1.sexagesimal() << "\n";
-    std::cout << "az = " << az1.sexagesimal() << "\n";
+    std::cout << "alt = " << as_sgs(alt1) << "\n";
+    std::cout << "az = " << as_sgs(az1) << "\n";

-    std::cout << "HA_app = " << ha1.sexagesimal(true) << "\n";
-    std::cout << "RA_app = " << ra_o.sexagesimal(true) << "\n";
-    std::cout << "DEC_app = " << dec_o.sexagesimal() << "\n";
+    std::cout << "HA_app = " << as_sgs(ha1, true) << "\n";
+    std::cout << "RA_app = " << as_sgs(ra_o, true) << "\n";
+    std::cout << "DEC_app = " << as_sgs(dec_o) << "\n";


    // tdata = {std::chrono::system_clock::now(), ra_o, dec_o, ha1, az1, alt1, 0.0, 0.0, 0.0, 0.0};
@@ -265,7 +267,7 @@ int main(int argc, char* argv[])

    jd.mjd += 1.0;
    res = erfa.icrs2obs(ra1, dec1, jd, ra_o, dec_o, ha1, az1, alt1, eor);
-    std::cout << "RA_app (+24h) = " << ra_o.sexagesimal(true) << "\n";
+    std::cout << "RA_app (+24h) = " << as_sgs(ra_o, true) << "\n";

    tm = maxalt_pz.timeTo(tdata);
    if (std::isinf(tm.count())) {
@@ -285,10 +287,35 @@ int main(int argc, char* argv[])
        std::cout << "(MAXALT) time from zone: " << std::chrono::hh_mm_ss(tm) << " (" << now1 << ")\n";
    }

+
+    struct cp_t {
+        typedef double coord_t;
+        typedef std::chrono::system_clock::time_point time_point_t;
+
+        mcc::MccCoordPairKind coordPairKind;
+        std::chrono::system_clock::time_point time_point;
+        double x, y;
+    };
+
+
+    cp_t tcp{.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_RADEC_ICRS,
+             .time_point = engine_t::timePointNow(),
+             .x = "17:00:00"_hms,
+             .y = "40:25:10.43"_dms},
+        icp{.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_AZALT};
+
+
+    // bool ok = minalt_pz.intersectPoint(tcp, icp);
+    bool ok = maxalt_pz.intersectPoint(tcp, icp);
+
+    std::cout << "\nINTERSECT Az = " << as_sgs(icp.x) << "\n";
+    std::cout << "INTERSECT Alt = " << as_sgs(icp.y) << "\n";
+
+
    ra_o = 1.0;
    dec_o = 2.0;
    ha1 = ra_o * dec_o;
-    std::cout << "mult: " << ha1.degrees() << "\n";
+    std::cout << "mult: " << mcc::MccAngle(ha1).degrees() << "\n";

    return ecode;
 }
--- a/mcc/CMakeLists.txt
+++ b/mcc/CMakeLists.txt
@@ -0,0 +1,110 @@
+cmake_minimum_required(VERSION 3.14)
+
+# set(CMAKE_BUILD_TYPE Release)
+
+set(CMAKE_CXX_STANDARD 23)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake")
+
+find_package(Threads REQUIRED)
+
+# ******* SPDLOG LIBRARY *******
+
+include(FetchContent)
+include(ExternalProject)
+
+set(SPDLOG_USE_STD_FORMAT ON CACHE INTERNAL "Use of C++20 std::format")
+set(SPDLOG_FMT_EXTERNAL OFF CACHE INTERNAL "Turn off external fmt library")
+
+find_package(spdlog CONFIG)
+if (NOT ${spdlog_FOUND})
+    FetchContent_Declare(spdlog
+    # ExternalProject_Add(spdlog
+         # SOURCE_DIR ${CMAKE_BINARY_DIR}/spdlog_lib
+         # BINARY_DIR ${CMAKE_BINARY_DIR}/spdlog_lib/build
+         GIT_REPOSITORY "https://github.com/gabime/spdlog.git"
+         GIT_TAG "v1.15.1"
+         GIT_SHALLOW TRUE
+         GIT_SUBMODULES ""
+         GIT_PROGRESS TRUE
+         CMAKE_ARGS "-DSPDLOG_USE_STD_FORMAT=ON -DSPDLOG_FMT_EXTERNAL=OFF"
+         # CONFIGURE_COMMAND ""
+         # BUILD_COMMAND ""
+         # INSTALL_COMMAND ""
+         # UPDATE_COMMAND ""
+         # SOURCE_SUBDIR cmake # turn off building
+         OVERRIDE_FIND_PACKAGE
+    )
+    find_package(spdlog CONFIG)
+endif()
+
+# ******* ERFA LIBRARY *******
+
+ExternalProject_Add(erfalib
+    PREFIX ${CMAKE_BINARY_DIR}/erfa_lib
+    GIT_REPOSITORY "https://github.com/liberfa/erfa.git"
+    GIT_TAG "v2.0.1"
+    UPDATE_COMMAND ""
+    PATCH_COMMAND ""
+    # BINARY_DIR erfa_build
+    # SOURCE_DIR erfa
+    # INSTALL_DIR
+    LOG_CONFIGURE 1
+    CONFIGURE_COMMAND meson setup --reconfigure -Ddefault_library=static -Dbuildtype=release
+                                  -Dprefix=${CMAKE_BINARY_DIR}/erfa_lib -Dlibdir= -Dincludedir= -Ddatadir= <SOURCE_DIR>
+    BUILD_COMMAND ninja -C <BINARY_DIR>
+    INSTALL_COMMAND meson install -C <BINARY_DIR>
+    BUILD_BYPRODUCTS ${CMAKE_BINARY_DIR}/erfa_lib/liberfa.a
+)
+add_library(ERFA_LIB STATIC IMPORTED GLOBAL)
+set_target_properties(ERFA_LIB PROPERTIES IMPORTED_LOCATION ${CMAKE_BINARY_DIR}/erfa_lib/liberfa.a)
+add_dependencies(ERFA_LIB erfalib)
+set(ERFA_INCLUDE_DIR ${CMAKE_BINARY_DIR}/erfa_lib)
+# set(ERFA_LIBFILE ${CMAKE_BINARY_DIR}/erfa_lib/liberfa.a PARENT_SCOPE)
+include_directories(${ERFA_INCLUDE_DIR})
+message(STATUS "ERFA INCLUDE DIR: " ${ERFA_INCLUDE_DIR})
+
+add_subdirectory(bsplines)
+message(STATUS "BSPLINES_INCLUDE_DIR: " ${BSPLINES_INCLUDE_DIR})
+include_directories(${BSPLINES_INCLUDE_DIR})
+
+set(MCC_LIBRARY_SRC mcc_generics.h mcc_defaults.h mcc_traits.h mcc_utils.h
+    mcc_ccte_iers.h mcc_ccte_iers_default.h mcc_ccte_erfa.h mcc_pcm.h mcc_telemetry.h
+    mcc_angle.h mcc_pzone.h mcc_pzone_container.h mcc_finite_state_machine.h
+    mcc_generic_mount.h mcc_tracking_model.h mcc_slewing_model.h mcc_moving_model_common.h
+    mcc_netserver_endpoint.h mcc_netserver.h mcc_netserver_proto.h)
+
+list(APPEND MCC_LIBRARY_SRC mcc_spdlog.h)
+
+set(MCC_LIBRARY mcc)
+add_library(${MCC_LIBRARY} INTERFACE ${MCC_LIBRARY_SRC})
+target_compile_features(${MCC_LIBRARY} INTERFACE cxx_std_23)
+target_compile_definitions(${MCC_LIBRARY} INTERFACE SPDLOG_USE_STD_FORMAT=1 SPDLOG_FMT_EXTERNAL=0)
+target_link_libraries(${MCC_LIBRARY} INTERFACE spdlog Threads::Threads atomic ${ERFA_LIB})
+target_include_directories(${MCC_LIBRARY} INTERFACE ${ERFA_INCLUDE_DIR} ${BSPLINES_INCLUDE_DIR})
+target_include_directories(${MCC_LIBRARY} INTERFACE
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+    $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}/mcc>
+)
+
+
+option(WITH_TESTS "Build tests" ON)
+
+if (WITH_TESTS)
+     set(CTTE_TEST_APP ccte_test)
+     add_executable(${CTTE_TEST_APP} tests/ccte_test.cpp)
+     target_include_directories(${CTTE_TEST_APP} PRIVATE ${ERFA_INCLUDE_DIR})
+     target_link_libraries(${CTTE_TEST_APP} ERFA_LIB bsplines)
+
+     set(NETMSG_TESTS_APP netmsg_test)
+     add_executable(${NETMSG_TESTS_APP} tests/netmsg_test.cpp)
+     target_link_libraries(${NETMSG_TESTS_APP} mcc)
+
+
+     set(MCCCOORD_TEST_APP mcc_coord_test)
+     add_executable(${MCCCOORD_TEST_APP} tests/mcc_coord_test.cpp)
+     target_link_libraries(${MCCCOORD_TEST_APP} mcc ERFA_LIB)
+
+     enable_testing()
+endif()
--- a/mcc/bsplines/CMakeLists.txt
+++ b/mcc/bsplines/CMakeLists.txt
@@ -0,0 +1,35 @@
+cmake_minimum_required(VERSION 3.20)
+
+set(func_name "")
+
+file(GLOB src_files "*.f")
+
+foreach(ff IN LISTS src_files)
+  get_filename_component(sn ${ff} NAME_WE)
+  list(APPEND func_name ${sn})
+endforeach()
+
+# message(STATUS "${func_name}")
+
+string(REPLACE ";" " " func_str "${func_name}")
+
+# message(STATUS ${func_str})
+
+enable_language(Fortran CXX)
+
+include(FortranCInterface)
+FortranCInterface_HEADER(FortranCInterface.h
+  MACRO_NAMESPACE "FC_"
+  # SYMBOL_NAMESPACE "fp_"
+  SYMBOL_NAMESPACE ""
+  # SYMBOLS ${func_str}
+  SYMBOLS ${func_name}
+)
+FortranCInterface_VERIFY(CXX)
+
+set(BSPLINES_INCLUDE_DIR ${CMAKE_CURRENT_BINARY_DIR} PARENT_SCOPE)
+include_directories(${BSPLINES_INCLUDE_DIR})
+
+add_library(bsplines STATIC ${src_files} mcc_bsplines.h)
+
+
--- a/mcc/bsplines/Makefile
+++ b/mcc/bsplines/Makefile
@@ -0,0 +1,19 @@
+# Makefile that builts a library lib$(LIB).a from all
+# of the Fortran files found in the current directory.
+# Usage: make LIB=<libname>
+# Pearu
+
+OBJ=$(patsubst %.f,%.o,$(shell ls *.f))
+all: lib$(LIB).a
+$(OBJ):
+	$(FC) -c $(FFLAGS) $(FSHARED) $(patsubst %.o,%.f,$(@F)) -o $@
+lib$(LIB).a: $(OBJ)
+	$(AR) rus lib$(LIB).a $?
+clean:
+	rm *.o
+
+
+
+
+
+
--- a/mcc/bsplines/README
+++ b/mcc/bsplines/README
@@ -0,0 +1,3 @@
+- ddierckx is a 'real*8' version of dierckx 
+  generated by Pearu Peterson <pearu@ioc.ee>.
+- dierckx (in netlib) is fitpack by P. Dierckx
--- a/mcc/bsplines/bispeu.f
+++ b/mcc/bsplines/bispeu.f
@@ -0,0 +1,66 @@
+      recursive subroutine bispeu(tx,nx,ty,ny,c,kx,ky,x,y,z,m,wrk,
+     *   lwrk, ier)
+      implicit none
+c  subroutine bispeu evaluates on a set of points (x(i),y(i)),i=1,...,m
+c  a bivariate spline s(x,y) of degrees kx and ky, given in the
+c  b-spline representation.
+c
+c  calling sequence:
+c     call bispeu(tx,nx,ty,ny,c,kx,ky,x,y,z,m,wrk,lwrk,
+c    * iwrk,kwrk,ier)
+c
+c  input parameters:
+c   tx    : real array, length nx, which contains the position of the
+c           knots in the x-direction.
+c   nx    : integer, giving the total number of knots in the x-direction
+c   ty    : real array, length ny, which contains the position of the
+c           knots in the y-direction.
+c   ny    : integer, giving the total number of knots in the y-direction
+c   c     : real array, length (nx-kx-1)*(ny-ky-1), which contains the
+c           b-spline coefficients.
+c   kx,ky : integer values, giving the degrees of the spline.
+c   x     : real array of dimension (mx).
+c   y     : real array of dimension (my).
+c   m     : on entry m must specify the number points. m >= 1.
+c   wrk   : real array of dimension lwrk. used as workspace.
+c   lwrk  : integer, specifying the dimension of wrk.
+c           lwrk >= kx+ky+2
+c
+c  output parameters:
+c   z     : real array of dimension m.
+c           on successful exit z(i) contains the value of s(x,y)
+c           at the point (x(i),y(i)), i=1,...,m.
+c   ier   : integer error flag
+c    ier=0 : normal return
+c    ier=10: invalid input data (see restrictions)
+c
+c  restrictions:
+c   m >=1, lwrk>=mx*(kx+1)+my*(ky+1), kwrk>=mx+my
+c   tx(kx+1) <= x(i-1) <= x(i) <= tx(nx-kx), i=2,...,mx
+c   ty(ky+1) <= y(j-1) <= y(j) <= ty(ny-ky), j=2,...,my
+c
+c  other subroutines required:
+c    fpbisp,fpbspl
+c
+c  ..scalar arguments..
+      integer nx,ny,kx,ky,m,lwrk,ier
+c  ..array arguments..
+      real*8 tx(nx),ty(ny),c((nx-kx-1)*(ny-ky-1)),x(m),y(m),z(m),
+     *     wrk(lwrk)
+c  ..local scalars..
+      integer iwrk(2)
+      integer i, lwest
+c  ..
+c  before starting computations a data check is made. if the input data
+c  are invalid control is immediately repassed to the calling program.
+      ier = 10
+      lwest = kx+ky+2
+      if (lwrk.lt.lwest) go to 100
+      if (m.lt.1) go to 100
+      ier = 0
+      do 10 i=1,m
+         call fpbisp(tx,nx,ty,ny,c,kx,ky,x(i),1,y(i),1,z(i),wrk(1),
+     *        wrk(kx+2),iwrk(1),iwrk(2))
+ 10   continue
+ 100  return
+      end
--- a/mcc/bsplines/bispev.f
+++ b/mcc/bsplines/bispev.f
@@ -0,0 +1,104 @@
+      recursive subroutine bispev(tx,nx,ty,ny,c,kx,ky,x,mx,y,my,z,
+     *    wrk,lwrk,iwrk,kwrk,ier)
+      implicit none
+c  subroutine bispev evaluates on a grid (x(i),y(j)),i=1,...,mx; j=1,...
+c  ,my a bivariate spline s(x,y) of degrees kx and ky, given in the
+c  b-spline representation.
+c
+c  calling sequence:
+c     call bispev(tx,nx,ty,ny,c,kx,ky,x,mx,y,my,z,wrk,lwrk,
+c    * iwrk,kwrk,ier)
+c
+c  input parameters:
+c   tx    : real array, length nx, which contains the position of the
+c           knots in the x-direction.
+c   nx    : integer, giving the total number of knots in the x-direction
+c   ty    : real array, length ny, which contains the position of the
+c           knots in the y-direction.
+c   ny    : integer, giving the total number of knots in the y-direction
+c   c     : real array, length (nx-kx-1)*(ny-ky-1), which contains the
+c           b-spline coefficients.
+c   kx,ky : integer values, giving the degrees of the spline.
+c   x     : real array of dimension (mx).
+c           before entry x(i) must be set to the x co-ordinate of the
+c           i-th grid point along the x-axis.
+c           tx(kx+1)<=x(i-1)<=x(i)<=tx(nx-kx), i=2,...,mx.
+c   mx    : on entry mx must specify the number of grid points along
+c           the x-axis. mx >=1.
+c   y     : real array of dimension (my).
+c           before entry y(j) must be set to the y co-ordinate of the
+c           j-th grid point along the y-axis.
+c           ty(ky+1)<=y(j-1)<=y(j)<=ty(ny-ky), j=2,...,my.
+c   my    : on entry my must specify the number of grid points along
+c           the y-axis. my >=1.
+c   wrk   : real array of dimension lwrk. used as workspace.
+c   lwrk  : integer, specifying the dimension of wrk.
+c           lwrk >= mx*(kx+1)+my*(ky+1)
+c   iwrk  : integer array of dimension kwrk. used as workspace.
+c   kwrk  : integer, specifying the dimension of iwrk. kwrk >= mx+my.
+c
+c  output parameters:
+c   z     : real array of dimension (mx*my).
+c           on successful exit z(my*(i-1)+j) contains the value of s(x,y)
+c           at the point (x(i),y(j)),i=1,...,mx;j=1,...,my.
+c   ier   : integer error flag
+c    ier=0 : normal return
+c    ier=10: invalid input data (see restrictions)
+c
+c  restrictions:
+c   mx >=1, my >=1, lwrk>=mx*(kx+1)+my*(ky+1), kwrk>=mx+my
+c   tx(kx+1) <= x(i-1) <= x(i) <= tx(nx-kx), i=2,...,mx
+c   ty(ky+1) <= y(j-1) <= y(j) <= ty(ny-ky), j=2,...,my
+c
+c  other subroutines required:
+c    fpbisp,fpbspl
+c
+c  references :
+c    de boor c : on calculating with b-splines, j. approximation theory
+c                6 (1972) 50-62.
+c    cox m.g.  : the numerical evaluation of b-splines, j. inst. maths
+c                applics 10 (1972) 134-149.
+c    dierckx p. : curve and surface fitting with splines, monographs on
+c                 numerical analysis, oxford university press, 1993.
+c
+c  author :
+c    p.dierckx
+c    dept. computer science, k.u.leuven
+c    celestijnenlaan 200a, b-3001 heverlee, belgium.
+c    e-mail : Paul.Dierckx@cs.kuleuven.ac.be
+c
+c  latest update : march 1987
+c
+c  ..scalar arguments..
+      integer nx,ny,kx,ky,mx,my,lwrk,kwrk,ier
+c  ..array arguments..
+      integer iwrk(kwrk)
+      real*8 tx(nx),ty(ny),c((nx-kx-1)*(ny-ky-1)),x(mx),y(my),z(mx*my),
+     * wrk(lwrk)
+c  ..local scalars..
+      integer i,iw,lwest
+c  ..
+c  before starting computations a data check is made. if the input data
+c  are invalid control is immediately repassed to the calling program.
+      ier = 10
+      lwest = (kx+1)*mx+(ky+1)*my
+      if(lwrk.lt.lwest) go to 100
+      if(kwrk.lt.(mx+my)) go to 100
+      if (mx.lt.1) go to 100
+      if (mx.eq.1) go to 30
+      go to 10
+  10  do 20 i=2,mx
+        if(x(i).lt.x(i-1)) go to 100
+  20  continue
+  30  if (my.lt.1) go to 100
+      if (my.eq.1) go to 60
+      go to 40
+  40  do 50 i=2,my
+        if(y(i).lt.y(i-1)) go to 100
+  50  continue
+  60  ier = 0
+      iw = mx*(kx+1)+1
+      call fpbisp(tx,nx,ty,ny,c,kx,ky,x,mx,y,my,z,wrk(1),wrk(iw),
+     * iwrk(1),iwrk(mx+1))
+ 100  return
+      end
--- a/mcc/bsplines/clocur.f
+++ b/mcc/bsplines/clocur.f
@@ -0,0 +1,353 @@
+      recursive subroutine clocur(iopt,ipar,idim,m,u,mx,x,w,k,s,nest,
+     * n,t,nc,c,fp,wrk,lwrk,iwrk,ier)
+      implicit none
+c  given the ordered set of m points x(i) in the idim-dimensional space
+c  with x(1)=x(m), and given also a corresponding set of strictly in-
+c  creasing values u(i) and the set of positive numbers w(i),i=1,2,...,m
+c  subroutine clocur determines a smooth approximating closed spline
+c  curve s(u), i.e.
+c      x1 = s1(u)
+c      x2 = s2(u)       u(1) <= u <= u(m)
+c      .........
+c      xidim = sidim(u)
+c  with sj(u),j=1,2,...,idim periodic spline functions of degree k with
+c  common knots t(j),j=1,2,...,n.
+c  if ipar=1 the values u(i),i=1,2,...,m must be supplied by the user.
+c  if ipar=0 these values are chosen automatically by clocur as
+c      v(1) = 0
+c      v(i) = v(i-1) + dist(x(i),x(i-1)) ,i=2,3,...,m
+c      u(i) = v(i)/v(m) ,i=1,2,...,m
+c  if iopt=-1 clocur calculates the weighted least-squares closed spline
+c  curve according to a given set of knots.
+c  if iopt>=0 the number of knots of the splines sj(u) and the position
+c  t(j),j=1,2,...,n is chosen automatically by the routine. the smooth-
+c  ness of s(u) is then achieved by minimalizing the discontinuity
+c  jumps of the k-th derivative of s(u) at the knots t(j),j=k+2,k+3,...,
+c  n-k-1. the amount of smoothness is determined by the condition that
+c  f(p)=sum((w(i)*dist(x(i),s(u(i))))**2) be <= s, with s a given non-
+c  negative constant, called the smoothing factor.
+c  the fit s(u) is given in the b-spline representation and can be
+c  evaluated by means of subroutine curev.
+c
+c  calling sequence:
+c     call clocur(iopt,ipar,idim,m,u,mx,x,w,k,s,nest,n,t,nc,c,
+c    * fp,wrk,lwrk,iwrk,ier)
+c
+c  parameters:
+c   iopt  : integer flag. on entry iopt must specify whether a weighted
+c           least-squares closed spline curve (iopt=-1) or a smoothing
+c           closed spline curve (iopt=0 or 1) must be determined. if
+c           iopt=0 the routine will start with an initial set of knots
+c           t(i)=u(1)+(u(m)-u(1))*(i-k-1),i=1,2,...,2*k+2. if iopt=1 the
+c           routine will continue with the knots found at the last call.
+c           attention: a call with iopt=1 must always be immediately
+c           preceded by another call with iopt=1 or iopt=0.
+c           unchanged on exit.
+c   ipar  : integer flag. on entry ipar must specify whether (ipar=1)
+c           the user will supply the parameter values u(i),or whether
+c           (ipar=0) these values are to be calculated by clocur.
+c           unchanged on exit.
+c   idim  : integer. on entry idim must specify the dimension of the
+c           curve. 0 < idim < 11.
+c           unchanged on exit.
+c   m     : integer. on entry m must specify the number of data points.
+c           m > 1. unchanged on exit.
+c   u     : real array of dimension at least (m). in case ipar=1,before
+c           entry, u(i) must be set to the i-th value of the parameter
+c           variable u for i=1,2,...,m. these values must then be
+c           supplied in strictly ascending order and will be unchanged
+c           on exit. in case ipar=0, on exit,the array will contain the
+c           values u(i) as determined by clocur.
+c   mx    : integer. on entry mx must specify the actual dimension of
+c           the array x as declared in the calling (sub)program. mx must
+c           not be too small (see x). unchanged on exit.
+c   x     : real array of dimension at least idim*m.
+c           before entry, x(idim*(i-1)+j) must contain the j-th coord-
+c           inate of the i-th data point for i=1,2,...,m and j=1,2,...,
+c           idim. since first and last data point must coincide it
+c           means that x(j)=x(idim*(m-1)+j),j=1,2,...,idim.
+c           unchanged on exit.
+c   w     : real array of dimension at least (m). before entry, w(i)
+c           must be set to the i-th value in the set of weights. the
+c           w(i) must be strictly positive. w(m) is not used.
+c           unchanged on exit. see also further comments.
+c   k     : integer. on entry k must specify the degree of the splines.
+c           1<=k<=5. it is recommended to use cubic splines (k=3).
+c           the user is strongly dissuaded from choosing k even,together
+c           with a small s-value. unchanged on exit.
+c   s     : real.on entry (in case iopt>=0) s must specify the smoothing
+c           factor. s >=0. unchanged on exit.
+c           for advice on the choice of s see further comments.
+c   nest  : integer. on entry nest must contain an over-estimate of the
+c           total number of knots of the splines returned, to indicate
+c           the storage space available to the routine. nest >=2*k+2.
+c           in most practical situation nest=m/2 will be sufficient.
+c           always large enough is nest=m+2*k, the number of knots
+c           needed for interpolation (s=0). unchanged on exit.
+c   n     : integer.
+c           unless ier = 10 (in case iopt >=0), n will contain the
+c           total number of knots of the smoothing spline curve returned
+c           if the computation mode iopt=1 is used this value of n
+c           should be left unchanged between subsequent calls.
+c           in case iopt=-1, the value of n must be specified on entry.
+c   t     : real array of dimension at least (nest).
+c           on successful exit, this array will contain the knots of the
+c           spline curve,i.e. the position of the interior knots t(k+2),
+c           t(k+3),..,t(n-k-1) as well as the position of the additional
+c           t(1),t(2),..,t(k+1)=u(1) and u(m)=t(n-k),...,t(n) needed for
+c           the b-spline representation.
+c           if the computation mode iopt=1 is used, the values of t(1),
+c           t(2),...,t(n) should be left unchanged between subsequent
+c           calls. if the computation mode iopt=-1 is used, the values
+c           t(k+2),...,t(n-k-1) must be supplied by the user, before
+c           entry. see also the restrictions (ier=10).
+c   nc    : integer. on entry nc must specify the actual dimension of
+c           the array c as declared in the calling (sub)program. nc
+c           must not be too small (see c). unchanged on exit.
+c   c     : real array of dimension at least (nest*idim).
+c           on successful exit, this array will contain the coefficients
+c           in the b-spline representation of the spline curve s(u),i.e.
+c           the b-spline coefficients of the spline sj(u) will be given
+c           in c(n*(j-1)+i),i=1,2,...,n-k-1 for j=1,2,...,idim.
+c   fp    : real. unless ier = 10, fp contains the weighted sum of
+c           squared residuals of the spline curve returned.
+c   wrk   : real array of dimension at least m*(k+1)+nest*(7+idim+5*k).
+c           used as working space. if the computation mode iopt=1 is
+c           used, the values wrk(1),...,wrk(n) should be left unchanged
+c           between subsequent calls.
+c   lwrk  : integer. on entry,lwrk must specify the actual dimension of
+c           the array wrk as declared in the calling (sub)program. lwrk
+c           must not be too small (see wrk). unchanged on exit.
+c   iwrk  : integer array of dimension at least (nest).
+c           used as working space. if the computation mode iopt=1 is
+c           used,the values iwrk(1),...,iwrk(n) should be left unchanged
+c           between subsequent calls.
+c   ier   : integer. unless the routine detects an error, ier contains a
+c           non-positive value on exit, i.e.
+c    ier=0  : normal return. the close curve returned has a residual
+c             sum of squares fp such that abs(fp-s)/s <= tol with tol a
+c             relative tolerance set to 0.001 by the program.
+c    ier=-1 : normal return. the curve returned is an interpolating
+c             spline curve (fp=0).
+c    ier=-2 : normal return. the curve returned is the weighted least-
+c             squares point,i.e. each spline sj(u) is a constant. in
+c             this extreme case fp gives the upper bound fp0 for the
+c             smoothing factor s.
+c    ier=1  : error. the required storage space exceeds the available
+c             storage space, as specified by the parameter nest.
+c             probably causes : nest too small. if nest is already
+c             large (say nest > m/2), it may also indicate that s is
+c             too small
+c             the approximation returned is the least-squares closed
+c             curve according to the knots t(1),t(2),...,t(n). (n=nest)
+c             the parameter fp gives the corresponding weighted sum of
+c             squared residuals (fp>s).
+c    ier=2  : error. a theoretically impossible result was found during
+c             the iteration process for finding a smoothing curve with
+c             fp = s. probably causes : s too small.
+c             there is an approximation returned but the corresponding
+c             weighted sum of squared residuals does not satisfy the
+c             condition abs(fp-s)/s < tol.
+c    ier=3  : error. the maximal number of iterations maxit (set to 20
+c             by the program) allowed for finding a smoothing curve
+c             with fp=s has been reached. probably causes : s too small
+c             there is an approximation returned but the corresponding
+c             weighted sum of squared residuals does not satisfy the
+c             condition abs(fp-s)/s < tol.
+c    ier=10 : error. on entry, the input data are controlled on validity
+c             the following restrictions must be satisfied.
+c             -1<=iopt<=1, 1<=k<=5, m>1, nest>2*k+2, w(i)>0,i=1,2,...,m
+c             0<=ipar<=1, 0<idim<=10, lwrk>=(k+1)*m+nest*(7+idim+5*k),
+c             nc>=nest*idim, x(j)=x(idim*(m-1)+j), j=1,2,...,idim
+c             if ipar=0: sum j=1,idim (x(i*idim+j)-x((i-1)*idim+j))**2>0
+c                        i=1,2,...,m-1.
+c             if ipar=1: u(1)<u(2)<...<u(m)
+c             if iopt=-1: 2*k+2<=n<=min(nest,m+2*k)
+c                         u(1)<t(k+2)<t(k+3)<...<t(n-k-1)<u(m)
+c                            (u(1)=0 and u(m)=1 in case ipar=0)
+c                       the schoenberg-whitney conditions, i.e. there
+c                       must be a subset of data points uu(j) with
+c                       uu(j) = u(i) or u(i)+(u(m)-u(1)) such that
+c                         t(j) < uu(j) < t(j+k+1), j=k+1,...,n-k-1
+c             if iopt>=0: s>=0
+c                         if s=0 : nest >= m+2*k
+c             if one of these conditions is found to be violated,control
+c             is immediately repassed to the calling program. in that
+c             case there is no approximation returned.
+c
+c  further comments:
+c   by means of the parameter s, the user can control the tradeoff
+c   between closeness of fit and smoothness of fit of the approximation.
+c   if s is too large, the curve will be too smooth and signal will be
+c   lost ; if s is too small the curve will pick up too much noise. in
+c   the extreme cases the program will return an interpolating curve if
+c   s=0 and the weighted least-squares point if s is very large.
+c   between these extremes, a properly chosen s will result in a good
+c   compromise between closeness of fit and smoothness of fit.
+c   to decide whether an approximation, corresponding to a certain s is
+c   satisfactory the user is highly recommended to inspect the fits
+c   graphically.
+c   recommended values for s depend on the weights w(i). if these are
+c   taken as 1/d(i) with d(i) an estimate of the standard deviation of
+c   x(i), a good s-value should be found in the range (m-sqrt(2*m),m+
+c   sqrt(2*m)). if nothing is known about the statistical error in x(i)
+c   each w(i) can be set equal to one and s determined by trial and
+c   error, taking account of the comments above. the best is then to
+c   start with a very large value of s ( to determine the weighted
+c   least-squares point and the upper bound fp0 for s) and then to
+c   progressively decrease the value of s ( say by a factor 10 in the
+c   beginning, i.e. s=fp0/10, fp0/100,...and more carefully as the
+c   approximating curve shows more detail) to obtain closer fits.
+c   to economize the search for a good s-value the program provides with
+c   different modes of computation. at the first call of the routine, or
+c   whenever he wants to restart with the initial set of knots the user
+c   must set iopt=0.
+c   if iopt=1 the program will continue with the set of knots found at
+c   the last call of the routine. this will save a lot of computation
+c   time if clocur is called repeatedly for different values of s.
+c   the number of knots of the spline returned and their location will
+c   depend on the value of s and on the complexity of the shape of the
+c   curve underlying the data. but, if the computation mode iopt=1 is
+c   used, the knots returned may also depend on the s-values at previous
+c   calls (if these were smaller). therefore, if after a number of
+c   trials with different s-values and iopt=1, the user can finally
+c   accept a fit as satisfactory, it may be worthwhile for him to call
+c   clocur once more with the selected value for s but now with iopt=0.
+c   indeed, clocur may then return an approximation of the same quality
+c   of fit but with fewer knots and therefore better if data reduction
+c   is also an important objective for the user.
