.

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
254 changed files with 52157 additions and 2365 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 @@
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--- a/LibSidServo/.qtcreator/libsidservo.creator.user.cf63021
+++ b/LibSidServo/.qtcreator/libsidservo.creator.user.cf63021
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--- a/LibSidServo/PID.c
+++ b/LibSidServo/PID.c
@@ -0,0 +1,221 @@
 /*
 * 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/>.
 */
 #include <math.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <strings.h>
 #include "main.h"
 #include "PID.h"
 #include "serial.h"
 PIDController_t *pid_create(const PIDpar_t *gain, size_t Iarrsz){
    if(!gain || Iarrsz < 3) return NULL;
    PIDController_t *pid = (PIDController_t*)calloc(1, sizeof(PIDController_t));
    pid->gain = *gain;
    DBG("Created PID with P=%g, I=%g, D=%g\n", gain->P, gain->I, gain->D);
    pid->pidIarrSize = Iarrsz;
    pid->pidIarray = (double*)calloc(Iarrsz, sizeof(double));
    return pid;
 }
 // don't clear lastT!
 void pid_clear(PIDController_t *pid){
    if(!pid) return;
    DBG("CLEAR PID PARAMETERS");
    bzero(pid->pidIarray, sizeof(double) * pid->pidIarrSize);
    pid->integral = 0.;
    pid->prev_error = 0.;
    pid->curIidx = 0;
 }
 void pid_delete(PIDController_t **pid){
    if(!pid || !*pid) return;
    if((*pid)->pidIarray) free((*pid)->pidIarray);
    free(*pid);
    *pid = NULL;
 }
 double pid_calculate(PIDController_t *pid, double error, double dt){
    // calculate flowing integral
    double oldi = pid->pidIarray[pid->curIidx], newi = error * dt;
    //DBG("oldi/new: %g, %g", oldi, newi);
    pid->pidIarray[pid->curIidx++] = newi;
    if(pid->curIidx >= pid->pidIarrSize) pid->curIidx = 0;
    pid->integral += newi - oldi;
    double derivative = (error - pid->prev_error) / dt;
    pid->prev_error = error;
    double sum = pid->gain.P * error + pid->gain.I * pid->integral + pid->gain.D * derivative;
    DBG("P=%g, I=%g, D=%g; sum=%g", pid->gain.P * error, pid->gain.I * pid->integral, pid->gain.D * derivative, sum);
    return sum;
 }
 typedef struct{
    PIDController_t *PIDC;
    PIDController_t *PIDV;
 } PIDpair_t;
 typedef struct{
    axis_status_t state;
    coordval_t position;
    coordval_t speed;
 } axisdata_t;
 /**
 * @brief process - Process PID for given axis
 * @param tagpos - given coordinate of target position
 * @param endpoint - endpoint for this coordinate
 * @param pid - pid itself
 * @return calculated new speed or -1 for max speed
 */
 static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t *axis){
    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 < Conf.MaxPointingErr){
                axis->state = AXIS_POINTING;
                DBG("--> Pointing");
                pid = pidpair->PIDC;
            }else{
                DBG("Slewing...");
                return NAN; // max speed for given axis
            }
            break;
        case AXIS_POINTING:
            if(fe < Conf.MaxFinePointingErr){
                axis->state = AXIS_GUIDING;
                DBG("--> Guiding");
                pid = pidpair->PIDV;
            }else if(fe > Conf.MaxPointingErr){
                DBG("--> Slewing");
                axis->state = AXIS_SLEWING;
                return NAN;
            } else pid = pidpair->PIDC;
            break;
        case AXIS_GUIDING:
            pid = pidpair->PIDV;
            if(fe > Conf.MaxFinePointingErr){
                DBG("--> Pointing");
                axis->state = AXIS_POINTING;
                pid = pidpair->PIDC;
            }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!!!! --> Slewing");
            axis->state = AXIS_SLEWING;
            return getspeed(tagpos, pidpair, axis);
        case AXIS_ERROR:
            DBG("Can't move from erroneous state");
            return 0.;
    }
    if(!pid){
        DBG("WTF? Where is a PID?");
        return axis->speed.val;
    }
    double dtpid = timediff(&tagpos->t, &pid->prevT);
    if(dtpid < 0 || dtpid > Conf.PIDMaxDt){
        DBG("time diff too big: clear PID");
        pid_clear(pid);
    }
    if(dtpid > Conf.PIDMaxDt) dtpid = Conf.PIDCycleDt;
    pid->prevT = tagpos->t;
    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
 }
 /**
 * @brief correct2 - recalculate PID and move telescope to new point with new speed
 * @param target - target position (for error calculations)
 * @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){
    static PIDpair_t pidX = {0}, pidY = {0};
    if(!pidX.PIDC){
        pidX.PIDC = pid_create(&Conf.XPIDC, Conf.PIDCycleDt / Conf.PIDRefreshDt);
        if(!pidX.PIDC) return MCC_E_FATAL;
        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, Conf.PIDCycleDt / Conf.PIDRefreshDt);
        if(!pidY.PIDC) return MCC_E_FATAL;
        pidY.PIDV = pid_create(&Conf.YPIDV, Conf.PIDCycleDt / Conf.PIDRefreshDt);
        if(!pidY.PIDV) return MCC_E_FATAL;
    }
    mountdata_t m;
    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);
    axis.state = m.Xstate;
    axis.position = m.encXposition;
    axis.speed = m.encXspeed;
    tagspeed.X = getspeed(&target->X, &pidX, &axis);
    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(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);
    }
    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
@@ -0,0 +1,40 @@
 /*
 * 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 <stddef.h>
 #include "sidservo.h"
 typedef struct {
    PIDpar_t gain;      // PID gains
    double prev_error;  // Previous error
    double integral;    // Integral term
    double *pidIarray;  // array for Integral
    struct timespec prevT; // time of previous correction
    size_t pidIarrSize; // it's size
    size_t curIidx;     // and index of current element
 } PIDController_t;
 PIDController_t *pid_create(const PIDpar_t *gain, size_t Iarrsz);
 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);
--- a/LibSidServo/PID_test.deprecated/Dramp.c
+++ b/LibSidServo/PID_test.deprecated/Dramp.c
@@ -0,0 +1,141 @@
 /*
 * This file is part of the moving_model 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/>.