+c
+c   the form of the approximating curve can strongly be affected  by
+c   the choice of the parameter values u(i). if there is no physical
+c   reason for choosing a particular parameter u, often good results
+c   will be obtained with the choice of clocur(in case ipar=0), i.e.
+c        v(1)=0, v(i)=v(i-1)+q(i), i=2,...,m, u(i)=v(i)/v(m), i=1,..,m
+c   where
+c        q(i)= sqrt(sum j=1,idim (xj(i)-xj(i-1))**2 )
+c   other possibilities for q(i) are
+c        q(i)= sum j=1,idim (xj(i)-xj(i-1))**2
+c        q(i)= sum j=1,idim abs(xj(i)-xj(i-1))
+c        q(i)= max j=1,idim abs(xj(i)-xj(i-1))
+c        q(i)= 1
+c
+c
+c  other subroutines required:
+c    fpbacp,fpbspl,fpchep,fpclos,fpdisc,fpgivs,fpknot,fprati,fprota
+c
+c  references:
+c   dierckx p. : algorithms for smoothing data with periodic and
+c                parametric splines, computer graphics and image
+c                processing 20 (1982) 171-184.
+c   dierckx p. : algorithms for smoothing data with periodic and param-
+c                etric splines, report tw55, dept. computer science,
+c                k.u.leuven, 1981.
+c   dierckx p. : curve and surface fitting with splines, monographs on
+c                numerical analysis, oxford university press, 1993.
+c
+c  author:
+c    p.dierckx
+c    dept. computer science, k.u. leuven
+c    celestijnenlaan 200a, b-3001 heverlee, belgium.
+c    e-mail : Paul.Dierckx@cs.kuleuven.ac.be
+c
+c  creation date : may 1979
+c  latest update : march 1987
+c
+c  ..
+c  ..scalar arguments..
+      real*8 s,fp
+      integer iopt,ipar,idim,m,mx,k,nest,n,nc,lwrk,ier
+c  ..array arguments..
+      real*8 u(m),x(mx),w(m),t(nest),c(nc),wrk(lwrk)
+      integer iwrk(nest)
+c  ..local scalars..
+      real*8 per,tol,dist
+      integer i,ia1,ia2,ib,ifp,ig1,ig2,iq,iz,i1,i2,j1,j2,k1,k2,lwest,
+     * maxit,m1,nmin,ncc,j
+c  ..function references..
+      real*8 sqrt
+c  we set up the parameters tol and maxit
+      maxit = 20
+      tol = 0.1e-02
+c  before starting computations a data check is made. if the input data
+c  are invalid, control is immediately repassed to the calling program.
+      ier = 10
+      if(iopt.lt.(-1) .or. iopt.gt.1) go to 90
+      if(ipar.lt.0 .or. ipar.gt.1) go to 90
+      if(idim.le.0 .or. idim.gt.10) go to 90
+      if(k.le.0 .or. k.gt.5) go to 90
+      k1 = k+1
+      k2 = k1+1
+      nmin = 2*k1
+      if(m.lt.2 .or. nest.lt.nmin) go to 90
+      ncc = nest*idim
+      if(mx.lt.m*idim .or. nc.lt.ncc) go to 90
+      lwest = m*k1+nest*(7+idim+5*k)
+      if(lwrk.lt.lwest) go to 90
+      i1 = idim
+      i2 = m*idim
+      do 5 j=1,idim
+         if(x(i1).ne.x(i2)) go to 90
+         i1 = i1-1
+         i2 = i2-1
+   5  continue
+      if(ipar.ne.0 .or. iopt.gt.0) go to 40
+      i1 = 0
+      i2 = idim
+      u(1) = 0.
+      do 20 i=2,m
+         dist = 0.
+         do 10 j1=1,idim
+            i1 = i1+1
+            i2 = i2+1
+            dist = dist+(x(i2)-x(i1))**2
+  10     continue
+         u(i) = u(i-1)+sqrt(dist)
+  20  continue
+      if(u(m).le.0.) go to 90
+      do 30 i=2,m
+         u(i) = u(i)/u(m)
+  30  continue
+      u(m) = 0.1e+01
+  40  if(w(1).le.0.) go to 90
+      m1 = m-1
+      do 50 i=1,m1
+         if(u(i).ge.u(i+1) .or. w(i).le.0.) go to 90
+  50  continue
+      if(iopt.ge.0) go to 70
+      if(n.le.nmin .or. n.gt.nest) go to 90
+      per = u(m)-u(1)
+      j1 = k1
+      t(j1) = u(1)
+      i1 = n-k
+      t(i1) = u(m)
+      j2 = j1
+      i2 = i1
+      do 60 i=1,k
+         i1 = i1+1
+         i2 = i2-1
+         j1 = j1+1
+         j2 = j2-1
+         t(j2) = t(i2)-per
+         t(i1) = t(j1)+per
+  60  continue
+      call fpchep(u,m,t,n,k,ier)
+      if (ier.eq.0) go to 80
+      go to 90
+  70  if(s.lt.0.) go to 90
+      if(s.eq.0. .and. nest.lt.(m+2*k)) go to 90
+      ier = 0
+c we partition the working space and determine the spline approximation.
+  80  ifp = 1
+      iz = ifp+nest
+      ia1 = iz+ncc
+      ia2 = ia1+nest*k1
+      ib = ia2+nest*k
+      ig1 = ib+nest*k2
+      ig2 = ig1+nest*k2
+      iq = ig2+nest*k1
+      call fpclos(iopt,idim,m,u,mx,x,w,k,s,nest,tol,maxit,k1,k2,n,t,
+     * ncc,c,fp,wrk(ifp),wrk(iz),wrk(ia1),wrk(ia2),wrk(ib),wrk(ig1),
+     * wrk(ig2),wrk(iq),iwrk,ier)
+  90  return
+      end
--- a/mcc/bsplines/cocosp.f
+++ b/mcc/bsplines/cocosp.f
@@ -0,0 +1,181 @@
+      recursive subroutine cocosp(m,x,y,w,n,t,e,maxtr,maxbin,c,sq,
+     * sx,bind,wrk,lwrk,iwrk,kwrk,ier)
+      implicit none
+c  given the set of data points (x(i),y(i)) and the set of positive
+c  numbers w(i),i=1,2,...,m, subroutine cocosp determines the weighted
+c  least-squares cubic spline s(x) with given knots t(j),j=1,2,...,n
+c  which satisfies the following concavity/convexity conditions
+c      s''(t(j+3))*e(j) <= 0, j=1,2,...n-6
+c  the fit is given in the b-spline representation( b-spline coef-
+c  ficients c(j),j=1,2,...n-4) and can be evaluated by means of
+c  subroutine splev.
+c
+c  calling sequence:
+c     call cocosp(m,x,y,w,n,t,e,maxtr,maxbin,c,sq,sx,bind,wrk,
+c    * lwrk,iwrk,kwrk,ier)
+c
+c  parameters:
+c    m   : integer. on entry m must specify the number of data points.
+c          m > 3. unchanged on exit.
+c    x   : real array of dimension at least (m). before entry, x(i)
+c          must be set to the i-th value of the independent variable x,
+c          for i=1,2,...,m. these values must be supplied in strictly
+c          ascending order. unchanged on exit.
+c    y   : real array of dimension at least (m). before entry, y(i)
+c          must be set to the i-th value of the dependent variable y,
+c          for i=1,2,...,m. unchanged on exit.
+c    w   : real array of dimension at least (m). before entry, w(i)
+c          must be set to the i-th value in the set of weights. the
+c          w(i) must be strictly positive. unchanged on exit.
+c    n   : integer. on entry n must contain the total number of knots
+c          of the cubic spline. m+4>=n>=8. unchanged on exit.
+c    t   : real array of dimension at least (n). before entry, this
+c          array must contain the knots of the spline, i.e. the position
+c          of the interior knots t(5),t(6),...,t(n-4) as well as the
+c          position of the boundary knots t(1),t(2),t(3),t(4) and t(n-3)
+c          t(n-2),t(n-1),t(n) needed for the b-spline representation.
+c          unchanged on exit. see also the restrictions (ier=10).
+c    e   : real array of dimension at least (n). before entry, e(j)
+c          must be set to 1 if s(x) must be locally concave at t(j+3),
+c          to (-1) if s(x) must be locally convex at t(j+3) and to 0
+c          if no convexity constraint is imposed at t(j+3),j=1,2,..,n-6.
+c          e(n-5),...,e(n) are not used. unchanged on exit.
+c  maxtr : integer. on entry maxtr must contain an over-estimate of the
+c          total number of records in the used tree structure, to indic-
+c          ate the storage space available to the routine. maxtr >=1
+c          in most practical situation maxtr=100 will be sufficient.
+c          always large enough is
+c                         n-5       n-6
+c              maxtr =  (     ) + (     )  with l the greatest
+c                          l        l+1
+c          integer <= (n-6)/2 . unchanged on exit.
+c  maxbin: integer. on entry maxbin must contain an over-estimate of the
+c          number of knots where s(x) will have a zero second derivative
+c          maxbin >=1. in most practical situation maxbin = 10 will be
+c          sufficient. always large enough is maxbin=n-6.
+c          unchanged on exit.
+c    c   : real array of dimension at least (n).
+c          on successful exit, this array will contain the coefficients
+c          c(1),c(2),..,c(n-4) in the b-spline representation of s(x)
+c    sq  : real. on successful exit, sq contains the weighted sum of
+c          squared residuals of the spline approximation returned.
+c    sx  : real array of dimension at least m. on successful exit
+c          this array will contain the spline values s(x(i)),i=1,...,m
+c   bind : logical array of dimension at least (n). on successful exit
+c          this array will indicate the knots where s''(x)=0, i.e.
+c                s''(t(j+3)) .eq. 0 if  bind(j) = .true.
+c                s''(t(j+3)) .ne. 0 if  bind(j) = .false., j=1,2,...,n-6
+c   wrk  : real array of dimension at least  m*4+n*7+maxbin*(maxbin+n+1)
+c          used as working space.
+c   lwrk : integer. on entry,lwrk must specify the actual dimension of
+c          the array wrk as declared in the calling (sub)program.lwrk
+c          must not be too small (see wrk). unchanged on exit.
+c   iwrk : integer array of dimension at least (maxtr*4+2*(maxbin+1))
+c          used as working space.
+c   kwrk : integer. on entry,kwrk must specify the actual dimension of
+c          the array iwrk as declared in the calling (sub)program. kwrk
+c          must not be too small (see iwrk). unchanged on exit.
+c   ier   : integer. error flag
+c      ier=0 : successful exit.
+c      ier>0 : abnormal termination: no approximation is returned
+c        ier=1  : the number of knots where s''(x)=0 exceeds maxbin.
+c                 probably causes : maxbin too small.
+c        ier=2  : the number of records in the tree structure exceeds
+c                 maxtr.
+c                 probably causes : maxtr too small.
+c        ier=3  : the algorithm finds no solution to the posed quadratic
+c                 programming problem.
+c                 probably causes : rounding errors.
+c        ier=10 : on entry, the input data are controlled on validity.
+c                 the following restrictions must be satisfied
+c                   m>3, maxtr>=1, maxbin>=1, 8<=n<=m+4,w(i) > 0,
+c                   x(1)<x(2)<...<x(m), t(1)<=t(2)<=t(3)<=t(4)<=x(1),
+c                   x(1)<t(5)<t(6)<...<t(n-4)<x(m)<=t(n-3)<=...<=t(n),
+c                   kwrk>=maxtr*4+2*(maxbin+1),
+c                   lwrk>=m*4+n*7+maxbin*(maxbin+n+1),
+c                   the schoenberg-whitney conditions, i.e. there must
+c                   be a subset of data points xx(j) such that
+c                     t(j) < xx(j) < t(j+4), j=1,2,...,n-4
+c                 if one of these restrictions is found to be violated
+c                 control is immediately repassed to the calling program
+c
+c
+c  other subroutines required:
+c    fpcosp,fpbspl,fpadno,fpdeno,fpseno,fpfrno,fpchec
+c
+c  references:
+c   dierckx p. : an algorithm for cubic spline fitting with convexity
+c                constraints, computing 24 (1980) 349-371.
+c   dierckx p. : an algorithm for least-squares cubic spline fitting
+c                with convexity and concavity constraints, report tw39,
+c                dept. computer science, k.u.leuven, 1978.
+c   dierckx p. : curve and surface fitting with splines, monographs on
+c                numerical analysis, oxford university press, 1993.
+c
+c  author:
+c   p. dierckx
+c   dept. computer science, k.u.leuven
+c   celestijnenlaan 200a, b-3001 heverlee, belgium.
+c   e-mail : Paul.Dierckx@cs.kuleuven.ac.be
+c
+c  creation date : march 1978
+c  latest update : march 1987.
+c
+c  ..
+c  ..scalar arguments..
+      real*8 sq
+      integer m,n,maxtr,maxbin,lwrk,kwrk,ier
+c  ..array arguments..
+      real*8 x(m),y(m),w(m),t(n),e(n),c(n),sx(m),wrk(lwrk)
+      integer iwrk(kwrk)
+      logical bind(n)
+c  ..local scalars..
+      integer i,ia,ib,ic,iq,iu,iz,izz,ji,jib,jjb,jl,jr,ju,kwest,
+     * lwest,mb,nm,n6
+      real*8 one
+c  ..
+c  set constant
+      one = 0.1e+01
+c  before starting computations a data check is made. if the input data
+c  are invalid, control is immediately repassed to the calling program.
+      ier = 10
+      if(m.lt.4 .or. n.lt.8) go to 40
+      if(maxtr.lt.1 .or. maxbin.lt.1) go to 40
+      lwest = 7*n+m*4+maxbin*(1+n+maxbin)
+      kwest = 4*maxtr+2*(maxbin+1)
+      if(lwrk.lt.lwest .or. kwrk.lt.kwest) go to 40
+      if(w(1).le.0.) go to 40
+      do 10 i=2,m
+         if(x(i-1).ge.x(i) .or. w(i).le.0.) go to 40
+  10  continue
+      call fpchec(x,m,t,n,3,ier)
+      if (ier.eq.0) go to 20
+      go to 40
+c  set numbers e(i)
+  20  n6 = n-6
+      do 30 i=1,n6
+        if(e(i).gt.0.) e(i) = one
+        if(e(i).lt.0.) e(i) = -one
+  30  continue
+c  we partition the working space and determine the spline approximation
+      nm = n+maxbin
+      mb = maxbin+1
+      ia = 1
+      ib = ia+4*n
+      ic = ib+nm*maxbin
+      iz = ic+n
+      izz = iz+n
+      iu = izz+n
+      iq = iu+maxbin
+      ji = 1
+      ju = ji+maxtr
+      jl = ju+maxtr
+      jr = jl+maxtr
+      jjb = jr+maxtr
+      jib = jjb+mb
+      call fpcosp(m,x,y,w,n,t,e,maxtr,maxbin,c,sq,sx,bind,nm,mb,wrk(ia),
+     *
+     * wrk(ib),wrk(ic),wrk(iz),wrk(izz),wrk(iu),wrk(iq),iwrk(ji),
+     * iwrk(ju),iwrk(jl),iwrk(jr),iwrk(jjb),iwrk(jib),ier)
+  40  return
+      end
--- a/mcc/bsplines/concon.f
+++ b/mcc/bsplines/concon.f
@@ -0,0 +1,234 @@
+      recursive subroutine concon(iopt,m,x,y,w,v,s,nest,maxtr,maxbin,
+     * n,t,c,sq,sx,bind,wrk,lwrk,iwrk,kwrk,ier)
+      implicit none
+c  given the set of data points (x(i),y(i)) and the set of positive
+c  numbers w(i), i=1,2,...,m,subroutine concon determines a cubic spline
+c  approximation s(x) which satisfies the following local convexity
+c  constraints  s''(x(i))*v(i) <= 0, i=1,2,...,m.
+c  the number of knots n and the position t(j),j=1,2,...n is chosen
+c  automatically by the routine in a way that
+c       sq = sum((w(i)*(y(i)-s(x(i))))**2) be <= s.
+c  the fit is given in the b-spline representation (b-spline coef-
+c  ficients c(j),j=1,2,...n-4) and can be evaluated by means of
+c  subroutine splev.
+c
+c  calling sequence:
+c
+c     call concon(iopt,m,x,y,w,v,s,nest,maxtr,maxbin,n,t,c,sq,
+c    * sx,bind,wrk,lwrk,iwrk,kwrk,ier)
+c
+c  parameters:
+c    iopt: integer flag.
+c          if iopt=0, the routine will start with the minimal number of
+c          knots to guarantee that the convexity conditions will be
+c          satisfied. if iopt=1, the routine will continue with the set
+c          of knots found at the last call of the routine.
+c          attention: a call with iopt=1 must always be immediately
+c          preceded by another call with iopt=1 or iopt=0.
+c          unchanged on exit.
+c    m   : integer. on entry m must specify the number of data points.
+c          m > 3. unchanged on exit.
+c    x   : real array of dimension at least (m). before entry, x(i)
+c          must be set to the i-th value of the independent variable x,
+c          for i=1,2,...,m. these values must be supplied in strictly
+c          ascending order. unchanged on exit.
+c    y   : real array of dimension at least (m). before entry, y(i)
+c          must be set to the i-th value of the dependent variable y,
+c          for i=1,2,...,m. unchanged on exit.
+c    w   : real array of dimension at least (m). before entry, w(i)
+c          must be set to the i-th value in the set of weights. the
+c          w(i) must be strictly positive. unchanged on exit.
+c    v   : real array of dimension at least (m). before entry, v(i)
+c          must be set to 1 if s(x) must be locally concave at x(i),
+c          to (-1) if s(x) must be locally convex at x(i) and to 0
+c          if no convexity constraint is imposed at x(i).
+c    s   : real. on entry s must specify an over-estimate for the
+c          the weighted sum of squared residuals sq of the requested
+c          spline. s >=0. unchanged on exit.
+c   nest : integer. on entry nest must contain an over-estimate of the
+c          total number of knots of the spline returned, to indicate
+c          the storage space available to the routine. nest >=8.
+c          in most practical situation nest=m/2 will be sufficient.
+c          always large enough is  nest=m+4. unchanged on exit.
+c  maxtr : integer. on entry maxtr must contain an over-estimate of the
+c          total number of records in the used tree structure, to indic-
+c          ate the storage space available to the routine. maxtr >=1
+c          in most practical situation maxtr=100 will be sufficient.
+c          always large enough is
+c                         nest-5      nest-6
+c              maxtr =  (       ) + (        )  with l the greatest
+c                           l          l+1
+c          integer <= (nest-6)/2 . unchanged on exit.
+c  maxbin: integer. on entry maxbin must contain an over-estimate of the
+c          number of knots where s(x) will have a zero second derivative
+c          maxbin >=1. in most practical situation maxbin = 10 will be
+c          sufficient. always large enough is maxbin=nest-6.
+c          unchanged on exit.
+c    n   : integer.
+c          on exit with ier <=0, n will contain the total number of
+c          knots of the spline approximation returned. if the comput-
+c          ation mode iopt=1 is used this value of n should be left
+c          unchanged between subsequent calls.
+c    t   : real array of dimension at least (nest).
+c          on exit with ier<=0, this array will contain the knots of the
+c          spline,i.e. the position of the interior knots t(5),t(6),...,
+c          t(n-4) as well as the position of the additional knots
+c          t(1)=t(2)=t(3)=t(4)=x(1) and t(n-3)=t(n-2)=t(n-1)=t(n)=x(m)
+c          needed for the b-spline representation.
+c          if the computation mode iopt=1 is used, the values of t(1),
+c          t(2),...,t(n) should be left unchanged between subsequent
+c          calls.
+c    c   : real array of dimension at least (nest).
+c          on successful exit, this array will contain the coefficients
+c          c(1),c(2),..,c(n-4) in the b-spline representation of s(x)
+c    sq  : real. unless ier>0 , sq contains the weighted sum of
+c          squared residuals of the spline approximation returned.
+c    sx  : real array of dimension at least m. on exit with ier<=0
+c          this array will contain the spline values s(x(i)),i=1,...,m
+c          if the computation mode iopt=1 is used, the values of sx(1),
+c          sx(2),...,sx(m) should be left unchanged between subsequent
+c          calls.
+c    bind: logical array of dimension at least nest. on exit with ier<=0
+c          this array will indicate the knots where s''(x)=0, i.e.
+c                s''(t(j+3)) .eq. 0 if  bind(j) = .true.
+c                s''(t(j+3)) .ne. 0 if  bind(j) = .false., j=1,2,...,n-6
+c          if the computation mode iopt=1 is used, the values of bind(1)
+c          ,...,bind(n-6) should be left unchanged between subsequent
+c          calls.
+c   wrk  : real array of dimension at least (m*4+nest*8+maxbin*(maxbin+
+c          nest+1)). used as working space.
+c   lwrk : integer. on entry,lwrk must specify the actual dimension of
+c          the array wrk as declared in the calling (sub)program.lwrk
+c          must not be too small (see wrk). unchanged on exit.
+c   iwrk : integer array of dimension at least (maxtr*4+2*(maxbin+1))
+c          used as working space.
+c   kwrk : integer. on entry,kwrk must specify the actual dimension of
+c          the array iwrk as declared in the calling (sub)program. kwrk
+c          must not be too small (see iwrk). unchanged on exit.
+c   ier   : integer. error flag
+c      ier=0 : normal return, s(x) satisfies the concavity/convexity
+c              constraints and sq <= s.
+c      ier<0 : abnormal termination: s(x) satisfies the concavity/
+c              convexity constraints but sq > s.
+c        ier=-3 : the requested storage space exceeds the available
+c                 storage space as specified by the parameter nest.
+c                 probably causes: nest too small. if nest is already
+c                 large (say nest > m/2), it may also indicate that s
+c                 is too small.
+c                 the approximation returned is the least-squares cubic
+c                 spline according to the knots t(1),...,t(n) (n=nest)
+c                 which satisfies the convexity constraints.
+c        ier=-2 : the maximal number of knots n=m+4 has been reached.
+c                 probably causes: s too small.
+c        ier=-1 : the number of knots n is less than the maximal number
+c                 m+4 but concon finds that adding one or more knots
+c                 will not further reduce the value of sq.
+c                 probably causes : s too small.
+c      ier>0 : abnormal termination: no approximation is returned
+c        ier=1  : the number of knots where s''(x)=0 exceeds maxbin.
+c                 probably causes : maxbin too small.
+c        ier=2  : the number of records in the tree structure exceeds
+c                 maxtr.
+c                 probably causes : maxtr too small.
+c        ier=3  : the algorithm finds no solution to the posed quadratic
+c                 programming problem.
+c                 probably causes : rounding errors.
+c        ier=4  : the minimum number of knots (given by n) to guarantee
+c                 that the concavity/convexity conditions will be
+c                 satisfied is greater than nest.
+c                 probably causes: nest too small.
+c        ier=5  : the minimum number of knots (given by n) to guarantee
+c                 that the concavity/convexity conditions will be
+c                 satisfied is greater than m+4.
+c                 probably causes: strongly alternating convexity and
+c                 concavity conditions. normally the situation can be
+c                 coped with by adding n-m-4 extra data points (found
+c                 by linear interpolation e.g.) with a small weight w(i)
+c                 and a v(i) number equal to zero.
+c        ier=10 : on entry, the input data are controlled on validity.
+c                 the following restrictions must be satisfied
+c                   0<=iopt<=1, m>3, nest>=8, s>=0, maxtr>=1, maxbin>=1,
+c                   kwrk>=maxtr*4+2*(maxbin+1), w(i)>0, x(i) < x(i+1),
+c                   lwrk>=m*4+nest*8+maxbin*(maxbin+nest+1)
+c                 if one of these restrictions is found to be violated
+c                 control is immediately repassed to the calling program
+c
+c  further comments:
+c    as an example of the use of the computation mode iopt=1, the
+c    following program segment will cause concon to return control
+c    each time a spline with a new set of knots has been computed.
+c     .............
+c     iopt = 0
+c     s = 0.1e+60  (s very large)
+c     do 10 i=1,m
+c       call concon(iopt,m,x,y,w,v,s,nest,maxtr,maxbin,n,t,c,sq,sx,
+c    *  bind,wrk,lwrk,iwrk,kwrk,ier)
+c       ......
+c       s = sq
+c       iopt=1
+c 10  continue
+c     .............
+c
+c  other subroutines required:
+c    fpcoco,fpcosp,fpbspl,fpadno,fpdeno,fpseno,fpfrno
+c
+c  references:
+c   dierckx p. : an algorithm for cubic spline fitting with convexity
+c                constraints, computing 24 (1980) 349-371.
+c   dierckx p. : an algorithm for least-squares cubic spline fitting
+c                with convexity and concavity constraints, report tw39,
+c                dept. computer science, k.u.leuven, 1978.
+c   dierckx p. : curve and surface fitting with splines, monographs on
+c                numerical analysis, oxford university press, 1993.
+c
+c  author:
+c   p. dierckx
+c   dept. computer science, k.u.leuven
+c   celestijnenlaan 200a, b-3001 heverlee, belgium.
+c   e-mail : Paul.Dierckx@cs.kuleuven.ac.be
+c
+c  creation date : march 1978
+c  latest update : march 1987.
+c
+c  ..
+c  ..scalar arguments..
+      real*8 s,sq
+      integer iopt,m,nest,maxtr,maxbin,n,lwrk,kwrk,ier
+c  ..array arguments..
+      real*8 x(m),y(m),w(m),v(m),t(nest),c(nest),sx(m),wrk(lwrk)
+      integer iwrk(kwrk)
+      logical bind(nest)
+c  ..local scalars..
+      integer i,lwest,kwest,ie,iw,lww
+      real*8 one
+c  ..
+c  set constant
+      one = 0.1e+01
+c  before starting computations a data check is made. if the input data
+c  are invalid, control is immediately repassed to the calling program.
+      ier = 10
+      if(iopt.lt.0 .or. iopt.gt.1) go to 30
+      if(m.lt.4 .or. nest.lt.8) go to 30
+      if(s.lt.0.) go to 30
+      if(maxtr.lt.1 .or. maxbin.lt.1) go to 30
+      lwest = 8*nest+m*4+maxbin*(1+nest+maxbin)
+      kwest = 4*maxtr+2*(maxbin+1)
+      if(lwrk.lt.lwest .or. kwrk.lt.kwest) go to 30
+      if(iopt.gt.0) go to 20
+      if(w(1).le.0.) go to 30
+      if(v(1).gt.0.) v(1) = one
+      if(v(1).lt.0.) v(1) = -one
+      do 10 i=2,m
+         if(x(i-1).ge.x(i) .or. w(i).le.0.) go to 30
+         if(v(i).gt.0.) v(i) = one
+         if(v(i).lt.0.) v(i) = -one
+  10  continue
+  20  ier = 0
+c  we partition the working space and determine the spline approximation
+      ie = 1
+      iw = ie+nest
+      lww = lwrk-nest
+      call fpcoco(iopt,m,x,y,w,v,s,nest,maxtr,maxbin,n,t,c,sq,sx,
+     * bind,wrk(ie),wrk(iw),lww,iwrk,kwrk,ier)
+  30  return
+      end
--- a/mcc/bsplines/concur.f
+++ b/mcc/bsplines/concur.f
@@ -0,0 +1,371 @@
+      recursive subroutine concur(iopt,idim,m,u,mx,x,xx,w,ib,db,nb,
+     * ie,de,ne,k,s,nest,n,t,nc,c,np,cp,fp,wrk,lwrk,iwrk,ier)
+      implicit none
+c  given the ordered set of m points x(i) in the idim-dimensional space
+c  and given also a corresponding set of strictly increasing values u(i)
+c  and the set of positive numbers w(i),i=1,2,...,m, subroutine concur
+c  determines a smooth approximating spline curve s(u), i.e.
+c      x1 = s1(u)
+c      x2 = s2(u)      ub = u(1) <= u <= u(m) = ue
+c      .........
+c      xidim = sidim(u)
+c  with sj(u),j=1,2,...,idim spline functions of odd degree k with
+c  common knots t(j),j=1,2,...,n.
+c  in addition these splines will satisfy the following boundary
+c  constraints        (l)
+c      if ib > 0 :  sj   (u(1)) = db(idim*l+j) ,l=0,1,...,ib-1
+c  and                (l)
+c      if ie > 0 :  sj   (u(m)) = de(idim*l+j) ,l=0,1,...,ie-1.
+c  if iopt=-1 concur calculates the weighted least-squares spline curve
+c  according to a given set of knots.
+c  if iopt>=0 the number of knots of the splines sj(u) and the position
+c  t(j),j=1,2,...,n is chosen automatically by the routine. the smooth-
+c  ness of s(u) is then achieved by minimalizing the discontinuity
+c  jumps of the k-th derivative of s(u) at the knots t(j),j=k+2,k+3,...,
+c  n-k-1. the amount of smoothness is determined by the condition that
+c  f(p)=sum((w(i)*dist(x(i),s(u(i))))**2) be <= s, with s a given non-
+c  negative constant, called the smoothing factor.
+c  the fit s(u) is given in the b-spline representation and can be
+c  evaluated by means of subroutine curev.
+c
+c  calling sequence:
+c     call concur(iopt,idim,m,u,mx,x,xx,w,ib,db,nb,ie,de,ne,k,s,nest,n,
+c    * t,nc,c,np,cp,fp,wrk,lwrk,iwrk,ier)
+c
+c  parameters:
+c   iopt  : integer flag. on entry iopt must specify whether a weighted
+c           least-squares spline curve (iopt=-1) or a smoothing spline
+c           curve (iopt=0 or 1) must be determined.if iopt=0 the routine
+c           will start with an initial set of knots t(i)=ub,t(i+k+1)=ue,
+c           i=1,2,...,k+1. if iopt=1 the routine will continue with the
+c           knots found at the last call of the routine.
+c           attention: a call with iopt=1 must always be immediately
+c           preceded by another call with iopt=1 or iopt=0.
+c           unchanged on exit.
+c   idim  : integer. on entry idim must specify the dimension of the
+c           curve. 0 < idim < 11.
+c           unchanged on exit.
+c   m     : integer. on entry m must specify the number of data points.
+c           m > k-max(ib-1,0)-max(ie-1,0). unchanged on exit.
+c   u     : real array of dimension at least (m). before entry,
+c           u(i) must be set to the i-th value of the parameter variable
+c           u for i=1,2,...,m. these values must be supplied in
+c           strictly ascending order and will be unchanged on exit.
+c   mx    : integer. on entry mx must specify the actual dimension of
+c           the arrays x and xx as declared in the calling (sub)program
+c           mx must not be too small (see x). unchanged on exit.
+c   x     : real array of dimension at least idim*m.
+c           before entry, x(idim*(i-1)+j) must contain the j-th coord-
+c           inate of the i-th data point for i=1,2,...,m and j=1,2,...,
+c           idim. unchanged on exit.
+c   xx    : real array of dimension at least idim*m.
+c           used as working space. on exit xx contains the coordinates
+c           of the data points to which a spline curve with zero deriv-
+c           ative constraints has been determined.
+c           if the computation mode iopt =1 is used xx should be left
+c           unchanged between calls.
+c   w     : real array of dimension at least (m). before entry, w(i)
+c           must be set to the i-th value in the set of weights. the
+c           w(i) must be strictly positive. unchanged on exit.
+c           see also further comments.
+c   ib    : integer. on entry ib must specify the number of derivative
+c           constraints for the curve at the begin point. 0<=ib<=(k+1)/2
+c           unchanged on exit.
+c   db    : real array of dimension nb. before entry db(idim*l+j) must
+c           contain the l-th order derivative of sj(u) at u=u(1) for
+c           j=1,2,...,idim and l=0,1,...,ib-1 (if ib>0).
+c           unchanged on exit.
+c   nb    : integer, specifying the dimension of db. nb>=max(1,idim*ib)
+c           unchanged on exit.
+c   ie    : integer. on entry ie must specify the number of derivative
+c           constraints for the curve at the end point. 0<=ie<=(k+1)/2
+c           unchanged on exit.
+c   de    : real array of dimension ne. before entry de(idim*l+j) must
+c           contain the l-th order derivative of sj(u) at u=u(m) for
+c           j=1,2,...,idim and l=0,1,...,ie-1 (if ie>0).