 */
 #include <math.h>
 #include <stdio.h>
 #include <usefull_macros.h>
 #include "Dramp.h"
 static movestate_t state = ST_STOP;
 static moveparam_t target, Min, Max;
 static double T0 = -1., Xlast0; // time when move starts, last stage starting coordinate
 static moveparam_t curparams = {0}; // current coordinate/speed/acceleration
 static double T1 = -1.; // time to switch into minimal speed for best coord tolerance
 typedef enum{
    STAGE_NORMALSPEED,
    STAGE_MINSPEED,
    STAGE_STOPPED
 } movingsage_t;
 static movingsage_t movingstage = STAGE_STOPPED;
 static int initlims(limits_t *lim){
    if(!lim) return FALSE;
    Min = lim->min;
    Max = lim->max;
    return TRUE;
 }
 static int calc(moveparam_t *x, double t){
    DBG("target: %g, tagspeed: %g (maxspeed: %g, minspeed: %g)", x->coord, x->speed, Max.speed, Min.speed);
    if(!x || t < 0.) return FALSE;
    if(x->speed > Max.speed || x->speed < Min.speed || x->coord < Min.coord || x->coord > Max.coord) return FALSE;
    double adist = fabs(x->coord - curparams.coord);
    DBG("want dist: %g", adist);
    if(adist < coord_tolerance) return TRUE; // we are at place
    if(adist < time_tick * Min.speed) return FALSE; // cannot reach with current parameters
    target = *x;
    if(x->speed * time_tick > adist) target.speed = adist / (10. * time_tick); // take at least 10 ticks to reach position
    if(target.speed < Min.speed) target.speed = Min.speed;
    DBG("Approximate tag speed: %g", target.speed);
    T0 = t;
    // calculate time to switch into minimal speed
    T1 = -1.; // no min speed phase
    if(target.speed > Min.speed){
        double dxpertick = target.speed * time_tick;
        DBG("dX per one tick: %g", dxpertick);
        double ticks_need = floor(adist / dxpertick);
        DBG("ticks need: %g", ticks_need);
        if(ticks_need < 1.) return FALSE; // cannot reach
        if(fabs(ticks_need * dxpertick - adist) > coord_tolerance){
            DBG("Need to calculate slow phase; can't reach for %g ticks at current speed", ticks_need);
            double dxpersmtick = Min.speed * time_tick;
            DBG("dX per smallest tick: %g", dxpersmtick);
            while(--ticks_need > 1.){
                double part = adist - ticks_need * dxpertick;
                double smticks = floor(part / dxpersmtick);
                double least = part - smticks * dxpersmtick;
                if(least < coord_tolerance) break;
            }
            DBG("now BIG ticks: %g, T1=T0+%g", ticks_need, ticks_need*time_tick);
            T1 = t + ticks_need * time_tick;
        }
    }
    state = ST_MOVE;
    Xlast0 = curparams.coord;
    if(target.speed > Min.speed) movingstage = STAGE_NORMALSPEED;
    else movingstage = STAGE_MINSPEED;
    if(x->coord < curparams.coord) target.speed *= -1.; // real speed
    curparams.speed = target.speed;
    return TRUE;
 }
 static void stop(double _U_ t){
    T0 = -1.;
    curparams.accel = 0.;
    curparams.speed = 0.;
    state = ST_STOP;
    movingstage = STAGE_STOPPED;
 }
 static movestate_t proc(moveparam_t *next, double t){
    if(T0 < 0.) return ST_STOP;
    curparams.coord = Xlast0 + (t - T0) * curparams.speed;
    //DBG("coord: %g (dTmon: %g, speed: %g)", curparams.coord, t-T0, curparams.speed);
    int ooops = FALSE; // oops - we are over target!
    if(curparams.speed < 0.){ if(curparams.coord < target.coord) ooops = TRUE;}
    else{ if(curparams.coord > target.coord) ooops = TRUE; }
    if(ooops){
        DBG("OOOps! We are (%g) over target (%g) -> stop", curparams.coord, target.coord);
        stop(t);
        if(next) *next = curparams;
        return state;
    }
    if(movingstage == STAGE_NORMALSPEED && T1 > 0.){ // check need of T1
        if(t >= T1){
            DBG("T1=%g, t=%g -->", T1, t);
            curparams.speed = (curparams.speed > 0.) ? Min.speed : -Min.speed;
            movingstage = STAGE_MINSPEED;
            Xlast0 = curparams.coord;
            T0 = T1;
            DBG("Go further with minimal speed");
        }
    }
    if(fabs(curparams.coord - target.coord) < coord_tolerance){ // we are at place
        DBG("OK, we are in place");
        stop(t);
    }
    if(next) *next = curparams;
    return state;
 }
 static movestate_t getst(moveparam_t *cur){
    if(cur) *cur = curparams;
    return state;
 }
 movemodel_t dumb = {
    .init_limits = initlims,
    .calculate = calc,
    .proc_move = proc,
    .stop = stop,
    .emergency_stop = stop,
    .get_state = getst,
 };
--- a/LibSidServo/PID_test.deprecated/Dramp.h
+++ b/LibSidServo/PID_test.deprecated/Dramp.h
@@ -0,0 +1,23 @@
 /*
 * This file is part of the moving_model 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 "moving_private.h"
 extern movemodel_t dumb;
--- a/LibSidServo/PID_test.deprecated/Makefile
+++ b/LibSidServo/PID_test.deprecated/Makefile
@@ -0,0 +1,57 @@
 # run `make DEF=...` to add extra defines
 PROGRAM := moving
 LDFLAGS := -fdata-sections -ffunction-sections -Wl,--gc-sections -Wl,--discard-all
 LDFLAGS += -lusefull_macros -lm
 SRCS := $(wildcard *.c)
 DEFINES := $(DEF) -D_GNU_SOURCE -D_XOPEN_SOURCE=1111
 OBJDIR := mk
 CFLAGS += -O2 -Wall -Wextra -Wno-trampolines -std=gnu99
 OBJS := $(addprefix $(OBJDIR)/, $(SRCS:%.c=%.o))
 DEPS := $(OBJS:.o=.d)
 TARGFILE := $(OBJDIR)/TARGET
 CC = gcc
 #TARGET := RELEASE
 ifeq ($(shell test -e $(TARGFILE) && echo -n yes),yes)
 	TARGET := $(file < $(TARGFILE))
 else
 	TARGET := RELEASE
 endif
 ifeq ($(TARGET), DEBUG)
 	.DEFAULT_GOAL := debug
 endif
 release: $(PROGRAM)
 debug: CFLAGS += -DEBUG -Werror
 debug: TARGET := DEBUG
 debug: $(PROGRAM)
 $(TARGFILE): $(OBJDIR)
 	@echo -e "\t\tTARGET: $(TARGET)"
 	@echo "$(TARGET)" > $(TARGFILE)
 $(PROGRAM) : $(TARGFILE) $(OBJS)
 	@echo -e "\t\tLD $(PROGRAM)"
 	$(CC) $(OBJS) $(LDFLAGS) -o $(PROGRAM)
 $(OBJDIR):
 	@mkdir $(OBJDIR)
 ifneq ($(MAKECMDGOALS),clean)
 -include $(DEPS)
 endif
 $(OBJDIR)/%.o: %.c
 	@echo -e "\t\tCC $<"
 	$(CC) $< -MD -c $(LDFLAGS) $(CFLAGS) $(DEFINES) -o $@ 
 clean:
 	@echo -e "\t\tCLEAN"
 	@rm -rf $(OBJDIR) 2>/dev/null || true
 xclean: clean
 	@rm -f $(PROGRAM)
 .PHONY: clean xclean
--- a/LibSidServo/PID_test.deprecated/Sramp.c
+++ b/LibSidServo/PID_test.deprecated/Sramp.c
@@ -0,0 +1,27 @@
 /*
 * This file is part of the moving_model 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/>.