+c           unchanged on exit.
+c   ne    : integer, specifying the dimension of de. ne>=max(1,idim*ie)
+c           unchanged on exit.
+c   k     : integer. on entry k must specify the degree of the splines.
+c           k=1,3 or 5.
+c           unchanged on exit.
+c   s     : real.on entry (in case iopt>=0) s must specify the smoothing
+c           factor. s >=0. unchanged on exit.
+c           for advice on the choice of s see further comments.
+c   nest  : integer. on entry nest must contain an over-estimate of the
+c           total number of knots of the splines returned, to indicate
+c           the storage space available to the routine. nest >=2*k+2.
+c           in most practical situation nest=m/2 will be sufficient.
+c           always large enough is nest=m+k+1+max(0,ib-1)+max(0,ie-1),
+c           the number of knots needed for interpolation (s=0).
+c           unchanged on exit.
+c   n     : integer.
+c           unless ier = 10 (in case iopt >=0), n will contain the
+c           total number of knots of the smoothing spline curve returned
+c           if the computation mode iopt=1 is used this value of n
+c           should be left unchanged between subsequent calls.
+c           in case iopt=-1, the value of n must be specified on entry.
+c   t     : real array of dimension at least (nest).
+c           on successful exit, this array will contain the knots of the
+c           spline curve,i.e. the position of the interior knots t(k+2),
+c           t(k+3),..,t(n-k-1) as well as the position of the additional
+c           t(1)=t(2)=...=t(k+1)=ub and t(n-k)=...=t(n)=ue needed for
+c           the b-spline representation.
+c           if the computation mode iopt=1 is used, the values of t(1),
+c           t(2),...,t(n) should be left unchanged between subsequent
+c           calls. if the computation mode iopt=-1 is used, the values
+c           t(k+2),...,t(n-k-1) must be supplied by the user, before
+c           entry. see also the restrictions (ier=10).
+c   nc    : integer. on entry nc must specify the actual dimension of
+c           the array c as declared in the calling (sub)program. nc
+c           must not be too small (see c). unchanged on exit.
+c   c     : real array of dimension at least (nest*idim).
+c           on successful exit, this array will contain the coefficients
+c           in the b-spline representation of the spline curve s(u),i.e.
+c           the b-spline coefficients of the spline sj(u) will be given
+c           in c(n*(j-1)+i),i=1,2,...,n-k-1 for j=1,2,...,idim.
+c   cp    : real array of dimension at least 2*(k+1)*idim.
+c           on exit cp will contain the b-spline coefficients of a
+c           polynomial curve which satisfies the boundary constraints.
+c           if the computation mode iopt =1 is used cp should be left
+c           unchanged between calls.
+c   np    : integer. on entry np must specify the actual dimension of
+c           the array cp as declared in the calling (sub)program. np
+c           must not be too small (see cp). unchanged on exit.
+c   fp    : real. unless ier = 10, fp contains the weighted sum of
+c           squared residuals of the spline curve returned.
+c   wrk   : real array of dimension at least m*(k+1)+nest*(6+idim+3*k).
+c           used as working space. if the computation mode iopt=1 is
+c           used, the values wrk(1),...,wrk(n) should be left unchanged
+c           between subsequent calls.
+c   lwrk  : integer. on entry,lwrk must specify the actual dimension of
+c           the array wrk as declared in the calling (sub)program. lwrk
+c           must not be too small (see wrk). unchanged on exit.
+c   iwrk  : integer array of dimension at least (nest).
+c           used as working space. if the computation mode iopt=1 is
+c           used,the values iwrk(1),...,iwrk(n) should be left unchanged
+c           between subsequent calls.
+c   ier   : integer. unless the routine detects an error, ier contains a
+c           non-positive value on exit, i.e.
+c    ier=0  : normal return. the curve returned has a residual sum of
+c             squares fp such that abs(fp-s)/s <= tol with tol a relat-
+c             ive tolerance set to 0.001 by the program.
+c    ier=-1 : normal return. the curve returned is an interpolating
+c             spline curve, satisfying the constraints (fp=0).
+c    ier=-2 : normal return. the curve returned is the weighted least-
+c             squares polynomial curve of degree k, satisfying the
+c             constraints. in this extreme case fp gives the upper
+c             bound fp0 for the smoothing factor s.
+c    ier=1  : error. the required storage space exceeds the available
+c             storage space, as specified by the parameter nest.
+c             probably causes : nest too small. if nest is already
+c             large (say nest > m/2), it may also indicate that s is
+c             too small
+c             the approximation returned is the least-squares spline
+c             curve according to the knots t(1),t(2),...,t(n). (n=nest)
+c             the parameter fp gives the corresponding weighted sum of
+c             squared residuals (fp>s).
+c    ier=2  : error. a theoretically impossible result was found during
+c             the iteration process for finding a smoothing spline curve
+c             with fp = s. probably causes : s too small.
+c             there is an approximation returned but the corresponding
+c             weighted sum of squared residuals does not satisfy the
+c             condition abs(fp-s)/s < tol.
+c    ier=3  : error. the maximal number of iterations maxit (set to 20
+c             by the program) allowed for finding a smoothing curve
+c             with fp=s has been reached. probably causes : s too small
+c             there is an approximation returned but the corresponding
+c             weighted sum of squared residuals does not satisfy the
+c             condition abs(fp-s)/s < tol.
+c    ier=10 : error. on entry, the input data are controlled on validity
+c             the following restrictions must be satisfied.
+c             -1<=iopt<=1, k = 1,3 or 5, m>k-max(0,ib-1)-max(0,ie-1),
+c             nest>=2k+2, 0<idim<=10, lwrk>=(k+1)*m+nest*(6+idim+3*k),
+c             nc >=nest*idim ,u(1)<u(2)<...<u(m),w(i)>0 i=1,2,...,m,
+c             mx>=idim*m,0<=ib<=(k+1)/2,0<=ie<=(k+1)/2,nb>=1,ne>=1,
+c             nb>=ib*idim,ne>=ib*idim,np>=2*(k+1)*idim,
+c             if iopt=-1:2*k+2<=n<=min(nest,mmax) with mmax = m+k+1+
+c                        max(0,ib-1)+max(0,ie-1)
+c                        u(1)<t(k+2)<t(k+3)<...<t(n-k-1)<u(m)
+c                       the schoenberg-whitney conditions, i.e. there
+c                       must be a subset of data points uu(j) such that
+c                         t(j) < uu(j) < t(j+k+1), j=1+max(0,ib-1),...
+c                                                   ,n+k-1-max(0,ie-1)
+c             if iopt>=0: s>=0
+c                         if s=0 : nest >=mmax (see above)
+c             if one of these conditions is found to be violated,control
+c             is immediately repassed to the calling program. in that
+c             case there is no approximation returned.
+c
+c  further comments:
+c   by means of the parameter s, the user can control the tradeoff
+c   between closeness of fit and smoothness of fit of the approximation.
+c   if s is too large, the curve will be too smooth and signal will be
+c   lost ; if s is too small the curve will pick up too much noise. in
+c   the extreme cases the program will return an interpolating curve if
+c   s=0 and the least-squares polynomial curve of degree k if s is
+c   very large. between these extremes, a properly chosen s will result
+c   in a good compromise between closeness of fit and smoothness of fit.
+c   to decide whether an approximation, corresponding to a certain s is
+c   satisfactory the user is highly recommended to inspect the fits
+c   graphically.
+c   recommended values for s depend on the weights w(i). if these are
+c   taken as 1/d(i) with d(i) an estimate of the standard deviation of
+c   x(i), a good s-value should be found in the range (m-sqrt(2*m),m+
+c   sqrt(2*m)). if nothing is known about the statistical error in x(i)
+c   each w(i) can be set equal to one and s determined by trial and
+c   error, taking account of the comments above. the best is then to
+c   start with a very large value of s ( to determine the least-squares
+c   polynomial curve and the upper bound fp0 for s) and then to
+c   progressively decrease the value of s ( say by a factor 10 in the
+c   beginning, i.e. s=fp0/10, fp0/100,...and more carefully as the
+c   approximating curve shows more detail) to obtain closer fits.
+c   to economize the search for a good s-value the program provides with
+c   different modes of computation. at the first call of the routine, or
+c   whenever he wants to restart with the initial set of knots the user
+c   must set iopt=0.
+c   if iopt=1 the program will continue with the set of knots found at
+c   the last call of the routine. this will save a lot of computation
+c   time if concur is called repeatedly for different values of s.
+c   the number of knots of the spline returned and their location will
+c   depend on the value of s and on the complexity of the shape of the
+c   curve underlying the data. but, if the computation mode iopt=1 is
+c   used, the knots returned may also depend on the s-values at previous
+c   calls (if these were smaller). therefore, if after a number of
+c   trials with different s-values and iopt=1, the user can finally
+c   accept a fit as satisfactory, it may be worthwhile for him to call
+c   concur once more with the selected value for s but now with iopt=0.
+c   indeed, concur may then return an approximation of the same quality
+c   of fit but with fewer knots and therefore better if data reduction
+c   is also an important objective for the user.
+c
+c   the form of the approximating curve can strongly be affected by
+c   the choice of the parameter values u(i). if there is no physical
+c   reason for choosing a particular parameter u, often good results
+c   will be obtained with the choice
+c        v(1)=0, v(i)=v(i-1)+q(i), i=2,...,m, u(i)=v(i)/v(m), i=1,..,m
+c   where
+c        q(i)= sqrt(sum j=1,idim (xj(i)-xj(i-1))**2 )
+c   other possibilities for q(i) are
+c        q(i)= sum j=1,idim (xj(i)-xj(i-1))**2
+c        q(i)= sum j=1,idim abs(xj(i)-xj(i-1))
+c        q(i)= max j=1,idim abs(xj(i)-xj(i-1))
+c        q(i)= 1
+c
+c  other subroutines required:
+c    fpback,fpbspl,fpched,fpcons,fpdisc,fpgivs,fpknot,fprati,fprota
+c    curev,fppocu,fpadpo,fpinst
+c
+c  references:
+c   dierckx p. : algorithms for smoothing data with periodic and
+c                parametric splines, computer graphics and image
+c                processing 20 (1982) 171-184.
+c   dierckx p. : algorithms for smoothing data with periodic and param-
+c                etric splines, report tw55, dept. computer science,
+c                k.u.leuven, 1981.
+c   dierckx p. : curve and surface fitting with splines, monographs on
+c                numerical analysis, oxford university press, 1993.
+c
+c  author:
+c    p.dierckx
+c    dept. computer science, k.u. leuven
+c    celestijnenlaan 200a, b-3001 heverlee, belgium.
+c    e-mail : Paul.Dierckx@cs.kuleuven.ac.be
+c
+c  creation date : may 1979
+c  latest update : march 1987
+c
+c  ..
+c  ..scalar arguments..
+      real*8 s,fp
+      integer iopt,idim,m,mx,ib,nb,ie,ne,k,nest,n,nc,np,lwrk,ier
+c  ..array arguments..
+      real*8 u(m),x(mx),xx(mx),db(nb),de(ne),w(m),t(nest),c(nc),wrk(lwrk
+     *)
+      real*8 cp(np)
+      integer iwrk(nest)
+c  ..local scalars..
+      real*8 tol
+      integer i,ib1,ie1,ja,jb,jfp,jg,jq,jz,j,k1,k2,lwest,maxit,nmin,
+     * ncc,kk,mmin,nmax,mxx
+c ..function references
+      integer max0
+c  ..
+c  we set up the parameters tol and maxit
+      maxit = 20
+      tol = 0.1e-02
+c  before starting computations a data check is made. if the input data
+c  are invalid, control is immediately repassed to the calling program.
+      ier = 10
+      if(iopt.lt.(-1) .or. iopt.gt.1) go to 90
+      if(idim.le.0 .or. idim.gt.10) go to 90
+      if(k.le.0 .or. k.gt.5) go to 90
+      k1 = k+1
+      kk = k1/2
+      if(kk*2.ne.k1) go to 90
+      k2 = k1+1
+      if(ib.lt.0 .or. ib.gt.kk) go to 90
+      if(ie.lt.0 .or. ie.gt.kk) go to 90
+      nmin = 2*k1
+      ib1 = max0(0,ib-1)
+      ie1 = max0(0,ie-1)
+      mmin = k1-ib1-ie1
+      if(m.lt.mmin .or. nest.lt.nmin) go to 90
+      if(nb.lt.(idim*ib) .or. ne.lt.(idim*ie)) go to 90
+      if(np.lt.(2*k1*idim)) go to 90
+      mxx = m*idim
+      ncc = nest*idim
+      if(mx.lt.mxx .or. nc.lt.ncc) go to 90
+      lwest = m*k1+nest*(6+idim+3*k)
+      if(lwrk.lt.lwest) go to 90
+      if(w(1).le.0.) go to 90
+      do 10 i=2,m
+         if(u(i-1).ge.u(i) .or. w(i).le.0.) go to 90
+  10  continue
+      if(iopt.ge.0) go to 30
+      if(n.lt.nmin .or. n.gt.nest) go to 90
+      j = n
+      do 20 i=1,k1
+         t(i) = u(1)
+         t(j) = u(m)
+         j = j-1
+  20  continue
+      call fpched(u,m,t,n,k,ib,ie,ier)
+      if (ier.eq.0) go to 40
+      go to 90
+  30  if(s.lt.0.) go to 90
+      nmax = m+k1+ib1+ie1
+      if(s.eq.0. .and. nest.lt.nmax) go to 90
+      ier = 0
+      if(iopt.gt.0) go to 70
+c  we determine a polynomial curve satisfying the boundary constraints.
+  40  call fppocu(idim,k,u(1),u(m),ib,db,nb,ie,de,ne,cp,np)
+c  we generate new data points which will be approximated by a spline
+c  with zero derivative constraints.
+      j = nmin
+      do 50 i=1,k1
+        wrk(i) = u(1)
+        wrk(j) = u(m)
+        j = j-1
+  50  continue
+c  evaluate the polynomial curve
+      call curev(idim,wrk,nmin,cp,np,k,u,m,xx,mxx,ier)
+c  subtract from the old data, the values of the polynomial curve
+      do 60 i=1,mxx
+        xx(i) = x(i)-xx(i)
+  60  continue
+c we partition the working space and determine the spline curve.
+  70  jfp = 1
+      jz = jfp+nest
+      ja = jz+ncc
+      jb = ja+nest*k1
+      jg = jb+nest*k2
+      jq = jg+nest*k2
+      call fpcons(iopt,idim,m,u,mxx,xx,w,ib,ie,k,s,nest,tol,maxit,k1,
+     * k2,n,t,ncc,c,fp,wrk(jfp),wrk(jz),wrk(ja),wrk(jb),wrk(jg),wrk(jq),
+     *
+     * iwrk,ier)
+c  add the polynomial curve to the calculated spline.
+      call fpadpo(idim,t,n,c,ncc,k,cp,np,wrk(jz),wrk(ja),wrk(jb))
+  90  return
+      end
--- a/mcc/bsplines/cualde.f
+++ b/mcc/bsplines/cualde.f
@@ -0,0 +1,92 @@
+      recursive subroutine cualde(idim,t,n,c,nc,k1,u,d,nd,ier)
+      implicit none
+c  subroutine cualde evaluates at the point u all the derivatives
+c                     (l)
+c     d(idim*l+j) = sj   (u) ,l=0,1,...,k, j=1,2,...,idim
+c  of a spline curve s(u) of order k1 (degree k=k1-1) and dimension idim
+c  given in its b-spline representation.
+c
+c  calling sequence:
+c     call cualde(idim,t,n,c,nc,k1,u,d,nd,ier)
+c
+c  input parameters:
+c    idim : integer, giving the dimension of the spline curve.
+c    t    : array,length n, which contains the position of the knots.
+c    n    : integer, giving the total number of knots of s(u).
+c    c    : array,length nc, which contains the b-spline coefficients.
+c    nc   : integer, giving the total number of coefficients of s(u).
+c    k1   : integer, giving the order of s(u) (order=degree+1).
+c    u    : real, which contains the point where the derivatives must
+c           be evaluated.
+c    nd   : integer, giving the dimension of the array d. nd >= k1*idim
+c
+c  output parameters:
+c    d    : array,length nd,giving the different curve derivatives.
+c           d(idim*l+j) will contain the j-th coordinate of the l-th
+c           derivative of the curve at the point u.
+c    ier  : error flag
+c      ier = 0 : normal return
+c      ier =10 : invalid input data (see restrictions)
+c
+c  restrictions:
+c    nd >= k1*idim
+c    t(k1) <= u <= t(n-k1+1)
+c
+c  further comments:
+c    if u coincides with a knot, right derivatives are computed
+c    ( left derivatives if u = t(n-k1+1) ).
+c
+c  other subroutines required: fpader.
+c
+c  references :
+c    de boor c : on calculating with b-splines, j. approximation theory
+c                6 (1972) 50-62.
+c    cox m.g.  : the numerical evaluation of b-splines, j. inst. maths
+c                applics 10 (1972) 134-149.
+c    dierckx p. : curve and surface fitting with splines, monographs on
+c                 numerical analysis, oxford university press, 1993.
+c
+c  author :
+c    p.dierckx
+c    dept. computer science, k.u.leuven
+c    celestijnenlaan 200a, b-3001 heverlee, belgium.
+c    e-mail : Paul.Dierckx@cs.kuleuven.ac.be
+c
+c  latest update : march 1987
+c
+c  ..scalar arguments..
+      integer idim,n,nc,k1,nd,ier
+      real*8 u
+c  ..array arguments..
+      real*8 t(n),c(nc),d(nd)
+c  ..local scalars..
+      integer i,j,kk,l,m,nk1
+c  ..local array..
+      real*8 h(6)
+c  ..
+c  before starting computations a data check is made. if the input data
+c  are invalid control is immediately repassed to the calling program.
+      ier = 10
+      if(nd.lt.(k1*idim)) go to 500
+      nk1 = n-k1
+      if(u.lt.t(k1) .or. u.gt.t(nk1+1)) go to 500
+c  search for knot interval t(l) <= u < t(l+1)
+      l = k1
+ 100  if(u.lt.t(l+1) .or. l.eq.nk1) go to 200
+      l = l+1
+      go to 100
+ 200  if(t(l).ge.t(l+1)) go to 500
+      ier = 0
+c  calculate the derivatives.
+      j = 1
+      do 400 i=1,idim
+        call fpader(t,n,c(j),k1,u,l,h)
+        m = i
+        do 300 kk=1,k1
+          d(m) = h(kk)
+          m = m+idim
+ 300    continue
+        j = j+n
+ 400  continue
+ 500  return
+      end
--- a/mcc/bsplines/curev.f
+++ b/mcc/bsplines/curev.f
@@ -0,0 +1,111 @@
+      recursive subroutine curev(idim,t,n,c,nc,k,u,m,x,mx,ier)
+      implicit none
+c  subroutine curev evaluates in a number of points u(i),i=1,2,...,m
+c  a spline curve s(u) of degree k and dimension idim, given in its
+c  b-spline representation.
+c
+c  calling sequence:
+c     call curev(idim,t,n,c,nc,k,u,m,x,mx,ier)
+c
+c  input parameters:
+c    idim : integer, giving the dimension of the spline curve.
+c    t    : array,length n, which contains the position of the knots.
+c    n    : integer, giving the total number of knots of s(u).
+c    c    : array,length nc, which contains the b-spline coefficients.
+c    nc   : integer, giving the total number of coefficients of s(u).
+c    k    : integer, giving the degree of s(u).
+c    u    : array,length m, which contains the points where s(u) must
+c           be evaluated.
+c    m    : integer, giving the number of points where s(u) must be
+c           evaluated.
+c    mx   : integer, giving the dimension of the array x. mx >= m*idim
+c
+c  output parameters:
+c    x    : array,length mx,giving the value of s(u) at the different
+c           points. x(idim*(i-1)+j) will contain the j-th coordinate
+c           of the i-th point on the curve.
+c    ier  : error flag
+c      ier = 0 : normal return
+c      ier =10 : invalid input data (see restrictions)
+c
+c  restrictions:
+c    m >= 1
+c    mx >= m*idim
+c    t(k+1) <= u(i) <= u(i+1) <= t(n-k) , i=1,2,...,m-1.
+c
+c  other subroutines required: fpbspl.
+c
+c  references :
+c    de boor c : on calculating with b-splines, j. approximation theory
+c                6 (1972) 50-62.
+c    cox m.g.  : the numerical evaluation of b-splines, j. inst. maths
+c                applics 10 (1972) 134-149.
+c    dierckx p. : curve and surface fitting with splines, monographs on
+c                 numerical analysis, oxford university press, 1993.
+c
+c  author :
+c    p.dierckx
+c    dept. computer science, k.u.leuven
+c    celestijnenlaan 200a, b-3001 heverlee, belgium.
+c    e-mail : Paul.Dierckx@cs.kuleuven.ac.be
+c
+c  latest update : march 1987
+c
+c  ..scalar arguments..
+      integer idim,n,nc,k,m,mx,ier
+c  ..array arguments..
+      real*8 t(n),c(nc),u(m),x(mx)
+c  ..local scalars..
+      integer i,j,jj,j1,k1,l,ll,l1,mm,nk1
+      real*8 arg,sp,tb,te
+c  ..local array..
+      real*8 h(6)
+c  ..
+c  before starting computations a data check is made. if the input data
+c  are invalid control is immediately repassed to the calling program.
+      ier = 10
+      if (m.lt.1) go to 100
+      if (m.eq.1) go to 30
+      go to 10
+  10  do 20 i=2,m
+        if(u(i).lt.u(i-1)) go to 100
+  20  continue
+  30  if(mx.lt.(m*idim)) go to 100
+      ier = 0
+c  fetch tb and te, the boundaries of the approximation interval.
+      k1 = k+1
+      nk1 = n-k1
+      tb = t(k1)
+      te = t(nk1+1)
+      l = k1
+      l1 = l+1
+c  main loop for the different points.
+      mm = 0
+      do 80 i=1,m
+c  fetch a new u-value arg.
+        arg = u(i)
+        if(arg.lt.tb) arg = tb
+        if(arg.gt.te) arg = te
+c  search for knot interval t(l) <= arg < t(l+1)
+  40    if(arg.lt.t(l1) .or. l.eq.nk1) go to 50
+        l = l1
+        l1 = l+1
+        go to 40
+c  evaluate the non-zero b-splines at arg.
+  50    call fpbspl(t,n,k,arg,l,h)
+c  find the value of s(u) at u=arg.
+        ll = l-k1
+        do 70 j1=1,idim
+          jj = ll
+          sp = 0.
+          do 60 j=1,k1
+            jj = jj+1
+            sp = sp+c(jj)*h(j)
+  60      continue
+          mm = mm+1
+          x(mm) = sp
+          ll = ll+n
+  70    continue
+  80  continue
+ 100  return
+      end
--- a/mcc/bsplines/curfit.f
+++ b/mcc/bsplines/curfit.f
@@ -0,0 +1,261 @@
+      recursive subroutine curfit(iopt,m,x,y,w,xb,xe,k,s,nest,n,
+     *   t,c,fp,wrk,lwrk,iwrk,ier)
+      implicit none
+c  given the set of data points (x(i),y(i)) and the set of positive
+c  numbers w(i),i=1,2,...,m,subroutine curfit determines a smooth spline
+c  approximation of degree k on the interval xb <= x <= xe.
+c  if iopt=-1 curfit calculates the weighted least-squares spline
+c  according to a given set of knots.
+c  if iopt>=0 the number of knots of the spline s(x) and the position
+c  t(j),j=1,2,...,n is chosen automatically by the routine. the smooth-
+c  ness of s(x) is then achieved by minimalizing the discontinuity
+c  jumps of the k-th derivative of s(x) at the knots t(j),j=k+2,k+3,...,
+c  n-k-1. the amount of smoothness is determined by the condition that
+c  f(p)=sum((w(i)*(y(i)-s(x(i))))**2) be <= s, with s a given non-
+c  negative constant, called the smoothing factor.
+c  the fit s(x) is given in the b-spline representation (b-spline coef-
+c  ficients c(j),j=1,2,...,n-k-1) and can be evaluated by means of
+c  subroutine splev.
+c
+c  calling sequence:
+c     call curfit(iopt,m,x,y,w,xb,xe,k,s,nest,n,t,c,fp,wrk,
+c    * lwrk,iwrk,ier)
+c
+c  parameters:
+c   iopt  : integer flag. on entry iopt must specify whether a weighted
+c           least-squares spline (iopt=-1) or a smoothing spline (iopt=
+c           0 or 1) must be determined. if iopt=0 the routine will start
+c           with an initial set of knots t(i)=xb, t(i+k+1)=xe, i=1,2,...
+c           k+1. if iopt=1 the routine will continue with the knots
+c           found at the last call of the routine.
+c           attention: a call with iopt=1 must always be immediately
+c           preceded by another call with iopt=1 or iopt=0.
+c           unchanged on exit.
+c   m     : integer. on entry m must specify the number of data points.
+c           m > k. unchanged on exit.
+c   x     : real array of dimension at least (m). before entry, x(i)
+c           must be set to the i-th value of the independent variable x,
+c           for i=1,2,...,m. these values must be supplied in strictly
+c           ascending order. unchanged on exit.
+c   y     : real array of dimension at least (m). before entry, y(i)
+c           must be set to the i-th value of the dependent variable y,
+c           for i=1,2,...,m. unchanged on exit.
+c   w     : real array of dimension at least (m). before entry, w(i)
+c           must be set to the i-th value in the set of weights. the
+c           w(i) must be strictly positive. unchanged on exit.
+c           see also further comments.
+c   xb,xe : real values. on entry xb and xe must specify the boundaries
+c           of the approximation interval. xb<=x(1), xe>=x(m).
+c           unchanged on exit.
+c   k     : integer. on entry k must specify the degree of the spline.
+c           1<=k<=5. it is recommended to use cubic splines (k=3).
+c           the user is strongly dissuaded from choosing k even,together
+c           with a small s-value. unchanged on exit.
+c   s     : real.on entry (in case iopt>=0) s must specify the smoothing
+c           factor. s >=0. unchanged on exit.
+c           for advice on the choice of s see further comments.
+c   nest  : integer. on entry nest must contain an over-estimate of the
+c           total number of knots of the spline returned, to indicate
+c           the storage space available to the routine. nest >=2*k+2.
+c           in most practical situation nest=m/2 will be sufficient.
+c           always large enough is  nest=m+k+1, the number of knots
+c           needed for interpolation (s=0). unchanged on exit.
+c   n     : integer.
+c           unless ier =10 (in case iopt >=0), n will contain the
+c           total number of knots of the spline approximation returned.
+c           if the computation mode iopt=1 is used this value of n
+c           should be left unchanged between subsequent calls.
+c           in case iopt=-1, the value of n must be specified on entry.
+c   t     : real array of dimension at least (nest).
+c           on successful exit, this array will contain the knots of the
+c           spline,i.e. the position of the interior knots t(k+2),t(k+3)
+c           ...,t(n-k-1) as well as the position of the additional knots
+c           t(1)=t(2)=...=t(k+1)=xb and t(n-k)=...=t(n)=xe needed for
+c           the b-spline representation.
+c           if the computation mode iopt=1 is used, the values of t(1),
+c           t(2),...,t(n) should be left unchanged between subsequent
+c           calls. if the computation mode iopt=-1 is used, the values
+c           t(k+2),...,t(n-k-1) must be supplied by the user, before
+c           entry. see also the restrictions (ier=10).
+c   c     : real array of dimension at least (nest).
+c           on successful exit, this array will contain the coefficients
+c           c(1),c(2),..,c(n-k-1) in the b-spline representation of s(x)
+c   fp    : real. unless ier=10, fp contains the weighted sum of
+c           squared residuals of the spline approximation returned.
+c   wrk   : real array of dimension at least (m*(k+1)+nest*(7+3*k)).
+c           used as working space. if the computation mode iopt=1 is
+c           used, the values wrk(1),...,wrk(n) should be left unchanged
+c           between subsequent calls.
+c   lwrk  : integer. on entry,lwrk must specify the actual dimension of
+c           the array wrk as declared in the calling (sub)program.lwrk
+c           must not be too small (see wrk). unchanged on exit.
+c   iwrk  : integer array of dimension at least (nest).
+c           used as working space. if the computation mode iopt=1 is
+c           used,the values iwrk(1),...,iwrk(n) should be left unchanged
+c           between subsequent calls.
+c   ier   : integer. unless the routine detects an error, ier contains a
+c           non-positive value on exit, i.e.
+c    ier=0  : normal return. the spline returned has a residual sum of
+c             squares fp such that abs(fp-s)/s <= tol with tol a relat-
+c             ive tolerance set to 0.001 by the program.
+c    ier=-1 : normal return. the spline returned is an interpolating
+c             spline (fp=0).
+c    ier=-2 : normal return. the spline returned is the weighted least-
+c             squares polynomial of degree k. in this extreme case fp
+c             gives the upper bound fp0 for the smoothing factor s.
+c    ier=1  : error. the required storage space exceeds the available
+c             storage space, as specified by the parameter nest.
+c             probably causes : nest too small. if nest is already
+c             large (say nest > m/2), it may also indicate that s is
+c             too small
+c             the approximation returned is the weighted least-squares
+c             spline according to the knots t(1),t(2),...,t(n). (n=nest)
+c             the parameter fp gives the corresponding weighted sum of
+c             squared residuals (fp>s).
+c    ier=2  : error. a theoretically impossible result was found during
+c             the iteration process for finding a smoothing spline with
+c             fp = s. probably causes : s too small.
+c             there is an approximation returned but the corresponding
+c             weighted sum of squared residuals does not satisfy the
+c             condition abs(fp-s)/s < tol.
+c    ier=3  : error. the maximal number of iterations maxit (set to 20
+c             by the program) allowed for finding a smoothing spline
+c             with fp=s has been reached. probably causes : s too small
+c             there is an approximation returned but the corresponding
+c             weighted sum of squared residuals does not satisfy the
+c             condition abs(fp-s)/s < tol.
+c    ier=10 : error. on entry, the input data are controlled on validity
+c             the following restrictions must be satisfied.
+c             -1<=iopt<=1, 1<=k<=5, m>k, nest>2*k+2, w(i)>0,i=1,2,...,m
+c             xb<=x(1)<x(2)<...<x(m)<=xe, lwrk>=(k+1)*m+nest*(7+3*k)
+c             if iopt=-1: 2*k+2<=n<=min(nest,m+k+1)
+c                         xb<t(k+2)<t(k+3)<...<t(n-k-1)<xe
+c                       the schoenberg-whitney conditions, i.e. there
+c                       must be a subset of data points xx(j) such that
+c                         t(j) < xx(j) < t(j+k+1), j=1,2,...,n-k-1
+c             if iopt>=0: s>=0
+c                         if s=0 : nest >= m+k+1
+c             if one of these conditions is found to be violated,control
+c             is immediately repassed to the calling program. in that
+c             case there is no approximation returned.
+c
+c  further comments:
+c   by means of the parameter s, the user can control the tradeoff
+c   between closeness of fit and smoothness of fit of the approximation.
+c   if s is too large, the spline will be too smooth and signal will be
+c   lost ; if s is too small the spline will pick up too much noise. in
+c   the extreme cases the program will return an interpolating spline if
+c   s=0 and the weighted least-squares polynomial of degree k if s is
+c   very large. between these extremes, a properly chosen s will result
+c   in a good compromise between closeness of fit and smoothness of fit.
+c   to decide whether an approximation, corresponding to a certain s is
+c   satisfactory the user is highly recommended to inspect the fits
+c   graphically.
+c   recommended values for s depend on the weights w(i). if these are
+c   taken as 1/d(i) with d(i) an estimate of the standard deviation of
+c   y(i), a good s-value should be found in the range (m-sqrt(2*m),m+
+c   sqrt(2*m)). if nothing is known about the statistical error in y(i)
+c   each w(i) can be set equal to one and s determined by trial and
+c   error, taking account of the comments above. the best is then to
+c   start with a very large value of s ( to determine the least-squares
+c   polynomial and the corresponding upper bound fp0 for s) and then to
+c   progressively decrease the value of s ( say by a factor 10 in the
+c   beginning, i.e. s=fp0/10, fp0/100,...and more carefully as the
+c   approximation shows more detail) to obtain closer fits.