 */
 // quasi non-jerk s-ramp
 #include <stdio.h>
 #include <usefull_macros.h>
 #include "Sramp.h"
 movemodel_t s_shaped = { 0 };
--- a/LibSidServo/PID_test.deprecated/Sramp.h
+++ b/LibSidServo/PID_test.deprecated/Sramp.h
@@ -0,0 +1,23 @@
 /*
 * This file is part of the moving_model 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 "moving_private.h"
 extern movemodel_t s_shaped;
--- a/LibSidServo/PID_test.deprecated/Tramp.c
+++ b/LibSidServo/PID_test.deprecated/Tramp.c
@@ -0,0 +1,223 @@
 /*
 * This file is part of the moving_model 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/>.
 */
 // simplest trapezioidal ramp
 #include <math.h>
 #include <stdio.h>
 #include <strings.h>
 #include <usefull_macros.h>
 #include "Tramp.h"
 #undef DBG
 #define DBG(...)
 static movestate_t state = ST_STOP;
 static moveparam_t Min, Max; // `Min` acceleration not used!
 typedef enum{
    STAGE_ACCEL,        // start from zero speed and accelerate to Max speed
    STAGE_MAXSPEED,     // go with target speed
    STAGE_DECEL,        // go from target speed to zero
    STAGE_STOPPED,      // stop
    STAGE_AMOUNT
 } movingstage_t;
 static movingstage_t movingstage = STAGE_STOPPED;
 static double Times[STAGE_AMOUNT] = {0}; // time when each stage starts
 static moveparam_t Params[STAGE_AMOUNT] = {0}; // starting parameters for each stage
 static moveparam_t curparams = {0}; // current coordinate/speed/acceleration
 static int initlims(limits_t *lim){
    if(!lim) return FALSE;
    Min = lim->min;
    Max = lim->max;
    return TRUE;
 }
 static void emstop(double _U_ t){
    curparams.accel = 0.;
    curparams.speed = 0.;
    bzero(Times, sizeof(Times));
    bzero(Params, sizeof(Params));
    state = ST_STOP;
    movingstage = STAGE_STOPPED;
 }
 static void stop(double t){
    if(state == ST_STOP || movingstage == STAGE_STOPPED) return;
    movingstage = STAGE_DECEL;
    state = ST_MOVE;
    Times[STAGE_DECEL] = t;
    Params[STAGE_DECEL].speed = curparams.speed;
    if(curparams.speed > 0.) Params[STAGE_DECEL].accel = -Max.accel;
    else Params[STAGE_DECEL].accel = Max.accel;
    Params[STAGE_DECEL].coord = curparams.coord;
    // speed: v=v2+a2(t-t2), v2 and a2 have different signs; t3: v3=0 -> t3=t2-v2/a2
    Times[STAGE_STOPPED] = t - curparams.speed / Params[STAGE_DECEL].accel;
    // coordinate: x=x2+v2(t-t2)+a2(t-t2)^2/2 -> x3=x2+v2(t3-t2)+a2(t3-t2)^2/2
    double dt = Times[STAGE_STOPPED] - t;
    Params[STAGE_STOPPED].coord = curparams.coord + curparams.speed * dt +
                                  Params[STAGE_DECEL].accel * dt * dt / 2.;
 }
 /**
 * @brief calc - moving calculation
 * @param x - using max speed (>0!!!) and coordinate
 * @param t - current time value
 * @return FALSE if can't move with given parameters
 */
 static int calc(moveparam_t *x, double t){
    if(!x) return FALSE;
    if(x->coord < Min.coord || x->coord > Max.coord) return FALSE;
    if(x->speed < Min.speed || x->speed > Max.speed) return FALSE;
    double Dx = fabs(x->coord - curparams.coord); // full distance
    double sign = (x->coord > curparams.coord) ? 1. : -1.; // sign of target accelerations and speeds
    // we have two variants: with or without stage with constant speed
    double dt23 = x->speed / Max.accel; // time of deceleration stage for given speed
    double dx23 = x->speed * dt23 / 2.; // distance on dec stage (abs)
    DBG("Dx=%g, sign=%g, dt23=%g, dx23=%g", Dx, sign, dt23, dx23);
    double setspeed = x->speed; // new max speed (we can change it if need)
    double dt01, dx01; // we'll fill them depending on starting conditions
    Times[0] = t;
    Params[0].speed = curparams.speed;
    Params[0].coord = curparams.coord;
    double curspeed = fabs(curparams.speed);
    double dt0s = curspeed / Max.accel; // time of stopping phase
    double dx0s = curspeed * dt0s / 2.; // distance
    DBG("dt0s=%g, dx0s=%g", dt0s, dx0s);
    if(dx0s > Dx){
        WARNX("distance too short");
        return FALSE;
    }
    if(fabs(Dx - dx0s) < coord_tolerance){ // just stop and we'll be on target
        DBG("Distance good to just stop");
        stop(t);
        return TRUE;
    }
    if(curparams.speed * sign < 0. || state == ST_STOP){ // we should change speed sign
        // after stop we will have full profile
        double dxs3 = Dx - dx0s;
        double newspeed = sqrt(Max.accel * dxs3);
        if(newspeed < setspeed) setspeed = newspeed; // we can't reach user speed
        DBG("dxs3=%g, setspeed=%g", dxs3, setspeed);
        dt01 = fabs(sign*setspeed - curparams.speed) / Max.accel;
        Params[0].accel = sign * Max.accel;
        if(state == ST_STOP) dx01 = setspeed * dt01 / 2.;
        else dx01 = dt01 * (dt01 / 2. * Max.accel - curspeed);
        DBG("dx01=%g, dt01=%g", dx01, dt01);
    }else{ // increase or decrease speed without stopping phase
        dt01 = fabs(sign*setspeed - curparams.speed) / Max.accel;
        double a = sign * Max.accel;
        if(sign * curparams.speed < 0.){DBG("change direction"); a = -a;}
        else if(curspeed > setspeed){ DBG("lower speed @ this direction"); a = -a;}
        //double a = (curspeed > setspeed) ? -Max.accel : Max.accel;
        dx01 = curspeed * dt01 + a * dt01 * dt01 / 2.;
        DBG("dt01=%g, a=%g, dx01=%g", dt01, a, dx01);
        if(dx01 + dx23 > Dx){ // calculate max speed
            setspeed = sqrt(Max.accel * Dx - curspeed * curspeed / 2.);
            if(setspeed < curspeed){
                setspeed = curparams.speed;
                dt01 = 0.; dx01 = 0.;
                Params[0].accel = 0.;
            }else{
                Params[0].accel = a;
                dt01 = fabs(setspeed - curspeed) / Max.accel;