+c   to economize the search for a good s-value the program provides with
+c   different modes of computation. at the first call of the routine, or
+c   whenever he wants to restart with the initial set of knots the user
+c   must set iopt=0.
+c   if iopt=1 the program will continue with the set of knots found at
+c   the last call of the routine. this will save a lot of computation
+c   time if curfit is called repeatedly for different values of s.
+c   the number of knots of the spline returned and their location will
+c   depend on the value of s and on the complexity of the shape of the
+c   function underlying the data. but, if the computation mode iopt=1
+c   is used, the knots returned may also depend on the s-values at
+c   previous calls (if these were smaller). therefore, if after a number
+c   of trials with different s-values and iopt=1, the user can finally
+c   accept a fit as satisfactory, it may be worthwhile for him to call
+c   curfit once more with the selected value for s but now with iopt=0.
+c   indeed, curfit may then return an approximation of the same quality
+c   of fit but with fewer knots and therefore better if data reduction
+c   is also an important objective for the user.
+c
+c  other subroutines required:
+c    fpback,fpbspl,fpchec,fpcurf,fpdisc,fpgivs,fpknot,fprati,fprota
+c
+c  references:
+c   dierckx p. : an algorithm for smoothing, differentiation and integ-
+c                ration of experimental data using spline functions,
+c                j.comp.appl.maths 1 (1975) 165-184.
+c   dierckx p. : a fast algorithm for smoothing data on a rectangular
+c                grid while using spline functions, siam j.numer.anal.
+c                19 (1982) 1286-1304.
+c   dierckx p. : an improved algorithm for curve fitting with spline
+c                functions, report tw54, dept. computer science,k.u.
+c                leuven, 1981.
+c   dierckx p. : curve and surface fitting with splines, monographs on
+c                numerical analysis, oxford university press, 1993.
+c
+c  author:
+c    p.dierckx
+c    dept. computer science, k.u. leuven
+c    celestijnenlaan 200a, b-3001 heverlee, belgium.
+c    e-mail : Paul.Dierckx@cs.kuleuven.ac.be
+c
+c  creation date : may 1979
+c  latest update : march 1987
+c
+c  ..
+c  ..scalar arguments..
+      real*8 xb,xe,s,fp
+      integer iopt,m,k,nest,n,lwrk,ier
+c  ..array arguments..
+      real*8 x(m),y(m),w(m),t(nest),c(nest),wrk(lwrk)
+      integer iwrk(nest)
+c  ..local scalars..
+      real*8 tol
+      integer i,ia,ib,ifp,ig,iq,iz,j,k1,k2,lwest,maxit,nmin
+c  ..
+c  we set up the parameters tol and maxit
+      maxit = 20
+      tol = 0.1d-02
+c  before starting computations a data check is made. if the input data
+c  are invalid, control is immediately repassed to the calling program.
+      ier = 10
+      if(k.le.0 .or. k.gt.5) go to 50
+      k1 = k+1
+      k2 = k1+1
+      if(iopt.lt.(-1) .or. iopt.gt.1) go to 50
+      nmin = 2*k1
+      if(m.lt.k1 .or. nest.lt.nmin) go to 50
+      lwest = m*k1+nest*(7+3*k)
+      if(lwrk.lt.lwest) go to 50
+      if(xb.gt.x(1) .or. xe.lt.x(m)) go to 50
+      do 10 i=2,m
+         if(x(i-1).gt.x(i)) go to 50
+  10  continue
+      if(iopt.ge.0) go to 30
+      if(n.lt.nmin .or. n.gt.nest) go to 50
+      j = n
+      do 20 i=1,k1
+         t(i) = xb
+         t(j) = xe
+         j = j-1
+  20  continue
+      call fpchec(x,m,t,n,k,ier)
+      if (ier.eq.0) go to 40
+      go to 50
+  30  if(s.lt.0.) go to 50
+      if(s.eq.0. .and. nest.lt.(m+k1)) go to 50
+c we partition the working space and determine the spline approximation.
+  40  ifp = 1
+      iz = ifp+nest
+      ia = iz+nest
+      ib = ia+nest*k1
+      ig = ib+nest*k2
+      iq = ig+nest*k2
+      call fpcurf(iopt,x,y,w,m,xb,xe,k,s,nest,tol,maxit,k1,k2,n,t,c,fp,
+     * wrk(ifp),wrk(iz),wrk(ia),wrk(ib),wrk(ig),wrk(iq),iwrk,ier)
+  50  return
+      end
--- a/mcc/bsplines/dblint.f
+++ b/mcc/bsplines/dblint.f
@@ -0,0 +1,91 @@
+      recursive function dblint(tx,nx,ty,ny,c,kx,ky,xb,xe,yb,
+     *    ye,wrk) result(dblint_res)
+      implicit none
+      real*8 :: dblint_res
+c  function dblint calculates the double integral
+c         / xe  / ye
+c        |     |      s(x,y) dx dy
+c    xb /  yb /
+c  with s(x,y) a bivariate spline of degrees kx and ky, given in the
+c  b-spline representation.
+c
+c  calling sequence:
+c     aint = dblint(tx,nx,ty,ny,c,kx,ky,xb,xe,yb,ye,wrk)
+c
+c  input parameters:
+c   tx    : real array, length nx, which contains the position of the
+c           knots in the x-direction.
+c   nx    : integer, giving the total number of knots in the x-direction
+c   ty    : real array, length ny, which contains the position of the
+c           knots in the y-direction.
+c   ny    : integer, giving the total number of knots in the y-direction
+c   c     : real array, length (nx-kx-1)*(ny-ky-1), which contains the
+c           b-spline coefficients.
+c   kx,ky : integer values, giving the degrees of the spline.
+c   xb,xe : real values, containing the boundaries of the integration
+c   yb,ye   domain. s(x,y) is considered to be identically zero out-
+c           side the rectangle (tx(kx+1),tx(nx-kx))*(ty(ky+1),ty(ny-ky))
+c
+c  output parameters:
+c   aint  : real , containing the double integral of s(x,y).
+c   wrk   : real array of dimension at least (nx+ny-kx-ky-2).
+c           used as working space.
+c           on exit, wrk(i) will contain the integral
+c                / xe
+c               | ni,kx+1(x) dx , i=1,2,...,nx-kx-1
+c           xb /
+c           with ni,kx+1(x) the normalized b-spline defined on
+c           the knots tx(i),...,tx(i+kx+1)
+c           wrk(j+nx-kx-1) will contain the integral
+c                / ye
+c               | nj,ky+1(y) dy , j=1,2,...,ny-ky-1
+c           yb /
+c           with nj,ky+1(y) the normalized b-spline defined on
+c           the knots ty(j),...,ty(j+ky+1)
+c
+c  other subroutines required: fpintb
+c
+c  references :
+c    gaffney p.w. : the calculation of indefinite integrals of b-splines
+c                   j. inst. maths applics 17 (1976) 37-41.
+c    dierckx p. : curve and surface fitting with splines, monographs on
+c                 numerical analysis, oxford university press, 1993.
+c
+c  author :
+c    p.dierckx
+c    dept. computer science, k.u.leuven
+c    celestijnenlaan 200a, b-3001 heverlee, belgium.
+c    e-mail : Paul.Dierckx@cs.kuleuven.ac.be
+c
+c  latest update : march 1989
+c
+c  ..scalar arguments..
+      integer nx,ny,kx,ky
+      real*8 xb,xe,yb,ye
+c  ..array arguments..
+      real*8 tx(nx),ty(ny),c((nx-kx-1)*(ny-ky-1)),wrk(nx+ny-kx-ky-2)
+c  ..local scalars..
+      integer i,j,l,m,nkx1,nky1
+      real*8 res
+c  ..
+      nkx1 = nx-kx-1
+      nky1 = ny-ky-1
+c  we calculate the integrals of the normalized b-splines ni,kx+1(x)
+      call fpintb(tx,nx,wrk,nkx1,xb,xe)
+c  we calculate the integrals of the normalized b-splines nj,ky+1(y)
+      call fpintb(ty,ny,wrk(nkx1+1),nky1,yb,ye)
+c  calculate the integral of s(x,y)
+      dblint_res = 0.
+      do 200 i=1,nkx1
+        res = wrk(i)
+        if(res.eq.0.) go to 200
+        m = (i-1)*nky1
+        l = nkx1
+        do 100 j=1,nky1
+          m = m+1
+          l = l+1
+          dblint_res = dblint_res + res*wrk(l)*c(m)
+ 100    continue
+ 200  continue
+      return
+      end
--- a/mcc/bsplines/evapol.f
+++ b/mcc/bsplines/evapol.f
@@ -0,0 +1,84 @@
+      recursive function evapol(tu,nu,tv,nv,c,rad,x,y) result(e_res)
+      implicit none
+      real*8 :: e_res
+c  function program evacir evaluates the function f(x,y) = s(u,v),
+c  defined through the transformation
+c      x = u*rad(v)*cos(v)    y = u*rad(v)*sin(v)
+c  and where s(u,v) is a bicubic spline ( 0<=u<=1 , -pi<=v<=pi ), given
+c  in its standard b-spline representation.
+c
+c  calling sequence:
+c     f = evapol(tu,nu,tv,nv,c,rad,x,y)
+c
+c  input parameters:
+c   tu    : real array, length nu, which contains the position of the
+c           knots in the u-direction.
+c   nu    : integer, giving the total number of knots in the u-direction
+c   tv    : real array, length nv, which contains the position of the
+c           knots in the v-direction.
+c   nv    : integer, giving the total number of knots in the v-direction
+c   c     : real array, length (nu-4)*(nv-4), which contains the
+c           b-spline coefficients.
+c   rad   : real function subprogram, defining the boundary of the
+c           approximation domain. must be declared external in the
+c           calling (sub)-program
+c   x,y   : real values.
+c           before entry x and y must be set to the co-ordinates of
+c           the point where f(x,y) must be evaluated.
+c
+c  output parameter:
+c   f     : real
+c           on exit f contains the value of f(x,y)
+c
+c  other subroutines required:
+c    bispev,fpbisp,fpbspl
+c
+c  references :
+c    de boor c : on calculating with b-splines, j. approximation theory
+c                6 (1972) 50-62.
+c    cox m.g.  : the numerical evaluation of b-splines, j. inst. maths
+c                applics 10 (1972) 134-149.
+c    dierckx p. : curve and surface fitting with splines, monographs on
+c                 numerical analysis, oxford university press, 1993.
+c
+c  author :
+c    p.dierckx
+c    dept. computer science, k.u.leuven
+c    celestijnenlaan 200a, b-3001 heverlee, belgium.
+c    e-mail : Paul.Dierckx@cs.kuleuven.ac.be
+c
+c  latest update : march 1989
+c
+c  ..scalar arguments..
+      integer nu,nv
+      real*8 x,y
+c  ..array arguments..
+      real*8 tu(nu),tv(nv),c((nu-4)*(nv-4))
+c  ..user specified function
+      real*8 rad
+c  ..local scalars..
+      integer ier
+      real*8 u,v,r,f,one,dist
+c  ..local arrays
+      real*8 wrk(8)
+      integer iwrk(2)
+c  ..function references
+      real*8 atan2,sqrt
+c  ..
+c  calculate the (u,v)-coordinates of the given point.
+      one = 1
+      u = 0.
+      v = 0.
+      dist = x**2+y**2
+      if(dist.le.0.) go to 10
+      v = atan2(y,x)
+      r = rad(v)
+      if(r.le.0.) go to 10
+      u = sqrt(dist)/r
+      if(u.gt.one) u = one
+c  evaluate s(u,v)
+  10  call bispev(tu,nu,tv,nv,c,3,3,u,1,v,1,f,wrk,8,iwrk,2,ier)
+      e_res = f
+      return
+      end
+
--- a/mcc/bsplines/fourco.f
+++ b/mcc/bsplines/fourco.f
@@ -0,0 +1,97 @@
+      recursive subroutine fourco(t,n,c,alfa,m,ress,resc,wrk1,wrk2,ier)
+      implicit none
+c  subroutine fourco calculates the integrals
+c                    /t(n-3)
+c    ress(i) =      !        s(x)*sin(alfa(i)*x) dx    and
+c              t(4)/
+c                    /t(n-3)
+c    resc(i) =      !        s(x)*cos(alfa(i)*x) dx, i=1,...,m,
+c              t(4)/
+c  where s(x) denotes a cubic spline which is given in its
+c  b-spline representation.
+c
+c  calling sequence:
+c     call fourco(t,n,c,alfa,m,ress,resc,wrk1,wrk2,ier)
+c
+c  input parameters:
+c    t    : real array,length n, containing the knots of s(x).
+c    n    : integer, containing the total number of knots. n>=10.
+c    c    : real array,length n, containing the b-spline coefficients.
+c    alfa : real array,length m, containing the parameters alfa(i).
+c    m    : integer, specifying the number of integrals to be computed.
+c    wrk1 : real array,length n. used as working space
+c    wrk2 : real array,length n. used as working space
+c
+c  output parameters:
+c    ress : real array,length m, containing the integrals ress(i).
+c    resc : real array,length m, containing the integrals resc(i).
+c    ier  : error flag:
+c      ier=0 : normal return.
+c      ier=10: invalid input data (see restrictions).
+c
+c  restrictions:
+c    n >= 10
+c    t(4) < t(5) < ... < t(n-4) < t(n-3).
+c    t(1) <= t(2) <= t(3) <= t(4).
+c    t(n-3) <= t(n-2) <= t(n-1) <= t(n).
+c
+c  other subroutines required: fpbfou,fpcsin
+c
+c  references :
+c    dierckx p. : calculation of fouriercoefficients of discrete
+c                 functions using cubic splines. j. computational
+c                 and applied mathematics 3 (1977) 207-209.
+c    dierckx p. : curve and surface fitting with splines, monographs on
+c                 numerical analysis, oxford university press, 1993.
+c
+c  author :
+c    p.dierckx
+c    dept. computer science, k.u.leuven
+c    celestijnenlaan 200a, b-3001 heverlee, belgium.
+c    e-mail : Paul.Dierckx@cs.kuleuven.ac.be
+c
+c  latest update : march 1987
+c
+c  ..scalar arguments..
+      integer n,m,ier
+c  ..array arguments..
+      real*8 t(n),c(n),wrk1(n),wrk2(n),alfa(m),ress(m),resc(m)
+c  ..local scalars..
+      integer i,j,n4
+      real*8 rs,rc
+c  ..
+      n4 = n-4
+c  before starting computations a data check is made. in the input data
+c  are invalid, control is immediately repassed to the calling program.
+      ier = 10
+      if(n.lt.10) go to 50
+      j = n
+      do 10 i=1,3
+        if(t(i).gt.t(i+1)) go to 50
+        if(t(j).lt.t(j-1)) go to 50
+        j = j-1
+  10  continue
+      do 20 i=4,n4
+        if(t(i).ge.t(i+1)) go to 50
+  20  continue
+      ier = 0
+c  main loop for the different alfa(i).
+      do 40 i=1,m
+c  calculate the integrals
+c    wrk1(j) = integral(nj,4(x)*sin(alfa*x))    and
+c    wrk2(j) = integral(nj,4(x)*cos(alfa*x)),  j=1,2,...,n-4,
+c  where nj,4(x) denotes the normalised cubic b-spline defined on the
+c  knots t(j),t(j+1),...,t(j+4).
+         call fpbfou(t,n,alfa(i),wrk1,wrk2)
+c  calculate the integrals ress(i) and resc(i).
+         rs = 0.
+         rc = 0.
+         do 30 j=1,n4
+            rs = rs+c(j)*wrk1(j)
+            rc = rc+c(j)*wrk2(j)
+  30     continue
+         ress(i) = rs
+         resc(i) = rc
+  40  continue
+  50  return
+      end
--- a/mcc/bsplines/fpader.f
+++ b/mcc/bsplines/fpader.f
@@ -0,0 +1,57 @@
+      recursive subroutine fpader(t,n,c,k1,x,l,d)
+c  subroutine fpader calculates the derivatives
+c             (j-1)
+c     d(j) = s     (x) , j=1,2,...,k1
+c  of a spline of order k1 at the point t(l)<=x<t(l+1), using the
+c  stable recurrence scheme of de boor
+c  ..
+c  ..scalar arguments..
+      real*8 x
+      integer n,k1,l
+c  ..array arguments..
+      real*8 t(n),c(n),d(k1)
+c  ..local scalars..
+      integer i,ik,j,jj,j1,j2,ki,kj,li,lj,lk
+      real*8 ak,fac,one
+c  ..local array..
+      real*8 h(20)
+c  ..
+      one = 0.1d+01
+      lk = l-k1
+      do 100 i=1,k1
+        ik = i+lk
+        h(i) = c(ik)
+ 100  continue
+      kj = k1
+      fac = one
+      do 700 j=1,k1
+        ki = kj
+        j1 = j+1
+        if(j.eq.1) go to 300
+        i = k1
+        do 200 jj=j,k1
+          li = i+lk
+          lj = li+kj
+          h(i) = (h(i)-h(i-1))/(t(lj)-t(li))
+          i = i-1
+ 200    continue
+ 300    do 400 i=j,k1
+          d(i) = h(i)
+ 400    continue
+        if(j.eq.k1) go to 600
+        do 500 jj=j1,k1
+          ki = ki-1
+          i = k1
+          do 500 j2=jj,k1
+            li = i+lk
+            lj = li+ki
+            d(i) = ((x-t(li))*d(i)+(t(lj)-x)*d(i-1))/(t(lj)-t(li))
+            i = i-1
+ 500    continue
+ 600    d(j) = d(k1)*fac
+        ak = k1-j
+        fac = fac*ak
+        kj = kj-1
+ 700  continue
+      return
+      end
--- a/mcc/bsplines/fpadno.f
+++ b/mcc/bsplines/fpadno.f
@@ -0,0 +1,60 @@
+      recursive subroutine fpadno(maxtr,up,left,right,info,count,
+     *   merk,jbind,n1,ier)
+      implicit none
+c  subroutine fpadno adds a branch of length n1 to the triply linked
+c  tree,the information of which is kept in the arrays up,left,right
+c  and info. the information field of the nodes of this new branch is
+c  given in the array jbind. in linking the new branch fpadno takes
+c  account of the property of the tree that
+c    info(k) < info(right(k)) ; info(k) < info(left(k))
+c  if necessary the subroutine calls subroutine fpfrno to collect the
+c  free nodes of the tree. if no computer words are available at that
+c  moment, the error parameter ier is set to 1.
+c  ..
+c  ..scalar arguments..
+      integer maxtr,count,merk,n1,ier
+c  ..array arguments..
+      integer up(maxtr),left(maxtr),right(maxtr),info(maxtr),jbind(n1)
+c  ..local scalars..
+      integer k,niveau,point
+      logical bool
+c  ..subroutine references..
+c    fpfrno
+c  ..
+      point = 1
+      niveau = 1
+  10  k = left(point)
+      bool = .true.
+  20  if(k.eq.0) go to 50
+      if (info(k)-jbind(niveau).lt.0) go to 30
+      if (info(k)-jbind(niveau).eq.0) go to 40
+      go to 50
+  30  point = k
+      k = right(point)
+      bool = .false.
+      go to 20
+  40  point = k
+      niveau = niveau+1
+      go to 10
+  50  if(niveau.gt.n1) go to 90
+      count = count+1
+      if(count.le.maxtr) go to 60
+      call fpfrno(maxtr,up,left,right,info,point,merk,n1,count,ier)
+      if(ier.ne.0) go to 100
+  60  info(count) = jbind(niveau)
+      left(count) = 0
+      right(count) = k
+      if(bool) go to 70
+      bool = .true.
+      right(point) = count
+      up(count) = up(point)
+      go to 80
+  70  up(count) = point
+      left(point) = count
+  80  point = count
+      niveau = niveau+1
+      k = 0
+      go to 50
+  90  ier = 0
+ 100  return
+      end
--- a/mcc/bsplines/fpadpo.f
+++ b/mcc/bsplines/fpadpo.f
@@ -0,0 +1,71 @@
+      recursive subroutine fpadpo(idim,t,n,c,nc,k,cp,np,cc,t1,t2)
+      implicit none
+c  given a idim-dimensional spline curve of degree k, in its b-spline
+c  representation ( knots t(j),j=1,...,n , b-spline coefficients c(j),
+c  j=1,...,nc) and given also a polynomial curve in its b-spline
+c  representation ( coefficients cp(j), j=1,...,np), subroutine fpadpo
+c  calculates the b-spline representation (coefficients c(j),j=1,...,nc)
+c  of the sum of the two curves.
+c
+c  other subroutine required : fpinst
+c
+c  ..
+c  ..scalar arguments..
+      integer idim,k,n,nc,np
+c  ..array arguments..
+      real*8 t(n),c(nc),cp(np),cc(nc),t1(n),t2(n)
+c  ..local scalars..
+      integer i,ii,j,jj,k1,l,l1,n1,n2,nk1,nk2
+c  ..
+      k1 = k+1
+      nk1 = n-k1
+c  initialization
+      j = 1
+      l = 1
+      do 20 jj=1,idim
+        l1 = j
+        do 10 ii=1,k1
+          cc(l1) = cp(l)
+          l1 = l1+1
+          l = l+1
+  10    continue
+        j = j+n
+        l = l+k1
+  20  continue
+      if(nk1.eq.k1) go to 70
+      n1 = k1*2
+      j = n
+      l = n1
+      do 30 i=1,k1
+        t1(i) = t(i)
+        t1(l) = t(j)
+        l = l-1
+        j = j-1
+  30  continue
+c  find the b-spline representation of the given polynomial curve
+c  according to the given set of knots.
+      nk2 = nk1-1
+      do 60 l=k1,nk2
+        l1 = l+1
+        j = 1
+        do 40 i=1,idim
+          call fpinst(0,t1,n1,cc(j),k,t(l1),l,t2,n2,cc(j),n)
+          j = j+n
+  40    continue
+        do 50 i=1,n2
+          t1(i) = t2(i)
+  50    continue
+        n1 = n2
+  60  continue
+c  find the b-spline representation of the resulting curve.
+  70  j = 1
+      do 90 jj=1,idim
+        l = j
+        do 80 i=1,nk1
+          c(l) = cc(l)+c(l)
+          l = l+1
+  80    continue
+        j = j+n
+  90  continue
+      return
+      end
--- a/mcc/bsplines/fpback.f
+++ b/mcc/bsplines/fpback.f
@@ -0,0 +1,32 @@
+      recursive subroutine fpback(a,z,n,k,c,nest)
+      implicit none
+c  subroutine fpback calculates the solution of the system of
+c  equations a*c = z with a a n x n upper triangular matrix
+c  of bandwidth k.
+c  ..
+c  ..scalar arguments..
+      integer n,k,nest
+c  ..array arguments..
+      real*8 a(nest,k),z(n),c(n)
+c  ..local scalars..
+      real*8 store
+      integer i,i1,j,k1,l,m
+c  ..
+      k1 = k-1
+      c(n) = z(n)/a(n,1)
+      i = n-1
+      if(i.eq.0) go to 30
+      do 20 j=2,n
+        store = z(i)
+        i1 = k1
+        if(j.le.k1) i1 = j-1
+        m = i
+        do 10 l=1,i1
+          m = m+1
+          store = store-c(m)*a(i,l+1)
+  10    continue
+        c(i) = store/a(i,1)
+        i = i-1
+  20  continue
+  30  return
+      end
--- a/mcc/bsplines/fpbacp.f
+++ b/mcc/bsplines/fpbacp.f
@@ -0,0 +1,59 @@
+      recursive subroutine fpbacp(a,b,z,n,k,c,k1,nest)
+      implicit none
+c  subroutine fpbacp calculates the solution of the system of equations
+c  g * c = z  with g  a n x n upper triangular matrix of the form
+c            ! a '   !
+c        g = !   ' b !
+c            ! 0 '   !
+c  with b a n x k matrix and a a (n-k) x (n-k) upper triangular
+c  matrix of bandwidth k1.
+c  ..
+c  ..scalar arguments..
+      integer n,k,k1,nest
+c  ..array arguments..
+      real*8 a(nest,k1),b(nest,k),z(n),c(n)
+c  ..local scalars..
+      integer i,i1,j,l,l0,l1,n2
+      real*8 store
+c  ..
+      n2 = n-k
+      l = n
+      do 30 i=1,k
+        store = z(l)
+        j = k+2-i
+        if(i.eq.1) go to 20
+        l0 = l
+        do 10 l1=j,k
+          l0 = l0+1
+          store = store-c(l0)*b(l,l1)
+  10    continue
+  20    c(l) = store/b(l,j-1)
+        l = l-1
+        if(l.eq.0) go to 80
+  30  continue
+      do 50 i=1,n2
+        store = z(i)
+        l = n2
+        do 40 j=1,k
+          l = l+1
+          store = store-c(l)*b(i,j)
+  40    continue
+        c(i) = store
+  50  continue
+      i = n2
+      c(i) = c(i)/a(i,1)
+      if(i.eq.1) go to 80
+      do 70 j=2,n2
+        i = i-1
+        store = c(i)
+        i1 = k
+        if(j.le.k) i1=j-1
+        l = i
+        do 60 l0=1,i1
+          l = l+1
+          store = store-c(l)*a(i,l0+1)
+  60    continue
+        c(i) = store/a(i,1)
+  70  continue
+  80  return
+      end
--- a/mcc/bsplines/fpbfout.f
+++ b/mcc/bsplines/fpbfout.f
@@ -0,0 +1,198 @@
+      recursive subroutine fpbfou(t,n,par,ress,resc)
+      implicit none
+c  subroutine fpbfou calculates the integrals
+c                    /t(n-3)
+c    ress(j) =      !        nj,4(x)*sin(par*x) dx    and
+c              t(4)/
+c                    /t(n-3)
+c    resc(j) =      !        nj,4(x)*cos(par*x) dx ,  j=1,2,...n-4
+c              t(4)/
+c  where nj,4(x) denotes the cubic b-spline defined on the knots
+c  t(j),t(j+1),...,t(j+4).
+c
+c  calling sequence:
+c     call fpbfou(t,n,par,ress,resc)
+c
+c  input parameters:
+c    t    : real array,length n, containing the knots.
+c    n    : integer, containing the number of knots.
+c    par  : real, containing the value of the parameter par.
+c
+c  output parameters:
+c    ress  : real array,length n, containing the integrals ress(j).
+c    resc  : real array,length n, containing the integrals resc(j).
+c
+c  restrictions:
+c    n >= 10, t(4) < t(5) < ... < t(n-4) < t(n-3).
+c  ..
+c  ..scalar arguments..
+      integer n
+      real*8 par
+c  ..array arguments..
+      real*8 t(n),ress(n),resc(n)
+c  ..local scalars..
+      integer i,ic,ipj,is,j,jj,jp1,jp4,k,li,lj,ll,nmj,nm3,nm7
+      real*8 ak,beta,con1,con2,c1,c2,delta,eps,fac,f1,f2,f3,one,quart,
+     * sign,six,s1,s2,term
+c  ..local arrays..
+      real*8 co(5),si(5),hs(5),hc(5),rs(3),rc(3)
+c  ..function references..
+      real*8 cos,sin,abs
+c  ..
+c  initialization.
+      one = 0.1e+01
+      six = 0.6e+01
+      eps = 0.1e-07
+      quart = 0.25e0
+      con1 = 0.5e-01
+      con2 = 0.12e+03
+      nm3 = n-3
+      nm7 = n-7
+      if(par.ne.0.) term = six/par
+      beta = par*t(4)
+      co(1) = cos(beta)
+      si(1) = sin(beta)
+c  calculate the integrals ress(j) and resc(j), j=1,2,3 by setting up
+c  a divided difference table.
+      do 30 j=1,3
+        jp1 = j+1
+        jp4 = j+4
+        beta = par*t(jp4)
+        co(jp1) = cos(beta)
+        si(jp1) = sin(beta)
+        call fpcsin(t(4),t(jp4),par,si(1),co(1),si(jp1),co(jp1),
+     *  rs(j),rc(j))
+        i = 5-j
+        hs(i) = 0.
+        hc(i) = 0.
+        do 10 jj=1,j
+          ipj = i+jj
+          hs(ipj) = rs(jj)
+          hc(ipj) = rc(jj)
+  10    continue
+        do 20 jj=1,3
+          if(i.lt.jj) i = jj
+          k = 5
+          li = jp4
+          do 20 ll=i,4
+            lj = li-jj
+            fac = t(li)-t(lj)
+            hs(k) = (hs(k)-hs(k-1))/fac
+            hc(k) = (hc(k)-hc(k-1))/fac
+            k = k-1
+            li = li-1
+  20    continue
+        ress(j) = hs(5)-hs(4)
+        resc(j) = hc(5)-hc(4)
+  30  continue
+      if(nm7.lt.4) go to 160
+c  calculate the integrals ress(j) and resc(j),j=4,5,...,n-7.
+      do 150 j=4,nm7
+        jp4 = j+4
+        beta = par*t(jp4)
+        co(5) = cos(beta)
+        si(5) = sin(beta)
+        delta = t(jp4)-t(j)
+c  the way of computing ress(j) and resc(j) depends on the value of
+c  beta = par*(t(j+4)-t(j)).
+        beta = delta*par
+        if(abs(beta).le.one) go to 60
+c  if !beta! > 1 the integrals are calculated by setting up a divided
+c  difference table.
+        do 40 k=1,5
+          hs(k) = si(k)
+          hc(k) = co(k)
+  40    continue
+        do 50 jj=1,3
+          k = 5
+          li = jp4
+          do 50 ll=jj,4
+            lj = li-jj
+            fac = par*(t(li)-t(lj))
+            hs(k) = (hs(k)-hs(k-1))/fac
+            hc(k) = (hc(k)-hc(k-1))/fac
+            k = k-1
+            li = li-1
+  50    continue
+        s2 = (hs(5)-hs(4))*term
+        c2 = (hc(5)-hc(4))*term
+        go to 130
+c  if !beta! <= 1 the integrals are calculated by evaluating a series
+c  expansion.
+  60    f3 = 0.
+        do 70 i=1,4
+          ipj = i+j
+          hs(i) = par*(t(ipj)-t(j))
+          hc(i) = hs(i)
+          f3 = f3+hs(i)
+  70    continue
+        f3 = f3*con1
+        c1 = quart
+        s1 = f3
+        if(abs(f3).le.eps) go to 120
+        sign = one
+        fac = con2
+        k = 5
+        is = 0
+        do 110 ic=1,20
+          k = k+1
+          ak = k
+          fac = fac*ak
+          f1 = 0.
+          f3 = 0.
+          do 80 i=1,4
+            f1 = f1+hc(i)
+            f2 = f1*hs(i)
+            hc(i) = f2
+            f3 = f3+f2
+  80      continue
+          f3 = f3*six/fac
+          if(is.eq.0) go to 90
+          is = 0
+          s1 = s1+f3*sign
+          go to 100
+  90      sign = -sign
+          is = 1
+          c1 = c1+f3*sign
+ 100      if(abs(f3).le.eps) go to 120
+ 110    continue
+ 120    s2 = delta*(co(1)*s1+si(1)*c1)
+        c2 = delta*(co(1)*c1-si(1)*s1)
+ 130    ress(j) = s2
+        resc(j) = c2
+        do 140 i=1,4
+          co(i) = co(i+1)
+          si(i) = si(i+1)
+ 140    continue
+ 150  continue
+c  calculate the integrals ress(j) and resc(j),j=n-6,n-5,n-4 by setting
+c  up a divided difference table.
+ 160  do 190 j=1,3
+        nmj = nm3-j
+        i = 5-j
+        call fpcsin(t(nm3),t(nmj),par,si(4),co(4),si(i-1),co(i-1),
+     *  rs(j),rc(j))
+        hs(i) = 0.
+        hc(i) = 0.