                dx01 = curspeed * dt01 + Max.accel * dt01 * dt01 / 2.;
            }
        }else Params[0].accel = a;
    }
    if(setspeed < Min.speed){
        WARNX("New speed should be too small");
        return FALSE;
    }
    moveparam_t *p = &Params[STAGE_MAXSPEED];
    p->accel = 0.; p->speed = sign * setspeed;
    p->coord = curparams.coord + dx01 * sign;
    Times[STAGE_MAXSPEED] = Times[0] + dt01;
    dt23 = setspeed / Max.accel;
    dx23 = setspeed * dt23 / 2.;
    // calculate dx12 and dt12
    double dx12 = Dx - dx01 - dx23;
    if(dx12 < -coord_tolerance){
        WARNX("Oops, WTF dx12=%g?", dx12);
        return FALSE;
    }
    double dt12 = dx12 / setspeed;
    p = &Params[STAGE_DECEL];
    p->accel = -sign * Max.accel;
    p->speed = sign * setspeed;
    p->coord = Params[STAGE_MAXSPEED].coord + sign * dx12;
    Times[STAGE_DECEL] = Times[STAGE_MAXSPEED] + dt12;
    p = &Params[STAGE_STOPPED];
    p->accel = 0.; p->speed = 0.; p->coord = x->coord;
    Times[STAGE_STOPPED] = Times[STAGE_DECEL] + dt23;
    for(int i = 0; i < 4; ++i)
        DBG("%d: t=%g, coord=%g, speed=%g, accel=%g", i,
            Times[i], Params[i].coord, Params[i].speed, Params[i].accel);
    state = ST_MOVE;
    movingstage = STAGE_ACCEL;
    return TRUE;
 }
 static movestate_t proc(moveparam_t *next, double t){
    if(state == ST_STOP) goto ret;
    for(movingstage_t s = STAGE_STOPPED; s >= 0; --s){
        if(Times[s] <= t){ // check time for current stage
            movingstage = s;
            break;
        }
    }
    if(movingstage == STAGE_STOPPED){
        curparams.coord = Params[STAGE_STOPPED].coord;
        emstop(t);
        goto ret;
    }
    // calculate current parameters
    double dt = t - Times[movingstage];
    double a = Params[movingstage].accel;
    double v0 = Params[movingstage].speed;
    double x0 = Params[movingstage].coord;
    curparams.accel = a;
    curparams.speed = v0 + a * dt;
    curparams.coord = x0 + v0 * dt + a * dt * dt / 2.;
 ret:
    if(next) *next = curparams;
    return state;
 }
 static movestate_t getst(moveparam_t *cur){
    if(cur) *cur = curparams;
    return state;
 }
 static double gettstop(){
    return Times[STAGE_STOPPED];
 }
 movemodel_t trapez = {
    .init_limits = initlims,
    .stop = stop,
    .emergency_stop = emstop,
    .get_state = getst,
    .calculate = calc,
    .proc_move = proc,
    .stoppedtime = gettstop,
 };
--- a/LibSidServo/PID_test.deprecated/Tramp.h
+++ b/LibSidServo/PID_test.deprecated/Tramp.h
@@ -0,0 +1,23 @@
 /*
 * This file is part of the moving_model 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 "moving_private.h"
 extern movemodel_t trapez;
--- a/LibSidServo/PID_test.deprecated/main.c
+++ b/LibSidServo/PID_test.deprecated/main.c
@@ -0,0 +1,243 @@
 /*
 * This file is part of the moving_model 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/>.
 */
 #include <math.h>
 #include <stdio.h>
 #include <strings.h>
 #include <usefull_macros.h>
 #include "moving.h"
 // errors for states: slewing/pointing/guiding
 #define MAX_POINTING_ERR    (50.)
 #define MAX_GUIDING_ERR     (5.)
 // timeout to "forget" old data from I sum array; seconds
 #define PID_I_PERIOD        (3.)
 static movemodel_t *model = NULL;
 static FILE *coordslog = NULL;
 typedef enum{
    Slewing,
    Pointing,
    Guiding
 } state_t;
 static state_t state = Slewing;
 typedef struct{
    int help;
    char *ramptype;
    char *xlog;
    double dTmon;
    double dTcorr;
    double Tend;
    double minerr;
    double P, I, D;
 } pars;
 static pars G = {
    .ramptype = "t",
    .dTmon = 0.01,
    .dTcorr = 0.05,
    .Tend = 100.,
    .minerr = 0.1,
    .P = 0.8,
 };
 static limits_t limits = {
    .min = {.coord = -1e6, .speed = 0.01, .accel = 0.1},
    .max = {.coord = 1e6, .speed = 1e3, .accel = 500.},
    .jerk = 10.
 };
 typedef struct {
    double kp, ki, kd;  // PID gains
    double prev_error;  // Previous error
    double integral;    // Integral term
    double *pidIarray;  // array for Integral
    size_t pidIarrSize; // it's size
    size_t curIidx;     // and index of current element
 } PIDController;
 static PIDController pid;
 static sl_option_t opts[] = {
    {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),          "show this help"},
    {"ramp",    NEED_ARG,   NULL,   'r',    arg_string, APTR(&G.ramptype),      "ramp type: \"d\", \"t\" or \"s\" - dumb, trapezoid, s-type"},
    {"tmon",    NEED_ARG,   NULL,   'T',    arg_double, APTR(&G.dTmon),         "time interval for monitoring (seconds, default: 0.001)"},
    {"tcor",    NEED_ARG,   NULL,   't',    arg_double, APTR(&G.dTcorr),        "time interval for corrections (seconds, default: 0.05)"},
    {"xlog",    NEED_ARG,   NULL,   'l',    arg_string, APTR(&G.xlog),          "log file name for coordinates logging"},
    {"tend",    NEED_ARG,   NULL,   'e',    arg_double, APTR(&G.Tend),          "end time of monitoring (seconds, default: 100)"},
    {"minerr",  NEED_ARG,   NULL,   'm',    arg_double, APTR(&G.minerr),        "minimal error for corrections (units, default: 0.1)"},
    {"prop",    NEED_ARG,   NULL,   'P',    arg_double, APTR(&G.P),             "P-coefficient of PID"},
    {"integ",   NEED_ARG,   NULL,   'I',    arg_double, APTR(&G.I),             "I-coefficient of PID"},
    {"diff",    NEED_ARG,   NULL,   'D',    arg_double, APTR(&G.D),             "D-coefficient of PID"},
    // TODO: add parameters for limits setting
    end_option
 };
 // calculate coordinate target for given time (starting from zero)
 static double target_coord(double t){
    if(t > 20. && t < 30.) return target_coord(20.);
    double pos = 150. + 10. * sin(M_2_PI * t / 10.) + 0.02 * (drand48() - 0.5);
    return pos;