+        do 170 jj=1,j
+          ipj = i+jj
+          hc(ipj) = rc(jj)
+          hs(ipj) = rs(jj)
+ 170    continue
+        do 180 jj=1,3
+          if(i.lt.jj) i = jj
+          k = 5
+          li = nmj
+          do 180 ll=i,4
+            lj = li+jj
+            fac = t(lj)-t(li)
+            hs(k) = (hs(k-1)-hs(k))/fac
+            hc(k) = (hc(k-1)-hc(k))/fac
+            k = k-1
+            li = li+1
+ 180    continue
+        ress(nmj) = hs(4)-hs(5)
+        resc(nmj) = hc(4)-hc(5)
+ 190  continue
+      return
+      end
--- a/mcc/bsplines/fpbisp.f
+++ b/mcc/bsplines/fpbisp.f
@@ -0,0 +1,81 @@
+      recursive subroutine fpbisp(tx,nx,ty,ny,c,kx,ky,x,mx,y,my,
+     *     z,wx,wy,lx,ly)
+      implicit none
+c  ..scalar arguments..
+      integer nx,ny,kx,ky,mx,my
+c  ..array arguments..
+      integer lx(mx),ly(my)
+      real*8 tx(nx),ty(ny),c((nx-kx-1)*(ny-ky-1)),x(mx),y(my),z(mx*my),
+     * wx(mx,kx+1),wy(my,ky+1)
+c  ..local scalars..
+      integer kx1,ky1,l,l1,l2,m,nkx1,nky1, i, i1, j, j1
+      real*8 arg,sp,tb,te
+c  ..local arrays..
+      real*8 h(6)
+c  ..subroutine references..
+c    fpbspl
+c  ..
+      kx1 = kx+1
+      nkx1 = nx-kx1
+      tb = tx(kx1)
+      te = tx(nkx1+1)
+      l = kx1
+      l1 = l+1
+      do 40 i=1,mx
+        arg = x(i)
+        if(arg.lt.tb) arg = tb
+        if(arg.gt.te) arg = te
+  10    if(arg.lt.tx(l1) .or. l.eq.nkx1) go to 20
+        l = l1
+        l1 = l+1
+        go to 10
+  20    call fpbspl(tx,nx,kx,arg,l,h)
+        lx(i) = l-kx1
+        do 30 j=1,kx1
+          wx(i,j) = h(j)
+  30    continue
+  40  continue
+      ky1 = ky+1
+      nky1 = ny-ky1
+      tb = ty(ky1)
+      te = ty(nky1+1)
+      l = ky1
+      l1 = l+1
+      do 80 i=1,my
+        arg = y(i)
+        if(arg.lt.tb) arg = tb
+        if(arg.gt.te) arg = te
+  50    if(arg.lt.ty(l1) .or. l.eq.nky1) go to 60
+        l = l1
+        l1 = l+1
+        go to 50
+  60    call fpbspl(ty,ny,ky,arg,l,h)
+        ly(i) = l-ky1
+        do 70 j=1,ky1
+          wy(i,j) = h(j)
+  70    continue
+  80  continue
+      m = 0
+      do 130 i=1,mx
+        l = lx(i)*nky1
+        do 90 i1=1,kx1
+          h(i1) = wx(i,i1)
+  90    continue
+        do 120 j=1,my
+          l1 = l+ly(j)
+          sp = 0.
+          do 110 i1=1,kx1
+            l2 = l1
+            do 100 j1=1,ky1
+              l2 = l2+1
+              sp = sp+c(l2)*h(i1)*wy(j,j1)
+ 100        continue
+            l1 = l1+nky1
+ 110      continue
+          m = m+1
+          z(m) = sp
+ 120    continue
+ 130  continue
+      return
+      end
+
--- a/mcc/bsplines/fpbspl.f
+++ b/mcc/bsplines/fpbspl.f
@@ -0,0 +1,42 @@
+      recursive subroutine fpbspl(t,n,k,x,l,h)
+c  subroutine fpbspl evaluates the (k+1) non-zero b-splines of
+c  degree k at t(l) <= x < t(l+1) using the stable recurrence
+c  relation of de boor and cox.
+c  Travis Oliphant  2007
+c    changed so that weighting of 0 is used when knots with
+c      multiplicity are present.
+c    Also, notice that l+k <= n and 1 <= l+1-k
+c      or else the routine will be accessing memory outside t
+c      Thus it is imperative that that k <= l <= n-k but this
+c      is not checked.
+c  ..
+c  ..scalar arguments..
+      real*8 x
+      integer n,k,l
+c  ..array arguments..
+      real*8 t(n),h(20)
+c  ..local scalars..
+      real*8 f,one
+      integer i,j,li,lj
+c  ..local arrays..
+      real*8 hh(19)
+c  ..
+      one = 0.1d+01
+      h(1) = one
+      do 20 j=1,k
+        do 10 i=1,j
+          hh(i) = h(i)
+  10    continue
+        h(1) = 0.0d0
+        do 20 i=1,j
+          li = l+i
+          lj = li-j
+          if (t(li).ne.t(lj)) goto 15
+          h(i+1) = 0.0d0 
+          goto 20
+  15      f = hh(i)/(t(li)-t(lj)) 
+          h(i) = h(i)+f*(t(li)-x)
+          h(i+1) = f*(x-t(lj))
+  20  continue
+      return
+      end
--- a/mcc/bsplines/fpchec.f
+++ b/mcc/bsplines/fpchec.f
@@ -0,0 +1,87 @@
+      recursive subroutine fpchec(x,m,t,n,k,ier)
+      implicit none
+c  subroutine fpchec verifies the number and the position of the knots
+c  t(j),j=1,2,...,n of a spline of degree k, in relation to the number
+c  and the position of the data points x(i),i=1,2,...,m. if all of the
+c  following conditions are fulfilled, the error parameter ier is set
+c  to zero. if one of the conditions is violated ier is set to ten.
+c      1) k+1 <= n-k-1 <= m
+c      2) t(1) <= t(2) <= ... <= t(k+1)
+c         t(n-k) <= t(n-k+1) <= ... <= t(n)
+c      3) t(k+1) < t(k+2) < ... < t(n-k)
+c      4) t(k+1) <= x(i) <= t(n-k)
+c      5) the conditions specified by schoenberg and whitney must hold
+c         for at least one subset of data points, i.e. there must be a
+c         subset of data points y(j) such that
+c             t(j) < y(j) < t(j+k+1), j=1,2,...,n-k-1
+c  ..
+c  ..scalar arguments..
+      integer m,n,k,ier
+c  ..array arguments..
+      real*8 x(m),t(n)
+c  ..local scalars..
+      integer i,j,k1,k2,l,nk1,nk2,nk3
+      real*8 tj,tl
+c  ..
+      k1 = k+1
+      k2 = k1+1
+      nk1 = n-k1
+      nk2 = nk1+1
+      ier = 10
+c  check condition no 1
+      if (nk1.lt.k1 .or. nk1.gt.m) then
+          ier = 10
+          go to 80
+      endif
+c  check condition no 2
+      j = n
+      do 20 i=1,k
+        if (t(i) .gt. t(i+1)) then
+            ier = 20
+            go to 80
+        endif
+        if (t(j) .lt. t(j-1)) then
+            ier = 20
+            go to 80
+        endif
+        j = j-1
+  20  continue
+c  check condition no 3
+      do 30 i=k2,nk2
+        if (t(i) .le. t(i-1)) then
+            ier = 30
+            go to 80
+        endif
+  30  continue
+c  check condition no 4
+      if (x(1).lt.t(k1) .or. x(m).gt.t(nk2)) then
+          ier = 40
+          go to 80
+      endif
+c  check condition no 5
+      if (x(1).ge.t(k2) .or. x(m).le.t(nk1)) then
+          ier = 50
+          go to 80
+      endif
+      i = 1
+      l = k2
+      nk3 = nk1-1
+      if (nk3 .lt. 2) go to 70
+      do 60 j=2,nk3
+        tj = t(j)
+        l = l+1
+        tl = t(l)
+  40    i = i+1
+        if (i .ge. m) then
+            ier = 50
+            go to 80
+        endif
+        if (x(i) .le. tj) go to 40
+        if (x(i) .ge. tl) then
+            ier = 50
+            go to 80
+        endif
+  60  continue
+  70  ier = 0
+  80  return
+      end
--- a/mcc/bsplines/fpched.f
+++ b/mcc/bsplines/fpched.f
@@ -0,0 +1,70 @@
+      recursive subroutine fpched(x,m,t,n,k,ib,ie,ier)
+      implicit none
+c  subroutine fpched verifies the number and the position of the knots
+c  t(j),j=1,2,...,n of a spline of degree k,with ib derative constraints
+c  at x(1) and ie constraints at x(m), in relation to the number and
+c  the position of the data points x(i),i=1,2,...,m. if all of the
+c  following conditions are fulfilled, the error parameter ier is set
+c  to zero. if one of the conditions is violated ier is set to ten.
+c      1) k+1 <= n-k-1 <= m + max(0,ib-1) + max(0,ie-1)
+c      2) t(1) <= t(2) <= ... <= t(k+1)
+c         t(n-k) <= t(n-k+1) <= ... <= t(n)
+c      3) t(k+1) < t(k+2) < ... < t(n-k)
+c      4) t(k+1) <= x(i) <= t(n-k)
+c      5) the conditions specified by schoenberg and whitney must hold
+c         for at least one subset of data points, i.e. there must be a
+c         subset of data points y(j) such that
+c             t(j) < y(j) < t(j+k+1), j=1+ib1,2+ib1,...,n-k-1-ie1
+c               with ib1 = max(0,ib-1), ie1 = max(0,ie-1)
+c  ..
+c  ..scalar arguments..
+      integer m,n,k,ib,ie,ier
+c  ..array arguments..
+      real*8 x(m),t(n)
+c  ..local scalars..
+      integer i,ib1,ie1,j,jj,k1,k2,l,nk1,nk2,nk3
+      real*8 tj,tl
+c  ..
+      k1 = k+1
+      k2 = k1+1
+      nk1 = n-k1
+      nk2 = nk1+1
+      ib1 = ib-1
+      if(ib1.lt.0) ib1 = 0
+      ie1 = ie-1
+      if(ie1.lt.0) ie1 = 0
+      ier = 10
+c  check condition no 1
+      if(nk1.lt.k1 .or. nk1.gt.(m+ib1+ie1)) go to 80
+c  check condition no 2
+      j = n
+      do 20 i=1,k
+        if(t(i).gt.t(i+1)) go to 80
+        if(t(j).lt.t(j-1)) go to 80
+        j = j-1
+  20  continue
+c  check condition no 3
+      do 30 i=k2,nk2
+        if(t(i).le.t(i-1)) go to 80
+  30  continue
+c  check condition no 4
+      if(x(1).lt.t(k1) .or. x(m).gt.t(nk2)) go to 80
+c  check condition no 5
+      if(x(1).ge.t(k2) .or. x(m).le.t(nk1)) go to 80
+      i = 1
+      jj = 2+ib1
+      l = jj+k
+      nk3 = nk1-1-ie1
+      if(nk3.lt.jj) go to 70
+      do 60 j=jj,nk3
+        tj = t(j)
+        l = l+1
+        tl = t(l)
+  40    i = i+1
+        if(i.ge.m) go to 80
+        if(x(i).le.tj) go to 40
+        if(x(i).ge.tl) go to 80
+  60  continue
+  70  ier = 0
+  80  return
+      end
--- a/mcc/bsplines/fpchep.f
+++ b/mcc/bsplines/fpchep.f
@@ -0,0 +1,82 @@
+      recursive subroutine fpchep(x,m,t,n,k,ier)
+      implicit none
+c  subroutine fpchep verifies the number and the position of the knots
+c  t(j),j=1,2,...,n of a periodic spline of degree k, in relation to
+c  the number and the position of the data points x(i),i=1,2,...,m.
+c  if all of the following conditions are fulfilled, ier is set
+c  to zero. if one of the conditions is violated ier is set to ten.
+c      1) k+1 <= n-k-1 <= m+k-1
+c      2) t(1) <= t(2) <= ... <= t(k+1)
+c         t(n-k) <= t(n-k+1) <= ... <= t(n)
+c      3) t(k+1) < t(k+2) < ... < t(n-k)
+c      4) t(k+1) <= x(i) <= t(n-k)
+c      5) the conditions specified by schoenberg and whitney must hold
+c         for at least one subset of data points, i.e. there must be a
+c         subset of data points y(j) such that
+c             t(j) < y(j) < t(j+k+1), j=k+1,...,n-k-1
+c  ..
+c  ..scalar arguments..
+      integer m,n,k,ier
+c  ..array arguments..
+      real*8 x(m),t(n)
+c  ..local scalars..
+      integer i,i1,i2,j,j1,k1,k2,l,l1,l2,mm,m1,nk1,nk2
+      real*8 per,tj,tl,xi
+c  ..
+      k1 = k+1
+      k2 = k1+1
+      nk1 = n-k1
+      nk2 = nk1+1
+      m1 = m-1
+      ier = 10
+c  check condition no 1
+      if(nk1.lt.k1 .or. n.gt.m+2*k) go to 130
+c  check condition no 2
+      j = n
+      do 20 i=1,k
+        if(t(i).gt.t(i+1)) go to 130
+        if(t(j).lt.t(j-1)) go to 130
+        j = j-1
+  20  continue
+c  check condition no 3
+      do 30 i=k2,nk2
+        if(t(i).le.t(i-1)) go to 130
+  30  continue
+c  check condition no 4
+      if(x(1).lt.t(k1) .or. x(m).gt.t(nk2)) go to 130
+c  check condition no 5
+      l1 = k1
+      l2 = 1
+      do 50 l=1,m
+         xi = x(l)
+  40     if(xi.lt.t(l1+1) .or. l.eq.nk1) go to 50
+         l1 = l1+1
+         l2 = l2+1
+         if(l2.gt.k1) go to 60
+         go to 40
+  50  continue
+      l = m
+  60  per = t(nk2)-t(k1)
+      do 120 i1=2,l
+         i = i1-1
+         mm = i+m1
+         do 110 j=k1,nk1
+            tj = t(j)
+            j1 = j+k1
+            tl = t(j1)
+  70        i = i+1
+            if(i.gt.mm) go to 120
+            i2 = i-m1
+            if (i2.le.0) go to 80
+            go to 90
+  80        xi = x(i)
+            go to 100
+  90        xi = x(i2)+per
+ 100        if(xi.le.tj) go to 70
+            if(xi.ge.tl) go to 120
+ 110     continue
+         ier = 0
+         go to 130
+ 120  continue
+ 130  return
+      end
--- a/mcc/bsplines/fpclos.f
+++ b/mcc/bsplines/fpclos.f
@@ -0,0 +1,715 @@
+      recursive subroutine fpclos(iopt,idim,m,u,mx,x,w,k,s,nest,tol,
+     *  maxit,k1,k2,n,t,nc,c,fp,fpint,z,a1,a2,b,g1,g2,q,nrdata,ier)
+      implicit none
+c  ..
+c  ..scalar arguments..
+      real*8 s,tol,fp
+      integer iopt,idim,m,mx,k,nest,maxit,k1,k2,n,nc,ier
+c  ..array arguments..
+      real*8 u(m),x(mx),w(m),t(nest),c(nc),fpint(nest),z(nc),a1(nest,k1)
+     *,
+     * a2(nest,k),b(nest,k2),g1(nest,k2),g2(nest,k1),q(m,k1)
+      integer nrdata(nest)
+c  ..local scalars..
+      real*8 acc,cos,d1,fac,fpart,fpms,fpold,fp0,f1,f2,f3,p,per,pinv,piv
+     *,
+     * p1,p2,p3,sin,store,term,ui,wi,rn,one,con1,con4,con9,half
+      integer i,ich1,ich3,ij,ik,it,iter,i1,i2,i3,j,jj,jk,jper,j1,j2,kk,
+     * kk1,k3,l,l0,l1,l5,mm,m1,new,nk1,nk2,nmax,nmin,nplus,npl1,
+     * nrint,n10,n11,n7,n8
+c  ..local arrays..
+      real*8 h(6),h1(7),h2(6),xi(10)
+c  ..function references..
+      real*8 abs,fprati
+      integer max0,min0
+c  ..subroutine references..
+c    fpbacp,fpbspl,fpgivs,fpdisc,fpknot,fprota
+c  ..
+c  set constants
+      one = 0.1e+01
+      con1 = 0.1e0
+      con9 = 0.9e0
+      con4 = 0.4e-01
+      half = 0.5e0
+cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccc
+c  part 1: determination of the number of knots and their position     c
+c  **************************************************************      c
+c  given a set of knots we compute the least-squares closed curve      c
+c  sinf(u). if the sum f(p=inf) <= s we accept the choice of knots.    c
+c  if iopt=-1 sinf(u) is the requested curve                           c
+c  if iopt=0 or iopt=1 we check whether we can accept the knots:       c
+c    if fp <=s we will continue with the current set of knots.         c
+c    if fp > s we will increase the number of knots and compute the    c
+c       corresponding least-squares curve until finally fp<=s.         c
+c  the initial choice of knots depends on the value of s and iopt.     c
+c    if s=0 we have spline interpolation; in that case the number of   c
+c    knots equals nmax = m+2*k.                                        c
+c    if s > 0 and                                                      c
+c      iopt=0 we first compute the least-squares polynomial curve of   c
+c      degree k; n = nmin = 2*k+2. since s(u) must be periodic we      c
+c      find that s(u) reduces to a fixed point.                        c
+c      iopt=1 we start with the set of knots found at the last         c
+c      call of the routine, except for the case that s > fp0; then     c
+c      we compute directly the least-squares polynomial curve.         c
+cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccc
+      m1 = m-1
+      kk = k
+      kk1 = k1
+      k3 = 3*k+1
+      nmin = 2*k1
+c  determine the length of the period of the splines.
+      per = u(m)-u(1)
+      if(iopt.lt.0) go to 50
+c  calculation of acc, the absolute tolerance for the root of f(p)=s.
+      acc = tol*s
+c  determine nmax, the number of knots for periodic spline interpolation
+      nmax = m+2*k
+      if(s.gt.0. .or. nmax.eq.nmin) go to 30
+c  if s=0, s(u) is an interpolating curve.
+      n = nmax
+c  test whether the required storage space exceeds the available one.
+      if(n.gt.nest) go to 620
+c  find the position of the interior knots in case of interpolation.
+   5  if((k/2)*2 .eq.k) go to 20
+      do 10 i=2,m1
+        j = i+k
+        t(j) = u(i)
+  10  continue
+      if(s.gt.0.) go to 50
+      kk = k-1
+      kk1 = k
+      if(kk.gt.0) go to 50
+      t(1) = t(m)-per
+      t(2) = u(1)
+      t(m+1) = u(m)
+      t(m+2) = t(3)+per
+      jj = 0
+      do 15 i=1,m1
+        j = i
+        do 12 j1=1,idim
+          jj = jj+1
+          c(j) = x(jj)
+          j = j+n
+  12    continue
+  15  continue
+      jj = 1
+      j = m
+      do 17 j1=1,idim
+        c(j) = c(jj)
+        j = j+n
+        jj = jj+n
+  17  continue
+      fp = 0.
+      fpint(n) = fp0
+      fpint(n-1) = 0.
+      nrdata(n) = 0
+      go to 630
+  20  do 25 i=2,m1
+         j = i+k
+         t(j) = (u(i)+u(i-1))*half
+  25  continue
+      go to 50
+c  if s > 0 our initial choice depends on the value of iopt.
+c  if iopt=0 or iopt=1 and s>=fp0, we start computing the least-squares
+c  polynomial curve. (i.e. a constant point).
+c  if iopt=1 and fp0>s we start computing the least-squares closed
+c  curve according the set of knots found at the last call of the
+c  routine.
+  30  if(iopt.eq.0) go to 35
+      if(n.eq.nmin) go to 35
+      fp0 = fpint(n)
+      fpold = fpint(n-1)
+      nplus = nrdata(n)
+      if(fp0.gt.s) go to 50
+c  the case that s(u) is a fixed point is treated separetely.
+c  fp0 denotes the corresponding sum of squared residuals.
+  35  fp0 = 0.
+      d1 = 0.
+      do 37 j=1,idim
+        z(j) = 0.
+  37  continue
+      jj = 0
+      do 45 it=1,m1
+        wi = w(it)
+        call fpgivs(wi,d1,cos,sin)
+        do 40 j=1,idim
+          jj = jj+1
+          fac = wi*x(jj)
+          call fprota(cos,sin,fac,z(j))
+          fp0 = fp0+fac**2
+  40    continue
+  45  continue
+      do 47 j=1,idim
+        z(j) = z(j)/d1
+  47  continue
+c  test whether that fixed point is a solution of our problem.
+      fpms = fp0-s
+      if(fpms.lt.acc .or. nmax.eq.nmin) go to 640
+      fpold = fp0
+c  test whether the required storage space exceeds the available one.
+      if(n.ge.nest) go to 620
+c  start computing the least-squares closed curve with one
+c  interior knot.
+      nplus = 1
+      n = nmin+1
+      mm = (m+1)/2
+      t(k2) = u(mm)
+      nrdata(1) = mm-2
+      nrdata(2) = m1-mm
+c  main loop for the different sets of knots. m is a save upper
+c  bound for the number of trials.
+  50  do 340 iter=1,m
+c  find nrint, the number of knot intervals.
+        nrint = n-nmin+1
+c  find the position of the additional knots which are needed for
+c  the b-spline representation of s(u). if we take
+c      t(k+1) = u(1), t(n-k) = u(m)
+c      t(k+1-j) = t(n-k-j) - per, j=1,2,...k
+c      t(n-k+j) = t(k+1+j) + per, j=1,2,...k
+c  then s(u) will be a smooth closed curve if the b-spline
+c  coefficients satisfy the following conditions
+c      c((i-1)*n+n7+j) = c((i-1)*n+j), j=1,...k,i=1,2,...,idim (**)
+c  with n7=n-2*k-1.
+        t(k1) = u(1)
+        nk1 = n-k1
+        nk2 = nk1+1
+        t(nk2) = u(m)
+        do 60 j=1,k
+          i1 = nk2+j
+          i2 = nk2-j
+          j1 = k1+j
+          j2 = k1-j
+          t(i1) = t(j1)+per
+          t(j2) = t(i2)-per
+  60    continue
+c  compute the b-spline coefficients of the least-squares closed curve
+c  sinf(u). the observation matrix a is built up row by row while
+c  taking into account condition (**) and is reduced to triangular
+c  form by givens transformations .
+c  at the same time fp=f(p=inf) is computed.
+c  the n7 x n7 triangularised upper matrix a has the form
+c            ! a1 '    !
+c        a = !    ' a2 !
+c            ! 0  '    !
+c  with a2 a n7 x k matrix and a1 a n10 x n10 upper triangular
+c  matrix of bandwidth k+1 ( n10 = n7-k).
+c  initialization.
+        do 65 i=1,nc
+          z(i) = 0.
+  65    continue
+        do 70 i=1,nk1
+          do 70 j=1,kk1
+            a1(i,j) = 0.
+  70    continue
+        n7 = nk1-k
+        n10 = n7-kk
+        jper = 0
+        fp = 0.
+        l = k1
+        jj = 0
+        do 290 it=1,m1
+c  fetch the current data point u(it),x(it)
+          ui = u(it)
+          wi = w(it)
+          do 75 j=1,idim
+            jj = jj+1
+            xi(j) = x(jj)*wi
+  75      continue
+c  search for knot interval t(l) <= ui < t(l+1).
+  80      if(ui.lt.t(l+1)) go to 85
+          l = l+1
+          go to 80
+c  evaluate the (k+1) non-zero b-splines at ui and store them in q.
+  85      call fpbspl(t,n,k,ui,l,h)
+          do 90 i=1,k1
+            q(it,i) = h(i)
+            h(i) = h(i)*wi
+  90      continue
+          l5 = l-k1
+c  test whether the b-splines nj,k+1(u),j=1+n7,...nk1 are all zero at ui
+          if(l5.lt.n10) go to 285
+          if(jper.ne.0) go to 160
+c  initialize the matrix a2.
+          do 95 i=1,n7
+          do 95 j=1,kk
+              a2(i,j) = 0.
+  95      continue
+          jk = n10+1
+          do 110 i=1,kk
+            ik = jk
+            do 100 j=1,kk1
+              if(ik.le.0) go to 105
+              a2(ik,i) = a1(ik,j)
+              ik = ik-1
+ 100        continue
+ 105        jk = jk+1
+ 110      continue
+          jper = 1
+c  if one of the b-splines nj,k+1(u),j=n7+1,...nk1 is not zero at ui
+c  we take account of condition (**) for setting up the new row
+c  of the observation matrix a. this row is stored in the arrays h1
+c  (the part with respect to a1) and h2 (the part with
+c  respect to a2).
+ 160      do 170 i=1,kk
+            h1(i) = 0.
+            h2(i) = 0.
+ 170      continue
+          h1(kk1) = 0.
+          j = l5-n10
+          do 210 i=1,kk1
+            j = j+1
+            l0 = j
+ 180        l1 = l0-kk
+            if(l1.le.0) go to 200
+            if(l1.le.n10) go to 190
+            l0 = l1-n10
+            go to 180
+ 190        h1(l1) = h(i)
+            go to 210
+ 200        h2(l0) = h2(l0)+h(i)
+ 210      continue
+c  rotate the new row of the observation matrix into triangle
+c  by givens transformations.
+          if(n10.le.0) go to 250
+c  rotation with the rows 1,2,...n10 of matrix a.
+          do 240 j=1,n10
+            piv = h1(1)
+            if(piv.ne.0.) go to 214
+            do 212 i=1,kk
+              h1(i) = h1(i+1)
+ 212        continue
+            h1(kk1) = 0.
+            go to 240
+c  calculate the parameters of the givens transformation.
+ 214        call fpgivs(piv,a1(j,1),cos,sin)
+c  transformation to the right hand side.
+            j1 = j
+            do 217 j2=1,idim
+              call fprota(cos,sin,xi(j2),z(j1))
+              j1 = j1+n
+ 217        continue
+c  transformations to the left hand side with respect to a2.
+            do 220 i=1,kk
+              call fprota(cos,sin,h2(i),a2(j,i))
+ 220        continue
+            if(j.eq.n10) go to 250
+            i2 = min0(n10-j,kk)
+c  transformations to the left hand side with respect to a1.
+            do 230 i=1,i2
+              i1 = i+1
+              call fprota(cos,sin,h1(i1),a1(j,i1))
+              h1(i) = h1(i1)
+ 230        continue
+            h1(i1) = 0.
+ 240      continue
+c  rotation with the rows n10+1,...n7 of matrix a.
+ 250      do 270 j=1,kk
+            ij = n10+j
+            if(ij.le.0) go to 270
+            piv = h2(j)
+            if(piv.eq.0.) go to 270
+c  calculate the parameters of the givens transformation.
+            call fpgivs(piv,a2(ij,j),cos,sin)
+c  transformations to right hand side.
+            j1 = ij
+            do 255 j2=1,idim
+              call fprota(cos,sin,xi(j2),z(j1))
+              j1 = j1+n
+ 255        continue
+            if(j.eq.kk) go to 280
+            j1 = j+1
+c  transformations to left hand side.
+            do 260 i=j1,kk
+              call fprota(cos,sin,h2(i),a2(ij,i))
+ 260        continue
+ 270      continue
+c  add contribution of this row to the sum of squares of residual
+c  right hand sides.
+ 280      do 282 j2=1,idim
+            fp = fp+xi(j2)**2
+ 282      continue
+          go to 290
+c  rotation of the new row of the observation matrix into
+c  triangle in case the b-splines nj,k+1(u),j=n7+1,...n-k-1 are all zero
+c  at ui.
+ 285      j = l5
+          do 140 i=1,kk1
+            j = j+1
+            piv = h(i)
+            if(piv.eq.0.) go to 140
+c  calculate the parameters of the givens transformation.
+            call fpgivs(piv,a1(j,1),cos,sin)
+c  transformations to right hand side.
+            j1 = j
+            do 125 j2=1,idim
+              call fprota(cos,sin,xi(j2),z(j1))
+              j1 = j1+n
+ 125        continue
+            if(i.eq.kk1) go to 150
+            i2 = 1
+            i3 = i+1
+c  transformations to left hand side.
+            do 130 i1=i3,kk1
+              i2 = i2+1
+              call fprota(cos,sin,h(i1),a1(j,i2))
+ 130        continue
+ 140      continue
+c  add contribution of this row to the sum of squares of residual
+c  right hand sides.
+ 150      do 155 j2=1,idim
+            fp = fp+xi(j2)**2
+ 155      continue
+ 290    continue
+        fpint(n) = fp0
+        fpint(n-1) = fpold
+        nrdata(n) = nplus
+c  backward substitution to obtain the b-spline coefficients .
+        j1 = 1
+        do 292 j2=1,idim
+           call fpbacp(a1,a2,z(j1),n7,kk,c(j1),kk1,nest)
+           j1 = j1+n
+ 292    continue
+c  calculate from condition (**) the remaining coefficients.
+        do 297 i=1,k
+          j1 = i
+          do 295 j=1,idim
+            j2 = j1+n7
+            c(j2) = c(j1)
+            j1 = j1+n
+ 295      continue
+ 297    continue
+        if(iopt.lt.0) go to 660
+c  test whether the approximation sinf(u) is an acceptable solution.
+        fpms = fp-s
+        if(abs(fpms).lt.acc) go to 660
+c  if f(p=inf) < s accept the choice of knots.
+        if(fpms.lt.0.) go to 350
+c  if n=nmax, sinf(u) is an interpolating curve.
+        if(n.eq.nmax) go to 630
+c  increase the number of knots.
+c  if n=nest we cannot increase the number of knots because of the
+c  storage capacity limitation.
+        if(n.eq.nest) go to 620
+c  determine the number of knots nplus we are going to add.
+        npl1 = nplus*2
+        rn = nplus
+        if(fpold-fp.gt.acc) npl1 = rn*fpms/(fpold-fp)
+        nplus = min0(nplus*2,max0(npl1,nplus/2,1))
+        fpold = fp
+c  compute the sum of squared residuals for each knot interval
+c  t(j+k) <= ui <= t(j+k+1) and store it in fpint(j),j=1,2,...nrint.
+        fpart = 0.
+        i = 1
+        l = k1
+        jj = 0
+        do 320 it=1,m1
+          if(u(it).lt.t(l)) go to 300
+          new = 1
+          l = l+1
+ 300      term = 0.
+          l0 = l-k2
+          do 310 j2=1,idim
+            fac = 0.
+            j1 = l0
+            do 305 j=1,k1
+              j1 = j1+1
+              fac = fac+c(j1)*q(it,j)
+ 305        continue
+            jj = jj+1
+            term = term+(w(it)*(fac-x(jj)))**2
+            l0 = l0+n
+ 310      continue
+          fpart = fpart+term
+          if(new.eq.0) go to 320
+          if(l.gt.k2) go to 315
+          fpint(nrint) = term
+          new = 0
+          go to 320
+ 315      store = term*half
+          fpint(i) = fpart-store
+          i = i+1
+          fpart = store
+          new = 0
+ 320    continue
+        fpint(nrint) = fpint(nrint)+fpart
+        do 330 l=1,nplus
+c  add a new knot
+          call fpknot(u,m,t,n,fpint,nrdata,nrint,nest,1)
+c  if n=nmax we locate the knots as for interpolation
+          if(n.eq.nmax) go to 5
+c  test whether we cannot further increase the number of knots.
+          if(n.eq.nest) go to 340
+ 330    continue
+c  restart the computations with the new set of knots.
+ 340  continue
+cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccc
+c  part 2: determination of the smoothing closed curve sp(u).          c
+c  **********************************************************          c
+c  we have determined the number of knots and their position.          c
+c  we now compute the b-spline coefficients of the smoothing curve     c
+c  sp(u). the observation matrix a is extended by the rows of matrix   c
+c  b expressing that the kth derivative discontinuities of sp(u) at    c
+c  the interior knots t(k+2),...t(n-k-1) must be zero. the corres-     c
+c  ponding weights of these additional rows are set to 1/p.            c
+c  iteratively we then have to determine the value of p such that f(p),c
+c  the sum of squared residuals be = s. we already know that the least-c
+c  squares polynomial curve corresponds to p=0, and that the least-    c
+c  squares periodic spline curve corresponds to p=infinity. the        c
+c  iteration process which is proposed here, makes use of rational     c
+c  interpolation. since f(p) is a convex and strictly decreasing       c
+c  function of p, it can be approximated by a rational function        c
+c  r(p) = (u*p+v)/(p+w). three values of p(p1,p2,p3) with correspond-  c
+c  ing values of f(p) (f1=f(p1)-s,f2=f(p2)-s,f3=f(p3)-s) are used      c
+c  to calculate the new value of p such that r(p)=s. convergence is    c
+c  guaranteed by taking f1>0 and f3<0.                                 c
+cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccc
+c  evaluate the discontinuity jump of the kth derivative of the
+c  b-splines at the knots t(l),l=k+2,...n-k-1 and store in b.
+ 350  call fpdisc(t,n,k2,b,nest)
+c  initial value for p.
+      p1 = 0.
+      f1 = fp0-s
+      p3 = -one
+      f3 = fpms
+      n11 = n10-1
+      n8 = n7-1
+      p = 0.
+      l = n7
+      do 352 i=1,k
+         j = k+1-i
+         p = p+a2(l,j)
+         l = l-1
+         if(l.eq.0) go to 356
+ 352  continue
+      do 354 i=1,n10
+         p = p+a1(i,1)
+ 354  continue
+ 356  rn = n7
+      p = rn/p
+      ich1 = 0
+      ich3 = 0
+c  iteration process to find the root of f(p) = s.
+      do 595 iter=1,maxit
+c  form the matrix g  as the matrix a extended by the rows of matrix b.
+c  the rows of matrix b with weight 1/p are rotated into
+c  the triangularised observation matrix a.
+c  after triangularisation our n7 x n7 matrix g takes the form
+c            ! g1 '    !
+c        g = !    ' g2 !
+c            ! 0  '    !
+c  with g2 a n7 x (k+1) matrix and g1 a n11 x n11 upper triangular
+c  matrix of bandwidth k+2. ( n11 = n7-k-1)
+        pinv = one/p
+c  store matrix a into g
+        do 358 i=1,nc
+          c(i) = z(i)
+ 358    continue
+        do 360 i=1,n7
+          g1(i,k1) = a1(i,k1)
+          g1(i,k2) = 0.
+          g2(i,1) = 0.
+          do 360 j=1,k
+            g1(i,j) = a1(i,j)
+            g2(i,j+1) = a2(i,j)
+ 360    continue
+        l = n10
+        do 370 j=1,k1
+          if(l.le.0) go to 375
+          g2(l,1) = a1(l,j)
+          l = l-1
+ 370    continue
+ 375    do 540 it=1,n8
+c  fetch a new row of matrix b and store it in the arrays h1 (the part
+c  with respect to g1) and h2 (the part with respect to g2).
+          do 380 j=1,idim
+            xi(j) = 0.
+ 380      continue
+          do 385 i=1,k1
+            h1(i) = 0.
+            h2(i) = 0.
+ 385      continue
+          h1(k2) = 0.
+          if(it.gt.n11) go to 420
+          l = it
+          l0 = it
+          do 390 j=1,k2
+            if(l0.eq.n10) go to 400
+            h1(j) = b(it,j)*pinv
+            l0 = l0+1
+ 390      continue
+          go to 470
+ 400      l0 = 1
+          do 410 l1=j,k2
+            h2(l0) = b(it,l1)*pinv
+            l0 = l0+1
+ 410      continue
+          go to 470
+ 420      l = 1
+          i = it-n10
+          do 460 j=1,k2
+            i = i+1
+            l0 = i
+ 430        l1 = l0-k1
+            if(l1.le.0) go to 450
+            if(l1.le.n11) go to 440
+            l0 = l1-n11
+            go to 430
+ 440        h1(l1) = b(it,j)*pinv
+            go to 460
+ 450        h2(l0) = h2(l0)+b(it,j)*pinv
+ 460      continue
+          if(n11.le.0) go to 510
+c  rotate this row into triangle by givens transformations
+c  rotation with the rows l,l+1,...n11.
+ 470      do 500 j=l,n11
+            piv = h1(1)
+c  calculate the parameters of the givens transformation.
+            call fpgivs(piv,g1(j,1),cos,sin)
+c  transformation to right hand side.
+            j1 = j
+            do 475 j2=1,idim
+              call fprota(cos,sin,xi(j2),c(j1))
+              j1 = j1+n
+ 475        continue
+c  transformation to the left hand side with respect to g2.
+            do 480 i=1,k1
+              call fprota(cos,sin,h2(i),g2(j,i))
+ 480        continue
+            if(j.eq.n11) go to 510
+            i2 = min0(n11-j,k1)
+c  transformation to the left hand side with respect to g1.
+            do 490 i=1,i2
+              i1 = i+1
+              call fprota(cos,sin,h1(i1),g1(j,i1))
+              h1(i) = h1(i1)
+ 490        continue
+            h1(i1) = 0.
+ 500      continue
+c  rotation with the rows n11+1,...n7
+ 510      do 530 j=1,k1
+            ij = n11+j
+            if(ij.le.0) go to 530
+            piv = h2(j)
+c  calculate the parameters of the givens transformation
+            call fpgivs(piv,g2(ij,j),cos,sin)
+c  transformation to the right hand side.
+            j1 = ij
+            do 515 j2=1,idim
+              call fprota(cos,sin,xi(j2),c(j1))
+              j1 = j1+n
+ 515        continue
+            if(j.eq.k1) go to 540
+            j1 = j+1
+c  transformation to the left hand side.
+            do 520 i=j1,k1
+              call fprota(cos,sin,h2(i),g2(ij,i))
+ 520        continue
+ 530      continue
+ 540    continue
+c  backward substitution to obtain the b-spline coefficients
+        j1 = 1
+        do 542 j2=1,idim
+          call fpbacp(g1,g2,c(j1),n7,k1,c(j1),k2,nest)
+          j1 = j1+n
+ 542    continue
+c  calculate from condition (**) the remaining b-spline coefficients.
+        do 547 i=1,k
+          j1 = i
+          do 545 j=1,idim
+            j2 = j1+n7
+            c(j2) = c(j1)
+            j1 = j1+n
+ 545      continue
+ 547    continue
+c  computation of f(p).
+        fp = 0.
+        l = k1
+        jj = 0
+        do 570 it=1,m1
+          if(u(it).lt.t(l)) go to 550
+          l = l+1
+ 550      l0 = l-k2
+          term = 0.
+          do 565 j2=1,idim
+            fac = 0.
+            j1 = l0
+            do 560 j=1,k1
+              j1 = j1+1
+              fac = fac+c(j1)*q(it,j)
+ 560        continue
+            jj = jj+1
+            term = term+(fac-x(jj))**2
+            l0 = l0+n
+ 565      continue
+          fp = fp+term*w(it)**2
+ 570    continue
+c  test whether the approximation sp(u) is an acceptable solution.
+        fpms = fp-s
+        if(abs(fpms).lt.acc) go to 660
+c  test whether the maximal number of iterations is reached.
+        if(iter.eq.maxit) go to 600
+c  carry out one more step of the iteration process.
+        p2 = p
+        f2 = fpms
+        if(ich3.ne.0) go to 580
+        if((f2-f3) .gt. acc) go to 575
+c  our initial choice of p is too large.
+        p3 = p2
+        f3 = f2
+        p = p*con4
+        if(p.le.p1) p = p1*con9 +p2*con1
+        go to 595
+ 575    if(f2.lt.0.) ich3 = 1
+ 580    if(ich1.ne.0) go to 590
+        if((f1-f2) .gt. acc) go to 585
+c  our initial choice of p is too small
+        p1 = p2
+        f1 = f2
+        p = p/con4
+        if(p3.lt.0.) go to 595
+        if(p.ge.p3) p = p2*con1 +p3*con9
+        go to 595
+ 585    if(f2.gt.0.) ich1 = 1
+c  test whether the iteration process proceeds as theoretically
+c  expected.
+ 590    if(f2.ge.f1 .or. f2.le.f3) go to 610
+c  find the new value for p.
+        p = fprati(p1,f1,p2,f2,p3,f3)
+ 595  continue
+c  error codes and messages.
+ 600  ier = 3
+      go to 660
+ 610  ier = 2
+      go to 660
+ 620  ier = 1
+      go to 660
+ 630  ier = -1
+      go to 660
+ 640  ier = -2
+c  the point (z(1),z(2),...,z(idim)) is a solution of our problem.
+c  a constant function is a spline of degree k with all b-spline
+c  coefficients equal to that constant.
+      do 650 i=1,k1
+        rn = k1-i
+        t(i) = u(1)-rn*per
+        j = i+k1
+        rn = i-1
+        t(j) = u(m)+rn*per
+ 650  continue
+      n = nmin
+      j1 = 0
+      do 658 j=1,idim
+        fac = z(j)
+        j2 = j1
+        do 654 i=1,k1
+          j2 = j2+1
+          c(j2) = fac
+ 654    continue
+        j1 = j1+n
+ 658  continue
+      fp = fp0
+      fpint(n) = fp0
+      fpint(n-1) = 0.
+      nrdata(n) = 0
+ 660  return
+      end
--- a/mcc/bsplines/fpcoco.f
+++ b/mcc/bsplines/fpcoco.f
@@ -0,0 +1,169 @@
+      recursive subroutine fpcoco(iopt,m,x,y,w,v,s,nest,maxtr,maxbin,
+     *   n,t,c,sq,sx,bind,e,wrk,lwrk,iwrk,kwrk,ier)
+      implicit none
+c  ..scalar arguments..
+      real*8 s,sq
+      integer iopt,m,nest,maxtr,maxbin,n,lwrk,kwrk,ier
+c  ..array arguments..
+      integer iwrk(kwrk)
+      real*8 x(m),y(m),w(m),v(m),t(nest),c(nest),sx(m),e(nest),wrk(lwrk)
+     *
+      logical bind(nest)
+c  ..local scalars..
+      integer i,ia,ib,ic,iq,iu,iz,izz,i1,j,k,l,l1,m1,nmax,nr,n4,n6,n8,
+     * ji,jib,jjb,jl,jr,ju,mb,nm
+      real*8 sql,sqmax,term,tj,xi,half
+c  ..subroutine references..
+c    fpcosp,fpbspl,fpadno,fpdeno,fpseno,fpfrno
+c  ..
+c  set constant
+      half = 0.5e0
+c  determine the maximal admissible number of knots.
+      nmax = m+4
+c  the initial choice of knots depends on the value of iopt.
+c    if iopt=0 the program starts with the minimal number of knots
+c    so that can be guarantied that the concavity/convexity constraints
+c    will be satisfied.
+c    if iopt = 1 the program will continue from the point on where she
+c    left at the foregoing call.
+      if(iopt.gt.0) go to 80
+c  find the minimal number of knots.
+c  a knot is located at the data point x(i), i=2,3,...m-1 if
+c    1) v(i) ^= 0    and
+c    2) v(i)*v(i-1) <= 0  or  v(i)*v(i+1) <= 0.
+      m1 = m-1
+      n = 4
+      do 20 i=2,m1
+        if(v(i).eq.0. .or. (v(i)*v(i-1).gt.0. .and.
+     *  v(i)*v(i+1).gt.0.)) go to 20
+        n = n+1
+c  test whether the required storage space exceeds the available one.
+        if(n+4.gt.nest) go to 200
+        t(n) = x(i)
+  20  continue
+c  find the position of the knots t(1),...t(4) and t(n-3),...t(n) which
+c  are needed for the b-spline representation of s(x).
+      do 30 i=1,4
+        t(i) = x(1)
+        n = n+1
+        t(n) = x(m)
+  30  continue
+c  test whether the minimum number of knots exceeds the maximum number.
+      if(n.gt.nmax) go to 210
+c  main loop for the different sets of knots.
+c  find corresponding values e(j) to the knots t(j+3),j=1,2,...n-6
+c    e(j) will take the value -1,1, or 0 according to the requirement
+c    that s(x) must be locally convex or concave at t(j+3) or that the
+c    sign of s''(x) is unrestricted at that point.
+  40  i= 1
+      xi = x(1)
+      j = 4
+      tj = t(4)
+      n6 = n-6
+      do 70 l=1,n6
+  50    if(xi.eq.tj) go to 60
+        i = i+1
+        xi = x(i)
+        go to 50
+  60    e(l) = v(i)
+        j = j+1
+        tj = t(j)
+  70  continue
+c  we partition the working space
+      nm = n+maxbin
+      mb = maxbin+1
+      ia = 1
+      ib = ia+4*n
+      ic = ib+nm*maxbin
+      iz = ic+n
+      izz = iz+n
+      iu = izz+n
+      iq = iu+maxbin
+      ji = 1
+      ju = ji+maxtr
+      jl = ju+maxtr
+      jr = jl+maxtr
+      jjb = jr+maxtr
+      jib = jjb+mb
+c  given the set of knots t(j),j=1,2,...n, find the least-squares cubic
+c  spline which satisfies the imposed concavity/convexity constraints.
+      call fpcosp(m,x,y,w,n,t,e,maxtr,maxbin,c,sq,sx,bind,nm,mb,wrk(ia),
+     *
+     * wrk(ib),wrk(ic),wrk(iz),wrk(izz),wrk(iu),wrk(iq),iwrk(ji),
+     * iwrk(ju),iwrk(jl),iwrk(jr),iwrk(jjb),iwrk(jib),ier)
+c  if sq <= s or in case of abnormal exit from fpcosp, control is
+c  repassed to the driver program.
+      if(sq.le.s .or. ier.gt.0) go to 300
+c  calculate for each knot interval t(l-1) <= xi <= t(l) the
+c  sum((wi*(yi-s(xi)))**2).
+c  find the interval t(k-1) <= x <= t(k) for which this sum is maximal
+c  on the condition that this interval contains at least one interior
+c  data point x(nr) and that s(x) is not given there by a straight line.
+  80  sqmax = 0.
+      sql = 0.
+      l = 5
+      nr = 0
+      i1 = 1
+      n4 = n-4
+      do 110 i=1,m
+        term = (w(i)*(sx(i)-y(i)))**2
+        if(x(i).lt.t(l) .or. l.gt.n4) go to 100
+        term = term*half
+        sql = sql+term
+        if(i-i1.le.1 .or. (bind(l-4).and.bind(l-3))) go to 90
+        if(sql.le.sqmax) go to 90
+        k = l
+        sqmax = sql
+        nr = i1+(i-i1)/2
+  90    l = l+1
+        i1 = i
+        sql = 0.
+ 100    sql = sql+term
+ 110  continue
+      if(m-i1.le.1 .or. (bind(l-4).and.bind(l-3))) go to 120
+      if(sql.le.sqmax) go to 120
+      k = l
+      nr = i1+(m-i1)/2
+c  if no such interval is found, control is repassed to the driver
+c  program (ier = -1).
+ 120  if(nr.eq.0) go to 190
+c  if s(x) is given by the same straight line in two succeeding knot
+c  intervals t(l-1) <= x <= t(l) and t(l) <= x <= t(l+1),delete t(l)
+      n8 = n-8
+      l1 = 0
+      if(n8.le.0) go to 150
+      do 140 i=1,n8
+        if(.not. (bind(i).and.bind(i+1).and.bind(i+2))) go to 140
+        l = i+4-l1
+        if(k.gt.l) k = k-1
+        n = n-1
+        l1 = l1+1
+        do 130 j=l,n
+          t(j) = t(j+1)
+ 130    continue
+ 140  continue
+c  test whether we cannot further increase the number of knots.
+ 150  if(n.eq.nmax) go to 180
+      if(n.eq.nest) go to 170
+c  locate an additional knot at the point x(nr).
+      j = n
+      do 160 i=k,n
+        t(j+1) = t(j)
+        j = j-1
+ 160  continue
+      t(k) = x(nr)
+      n = n+1
+c  restart the computations with the new set of knots.
+      go to 40
+c  error codes and messages.
+ 170  ier = -3
+      go to 300
+ 180  ier = -2
+      go to 300
+ 190  ier = -1
+      go to 300
+ 200  ier = 4
+      go to 300
+ 210  ier = 5
+ 300  return
+      end
--- a/mcc/bsplines/fpcons.f
+++ b/mcc/bsplines/fpcons.f
@@ -0,0 +1,443 @@
+      recursive subroutine fpcons(iopt,idim,m,u,mx,x,w,ib,ie,k,s,nest,
+     *  tol,maxit,k1,k2,n,t,nc,c,fp,fpint,z,a,b,g,q,nrdata,ier)
+ccc      implicit none   c XXX: mmnin/nmin variables on line 61
+c  ..
+c  ..scalar arguments..
+      real*8 s,tol,fp
+      integer iopt,idim,m,mx,ib,ie,k,nest,maxit,k1,k2,n,nc,ier
+c  ..array arguments..
+      real*8 u(m),x(mx),w(m),t(nest),c(nc),fpint(nest),
+     * z(nc),a(nest,k1),b(nest,k2),g(nest,k2),q(m,k1)
+      integer nrdata(nest)
+c  ..local scalars..
+      real*8 acc,con1,con4,con9,cos,fac,fpart,fpms,fpold,fp0,f1,f2,f3,
+     * half,one,p,pinv,piv,p1,p2,p3,rn,sin,store,term,ui,wi
+      integer i,ich1,ich3,it,iter,i1,i2,i3,j,jb,je,jj,j1,j2,j3,kbe,
+     * l,li,lj,l0,mb,me,mm,new,nk1,nmax,nmin,nn,nplus,npl1,nrint,n8
+c  ..local arrays..
+      real*8 h(7),xi(10)
+c  ..function references
+      real*8 abs,fprati
+      integer max0,min0
+c  ..subroutine references..
+c    fpbacp,fpbspl,fpgivs,fpdisc,fpknot,fprota
+c  ..
+c  set constants
+      one = 0.1e+01
+      con1 = 0.1e0
+      con9 = 0.9e0
+      con4 = 0.4e-01
+      half = 0.5e0
+cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccc
+c  part 1: determination of the number of knots and their position     c
+c  **************************************************************      c
+c  given a set of knots we compute the least-squares curve sinf(u),    c
+c  and the corresponding sum of squared residuals fp=f(p=inf).         c
+c  if iopt=-1 sinf(u) is the requested curve.                          c
+c  if iopt=0 or iopt=1 we check whether we can accept the knots:       c
+c    if fp <=s we will continue with the current set of knots.         c
+c    if fp > s we will increase the number of knots and compute the    c
+c       corresponding least-squares curve until finally fp<=s.         c
+c    the initial choice of knots depends on the value of s and iopt.   c
+c    if s=0 we have spline interpolation; in that case the number of   c
+c    knots equals nmax = m+k+1-max(0,ib-1)-max(0,ie-1)                 c
+c    if s > 0 and                                                      c
+c      iopt=0 we first compute the least-squares polynomial curve of   c
+c      degree k; n = nmin = 2*k+2                                      c
+c      iopt=1 we start with the set of knots found at the last         c
+c      call of the routine, except for the case that s > fp0; then     c
+c      we compute directly the polynomial curve of degree k.           c
+cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccc
+c  determine nmin, the number of knots for polynomial approximation.
+      nmin = 2*k1
+c  find which data points are to be considered.
+      mb = 2
+      jb = ib
+      if(ib.gt.0) go to 10
+      mb = 1
+      jb = 1
+  10  me = m-1
+      je = ie
+      if(ie.gt.0) go to 20
+      me = m
+      je = 1
+  20  if(iopt.lt.0) go to 60
+c  calculation of acc, the absolute tolerance for the root of f(p)=s.
+      acc = tol*s
+c  determine nmax, the number of knots for spline interpolation.
+      kbe = k1-jb-je
+      mmin = kbe+2
+      mm = m-mmin
+      nmax = nmin+mm
+      if(s.gt.0.) go to 40
+c  if s=0, s(u) is an interpolating curve.
+c  test whether the required storage space exceeds the available one.
+      n = nmax
+      if(nmax.gt.nest) go to 420
+c  find the position of the interior knots in case of interpolation.
+      if(mm.eq.0) go to 60
+  25  i = k2
+      j = 3-jb+k/2
+      do 30 l=1,mm
+        t(i) = u(j)
+        i = i+1
+        j = j+1
+  30  continue
+      go to 60
+c  if s>0 our initial choice of knots depends on the value of iopt.
+c  if iopt=0 or iopt=1 and s>=fp0, we start computing the least-squares
+c  polynomial curve which is a spline curve without interior knots.
+c  if iopt=1 and fp0>s we start computing the least squares spline curve
+c  according to the set of knots found at the last call of the routine.
+  40  if(iopt.eq.0) go to 50
+      if(n.eq.nmin) go to 50
+      fp0 = fpint(n)
+      fpold = fpint(n-1)
+      nplus = nrdata(n)
+      if(fp0.gt.s) go to 60
+  50  n = nmin
+      fpold = 0.
+      nplus = 0
+      nrdata(1) = m-2
+c  main loop for the different sets of knots. m is a save upper bound
+c  for the number of trials.
+  60  do 200 iter = 1,m
+        if(n.eq.nmin) ier = -2
+c  find nrint, tne number of knot intervals.
+        nrint = n-nmin+1
+c  find the position of the additional knots which are needed for
+c  the b-spline representation of s(u).
+        nk1 = n-k1
+        i = n
+        do 70 j=1,k1
+          t(j) = u(1)
+          t(i) = u(m)
+          i = i-1
+  70    continue
+c  compute the b-spline coefficients of the least-squares spline curve
+c  sinf(u). the observation matrix a is built up row by row and
+c  reduced to upper triangular form by givens transformations.
+c  at the same time fp=f(p=inf) is computed.
+        fp = 0.
+c  nn denotes the dimension of the splines
+        nn = nk1-ib-ie
+c  initialize the b-spline coefficients and the observation matrix a.
+        do 75 i=1,nc
+          z(i) = 0.
+          c(i) = 0.
+  75    continue
+        if(me.lt.mb) go to 134
+        if(nn.eq.0) go to 82
+        do 80 i=1,nn
+          do 80 j=1,k1
+            a(i,j) = 0.
+  80    continue
+  82    l = k1
+        jj = (mb-1)*idim
+        do 130 it=mb,me
+c  fetch the current data point u(it),x(it).
+          ui = u(it)
+          wi = w(it)
+          do 84 j=1,idim
+             jj = jj+1
+             xi(j) = x(jj)*wi
+  84      continue
+c  search for knot interval t(l) <= ui < t(l+1).
+  86      if(ui.lt.t(l+1) .or. l.eq.nk1) go to 90
+          l = l+1
+          go to 86
+c  evaluate the (k+1) non-zero b-splines at ui and store them in q.
+  90      call fpbspl(t,n,k,ui,l,h)
+          do 92 i=1,k1
+            q(it,i) = h(i)
+            h(i) = h(i)*wi
+  92      continue
+c  take into account that certain b-spline coefficients must be zero.
+          lj = k1
+          j = nk1-l-ie
+          if(j.ge.0) go to 94
+          lj = lj+j
+  94      li = 1
+          j = l-k1-ib
+          if(j.ge.0) go to 96
+          li = li-j
+          j = 0
+  96      if(li.gt.lj) go to 120
+c  rotate the new row of the observation matrix into triangle.
+          do 110 i=li,lj
+            j = j+1
+            piv = h(i)
+            if(piv.eq.0.) go to 110
+c  calculate the parameters of the givens transformation.
+            call fpgivs(piv,a(j,1),cos,sin)
+c  transformations to right hand side.
+            j1 = j
+            do 98 j2 =1,idim
+               call fprota(cos,sin,xi(j2),z(j1))
+               j1 = j1+n
+  98        continue
+            if(i.eq.lj) go to 120
+            i2 = 1
+            i3 = i+1
+            do 100 i1 = i3,lj
+              i2 = i2+1
+c  transformations to left hand side.
+              call fprota(cos,sin,h(i1),a(j,i2))
+ 100        continue
+ 110      continue
+c  add contribution of this row to the sum of squares of residual
+c  right hand sides.
+ 120      do 125 j2=1,idim
+             fp  = fp+xi(j2)**2
+ 125      continue
+ 130    continue
+        if(ier.eq.(-2)) fp0 = fp
+        fpint(n) = fp0
+        fpint(n-1) = fpold
+        nrdata(n) = nplus
+c  backward substitution to obtain the b-spline coefficients.
+        if(nn.eq.0) go to 134
+        j1 = 1
+        do 132 j2=1,idim
+           j3 = j1+ib
+           call fpback(a,z(j1),nn,k1,c(j3),nest)
+           j1 = j1+n
+ 132    continue
+c  test whether the approximation sinf(u) is an acceptable solution.
+ 134    if(iopt.lt.0) go to 440
+        fpms = fp-s
+        if(abs(fpms).lt.acc) go to 440
+c  if f(p=inf) < s accept the choice of knots.
+        if(fpms.lt.0.) go to 250
+c  if n = nmax, sinf(u) is an interpolating spline curve.
+        if(n.eq.nmax) go to 430
+c  increase the number of knots.
+c  if n=nest we cannot increase the number of knots because of
+c  the storage capacity limitation.
+        if(n.eq.nest) go to 420
+c  determine the number of knots nplus we are going to add.
+        if(ier.eq.0) go to 140
+        nplus = 1
+        ier = 0
+        go to 150
+ 140    npl1 = nplus*2
+        rn = nplus
+        if(fpold-fp.gt.acc) npl1 = rn*fpms/(fpold-fp)
+        nplus = min0(nplus*2,max0(npl1,nplus/2,1))
+ 150    fpold = fp
+c  compute the sum of squared residuals for each knot interval
+c  t(j+k) <= u(i) <= t(j+k+1) and store it in fpint(j),j=1,2,...nrint.
+        fpart = 0.
+        i = 1
+        l = k2
+        new = 0
+        jj = (mb-1)*idim
+        do 180 it=mb,me
+          if(u(it).lt.t(l) .or. l.gt.nk1) go to 160
+          new = 1
+          l = l+1
+ 160      term = 0.
+          l0 = l-k2
+          do 175 j2=1,idim
+            fac = 0.
+            j1 = l0
+            do 170 j=1,k1
+              j1 = j1+1
+              fac = fac+c(j1)*q(it,j)
+ 170        continue
+            jj = jj+1
+            term = term+(w(it)*(fac-x(jj)))**2
+            l0 = l0+n
+ 175      continue
+          fpart = fpart+term
+          if(new.eq.0) go to 180
+          store = term*half
+          fpint(i) = fpart-store
+          i = i+1
+          fpart = store
+          new = 0
+ 180    continue
+        fpint(nrint) = fpart
+        do 190 l=1,nplus
+c  add a new knot.
+          call fpknot(u,m,t,n,fpint,nrdata,nrint,nest,1)
+c  if n=nmax we locate the knots as for interpolation
+          if(n.eq.nmax) go to 25
+c  test whether we cannot further increase the number of knots.
+          if(n.eq.nest) go to 200
+ 190    continue
+c  restart the computations with the new set of knots.
+ 200  continue
+c  test whether the least-squares kth degree polynomial curve is a
+c  solution of our approximation problem.
+ 250  if(ier.eq.(-2)) go to 440
+cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccc
+c  part 2: determination of the smoothing spline curve sp(u).          c
+c  **********************************************************          c
+c  we have determined the number of knots and their position.          c
+c  we now compute the b-spline coefficients of the smoothing curve     c
+c  sp(u). the observation matrix a is extended by the rows of matrix   c
+c  b expressing that the kth derivative discontinuities of sp(u) at    c
+c  the interior knots t(k+2),...t(n-k-1) must be zero. the corres-     c
+c  ponding weights of these additional rows are set to 1/p.            c
+c  iteratively we then have to determine the value of p such that f(p),c
+c  the sum of squared residuals be = s. we already know that the least c
+c  squares kth degree polynomial curve corresponds to p=0, and that    c
+c  the least-squares spline curve corresponds to p=infinity. the       c
+c  iteration process which is proposed here, makes use of rational     c
+c  interpolation. since f(p) is a convex and strictly decreasing       c
+c  function of p, it can be approximated by a rational function        c
+c  r(p) = (u*p+v)/(p+w). three values of p(p1,p2,p3) with correspond-  c
+c  ing values of f(p) (f1=f(p1)-s,f2=f(p2)-s,f3=f(p3)-s) are used      c
+c  to calculate the new value of p such that r(p)=s. convergence is    c
+c  guaranteed by taking f1>0 and f3<0.                                 c
+cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccc
+c  evaluate the discontinuity jump of the kth derivative of the
+c  b-splines at the knots t(l),l=k+2,...n-k-1 and store in b.
+      call fpdisc(t,n,k2,b,nest)
+c  initial value for p.
+      p1 = 0.
+      f1 = fp0-s
+      p3 = -one
+      f3 = fpms
+      p = 0.
+      do 252 i=1,nn
+         p = p+a(i,1)
+ 252  continue
+      rn = nn
+      p = rn/p
+      ich1 = 0
+      ich3 = 0
+      n8 = n-nmin
+c  iteration process to find the root of f(p) = s.
+      do 360 iter=1,maxit
+c  the rows of matrix b with weight 1/p are rotated into the
+c  triangularised observation matrix a which is stored in g.
+        pinv = one/p
+        do 255 i=1,nc
+          c(i) = z(i)
+ 255    continue
+        do 260 i=1,nn
+          g(i,k2) = 0.
+          do 260 j=1,k1
+            g(i,j) = a(i,j)
+ 260    continue
+        do 300 it=1,n8
+c  the row of matrix b is rotated into triangle by givens transformation
+          do 264 i=1,k2
+            h(i) = b(it,i)*pinv
+ 264      continue
+          do 268 j=1,idim
+            xi(j) = 0.
+ 268      continue
+c  take into account that certain b-spline coefficients must be zero.
+          if(it.gt.ib) go to 274
+          j1 = ib-it+2
+          j2 = 1
+          do 270 i=j1,k2
+            h(j2) = h(i)
+            j2 = j2+1
+ 270      continue
+          do 272 i=j2,k2
+            h(i) = 0.
+ 272      continue
+ 274      jj = max0(1,it-ib)
+          do 290 j=jj,nn
+            piv = h(1)
+c  calculate the parameters of the givens transformation.
+            call fpgivs(piv,g(j,1),cos,sin)
+c  transformations to right hand side.
+            j1 = j
+            do 277 j2=1,idim
+              call fprota(cos,sin,xi(j2),c(j1))
+              j1 = j1+n
+ 277        continue
+            if(j.eq.nn) go to 300
+            i2 = min0(nn-j,k1)
+            do 280 i=1,i2
+c  transformations to left hand side.
+              i1 = i+1
+              call fprota(cos,sin,h(i1),g(j,i1))
+              h(i) = h(i1)
+ 280        continue
+            h(i2+1) = 0.
+ 290      continue
+ 300    continue
+c  backward substitution to obtain the b-spline coefficients.
+        j1 = 1
+        do 308 j2=1,idim
+          j3 = j1+ib
+          call fpback(g,c(j1),nn,k2,c(j3),nest)
+          if(ib.eq.0) go to 306
+          j3 = j1
+          do 304 i=1,ib
+            c(j3) = 0.
+            j3 = j3+1
+ 304      continue
+ 306      j1 =j1+n
+ 308    continue
+c  computation of f(p).
+        fp = 0.
+        l = k2
+        jj = (mb-1)*idim
+        do 330 it=mb,me
+          if(u(it).lt.t(l) .or. l.gt.nk1) go to 310
+          l = l+1
+ 310      l0 = l-k2
+          term = 0.
+          do 325 j2=1,idim
+            fac = 0.
+            j1 = l0
+            do 320 j=1,k1
+              j1 = j1+1
+              fac = fac+c(j1)*q(it,j)
+ 320        continue
+            jj = jj+1
+            term = term+(fac-x(jj))**2
+            l0 = l0+n
+ 325      continue
+          fp = fp+term*w(it)**2
+ 330    continue
+c  test whether the approximation sp(u) is an acceptable solution.
+        fpms = fp-s
+        if(abs(fpms).lt.acc) go to 440
+c  test whether the maximal number of iterations is reached.
+        if(iter.eq.maxit) go to 400
+c  carry out one more step of the iteration process.
+        p2 = p
+        f2 = fpms
+        if(ich3.ne.0) go to 340
+        if((f2-f3).gt.acc) go to 335
+c  our initial choice of p is too large.