 }
 /* P-only == oscillations
 static double getNewSpeed(const moveparam_t *p, double targcoord, double dt){
    double error = targcoord - p->coord;
    if(fabs(error) < G.minerr) return p->speed;
    return p->speed + error / dt / 500.;
 }
 */
 static void pid_init(PIDController *pid, double kp, double ki, double kd) {
    pid->kp = fabs(kp);
    pid->ki = fabs(ki);
    pid->kd = fabs(kd);
    pid->prev_error = 0.;
    pid->integral = 0.;
    pid->curIidx = 0;
    pid->pidIarrSize = PID_I_PERIOD / G.dTcorr;
    if(pid->pidIarrSize < 2) ERRX("I-array for PID have less than 2 elements");
    pid->pidIarray = MALLOC(double, pid->pidIarrSize);
 }
 static void pid_clear(PIDController *pid){
    if(!pid) return;
    bzero(pid->pidIarray, sizeof(double) * pid->pidIarrSize);
    pid->integral = 0.;
    pid->prev_error = 0.;
    pid->curIidx = 0;
 }
 static double getNewSpeed(const moveparam_t *p, double targcoord, double dt){
    double error = targcoord - p->coord, fe = fabs(error);
    switch(state){
        case Slewing:
            if(fe < MAX_POINTING_ERR){
                pid_clear(&pid);
                state = Pointing;
                green("--> Pointing\n");
            }else{
                red("Slewing...\n");
                return (error > 0.) ? limits.max.speed : -limits.max.speed;
            }
            break;
        case Pointing:
            if(fe < MAX_GUIDING_ERR){
                pid_clear(&pid);
                state = Guiding;
                green("--> Guiding\n");
            }else if(fe > MAX_POINTING_ERR){
                red("--> Slewing\n");
                state = Slewing;
                return (error > 0.) ? limits.max.speed : -limits.max.speed;
            }
            break;
        case Guiding:
            if(fe > MAX_GUIDING_ERR){
                red("--> Pointing\n");
                state = Pointing;
            }else if(fe < G.minerr){
                    green("At target\n");
                    //pid_clear(&pid);
                    //return p->speed;
            }
            break;
    }
    red("Calculate PID\n");
    double oldi = pid.pidIarray[pid.curIidx], newi = error * dt;
    pid.pidIarray[pid.curIidx++] = oldi;
    if(pid.curIidx >= pid.pidIarrSize) pid.curIidx = 0;
    pid.integral += newi - oldi;
    double derivative = (error - pid.prev_error) / dt;
    pid.prev_error = error;
    DBG("P=%g, I=%g, D=%g", pid.kp * error, pid.integral, derivative);
    double add = (pid.kp * error + pid.ki * pid.integral + pid.kd * derivative);
    if(state == Pointing) add /= 3.;
    else if(state == Guiding) add /= 7.;
    DBG("ADD = %g; new speed = %g", add, p->speed + add);
    if(state == Guiding) return p->speed + add  / dt / 10.;
    return add / dt;
 }
 // ./moving  -l coords -P.5 -I.05 -D1.5
 // ./moving  -l coords -P1.3 -D1.6
 static void start_model(double Tend){
    double T = 0., Tcorr = 0.;//, Tlast = 0.;
    moveparam_t target;
    while(T <= Tend){
        moveparam_t p;
        movestate_t st = model->get_state(&p);
        if(st == ST_MOVE) st = model->proc_move(&p, T);
        double nextcoord = target_coord(T);
        double error = nextcoord - p.coord;
        if(T - Tcorr >= G.dTcorr){ // check correction
            double speed = getNewSpeed(&p, nextcoord, T - Tcorr);
            target.coord = (speed > 0) ? p.coord + 5e5 : p.coord - 5e5;
            target.speed = fabs(speed);
            double res_speed = limits.max.speed / 2.;
            if(target.speed > limits.max.speed){
                target.speed = limits.max.speed;
                res_speed = limits.max.speed / 4.;
            }else if(target.speed < limits.min.speed){
                target.speed = limits.min.speed;
                res_speed = limits.min.speed * 4.;
            }
            if(!move_to(&target, T)){
                target.speed = res_speed;
                if(!move_to(&target, T))
                    WARNX("move(): can't move to %g with max speed %g", target.coord, target.speed);
            }
            DBG("%g: tag/cur speed= %g / %g; tag/cur pos = %g / %g; err = %g", T, target.speed, p.speed, target.coord, p.coord, error);
            Tcorr = T;
        }
        // make log
        fprintf(coordslog, "%-9.4f\t%-10.4f\t%-10.4f\t%-10.4f\t%-10.4f\t%-10.4f\n",
                T, nextcoord, p.coord, p.speed, p.accel, error);
        T += G.dTmon;
    }
 }
 int main(int argc, char **argv){
    sl_init();
    sl_parseargs(&argc, &argv, opts);
    if(G.help) sl_showhelp(-1, opts);
    if(G.xlog){
        coordslog = fopen(G.xlog, "w");
        if(!coordslog) ERR("Can't open %s", G.xlog);
    } else coordslog = stdout;
    if(G.dTmon <= 0.) ERRX("tmon should be > 0.");
    if(G.dTcorr <= 0. || G.dTcorr > 1.) ERRX("tcor should be > 0. and < 1.");
    if(G.Tend <= 0.) ERRX("tend should be > 0.");
    pid_init(&pid, G.P, G.I, G.D);
    fprintf(coordslog, "%-9s\t%-10s\t%-10s\t%-10s\t%-10s\t%-10s\n", "time", "target", "curpos", "speed", "accel", "error");
    ramptype_t ramp = RAMP_AMOUNT;
    if(*G.ramptype == 'd' || *G.ramptype == 'D') ramp = RAMP_DUMB;
    else if(*G.ramptype == 't' || *G.ramptype == 'T') ramp = RAMP_TRAPEZIUM;
    else if(*G.ramptype == 's' || *G.ramptype == 'S') ramp = RAMP_S;
    else ERRX("Point \"d\" (dumb), \"s\" (s-type), or \"t\" (trapez) for ramp type");
    model = init_moving(ramp, &limits);
    if(!model) ERRX("Can't init moving model: check parameters");
    start_model(G.Tend);
    fclose(coordslog);
    return 0;
 }
--- a/LibSidServo/PID_test.deprecated/moving.c
+++ b/LibSidServo/PID_test.deprecated/moving.c
@@ -0,0 +1,105 @@
 /*
 * This file is part of the moving_model 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/>.