+        p3 = p2
+        f3 = f2
+        p = p*con4
+        if(p.le.p1) p=p1*con9 + p2*con1
+        go to 360
+ 335    if(f2.lt.0.) ich3=1
+ 340    if(ich1.ne.0) go to 350
+        if((f1-f2).gt.acc) go to 345
+c  our initial choice of p is too small
+        p1 = p2
+        f1 = f2
+        p = p/con4
+        if(p3.lt.0.) go to 360
+        if(p.ge.p3) p = p2*con1 + p3*con9
+        go to 360
+ 345    if(f2.gt.0.) ich1=1
+c  test whether the iteration process proceeds as theoretically
+c  expected.
+ 350    if(f2.ge.f1 .or. f2.le.f3) go to 410
+c  find the new value for p.
+        p = fprati(p1,f1,p2,f2,p3,f3)
+ 360  continue
+c  error codes and messages.
+ 400  ier = 3
+      go to 440
+ 410  ier = 2
+      go to 440
+ 420  ier = 1
+      go to 440
+ 430  ier = -1
+ 440  return
+      end
--- a/mcc/bsplines/fpcosp.f
+++ b/mcc/bsplines/fpcosp.f
@@ -0,0 +1,363 @@
+      recursive subroutine fpcosp(m,x,y,w,n,t,e,maxtr,maxbin,c,sq,sx,
+     * bind,nm,mb,a,
+     * b,const,z,zz,u,q,info,up,left,right,jbind,ibind,ier)
+      implicit none
+c  ..
+c  ..scalar arguments..
+      real*8 sq
+      integer m,n,maxtr,maxbin,nm,mb,ier
+c  ..array arguments..
+      real*8 x(m),y(m),w(m),t(n),e(n),c(n),sx(m),a(n,4),b(nm,maxbin),
+     * const(n),z(n),zz(n),u(maxbin),q(m,4)
+      integer info(maxtr),up(maxtr),left(maxtr),right(maxtr),jbind(mb),
+     * ibind(mb)
+      logical bind(n)
+c  ..local scalars..
+      integer count,i,i1,j,j1,j2,j3,k,kdim,k1,k2,k3,k4,k5,k6,
+     * l,lp1,l1,l2,l3,merk,nbind,number,n1,n4,n6
+      real*8 f,wi,xi
+c  ..local array..
+      real*8 h(4)
+c  ..subroutine references..
+c    fpbspl,fpadno,fpdeno,fpfrno,fpseno
+c  ..
+cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccc
+c  if we use the b-spline representation of s(x) our approximation     c
+c  problem results in a quadratic programming problem:                 c
+c    find the b-spline coefficients c(j),j=1,2,...n-4 such that        c
+c        (1) sumi((wi*(yi-sumj(cj*nj(xi))))**2),i=1,2,...m is minimal  c
+c        (2) sumj(cj*n''j(t(l+3)))*e(l) <= 0, l=1,2,...n-6.            c
+c  to solve this problem we use the theil-van de panne procedure.      c
+c  if the inequality constraints (2) are numbered from 1 to n-6,       c
+c  this algorithm finds a subset of constraints ibind(1)..ibind(nbind) c
+c  such that the solution of the minimization problem (1) with these   c
+c  constraints in equality form, satisfies all constraints. such a     c
+c  feasible solution is optimal if the lagrange parameters associated  c
+c  with that problem with equality constraints, are all positive.      c
+cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccc
+c  determine n6, the number of inequality constraints.
+      n6 = n-6
+c  fix the parameters which determine these constraints.
+      do 10 i=1,n6
+        const(i) = e(i)*(t(i+4)-t(i+1))/(t(i+5)-t(i+2))
+  10  continue
+c  initialize the triply linked tree which is used to find the subset
+c  of constraints ibind(1),...ibind(nbind).
+      count = 1
+      info(1) = 0
+      left(1) = 0
+      right(1) = 0
+      up(1) = 1
+      merk = 1
+c  set up the normal equations  n'nc=n'y  where n denotes the m x (n-4)
+c  observation matrix with elements ni,j = wi*nj(xi)  and y is the
+c  column vector with elements yi*wi.
+c  from the properties of the b-splines nj(x),j=1,2,...n-4, it follows
+c  that  n'n  is a (n-4) x (n-4)  positive definite bandmatrix of
+c  bandwidth 7. the matrices n'n and n'y are built up in a and z.
+      n4 = n-4
+c  initialization
+      do 20 i=1,n4
+        z(i) = 0.
+        do 20 j=1,4
+          a(i,j) = 0.
+  20  continue
+      l = 4
+      lp1 = l+1
+      do 70 i=1,m
+c  fetch the current row of the observation matrix.
+        xi = x(i)
+        wi = w(i)**2
+c  search for knot interval  t(l) <= xi < t(l+1)
+  30    if(xi.lt.t(lp1) .or. l.eq.n4) go to 40
+        l = lp1
+        lp1 = l+1
+        go to 30
+c  evaluate the four non-zero cubic b-splines nj(xi),j=l-3,...l.
+  40    call fpbspl(t,n,3,xi,l,h)
+c  store in q these values h(1),h(2),...h(4).
+        do 50 j=1,4
+          q(i,j) = h(j)
+  50    continue
+c  add the contribution of the current row of the observation matrix
+c  n to the normal equations.
+        l3 = l-3
+        k1 = 0
+        do 60 j1 = l3,l
+          k1 = k1+1
+          f = h(k1)
+          z(j1) = z(j1)+f*wi*y(i)
+          k2 = k1
+          j2 = 4
+          do 60 j3 = j1,l
+            a(j3,j2) = a(j3,j2)+f*wi*h(k2)
+            k2 = k2+1
+            j2 = j2-1
+  60    continue
+  70  continue
+c  since n'n is a symmetric matrix it can be factorized as
+c        (3)  n'n = (r1)'(d1)(r1)
+c  with d1 a diagonal matrix and r1 an (n-4) x (n-4)  unit upper
+c  triangular matrix of bandwidth 4. the matrices r1 and d1 are built
+c  up in a. at the same time we solve the systems of equations
+c        (4)  (r1)'(z2) = n'y
+c        (5)  (d1) (z1) = (z2)
+c  the vectors z2 and z1 are kept in zz and z.
+      do 140 i=1,n4
+        k1 = 1
+        if(i.lt.4) k1 = 5-i
+        k2 = i-4+k1
+        k3 = k2
+        do 100 j=k1,4
+          k4 = j-1
+          k5 = 4-j+k1
+          f = a(i,j)
+          if(k1.gt.k4) go to 90
+          k6 = k2
+          do 80 k=k1,k4
+            f = f-a(i,k)*a(k3,k5)*a(k6,4)
+            k5 = k5+1
+            k6 = k6+1
+  80      continue
+  90      if(j.eq.4) go to 110
+          a(i,j) = f/a(k3,4)
+          k3 = k3+1
+ 100    continue
+ 110    a(i,4) = f
+        f = z(i)
+        if(i.eq.1) go to 130
+        k4 = i
+        do 120 j=k1,3
+          k = k1+3-j
+          k4 = k4-1
+          f = f-a(i,k)*z(k4)*a(k4,4)
+ 120    continue
+ 130    z(i) = f/a(i,4)
+        zz(i) = f
+ 140  continue
+c  start computing the least-squares cubic spline without taking account
+c  of any constraint.
+      nbind = 0
+      n1 = 1
+      ibind(1) = 0
+c  main loop for the least-squares problems with different subsets of
+c  the constraints (2) in equality form. the resulting b-spline coeff.
+c  c and lagrange parameters u are the solution of the system
+c            ! n'n  b' ! ! c !   ! n'y !
+c        (6) !         ! !   ! = !     !
+c            !  b   0  ! ! u !   !  0  !
+c  z1 is stored into array c.
+ 150  do 160 i=1,n4
+        c(i) = z(i)
+ 160  continue
+c  if there are no equality constraints, compute the coeff. c directly.
+      if(nbind.eq.0) go to 370
+c  initialization
+      kdim = n4+nbind
+      do 170 i=1,nbind
+        do 170 j=1,kdim
+          b(j,i) = 0.
+ 170  continue
+c  matrix b is built up,expressing that the constraints nrs ibind(1),...
+c  ibind(nbind) must be satisfied in equality form.
+      do 180 i=1,nbind
+        l = ibind(i)
+        b(l,i) = e(l)
+        b(l+1,i) = -(e(l)+const(l))
+        b(l+2,i) = const(l)
+ 180  continue
+c  find the matrix (b1) as the solution of the system of equations
+c        (7)  (r1)'(d1)(b1) = b'
+c  (b1) is built up in the upper part of the array b(rows 1,...n-4).
+      do 220 k1=1,nbind
+        l = ibind(k1)
+        do 210 i=l,n4
+          f = b(i,k1)
+          if(i.eq.1) go to 200
+          k2 = 3
+          if(i.lt.4) k2 = i-1
+          do 190 k3=1,k2
+            l1 = i-k3
+            l2 = 4-k3
+            f = f-b(l1,k1)*a(i,l2)*a(l1,4)
+ 190      continue
+ 200      b(i,k1) = f/a(i,4)
+ 210    continue
+ 220  continue
+c  factorization of the symmetric matrix  -(b1)'(d1)(b1)
+c        (8)  -(b1)'(d1)(b1) = (r2)'(d2)(r2)
+c  with (d2) a diagonal matrix and (r2) an nbind x nbind unit upper
+c  triangular matrix. the matrices r2 and d2 are built up in the lower
+c  part of the array b (rows n-3,n-2,...n-4+nbind).
+      do 270 i=1,nbind
+        i1 = i-1
+        do 260 j=i,nbind
+          f = 0.
+          do 230 k=1,n4
+            f = f+b(k,i)*b(k,j)*a(k,4)
+ 230      continue
+          k1 = n4+1
+          if(i1.eq.0) go to 250
+          do 240 k=1,i1
+            f = f+b(k1,i)*b(k1,j)*b(k1,k)
+            k1 = k1+1
+ 240      continue
+ 250      b(k1,j) = -f
+          if(j.eq.i) go to 260
+          b(k1,j) = b(k1,j)/b(k1,i)
+ 260    continue
+ 270  continue
+c  according to (3),(7) and (8) the system of equations (6) becomes
+c         ! (r1)'    0  ! ! (d1)    0  ! ! (r1)  (b1) ! ! c !   ! n'y !
+c    (9)  !             ! !            ! !            ! !   ! = !     !
+c         ! (b1)'  (r2)'! !   0   (d2) ! !   0   (r2) ! ! u !   !  0  !
+c  backward substitution to obtain the b-spline coefficients c(j),j=1,..
+c  n-4 and the lagrange parameters u(j),j=1,2,...nbind.
+c  first step of the backward substitution: solve the system
+c             ! (r1)'(d1)      0     ! ! (c1) !   ! n'y !
+c        (10) !                      ! !      ! = !     !
+c             ! (b1)'(d1)  (r2)'(d2) ! ! (u1) !   !  0  !
+c  from (4) and (5) we know that this is equivalent to
+c        (11)  (c1) = (z1)
+c        (12)  (r2)'(d2)(u1) = -(b1)'(z2)
+      do 310 i=1,nbind
+        f = 0.
+        do 280 j=1,n4
+          f = f+b(j,i)*zz(j)
+ 280    continue
+        i1 = i-1
+        k1 = n4+1
+        if(i1.eq.0) go to 300
+        do 290 j=1,i1
+          f = f+u(j)*b(k1,i)*b(k1,j)
+          k1 = k1+1
+ 290    continue
+ 300    u(i) = -f/b(k1,i)
+ 310  continue
+c  second step of the backward substitution: solve the system
+c             ! (r1)  (b1) ! ! c !   ! c1 !
+c        (13) !            ! !   ! = !    !
+c             !   0   (r2) ! ! u !   ! u1 !
+      k1 = nbind
+      k2 = kdim
+c  find the lagrange parameters u.
+      do 340 i=1,nbind
+        f = u(k1)
+        if(i.eq.1) go to 330
+        k3 = k1+1
+        do 320 j=k3,nbind
+          f = f-u(j)*b(k2,j)
+ 320    continue
+ 330    u(k1) = f
+        k1 = k1-1
+        k2 = k2-1
+ 340  continue
+c  find the b-spline coefficients c.
+      do 360 i=1,n4
+        f = c(i)
+        do 350 j=1,nbind
+          f = f-u(j)*b(i,j)
+ 350    continue
+        c(i) = f
+ 360  continue
+ 370  k1 = n4
+      do 390 i=2,n4
+        k1 = k1-1
+        f = c(k1)
+        k2 = 1
+        if(i.lt.5) k2 = 5-i
+        k3 = k1
+        l = 3
+        do 380 j=k2,3
+          k3 = k3+1
+          f = f-a(k3,l)*c(k3)
+          l = l-1
+ 380    continue
+        c(k1) = f
+ 390  continue
+c  test whether the solution of the least-squares problem with the
+c  constraints ibind(1),...ibind(nbind) in equality form, satisfies
+c  all of the constraints (2).
+      k = 1
+c  number counts the number of violated inequality constraints.
+      number = 0
+      do 440 j=1,n6
+        l = ibind(k)
+        k = k+1
+        if(j.eq.l) go to 440
+        k = k-1
+c  test whether constraint j is satisfied
+        f = e(j)*(c(j)-c(j+1))+const(j)*(c(j+2)-c(j+1))
+        if(f.le.0.) go to 440
+c  if constraint j is not satisfied, add a branch of length nbind+1
+c  to the tree. the nodes of this branch contain in their information
+c  field the number of the constraints ibind(1),...ibind(nbind) and j,
+c  arranged in increasing order.
+        number = number+1
+        k1 = k-1
+        if(k1.eq.0) go to 410
+        do 400 i=1,k1
+          jbind(i) = ibind(i)
+ 400    continue
+ 410    jbind(k) = j
+        if(l.eq.0) go to 430
+        do 420 i=k,nbind
+          jbind(i+1) = ibind(i)
+ 420    continue
+ 430    call fpadno(maxtr,up,left,right,info,count,merk,jbind,n1,ier)
+c  test whether the storage space which is required for the tree,exceeds
+c  the available storage space.
+        if(ier.ne.0) go to 560
+ 440  continue
+c  test whether the solution of the least-squares problem with equality
+c  constraints is a feasible solution.
+      if(number.eq.0) go to 470
+c  test whether there are still cases with nbind constraints in
+c  equality form to be considered.
+ 450  if(merk.gt.1) go to 460
+      nbind = n1
+c  test whether the number of knots where s''(x)=0 exceeds maxbin.
+      if(nbind.gt.maxbin) go to 550
+      n1 = n1+1
+      ibind(n1) = 0
+c  search which cases with nbind constraints in equality form
+c  are going to be considered.
+      call fpdeno(maxtr,up,left,right,nbind,merk)
+c  test whether the quadratic programming problem has a solution.
+      if(merk.eq.1) go to 570
+c  find a new case with nbind constraints in equality form.
+ 460  call fpseno(maxtr,up,left,right,info,merk,ibind,nbind)
+      go to 150
+c  test whether the feasible solution is optimal.
+ 470  ier = 0
+      do 480 i=1,n6
+        bind(i) = .false.
+ 480  continue
+      if(nbind.eq.0) go to 500
+      do 490 i=1,nbind
+        if(u(i).le.0.) go to 450
+        j = ibind(i)
+        bind(j) = .true.
+ 490  continue
+c  evaluate s(x) at the data points x(i) and calculate the weighted
+c  sum of squared residual right hand sides sq.
+ 500  sq = 0.
+      l = 4
+      lp1 = 5
+      do 530 i=1,m
+ 510    if(x(i).lt.t(lp1) .or. l.eq.n4) go to 520
+        l = lp1
+        lp1 = l+1
+        go to 510
+ 520    sx(i) = c(l-3)*q(i,1)+c(l-2)*q(i,2)+c(l-1)*q(i,3)+c(l)*q(i,4)
+        sq = sq+(w(i)*(y(i)-sx(i)))**2
+ 530  continue
+      go to 600
+c  error codes and messages.
+ 550  ier = 1
+      go to 600
+ 560  ier = 2
+      go to 600
+ 570  ier = 3
+ 600  return
+      end
--- a/mcc/bsplines/fpcsin.f
+++ b/mcc/bsplines/fpcsin.f
@@ -0,0 +1,57 @@
+      recursive subroutine fpcsin(a,b,par,sia,coa,sib,cob,ress,resc)
+      implicit none
+c  fpcsin calculates the integrals ress=integral((b-x)**3*sin(par*x))
+c  and resc=integral((b-x)**3*cos(par*x)) over the interval (a,b),
+c  given sia=sin(par*a),coa=cos(par*a),sib=sin(par*b) and cob=cos(par*b)
+c  ..
+c  ..scalar arguments..
+      real*8 a,b,par,sia,coa,sib,cob,ress,resc
+c  ..local scalars..
+      integer i,j
+      real*8 ab,ab4,ai,alfa,beta,b2,b4,eps,fac,f1,f2,one,quart,six,
+     * three,two
+c  ..function references..
+      real*8 abs
+c  ..
+      one = 0.1e+01
+      two = 0.2e+01
+      three = 0.3e+01
+      six = 0.6e+01
+      quart = 0.25e+0
+      eps = 0.1e-09
+      ab = b-a
+      ab4 = ab**4
+      alfa = ab*par
+c the way of calculating the integrals ress and resc depends on
+c the value of alfa = (b-a)*par.
+      if(abs(alfa).le.one) go to 100
+c integration by parts.
+      beta = one/alfa
+      b2 = beta**2
+      b4 = six*b2**2
+      f1 = three*b2*(one-two*b2)
+      f2 = beta*(one-six*b2)
+      ress = ab4*(coa*f2+sia*f1+sib*b4)
+      resc = ab4*(coa*f1-sia*f2+cob*b4)
+      go to 400
+c ress and resc are found by evaluating a series expansion.
+ 100  fac = quart
+      f1 = fac
+      f2 = 0.
+      i = 4
+      do 200 j=1,5
+        i = i+1
+        ai = i
+        fac = fac*alfa/ai
+        f2 = f2+fac
+        if(abs(fac).le.eps) go to 300
+        i = i+1
+        ai = i
+        fac = -fac*alfa/ai
+        f1 = f1+fac
+        if(abs(fac).le.eps) go to 300
+ 200  continue
+ 300  ress = ab4*(coa*f2+sia*f1)
+      resc = ab4*(coa*f1-sia*f2)
+ 400  return
+      end
--- a/mcc/bsplines/fpcurf.f
+++ b/mcc/bsplines/fpcurf.f
@@ -0,0 +1,360 @@
+      recursive subroutine fpcurf(iopt,x,y,w,m,xb,xe,k,s,nest,tol,
+     *   maxit,k1,k2,n,t,c,fp,fpint,z,a,b,g,q,nrdata,ier)
+      implicit none
+c  ..
+c  ..scalar arguments..
+      real*8 xb,xe,s,tol,fp
+      integer iopt,m,k,nest,maxit,k1,k2,n,ier
+c  ..array arguments..
+      real*8 x(m),y(m),w(m),t(nest),c(nest),fpint(nest),
+     * z(nest),a(nest,k1),b(nest,k2),g(nest,k2),q(m,k1)
+      integer nrdata(nest)
+c  ..local scalars..
+      real*8 acc,con1,con4,con9,cos,half,fpart,fpms,fpold,fp0,f1,f2,f3,
+     * one,p,pinv,piv,p1,p2,p3,rn,sin,store,term,wi,xi,yi
+      integer i,ich1,ich3,it,iter,i1,i2,i3,j,k3,l,l0,
+     * mk1,new,nk1,nmax,nmin,nplus,npl1,nrint,n8
+c  ..local arrays..
+      real*8 h(7)
+c  ..function references
+      real*8 abs,fprati
+      integer max0,min0
+c  ..subroutine references..
+c    fpback,fpbspl,fpgivs,fpdisc,fpknot,fprota
+c  ..
+c  set constants
+      one = 0.1d+01
+      con1 = 0.1d0
+      con9 = 0.9d0
+      con4 = 0.4d-01
+      half = 0.5d0
+cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccc
+c  part 1: determination of the number of knots and their position     c
+c  **************************************************************      c
+c  given a set of knots we compute the least-squares spline sinf(x),   c
+c  and the corresponding sum of squared residuals fp=f(p=inf).         c
+c  if iopt=-1 sinf(x) is the requested approximation.                  c
+c  if iopt=0 or iopt=1 we check whether we can accept the knots:       c
+c    if fp <=s we will continue with the current set of knots.         c
+c    if fp > s we will increase the number of knots and compute the    c
+c       corresponding least-squares spline until finally fp<=s.        c
+c    the initial choice of knots depends on the value of s and iopt.   c
+c    if s=0 we have spline interpolation; in that case the number of   c
+c    knots equals nmax = m+k+1.                                        c
+c    if s > 0 and                                                      c
+c      iopt=0 we first compute the least-squares polynomial of         c
+c      degree k; n = nmin = 2*k+2                                      c
+c      iopt=1 we start with the set of knots found at the last         c
+c      call of the routine, except for the case that s > fp0; then     c
+c      we compute directly the least-squares polynomial of degree k.   c
+cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccc
+c  determine nmin, the number of knots for polynomial approximation.
+      nmin = 2*k1
+      if(iopt.lt.0) go to 60
+c  calculation of acc, the absolute tolerance for the root of f(p)=s.
+      acc = tol*s
+c  determine nmax, the number of knots for spline interpolation.
+      nmax = m+k1
+      if(s.gt.0.0d0) go to 45
+c  if s=0, s(x) is an interpolating spline.
+c  test whether the required storage space exceeds the available one.
+      n = nmax
+      if(nmax.gt.nest) go to 420
+c  find the position of the interior knots in case of interpolation.
+  10  mk1 = m-k1
+      if(mk1.eq.0) go to 60
+      k3 = k/2
+      i = k2
+      j = k3+2
+      if(k3*2.eq.k) go to 30
+      do 20 l=1,mk1
+        t(i) = x(j)
+        i = i+1
+        j = j+1
+  20  continue
+      go to 60
+  30  do 40 l=1,mk1
+        t(i) = (x(j)+x(j-1))*half
+        i = i+1
+        j = j+1
+  40  continue
+      go to 60
+c  if s>0 our initial choice of knots depends on the value of iopt.
+c  if iopt=0 or iopt=1 and s>=fp0, we start computing the least-squares
+c  polynomial of degree k which is a spline without interior knots.
+c  if iopt=1 and fp0>s we start computing the least squares spline
+c  according to the set of knots found at the last call of the routine.
+  45  if(iopt.eq.0) go to 50
+      if(n.eq.nmin) go to 50
+      fp0 = fpint(n)
+      fpold = fpint(n-1)
+      nplus = nrdata(n)
+      if(fp0.gt.s) go to 60
+  50  n = nmin
+      fpold = 0.0d0
+      nplus = 0
+      nrdata(1) = m-2
+c  main loop for the different sets of knots. m is a save upper bound
+c  for the number of trials.
+  60  do 200 iter = 1,m
+        if(n.eq.nmin) ier = -2
+c  find nrint, tne number of knot intervals.
+        nrint = n-nmin+1
+c  find the position of the additional knots which are needed for
+c  the b-spline representation of s(x).
+        nk1 = n-k1
+        i = n
+        do 70 j=1,k1
+          t(j) = xb
+          t(i) = xe
+          i = i-1
+  70    continue
+c  compute the b-spline coefficients of the least-squares spline
+c  sinf(x). the observation matrix a is built up row by row and
+c  reduced to upper triangular form by givens transformations.
+c  at the same time fp=f(p=inf) is computed.
+        fp = 0.0d0
+c  initialize the observation matrix a.
+        do 80 i=1,nk1
+          z(i) = 0.0d0
+          do 80 j=1,k1
+            a(i,j) = 0.0d0
+  80    continue
+        l = k1
+        do 130 it=1,m
+c  fetch the current data point x(it),y(it).
+          xi = x(it)
+          wi = w(it)
+          yi = y(it)*wi
+c  search for knot interval t(l) <= xi < t(l+1).
+  85      if(xi.lt.t(l+1) .or. l.eq.nk1) go to 90
+          l = l+1
+          go to 85
+c  evaluate the (k+1) non-zero b-splines at xi and store them in q.
+  90      call fpbspl(t,n,k,xi,l,h)
+          do 95 i=1,k1
+            q(it,i) = h(i)
+            h(i) = h(i)*wi
+  95      continue
+c  rotate the new row of the observation matrix into triangle.
+          j = l-k1
+          do 110 i=1,k1
+            j = j+1
+            piv = h(i)
+            if(piv.eq.0.0d0) go to 110
+c  calculate the parameters of the givens transformation.
+            call fpgivs(piv,a(j,1),cos,sin)
+c  transformations to right hand side.
+            call fprota(cos,sin,yi,z(j))
+            if(i.eq.k1) go to 120
+            i2 = 1
+            i3 = i+1
+            do 100 i1 = i3,k1
+              i2 = i2+1
+c  transformations to left hand side.
+              call fprota(cos,sin,h(i1),a(j,i2))
+ 100        continue
+ 110      continue
+c  add contribution of this row to the sum of squares of residual
+c  right hand sides.
+ 120      fp = fp+yi*yi
+ 130    continue
+        if(ier.eq.(-2)) fp0 = fp
+        fpint(n) = fp0
+        fpint(n-1) = fpold
+        nrdata(n) = nplus
+c  backward substitution to obtain the b-spline coefficients.
+        call fpback(a,z,nk1,k1,c,nest)
+c  test whether the approximation sinf(x) is an acceptable solution.
+        if(iopt.lt.0) go to 440
+        fpms = fp-s
+        if(abs(fpms).lt.acc) go to 440
+c  if f(p=inf) < s accept the choice of knots.
+        if(fpms.lt.0.0d0) go to 250
+c  if n = nmax, sinf(x) is an interpolating spline.
+        if(n.eq.nmax) go to 430
+c  increase the number of knots.
+c  if n=nest we cannot increase the number of knots because of
+c  the storage capacity limitation.
+        if(n.eq.nest) go to 420
+c  determine the number of knots nplus we are going to add.
+        if(ier.eq.0) go to 140
+        nplus = 1
+        ier = 0
+        go to 150
+ 140    npl1 = nplus*2
+        rn = nplus
+        if(fpold-fp.gt.acc) npl1 = rn*fpms/(fpold-fp)
+        nplus = min0(nplus*2,max0(npl1,nplus/2,1))
+ 150    fpold = fp
+c  compute the sum((w(i)*(y(i)-s(x(i))))**2) for each knot interval
+c  t(j+k) <= x(i) <= t(j+k+1) and store it in fpint(j),j=1,2,...nrint.
+        fpart = 0.0d0
+        i = 1
+        l = k2
+        new = 0
+        do 180 it=1,m
+          if(x(it).lt.t(l) .or. l.gt.nk1) go to 160
+          new = 1
+          l = l+1
+ 160      term = 0.0d0
+          l0 = l-k2
+          do 170 j=1,k1
+            l0 = l0+1
+            term = term+c(l0)*q(it,j)
+ 170      continue
+          term = (w(it)*(term-y(it)))**2
+          fpart = fpart+term
+          if(new.eq.0) go to 180
+          store = term*half
+          fpint(i) = fpart-store
+          i = i+1
+          fpart = store
+          new = 0
+ 180    continue
+        fpint(nrint) = fpart
+        do 190 l=1,nplus
+c  add a new knot.
+          call fpknot(x,m,t,n,fpint,nrdata,nrint,nest,1)
+c  if n=nmax we locate the knots as for interpolation.
+          if(n.eq.nmax) go to 10
+c  test whether we cannot further increase the number of knots.
+          if(n.eq.nest) go to 200
+ 190    continue
+c  restart the computations with the new set of knots.
+ 200  continue
+c  test whether the least-squares kth degree polynomial is a solution
+c  of our approximation problem.
+ 250  if(ier.eq.(-2)) go to 440
+cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccc
+c  part 2: determination of the smoothing spline sp(x).                c
+c  ***************************************************                 c
+c  we have determined the number of knots and their position.          c
+c  we now compute the b-spline coefficients of the smoothing spline    c
+c  sp(x). the observation matrix a is extended by the rows of matrix   c
+c  b expressing that the kth derivative discontinuities of sp(x) at    c
+c  the interior knots t(k+2),...t(n-k-1) must be zero. the corres-     c
+c  ponding weights of these additional rows are set to 1/p.            c
+c  iteratively we then have to determine the value of p such that      c
+c  f(p)=sum((w(i)*(y(i)-sp(x(i))))**2) be = s. we already know that    c
+c  the least-squares kth degree polynomial corresponds to p=0, and     c
+c  that the least-squares spline corresponds to p=infinity. the        c
+c  iteration process which is proposed here, makes use of rational     c
+c  interpolation. since f(p) is a convex and strictly decreasing       c
+c  function of p, it can be approximated by a rational function        c
+c  r(p) = (u*p+v)/(p+w). three values of p(p1,p2,p3) with correspond-  c
+c  ing values of f(p) (f1=f(p1)-s,f2=f(p2)-s,f3=f(p3)-s) are used      c
+c  to calculate the new value of p such that r(p)=s. convergence is    c
+c  guaranteed by taking f1>0 and f3<0.                                 c
+cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccc
+c  evaluate the discontinuity jump of the kth derivative of the
+c  b-splines at the knots t(l),l=k+2,...n-k-1 and store in b.
+      call fpdisc(t,n,k2,b,nest)
+c  initial value for p.
+      p1 = 0.0d0
+      f1 = fp0-s
+      p3 = -one
+      f3 = fpms
+      p = 0.
+      do 255 i=1,nk1
+         p = p+a(i,1)
+ 255  continue
+      rn = nk1
+      p = rn/p
+      ich1 = 0
+      ich3 = 0
+      n8 = n-nmin
+c  iteration process to find the root of f(p) = s.
+      do 360 iter=1,maxit
+c  the rows of matrix b with weight 1/p are rotated into the
+c  triangularised observation matrix a which is stored in g.
+        pinv = one/p
+        do 260 i=1,nk1
+          c(i) = z(i)
+          g(i,k2) = 0.0d0
+          do 260 j=1,k1
+            g(i,j) = a(i,j)
+ 260    continue
+        do 300 it=1,n8
+c  the row of matrix b is rotated into triangle by givens transformation
+          do 270 i=1,k2
+            h(i) = b(it,i)*pinv
+ 270      continue
+          yi = 0.0d0
+          do 290 j=it,nk1
+            piv = h(1)
+c  calculate the parameters of the givens transformation.
+            call fpgivs(piv,g(j,1),cos,sin)
+c  transformations to right hand side.
+            call fprota(cos,sin,yi,c(j))
+            if(j.eq.nk1) go to 300
+            i2 = k1
+            if(j.gt.n8) i2 = nk1-j
+            do 280 i=1,i2
+c  transformations to left hand side.
+              i1 = i+1
+              call fprota(cos,sin,h(i1),g(j,i1))
+              h(i) = h(i1)
+ 280        continue
+            h(i2+1) = 0.0d0
+ 290      continue
+ 300    continue
+c  backward substitution to obtain the b-spline coefficients.
+        call fpback(g,c,nk1,k2,c,nest)
+c  computation of f(p).
+        fp = 0.0d0
+        l = k2
+        do 330 it=1,m
+          if(x(it).lt.t(l) .or. l.gt.nk1) go to 310
+          l = l+1
+ 310      l0 = l-k2
+          term = 0.0d0
+          do 320 j=1,k1
+            l0 = l0+1
+            term = term+c(l0)*q(it,j)
+ 320      continue
+          fp = fp+(w(it)*(term-y(it)))**2
+ 330    continue
+c  test whether the approximation sp(x) is an acceptable solution.
+        fpms = fp-s
+        if(abs(fpms).lt.acc) go to 440
+c  test whether the maximal number of iterations is reached.
+        if(iter.eq.maxit) go to 400
+c  carry out one more step of the iteration process.
+        p2 = p
+        f2 = fpms
+        if(ich3.ne.0) go to 340
+        if((f2-f3).gt.acc) go to 335
+c  our initial choice of p is too large.
+        p3 = p2
+        f3 = f2
+        p = p*con4
+        if(p.le.p1) p=p1*con9 + p2*con1
+        go to 360
+ 335    if(f2.lt.0.0d0) ich3=1
+ 340    if(ich1.ne.0) go to 350
+        if((f1-f2).gt.acc) go to 345
+c  our initial choice of p is too small
+        p1 = p2
+        f1 = f2
+        p = p/con4
+        if(p3.lt.0.) go to 360
+        if(p.ge.p3) p = p2*con1 + p3*con9
+        go to 360
+ 345    if(f2.gt.0.0d0) ich1=1
+c  test whether the iteration process proceeds as theoretically
+c  expected.
+ 350    if(f2.ge.f1 .or. f2.le.f3) go to 410
+c  find the new value for p.
+        p = fprati(p1,f1,p2,f2,p3,f3)
+ 360  continue
+c  error codes and messages.
+ 400  ier = 3
+      go to 440
+ 410  ier = 2
+      go to 440
+ 420  ier = 1
+      go to 440
+ 430  ier = -1
+ 440  return
+      end
--- a/mcc/bsplines/fpcuro.f
+++ b/mcc/bsplines/fpcuro.f
@@ -0,0 +1,95 @@
+      recursive subroutine fpcuro(a,b,c,d,x,n)
+      implicit none
+c  subroutine fpcuro finds the real zeros of a cubic polynomial
+c  p(x) = a*x**3+b*x**2+c*x+d.
+c
+c  calling sequence:
+c     call fpcuro(a,b,c,d,x,n)
+c
+c  input parameters:
+c    a,b,c,d: real values, containing the coefficients of p(x).
+c
+c  output parameters:
+c    x      : real array,length 3, which contains the real zeros of p(x)
+c    n      : integer, giving the number of real zeros of p(x).
+c  ..
+c  ..scalar arguments..
+      real*8 a,b,c,d
+      integer n
+c  ..array argument..
+      real*8 x(3)
+c  ..local scalars..
+      integer i
+      real*8 a1,b1,c1,df,disc,d1,e3,f,four,half,ovfl,pi3,p3,q,r,
+     * step,tent,three,two,u,u1,u2,y
+c  ..function references..
+      real*8 abs,max,datan,atan2,cos,sign,sqrt
+c  set constants
+      two = 0.2d+01
+      three = 0.3d+01
+      four = 0.4d+01
+      ovfl =0.1d+05
+      half = 0.5d+0
+      tent = 0.1d+0
+      e3 = tent/0.3d0
+      pi3 = datan(0.1d+01)/0.75d0
+      a1 = abs(a)
+      b1 = abs(b)
+      c1 = abs(c)
+      d1 = abs(d)
+c  test whether p(x) is a third degree polynomial.
+      if(max(b1,c1,d1).lt.a1*ovfl) go to 300
+c  test whether p(x) is a second degree polynomial.
+      if(max(c1,d1).lt.b1*ovfl) go to 200
+c  test whether p(x) is a first degree polynomial.
+      if(d1.lt.c1*ovfl) go to 100
+c  p(x) is a constant function.
+      n = 0
+      go to 800
+c  p(x) is a first degree polynomial.
+ 100  n = 1
+      x(1) = -d/c
+      go to 500
+c  p(x) is a second degree polynomial.
+ 200  disc = c*c-four*b*d
+      n = 0
+      if(disc.lt.0.) go to 800
+      n = 2
+      u = sqrt(disc)
+      b1 = b+b
+      x(1) = (-c+u)/b1
+      x(2) = (-c-u)/b1
+      go to 500
+c  p(x) is a third degree polynomial.
+ 300  b1 = b/a*e3
+      c1 = c/a
+      d1 = d/a
+      q = c1*e3-b1*b1
+      r = b1*b1*b1+(d1-b1*c1)*half
+      disc = q*q*q+r*r
+      if(disc.gt.0.) go to 400
+      u = sqrt(abs(q))
+      if(r.lt.0.) u = -u
+      p3 = atan2(sqrt(-disc),abs(r))*e3
+      u2 = u+u
+      n = 3
+      x(1) = -u2*cos(p3)-b1
+      x(2) = u2*cos(pi3-p3)-b1
+      x(3) = u2*cos(pi3+p3)-b1
+      go to 500
+ 400  u = sqrt(disc)
+      u1 = -r+u
+      u2 = -r-u
+      n = 1
+      x(1) = sign(abs(u1)**e3,u1)+sign(abs(u2)**e3,u2)-b1
+c  apply a newton iteration to improve the accuracy of the roots.
+ 500  do 700 i=1,n
+        y = x(i)
+        f = ((a*y+b)*y+c)*y+d
+        df = (three*a*y+two*b)*y+c
+        step = 0.
+        if(abs(f).lt.abs(df)*tent) step = f/df
+        x(i) = y-step
+ 700  continue
+ 800  return
+      end
--- a/mcc/bsplines/fpcyt1.f
+++ b/mcc/bsplines/fpcyt1.f
@@ -0,0 +1,54 @@
+      recursive subroutine fpcyt1(a,n,nn)
+      implicit none
+c (l u)-decomposition of a cyclic tridiagonal matrix with the non-zero
+c elements stored as follows
+c
+c    | a(1,2) a(1,3)                                    a(1,1)  |
+c    | a(2,1) a(2,2) a(2,3)                                     |
+c    |        a(3,1) a(3,2) a(3,3)                              |
+c    |               ...............                            |
+c    |                               a(n-1,1) a(n-1,2) a(n-1,3) |
+c    | a(n,3)                                  a(n,1)   a(n,2)  |
+c
+c  ..
+c  ..scalar arguments..
+      integer n,nn
+c  ..array arguments..
+      real*8 a(nn,6)
+c  ..local scalars..
+      real*8 aa,beta,gamma,sum,teta,v,one
+      integer i,n1,n2
+c  ..
+c  set constant
+      one = 1
+      n2 = n-2
+      beta = one/a(1,2)
+      gamma = a(n,3)
+      teta = a(1,1)*beta
+      a(1,4) = beta
+      a(1,5) = gamma
+      a(1,6) = teta
+      sum = gamma*teta
+      do 10 i=2,n2
+         v = a(i-1,3)*beta
+         aa = a(i,1)
+         beta = one/(a(i,2)-aa*v)
+         gamma = -gamma*v
+         teta = -teta*aa*beta
+         a(i,4) = beta
+         a(i,5) = gamma
+         a(i,6) = teta
+         sum = sum+gamma*teta
+  10  continue
+      n1 = n-1
+      v = a(n2,3)*beta
+      aa = a(n1,1)
+      beta = one/(a(n1,2)-aa*v)
+      gamma = a(n,1)-gamma*v
+      teta = (a(n1,3)-teta*aa)*beta
+      a(n1,4) = beta
+      a(n1,5) = gamma
+      a(n1,6) = teta
+      a(n,4) = one/(a(n,2)-(sum+gamma*teta))
+      return
+      end
--- a/mcc/bsplines/fpcyt2.f
+++ b/mcc/bsplines/fpcyt2.f
@@ -0,0 +1,33 @@
+      recursive subroutine fpcyt2(a,n,b,c,nn)
+      implicit none
+c subroutine fpcyt2 solves a linear n x n system
+c         a * c = b
+c where matrix a is a cyclic tridiagonal matrix, decomposed
+c using subroutine fpsyt1.
+c  ..
+c  ..scalar arguments..
+      integer n,nn
+c  ..array arguments..
+      real*8 a(nn,6),b(n),c(n)
+c  ..local scalars..
+      real*8 cc,sum
+      integer i,j,j1,n1
+c  ..
+      c(1) = b(1)*a(1,4)
+      sum = c(1)*a(1,5)
+      n1 = n-1
+      do 10 i=2,n1
+         c(i) = (b(i)-a(i,1)*c(i-1))*a(i,4)
+         sum = sum+c(i)*a(i,5)
+  10  continue
+      cc = (b(n)-sum)*a(n,4)
+      c(n) = cc
+      c(n1) = c(n1)-cc*a(n1,6)
+      j = n1
+      do 20 i=3,n
+         j1 = j-1
+         c(j1) = c(j1)-c(j)*a(j1,3)*a(j1,4)-cc*a(j1,6)
+         j = j1
+  20  continue
+      return
+      end
--- a/mcc/bsplines/fpdeno.f
+++ b/mcc/bsplines/fpdeno.f
@@ -0,0 +1,56 @@
+      recursive subroutine fpdeno(maxtr,up,left,right,nbind,merk)
+      implicit none
+c  subroutine fpdeno frees the nodes of all branches of a triply linked
+c  tree with length < nbind by putting to zero their up field.
+c  on exit the parameter merk points to the terminal node of the
+c  most left branch of length nbind or takes the value 1 if there
+c  is no such branch.
+c  ..
+c  ..scalar arguments..
+      integer maxtr,nbind,merk
+c  ..array arguments..
+      integer up(maxtr),left(maxtr),right(maxtr)
+c  ..local scalars ..
+      integer i,j,k,l,niveau,point
+c  ..
+      i = 1
+      niveau = 0
+  10  point = i
+      i = left(point)
+      if(i.eq.0) go to 20
+      niveau = niveau+1
+      go to 10
+  20  if(niveau.eq.nbind) go to 70
+  30  i = right(point)
+      j = up(point)
+      up(point) = 0
+      k = left(j)
+      if(point.ne.k) go to 50
+      if(i.ne.0) go to 40
+      niveau = niveau-1
+      if(niveau.eq.0) go to 80
+      point = j
+      go to 30
+  40  left(j) = i
+      go to 10
+  50  l = right(k)
+      if(point.eq.l) go to 60
+      k = l
+      go to 50
+  60  right(k) = i
+      point = k
+  70  i = right(point)
+      if(i.ne.0) go to 10
+      i = up(point)
+      niveau = niveau-1
+      if(niveau.eq.0) go to 80
+      point = i
+      go to 70
+  80  k = 1
+      l = left(k)
+      if(up(l).eq.0) return
+  90  merk = k
+      k = left(k)
+      if(k.ne.0) go to 90
+      return
+      end
--- a/mcc/bsplines/fpdisc.f
+++ b/mcc/bsplines/fpdisc.f
@@ -0,0 +1,44 @@
+      recursive subroutine fpdisc(t,n,k2,b,nest)
+      implicit none
+c  subroutine fpdisc calculates the discontinuity jumps of the kth
+c  derivative of the b-splines of degree k at the knots t(k+2)..t(n-k-1)
+c  ..scalar arguments..
+      integer n,k2,nest
+c  ..array arguments..
+      real*8 t(n),b(nest,k2)
+c  ..local scalars..
+      real*8 an,fac,prod
+      integer i,ik,j,jk,k,k1,l,lj,lk,lmk,lp,nk1,nrint
+c  ..local array..
+      real*8 h(12)
+c  ..
+      k1 = k2-1
+      k = k1-1
+      nk1 = n-k1
+      nrint = nk1-k
+      an = nrint
+      fac = an/(t(nk1+1)-t(k1))
+      do 40 l=k2,nk1
+        lmk = l-k1
+        do 10 j=1,k1
+          ik = j+k1
+          lj = l+j
+          lk = lj-k2
+          h(j) = t(l)-t(lk)
+          h(ik) = t(l)-t(lj)
+  10    continue
+        lp = lmk
+        do 30 j=1,k2
+          jk = j
+          prod = h(j)
+          do 20 i=1,k
+            jk = jk+1
+            prod = prod*h(jk)*fac
+  20      continue
+          lk = lp+k1
+          b(lmk,j) = (t(lk)-t(lp))/prod
+          lp = lp+1
+  30    continue
+  40  continue
+      return
+      end
--- a/mcc/bsplines/fpfrno.f
+++ b/mcc/bsplines/fpfrno.f
@@ -0,0 +1,70 @@
+      recursive subroutine fpfrno(maxtr,up,left,right,info,point,
+     *   merk,n1,count,ier)
+      implicit none
+c  subroutine fpfrno collects the free nodes (up field zero) of the
+c  triply linked tree the information of which is kept in the arrays
+c  up,left,right and info. the maximal length of the branches of the
+c  tree is given by n1. if no free nodes are found, the error flag
+c  ier is set to 1.
+c  ..
+c  ..scalar arguments..
+      integer maxtr,point,merk,n1,count,ier
+c  ..array arguments..
+      integer up(maxtr),left(maxtr),right(maxtr),info(maxtr)
+c  ..local scalars
+      integer i,j,k,l,n,niveau
+c  ..
+      ier = 1
+      if(n1.eq.2) go to 140
+      niveau = 1
+      count = 2
+  10  j = 0
+      i = 1
+  20  if(j.eq.niveau) go to 30
+      k = 0
+      l = left(i)
+      if(l.eq.0) go to 110
+      i = l
+      j = j+1
+      go to 20
+  30  if (i.lt.count) go to 110
+      if (i.eq.count) go to 100
+      go to 40
+  40  if(up(count).eq.0) go to 50
+      count = count+1
+      go to 30
+  50  up(count) = up(i)
+      left(count) = left(i)
+      right(count) = right(i)
+      info(count) = info(i)
+      if(merk.eq.i) merk = count
+      if(point.eq.i) point = count
+      if(k.eq.0) go to 60
+      right(k) = count
+      go to 70
+  60  n = up(i)
+      left(n) = count
+  70  l = left(i)
+  80  if(l.eq.0) go to 90
+      up(l) = count
+      l = right(l)
+      go to 80
+  90  up(i) = 0
+      i = count
+ 100  count = count+1
+ 110  l = right(i)
+      k = i
+      if(l.eq.0) go to 120
+      i = l
+      go to 20
+ 120  l = up(i)
+      j = j-1
+      if(j.eq.0) go to 130
+      i = l
+      go to 110
+ 130  niveau = niveau+1
+      if(niveau.le.n1) go to 10
+      if(count.gt.maxtr) go to 140
+      ier = 0
+ 140  return
+      end
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Edward V. Emelianov	01261272b4	.	2026-03-11 17:18:21 +03:00
Edward V. Emelianov	e61146db69	fixed stupid bug	2026-03-11 12:36:45 +03:00
Edward Emelianov	2eb7b214b2	add more errors to model	2026-03-11 11:03:10 +03:00
Edward Emelianov	27b1cecc7b	enc	2026-03-11 10:05:42 +03:00
Edward V. Emelianov	9e84306a94	poll test works @high speed	2026-02-09 22:00:51 +03:00
Edward V. Emelianov	c0c36388db	test of polling sensors	2026-01-26 22:25:20 +03:00
Timur A. Fatkhullin	ed24d0b9e2	add records to AsibFM700 config file according to Eddy's commit	2026-01-26 18:23:03 +03:00
Edward V. Emelianov	bccc7a9b29	1st working approach after last changes	2026-01-22 21:18:01 +03:00
Edward V. Emelianov	873f292a11	fixed race bug	2026-01-21 23:20:58 +03:00
Edward V. Emelianov	f7cb279841	change macros to config parameters	2026-01-20 23:18:36 +03:00
Timur A. Fatkhullin	fd96dc395b	...	2026-01-16 12:23:58 +03:00
Timur A. Fatkhullin	0aa0113be3	...	2026-01-15 23:21:28 +03:00
Timur A. Fatkhullin	01d5657b1b	...	2026-01-15 19:11:16 +03:00
Timur A. Fatkhullin	09cf5f9c19	...	2026-01-14 19:15:18 +03:00
Timur A. Fatkhullin	66c3c7e6c7	...	2025-12-29 16:11:23 +03:00
Timur A. Fatkhullin	fd2776084a	...	2025-12-25 16:18:54 +03:00
Timur A. Fatkhullin	bbc35b02bb	...	2025-12-22 23:02:41 +03:00
Timur A. Fatkhullin	8ce6ffc41c	...	2025-12-22 22:56:49 +03:00
Timur A. Fatkhullin	54d6c25171	...	2025-12-22 17:13:04 +03:00
Timur A. Fatkhullin	2c7d563994	...	2025-12-19 12:01:36 +03:00
Timur A. Fatkhullin	bc12777f18	...	2025-12-18 18:21:17 +03:00
Timur A. Fatkhullin	7948321cce	...	2025-12-17 17:25:00 +03:00
Timur A. Fatkhullin	b12c0ec521	...	2025-12-16 17:53:50 +03:00
Timur A. Fatkhullin	d417c03f59	...	2025-12-16 02:22:03 +03:00
Timur A. Fatkhullin	a8dd511366	...	2025-12-15 17:26:26 +03:00
Timur A. Fatkhullin	a30729fb37	...	2025-12-14 05:32:04 +03:00
Timur A. Fatkhullin	a70339c55e	...	2025-12-14 00:25:03 +03:00
Timur A. Fatkhullin	6fca94e571	...	2025-12-12 17:21:11 +03:00
Timur A. Fatkhullin	255c34dbb2	...	2025-12-11 17:40:23 +03:00
Timur A. Fatkhullin	3c0c719e37	...	2025-12-10 17:24:00 +03:00
Timur A. Fatkhullin	0ddd633bc9	...	2025-12-10 00:18:55 +03:00
Timur A. Fatkhullin	28ecf307a8	add saving slewing trajectory in a file	2025-12-09 16:55:46 +03:00
Timur A. Fatkhullin	57467ce48f	...	2025-12-08 17:34:59 +03:00
Edward Emelianov	196ed3be1b	change time from double to struct timespec	2025-12-08 13:31:23 +03:00
Timur A. Fatkhullin	acd26edc9c	add PID-related items in mount config rewrite AsibFM700ServoController methods according to new time point representation in LibSidServo	2025-12-04 18:11:41 +03:00
Edward Emelianov	da9cd51e5c	timespec	2025-12-04 11:10:27 +03:00
Timur A. Fatkhullin	d868810048	cmake fixes	2025-12-03 18:14:34 +03:00
Timur A. Fatkhullin	7c9612c3a2	MccSimpleSlewingModel: the code has been rewritten in accordance with the changes in Eddy's LibSidServo	2025-12-03 00:35:52 +03:00
Timur A. Fatkhullin	54419b8e60	...	2025-12-02 18:05:08 +03:00
Timur A. Fatkhullin	7dfb0d5e9b	...	2025-12-02 18:02:57 +03:00
Edward Emelianov	bbf7314592	.	2025-12-02 12:33:16 +03:00
Edward Emelianov	6dde28e8d9	some fixes	2025-12-01 17:28:18 +03:00
Timur A. Fatkhullin	9066b3f091	...	2025-12-01 17:18:04 +03:00
Timur A. Fatkhullin	c514d4adcc	Merge branch 'main' of ssh://95.140.147.151:/home/git/mountcontrol	2025-12-01 10:07:45 +03:00
Timur A. Fatkhullin	cca58e8ba9	...	2025-12-01 02:49:01 +03:00
Timur A. Fatkhullin	bf55a45cf9	...	2025-11-27 18:01:40 +03:00
Timur A. Fatkhullin	a825a6935b	MccGenericNetworkServer: fix client session thread pool behavior in destructor	2025-11-27 09:20:42 +03:00
Timur A. Fatkhullin	43638f383f	ran client sessions in separated thread pool	2025-11-26 18:01:34 +03:00
Timur A. Fatkhullin	a42f6dbc98	...	2025-11-25 08:49:43 +03:00
Timur A. Fatkhullin	acced75fa2	...	2025-11-24 21:52:22 +03:00
Timur A. Fatkhullin	e548451617	...	2025-11-24 18:00:46 +03:00
Timur A. Fatkhullin	e529265a63	...	2025-11-21 12:33:49 +03:00
Timur A. Fatkhullin	b2c27a6f5c	...	2025-11-21 02:02:35 +03:00
Timur A. Fatkhullin	6214b82a6c	...	2025-11-19 12:02:43 +03:00
Timur A. Fatkhullin	c6b47d8ad6	...	2025-11-18 22:36:08 +03:00
Timur A. Fatkhullin	273f239abb	...	2025-11-18 18:51:01 +03:00
Timur A. Fatkhullin	14e583a244	...	2025-11-17 23:42:04 +03:00
Timur A. Fatkhullin	771619b832	...	2025-11-17 18:04:40 +03:00
Timur A. Fatkhullin	e0c8d8f39b	...	2025-11-17 03:07:54 +03:00
Timur A. Fatkhullin	0ce4430668	...	2025-11-16 10:34:17 +03:00
Timur A. Fatkhullin	e18066e4a6	add logging in MccSimpleSlewingModel class	2025-11-16 00:58:56 +03:00
Timur A. Fatkhullin	1c774d2d69	Asibfm700Mount is now MccGenericMount (not MccGenericFsmMount) fix mount initialization (add EEPROM reading, assign correponded mount config items) rewrite computing distance to pzones in slewing mode (add braking aceleration) add more informative errors description for serialization (network protocol)	2025-11-15 16:01:42 +03:00
Timur A. Fatkhullin	9e8a7a62c9	...	2025-11-14 17:27:44 +03:00
Edward Emelianov	1ea5fb623d	fixed model for STOPPED state	2025-11-14 14:07:07 +03:00
Timur A. Fatkhullin	078e3f38f2	...	2025-11-14 12:23:39 +03:00
Timur A. Fatkhullin	94fb4c6a48	...	2025-11-13 17:56:51 +03:00
Timur A. Fatkhullin	b3a257fab6	...	2025-11-12 18:50:23 +03:00
Timur A. Fatkhullin	08ad1e665b	...	2025-11-11 18:10:06 +03:00
Timur A. Fatkhullin	90acf1ee8c	fix axis switch limit pzone calculations	2025-11-10 16:06:44 +03:00
Timur A. Fatkhullin	15cf04f164	...	2025-11-03 18:27:43 +03:00
Timur A. Fatkhullin	6fc0b8bb4e	...	2025-11-02 14:38:44 +03:00
Timur A. Fatkhullin	c0f274cec0	fix compilation with GCC version<15	2025-11-02 11:59:23 +03:00
Edward Emelianov	511956531e	fixed `nanotime`	2025-11-01 19:51:56 +03:00
Timur A. Fatkhullin	3f108fcc13	...	2025-11-01 17:53:24 +03:00
Edward Emelianov	683da9739d	change system time function to UNIX time	2025-11-01 14:59:37 +03:00
Timur A. Fatkhullin	a7fbae47f0	...	2025-11-01 11:57:49 +03:00
Timur A. Fatkhullin	8a202bd38c	...	2025-10-31 17:40:33 +03:00
Timur A. Fatkhullin	d69ea51b0c	various Asibfm700MountConfig class fixes	2025-10-31 12:22:16 +03:00
Timur A. Fatkhullin	a1fa54c636	fix ASIO and cxxopts libraries compile/link errors	2025-10-31 11:02:52 +03:00
Timur A. Fatkhullin	cb362c6e49	rewrite MccGenericMount and MccGenericFsmMount class creation Asibfm700MountNetServer is now started	2025-10-31 01:30:24 +03:00
Timur A. Fatkhullin	f2be52d17c	... add dump of config for Asibfm700MountConfig class	2025-10-30 16:11:23 +03:00
Timur A. Fatkhullin	3682ccdda6	...	2025-10-30 11:58:11 +03:00
Timur A. Fatkhullin	85259fc6ad	... compiled!	2025-10-30 01:01:52 +03:00
Timur A. Fatkhullin	620f8ba136	...	2025-10-29 19:26:20 +03:00
Timur A. Fatkhullin	50e79aa0ae	...	2025-10-29 18:47:24 +03:00
Timur A. Fatkhullin	6a72ead855	cleanups of commented code	2025-10-29 16:15:58 +03:00
Timur A. Fatkhullin	bc300bb3de	...	2025-10-29 15:07:53 +03:00
Timur A. Fatkhullin	78e4bb182c	...	2025-10-28 18:01:22 +03:00
Timur A. Fatkhullin	85dfa2e9a5	...	2025-10-28 01:11:34 +03:00
Timur A. Fatkhullin	bdfc5dbc1c	...	2025-10-26 02:22:39 +03:00
Timur A. Fatkhullin	ec27cd981a	...	2025-10-25 19:26:42 +03:00
Timur A. Fatkhullin	47c57dca72	...	2025-10-24 12:16:44 +03:00
Timur A. Fatkhullin	e6b4604bfa	...	2025-10-23 18:08:44 +03:00
Timur A. Fatkhullin	412f038eb0	...	2025-10-23 12:13:07 +03:00
Timur A. Fatkhullin	80ec2382ea	...	2025-10-22 23:52:14 +03:00
Timur A. Fatkhullin	42a4349c76	...	2025-10-22 17:55:43 +03:00
Timur A. Fatkhullin	e50fbfc57e	...	2025-10-21 22:35:45 +03:00
Timur A. Fatkhullin	49a2e2f9c1	...	2025-10-21 17:48:21 +03:00
Timur A. Fatkhullin	fc64642bd6	...	2025-10-20 00:36:00 +03:00
Timur A. Fatkhullin	cbe106fe95	...	2025-10-11 23:02:43 +03:00
Timur A. Fatkhullin	f618fb64cb	...	2025-10-09 17:43:40 +03:00
Timur A. Fatkhullin	04272b8e1d	...	2025-10-09 01:09:27 +03:00
Timur A. Fatkhullin	e0e10395fb	...	2025-10-08 18:13:46 +03:00
Timur A. Fatkhullin	27dccfe7c0	...	2025-10-07 23:51:58 +03:00
Timur A. Fatkhullin	8b16ac79b8	...	2025-10-06 17:52:41 +03:00
Timur A. Fatkhullin	58d62d85b3	...	2025-10-06 12:09:06 +03:00
Timur A. Fatkhullin	9c13def8be	...	2025-10-04 00:46:07 +03:00
Timur A. Fatkhullin	5fe2788cd7	...	2025-10-03 12:11:21 +03:00
Timur A. Fatkhullin	962504ed98	...	2025-10-02 19:21:13 +03:00
Timur A. Fatkhullin	4d7e830798	...	2025-10-01 06:35:44 +03:00
Timur A. Fatkhullin	3d769d79eb	...	2025-10-01 06:26:50 +03:00
Timur A. Fatkhullin	0b7261a431	...	2025-09-30 18:55:14 +03:00
Timur A. Fatkhullin	c5aa3dc495	...	2025-09-29 19:02:04 +03:00
Timur A. Fatkhullin	98c46c2b8c	...	2025-09-28 19:31:03 +03:00
Timur A. Fatkhullin	d8fae31406	...	2025-09-25 17:12:12 +03:00
Timur A. Fatkhullin	4a9ecf8639	...	2025-09-25 12:11:48 +03:00
Timur A. Fatkhullin	b8383c1375	...	2025-09-25 00:08:08 +03:00
Timur A. Fatkhullin	f729799335	...	2025-09-24 18:23:17 +03:00
Timur A. Fatkhullin	b1a48d2b77	...	2025-09-24 12:36:02 +03:00
Timur A. Fatkhullin	fedc324410	...	2025-09-22 17:46:52 +03:00
Timur A. Fatkhullin	1a4d998141	...	2025-09-21 23:16:03 +03:00
Timur A. Fatkhullin	0f955b3c91	...	2025-09-19 12:12:12 +03:00
Timur A. Fatkhullin	f5039a329b	...	2025-09-18 17:44:23 +03:00
Timur A. Fatkhullin	83b7e0d924	...	2025-09-17 21:57:05 +03:00
Timur A. Fatkhullin	1087e043a8	...	2025-09-17 18:21:32 +03:00
Timur A. Fatkhullin	281ceacf89	...	2025-09-17 12:51:28 +03:00
Timur A. Fatkhullin	4e3a50acba	...	2025-09-16 19:06:37 +03:00
Timur A. Fatkhullin	732cd33947	...	2025-09-16 18:35:39 +03:00
Timur A. Fatkhullin	bb41710645	...	2025-09-14 23:14:09 +03:00
Timur A. Fatkhullin	0b084f44f6	...	2025-09-13 23:50:02 +03:00
Timur A. Fatkhullin	92b1a3cfd5	...	2025-09-13 23:46:38 +03:00
Timur A. Fatkhullin	3ae2d41fc8	...	2025-09-13 13:59:54 +03:00
Timur A. Fatkhullin	c7dd816481	...	2025-09-12 18:31:15 +03:00
Timur A. Fatkhullin	5f802ff57e	...	2025-09-12 12:53:05 +03:00
Timur A. Fatkhullin	8e8cb543ae	...	2025-09-11 18:23:39 +03:00
Timur A. Fatkhullin	ab49f927fb	...	2025-09-10 18:07:22 +03:00
Timur A. Fatkhullin	00354d9b41	...	2025-09-10 12:24:06 +03:00
Timur A. Fatkhullin	2478c1e8d2	remove guiding model now it are only slewing and tracking states	2025-09-03 18:28:52 +03:00
Timur A. Fatkhullin	460fc360c6	...	2025-09-03 00:41:15 +03:00
Timur A. Fatkhullin	36ffde80f5	...	2025-09-03 00:32:05 +03:00
Timur A. Fatkhullin	fe6492e4fc	...	2025-09-02 16:49:58 +03:00
Timur A. Fatkhullin	de80acf315	...	2025-09-02 00:45:23 +03:00
Timur A. Fatkhullin	3d3b57a311	...	2025-09-01 18:25:47 +03:00
Timur A. Fatkhullin	227f501d6f	...	2025-09-01 12:32:31 +03:00
Timur A. Fatkhullin	218da42a1d	...	2025-09-01 01:15:23 +03:00
Timur A. Fatkhullin	c2627ecd89	...	2025-08-31 01:54:15 +03:00
Timur A. Fatkhullin	4696daa2ee	...	2025-08-28 13:42:33 +03:00
Timur A. Fatkhullin	2e5e1918e1	...	2025-08-28 00:43:55 +03:00
Timur A. Fatkhullin	45f655dc90	...	2025-08-27 17:55:57 +03:00
Timur A. Fatkhullin	9fb33e5bec	...	2025-08-27 12:17:52 +03:00
Timur A. Fatkhullin	31cf0a45dd	...	2025-08-27 08:51:46 +03:00
Timur A. Fatkhullin	4bf95c1043	...	2025-08-27 00:04:06 +03:00
Timur A. Fatkhullin	052d4e2eb4	...	2025-08-26 19:56:32 +03:00
Timur A. Fatkhullin	7556539084	...	2025-08-26 13:38:33 +03:00
Timur A. Fatkhullin	8b1873b40b	...	2025-08-26 02:28:08 +03:00
Timur A. Fatkhullin	0295d93cd3	...	2025-08-25 13:40:54 +03:00
Timur A. Fatkhullin	60cade4d1f	...	2025-08-24 04:03:45 +03:00
Timur A. Fatkhullin	dc87ce0fb9	...	2025-08-24 01:30:14 +03:00
Timur A. Fatkhullin	06c8345fc9	...	2025-08-21 19:02:11 +03:00
Timur A. Fatkhullin	33002f1711	...	2025-08-21 03:47:53 +03:00
Timur A. Fatkhullin	99a28d87ec	...	2025-08-20 18:05:47 +03:00
Timur A. Fatkhullin	c6a1caea08	...	2025-08-19 11:52:54 +03:00
Timur A. Fatkhullin	da46ab3e3b	...	2025-08-19 00:23:31 +03:00
Timur A. Fatkhullin	3640882874	...	2025-08-18 18:59:46 +03:00
Timur A. Fatkhullin	ca74d1dd73	...	2025-08-18 12:22:45 +03:00
Timur A. Fatkhullin	6c10c6b6ff	add mcc directory	2025-08-18 02:10:43 +03:00
Timur A. Fatkhullin	61e41b1a1d	...	2025-08-15 12:18:19 +03:00
Timur A. Fatkhullin	e934bd3932	...	2025-08-14 22:31:56 +03:00
Timur A. Fatkhullin	3659ddab01	...	2025-08-14 18:35:44 +03:00
Edward V. Emelianov	e59f9a05b2	remove pthread_kill/pthread_cancel from `signals` (if thread wasn't run, these functions cause segfault)	2025-08-12 11:48:48 +03:00
Timur A. Fatkhullin	22097610f9	...	2025-08-09 13:25:52 +03:00
Timur A. Fatkhullin	b99263a014	...	2025-08-08 23:50:55 +03:00
Timur A. Fatkhullin	c45d17b236	...	2025-08-08 00:51:51 +03:00
Timur A. Fatkhullin	a3b901223a	... before remove old files	2025-08-08 00:51:51 +03:00