 */
 #include <math.h>
 #include <stdio.h>
 #include <usefull_macros.h>
 #include <pthread.h>
 #include <time.h>
 #include "moving.h"
 #include "moving_private.h"
 #include "Dramp.h"
 #include "Sramp.h"
 #include "Tramp.h"
 //static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
 static movemodel_t *model = NULL;
 double coord_tolerance = COORD_TOLERANCE_DEFAULT;
 double time_tick = TIME_TICK_DEFAULT;
 // difference of time from first call, using nanoseconds
 double nanot(){
    static struct timespec *start = NULL;
    struct timespec now;
    if(!start){
        start = MALLOC(struct timespec, 1);
        if(!start) return -1.;
        if(clock_gettime(CLOCK_REALTIME, start)) return -1.;
    }
    if(clock_gettime(CLOCK_REALTIME, &now)) return -1.;
    //DBG("was: %ld, now: %ld", start->tv_nsec, now.tv_nsec);
    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;
 }
 static void chkminmax(double *min, double *max){
    if(*min <= *max) return;
    double t = *min;
    *min = *max;
    *max = t;
 }
 movemodel_t *init_moving(ramptype_t type, limits_t *l){
    if(!l) return FALSE;
    switch(type){
        case RAMP_DUMB:
            model = &dumb;
        break;
        case RAMP_TRAPEZIUM:
            model = &trapez;
        break;
        case RAMP_S:
            model = &s_shaped;
        break;
        default:
            return FALSE;
    }
    if(!model->init_limits) return NULL;
    moveparam_t *max = &l->max, *min = &l->min;
    if(min->speed < 0.) min->speed = -min->speed;
    if(max->speed < 0.) max->speed = -max->speed;
    if(min->accel < 0.) min->accel = -min->accel;
    if(max->accel < 0.) max->accel = -max->accel;
    chkminmax(&min->coord, &max->coord);
    chkminmax(&min->speed, &max->speed);
    chkminmax(&min->accel, &max->accel);
    if(!model->init_limits(l)) return NULL;
    return model;
 }
 int move_to(moveparam_t *target, double t){
    if(!target || !model) return FALSE;
    DBG("MOVE to %g at speed %g", target->coord, target->speed);
    // only positive velocity
    if(target->speed < 0.) target->speed = -target->speed;
    // don't mind about acceleration - user cannot set it now
    return model->calculate(target, t);
 }
 int init_coordtol(double tolerance){
    if(tolerance < COORD_TOLERANCE_MIN || tolerance > COORD_TOLERANCE_MAX) return FALSE;
    coord_tolerance = tolerance;
    return TRUE;
 }
 int init_timetick(double tick){
    if(tick < TIME_TICK_MIN || tick > TIME_TICK_MAX) return FALSE;
    time_tick = tick;
    return TRUE;
 }
--- a/LibSidServo/PID_test.deprecated/moving.h
+++ b/LibSidServo/PID_test.deprecated/moving.h
@@ -0,0 +1,70 @@
 /*
 * This file is part of the moving_model 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
 // tolerance, time ticks
 #define COORD_TOLERANCE_DEFAULT (0.01)
 #define COORD_TOLERANCE_MIN     (0.0001)
 #define COORD_TOLERANCE_MAX     (10.)
 #define TIME_TICK_DEFAULT       (0.0001)
 #define TIME_TICK_MIN           (1e-9)
 #define TIME_TICK_MAX           (10.)
 typedef enum{
    RAMP_DUMB,          // no ramp: infinite acceleration/deceleration
    RAMP_TRAPEZIUM,     // trapezium ramp
    RAMP_S,             // s-shaped ramp
    RAMP_AMOUNT
 } ramptype_t;
 typedef enum{
    ST_STOP,            // stopped
    ST_MOVE,            // moving
    ST_AMOUNT
 } movestate_t;
 typedef struct{ // all values could be both as positive and negative
    double coord;
    double speed;
    double accel;
 } moveparam_t;
 typedef struct{
    moveparam_t min;
    moveparam_t max;
    double jerk;
 } limits_t;
 typedef struct{
    int (*init_limits)(limits_t *lim);                      // init values of limits, jerk
    int (*calculate)(moveparam_t *target, double t);        // calculate stages of traectory beginning from t
    movestate_t (*proc_move)(moveparam_t *next, double t);  // calculate next model point for time t
    movestate_t (*get_state)(moveparam_t *cur);             // get current moving state
    void (*stop)(double t);                                 // stop by ramp
    void (*emergency_stop)(double t);                       // stop with highest acceleration
    double (*stoppedtime)();                                // time when moving will ends
 } movemodel_t;
 extern double coord_tolerance;
 double nanot();
 movemodel_t *init_moving(ramptype_t type, limits_t *l);
 int init_coordtol(double tolerance);
 int init_timetick(double tick);
 int move_to(moveparam_t *target, double t);
--- a/LibSidServo/PID_test.deprecated/moving_model.cflags
+++ b/LibSidServo/PID_test.deprecated/moving_model.cflags
@@ -0,0 +1 @@
 -std=c17
--- a/LibSidServo/PID_test.deprecated/moving_model.config
+++ b/LibSidServo/PID_test.deprecated/moving_model.config
@@ -0,0 +1,4 @@
 // Add predefined macros for your project here. For example:
 // #define THE_ANSWER 42
 #define _XOPEN_SOURCE 666
 #define EBUG
--- a/LibSidServo/PID_test.deprecated/moving_model.creator
+++ b/LibSidServo/PID_test.deprecated/moving_model.creator
@@ -0,0 +1 @@
 [General]
--- a/LibSidServo/PID_test.deprecated/moving_model.creator.user
+++ b/LibSidServo/PID_test.deprecated/moving_model.creator.user
@@ -0,0 +1,221 @@
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--- a/LibSidServo/PID_test.deprecated/moving_model.cxxflags
+++ b/LibSidServo/PID_test.deprecated/moving_model.cxxflags
@@ -0,0 +1 @@
 -std=c++17
--- a/LibSidServo/PID_test.deprecated/moving_model.files
+++ b/LibSidServo/PID_test.deprecated/moving_model.files
@@ -0,0 +1,10 @@
 Dramp.c
 Dramp.h
 Sramp.c
 Sramp.h
 Tramp.c
 Tramp.h
 main.c
 moving.c
 moving.h
 moving_private.h
--- a/LibSidServo/PID_test.deprecated/moving_model.includes
+++ b/LibSidServo/PID_test.deprecated/moving_model.includes
--- a/LibSidServo/PID_test.deprecated/moving_private.h
+++ b/LibSidServo/PID_test.deprecated/moving_private.h
@@ -0,0 +1,26 @@
 /*
 * This file is part of the moving_model 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 "moving.h"
 extern double coord_tolerance;
 extern double time_tick;
--- a/LibSidServo/PID_test.deprecated/plot
+++ b/LibSidServo/PID_test.deprecated/plot
@@ -0,0 +1,4 @@
 #!/usr/bin/gnuplot
 plot for [col in "target curpos speed error"] 'coords' using 1:col with lines title columnheader
 pause mouse
--- a/LibSidServo/PID_test.deprecated/plot.cont
+++ b/LibSidServo/PID_test.deprecated/plot.cont
@@ -0,0 +1,8 @@
 #!/usr/bin/gnuplot
 #set term pdf
 #set output "output.pdf"
 while(1){
    plot for [col in "target curpos speed error"] 'coords' using 1:col with lines title columnheader
    pause 1
 }
--- a/LibSidServo/PID_test.deprecated/plot_jpg
+++ b/LibSidServo/PID_test.deprecated/plot_jpg
@@ -0,0 +1,6 @@
 #!/usr/bin/gnuplot
 set terminal jpeg size 1000,500
 set output "all.jpg"
 plot for [col in "target curpos speed error"] 'coords' using 1:col with lines title columnheader
--- a/LibSidServo/PID_test.deprecated/plot_pdf
+++ b/LibSidServo/PID_test.deprecated/plot_pdf
@@ -0,0 +1,5 @@
 #!/usr/bin/gnuplot
 set term pdf
 set output "output.pdf"
 plot for [col=2:4] 'coordlog' using 1:col with lines title columnheader
--- a/LibSidServo/PID_test.deprecated/plotacc
+++ b/LibSidServo/PID_test.deprecated/plotacc
@@ -0,0 +1,4 @@
 #!/usr/bin/gnuplot
 plot 'coords' using 1:5 with lines title columnheader
 pause mouse
--- a/LibSidServo/PID_test.deprecated/ploterr
+++ b/LibSidServo/PID_test.deprecated/ploterr
@@ -0,0 +1,4 @@
 #!/usr/bin/gnuplot
 plot 'coords' using 1:6 with lines title columnheader
 pause mouse
--- a/LibSidServo/PID_test.deprecated/ploterr.cont
+++ b/LibSidServo/PID_test.deprecated/ploterr.cont
@@ -0,0 +1,6 @@
 #!/usr/bin/gnuplot
 while(1){
    plot 'coords' using 1:6 with lines title columnheader
    pause 1
 }
--- a/LibSidServo/PID_test.deprecated/ploterr_jpg
+++ b/LibSidServo/PID_test.deprecated/ploterr_jpg
@@ -0,0 +1,5 @@
 #!/usr/bin/gnuplot
 set term jpeg size 1000,500
 set output "error.jpg"
 plot 'coords' using 1:6 with lines title columnheader
--- a/LibSidServo/PID_test/Makefile
+++ b/LibSidServo/PID_test/Makefile
@@ -0,0 +1,57 @@
 # run `make DEF=...` to add extra defines
 PROGRAM := moving
 LDFLAGS := -fdata-sections -ffunction-sections -Wl,--gc-sections -Wl,--discard-all
 LDFLAGS += -lusefull_macros -lm
 SRCS := $(wildcard *.c)
 DEFINES := $(DEF) -D_GNU_SOURCE -D_XOPEN_SOURCE=1111
 OBJDIR := mk
 CFLAGS += -O2 -Wall -Wextra -Wno-trampolines -std=gnu99
 OBJS := $(addprefix $(OBJDIR)/, $(SRCS:%.c=%.o))
 DEPS := $(OBJS:.o=.d)
 TARGFILE := $(OBJDIR)/TARGET
 CC = gcc
 #TARGET := RELEASE
 ifeq ($(shell test -e $(TARGFILE) && echo -n yes),yes)
 	TARGET := $(file < $(TARGFILE))
 else
 	TARGET := RELEASE
 endif
 ifeq ($(TARGET), DEBUG)
 	.DEFAULT_GOAL := debug
 endif
 release: $(PROGRAM)
 debug: CFLAGS += -DEBUG -Werror
 debug: TARGET := DEBUG
 debug: $(PROGRAM)
 $(TARGFILE): $(OBJDIR)
 	@echo -e "\t\tTARGET: $(TARGET)"
 	@echo "$(TARGET)" > $(TARGFILE)
 $(PROGRAM) : $(TARGFILE) $(OBJS)
 	@echo -e "\t\tLD $(PROGRAM)"
 	$(CC) $(OBJS) $(LDFLAGS) -o $(PROGRAM)
 $(OBJDIR):
 	@mkdir $(OBJDIR)
 ifneq ($(MAKECMDGOALS),clean)
 -include $(DEPS)
 endif
 $(OBJDIR)/%.o: %.c
 	@echo -e "\t\tCC $<"
 	$(CC) $< -MD -c $(LDFLAGS) $(CFLAGS) $(DEFINES) -o $@ 
 clean:
 	@echo -e "\t\tCLEAN"
 	@rm -rf $(OBJDIR) 2>/dev/null || true
 xclean: clean
 	@rm -f $(PROGRAM)
 .PHONY: clean xclean
--- a/LibSidServo/PID_test/PID.c
+++ b/LibSidServo/PID_test/PID.c
@@ -0,0 +1,64 @@
 /*
 * This file is part of the moving_model 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/>.
 */
 #include <math.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <strings.h>
 #include <usefull_macros.h>
 #include "PID.h"
 PIDController_t *pid_create(PIDpar_t *gain, size_t Iarrsz){
    if(!gain || Iarrsz < 3) return NULL;
    PIDController_t *pid = (PIDController_t*)calloc(1, sizeof(PIDController_t));
    pid->gain = *gain;
    pid->pidIarrSize = Iarrsz;
    pid->pidIarray = (double*)calloc(Iarrsz, sizeof(double));
    return pid;
 }
 void pid_clear(PIDController_t *pid){
    if(!pid) return;
    DBG("CLEAR PID PARAMETERS");
    bzero(pid->pidIarray, sizeof(double) * pid->pidIarrSize);
    pid->integral = 0.;
    pid->prev_error = 0.;
    pid->curIidx = 0;
 }
 void pid_delete(PIDController_t **pid){
    if(!pid || !*pid) return;
    if((*pid)->pidIarray) free((*pid)->pidIarray);
    free(*pid);
    *pid = NULL;
 }
 double pid_calculate(PIDController_t *pid, double error, double dt){
    // calculate flowing integral
    double oldi = pid->pidIarray[pid->curIidx], newi = error * dt;
    DBG("oldi/new: %g, %g", oldi, newi);
    pid->pidIarray[pid->curIidx++] = newi;
    if(pid->curIidx >= pid->pidIarrSize) pid->curIidx = 0;
    pid->integral += newi - oldi;
    double derivative = (error - pid->prev_error) / dt;
    pid->prev_error = error;
    double sum = pid->gain.P * error + pid->gain.I * pid->integral + pid->gain.D * derivative;
    DBG("P=%g, I=%g, D=%g; sum=%g", pid->gain.P * error, pid->gain.I * pid->integral, pid->gain.D * derivative, sum);
    return sum;
 }
--- a/LibSidServo/PID_test/PID.h
+++ b/LibSidServo/PID_test/PID.h
@@ -0,0 +1,39 @@
 /*
 * This file is part of the moving_model 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 <stddef.h>
 typedef struct{
    double P, I, D;
 } PIDpar_t;
 typedef struct {
    PIDpar_t gain;      // PID gains
    double prev_error;  // Previous error
    double integral;    // Integral term
    double *pidIarray;  // array for Integral
    size_t pidIarrSize; // it's size
    size_t curIidx;     // and index of current element
 } PIDController_t;
 PIDController_t *pid_create(PIDpar_t *gain, size_t Iarrsz);
 void pid_clear(PIDController_t *pid);
 void pid_delete(PIDController_t **pid);
 double pid_calculate(PIDController_t *pid, double error, double dt);
--- a/LibSidServo/PID_test/Tramp.c
+++ b/LibSidServo/PID_test/Tramp.c
@@ -0,0 +1,223 @@
 /*
 * This file is part of the moving_model 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/>.
 */
 // simplest trapezioidal ramp
 #include <math.h>
 #include <stdio.h>
 #include <strings.h>
 #include <usefull_macros.h>
 #include "Tramp.h"
 #undef DBG
 #define DBG(...)
 static movestate_t state = ST_STOP;
 static moveparam_t Min, Max; // `Min` acceleration not used!
 typedef enum{
    STAGE_ACCEL,        // start from zero speed and accelerate to Max speed
    STAGE_MAXSPEED,     // go with target speed
    STAGE_DECEL,        // go from target speed to zero
    STAGE_STOPPED,      // stop
    STAGE_AMOUNT
 } movingstage_t;
 static movingstage_t movingstage = STAGE_STOPPED;
 static double Times[STAGE_AMOUNT] = {0}; // time when each stage starts
 static moveparam_t Params[STAGE_AMOUNT] = {0}; // starting parameters for each stage
 static moveparam_t curparams = {0}; // current coordinate/speed/acceleration
 static int initlims(limits_t *lim){
    if(!lim) return FALSE;
    Min = lim->min;
    Max = lim->max;
    return TRUE;
 }
 static void emstop(double _U_ t){
    curparams.accel = 0.;
    curparams.speed = 0.;
    bzero(Times, sizeof(Times));
    bzero(Params, sizeof(Params));
    state = ST_STOP;
    movingstage = STAGE_STOPPED;
 }
 static void stop(double t){
    if(state == ST_STOP || movingstage == STAGE_STOPPED) return;
    movingstage = STAGE_DECEL;
    state = ST_MOVE;
    Times[STAGE_DECEL] = t;
    Params[STAGE_DECEL].speed = curparams.speed;
    if(curparams.speed > 0.) Params[STAGE_DECEL].accel = -Max.accel;
    else Params[STAGE_DECEL].accel = Max.accel;
    Params[STAGE_DECEL].coord = curparams.coord;
    // speed: v=v2+a2(t-t2), v2 and a2 have different signs; t3: v3=0 -> t3=t2-v2/a2
    Times[STAGE_STOPPED] = t - curparams.speed / Params[STAGE_DECEL].accel;
    // coordinate: x=x2+v2(t-t2)+a2(t-t2)^2/2 -> x3=x2+v2(t3-t2)+a2(t3-t2)^2/2
    double dt = Times[STAGE_STOPPED] - t;
    Params[STAGE_STOPPED].coord = curparams.coord + curparams.speed * dt +
                                  Params[STAGE_DECEL].accel * dt * dt / 2.;
 }
 /**
 * @brief calc - moving calculation
 * @param x - using max speed (>0!!!) and coordinate
 * @param t - current time value
 * @return FALSE if can't move with given parameters
 */
 static int calc(moveparam_t *x, double t){
    if(!x) return FALSE;
    if(x->coord < Min.coord || x->coord > Max.coord) return FALSE;
    if(x->speed < Min.speed || x->speed > Max.speed) return FALSE;
    double Dx = fabs(x->coord - curparams.coord); // full distance
    double sign = (x->coord > curparams.coord) ? 1. : -1.; // sign of target accelerations and speeds
    // we have two variants: with or without stage with constant speed
    double dt23 = x->speed / Max.accel; // time of deceleration stage for given speed
    double dx23 = x->speed * dt23 / 2.; // distance on dec stage (abs)
    DBG("Dx=%g, sign=%g, dt23=%g, dx23=%g", Dx, sign, dt23, dx23);
    double setspeed = x->speed; // new max speed (we can change it if need)
    double dt01, dx01; // we'll fill them depending on starting conditions
    Times[0] = t;
    Params[0].speed = curparams.speed;
    Params[0].coord = curparams.coord;
    double curspeed = fabs(curparams.speed);
    double dt0s = curspeed / Max.accel; // time of stopping phase
    double dx0s = curspeed * dt0s / 2.; // distance
    DBG("dt0s=%g, dx0s=%g", dt0s, dx0s);
    if(dx0s > Dx){
        WARNX("distance too short");
        return FALSE;
    }
    if(fabs(Dx - dx0s) < coord_tolerance){ // just stop and we'll be on target
        DBG("Distance good to just stop");
        stop(t);
        return TRUE;
    }
    if(curparams.speed * sign < 0. || state == ST_STOP){ // we should change speed sign
        // after stop we will have full profile
        double dxs3 = Dx - dx0s;
        double newspeed = sqrt(Max.accel * dxs3);
        if(newspeed < setspeed) setspeed = newspeed; // we can't reach user speed
        DBG("dxs3=%g, setspeed=%g", dxs3, setspeed);
        dt01 = fabs(sign*setspeed - curparams.speed) / Max.accel;
        Params[0].accel = sign * Max.accel;
        if(state == ST_STOP) dx01 = setspeed * dt01 / 2.;
        else dx01 = dt01 * (dt01 / 2. * Max.accel - curspeed);
        DBG("dx01=%g, dt01=%g", dx01, dt01);
    }else{ // increase or decrease speed without stopping phase
        dt01 = fabs(sign*setspeed - curparams.speed) / Max.accel;
        double a = sign * Max.accel;
        if(sign * curparams.speed < 0.){DBG("change direction"); a = -a;}
        else if(curspeed > setspeed){ DBG("lower speed @ this direction"); a = -a;}
        //double a = (curspeed > setspeed) ? -Max.accel : Max.accel;
        dx01 = curspeed * dt01 + a * dt01 * dt01 / 2.;
        DBG("dt01=%g, a=%g, dx01=%g", dt01, a, dx01);
        if(dx01 + dx23 > Dx){ // calculate max speed
            setspeed = sqrt(Max.accel * Dx - curspeed * curspeed / 2.);
            if(setspeed < curspeed){
                setspeed = curparams.speed;
                dt01 = 0.; dx01 = 0.;
                Params[0].accel = 0.;
            }else{
                Params[0].accel = a;
                dt01 = fabs(setspeed - curspeed) / Max.accel;
                dx01 = curspeed * dt01 + Max.accel * dt01 * dt01 / 2.;
            }
        }else Params[0].accel = a;
    }
    if(setspeed < Min.speed){
        WARNX("New speed should be too small");
        return FALSE;
    }
    moveparam_t *p = &Params[STAGE_MAXSPEED];
    p->accel = 0.; p->speed = sign * setspeed;
    p->coord = curparams.coord + dx01 * sign;
    Times[STAGE_MAXSPEED] = Times[0] + dt01;
    dt23 = setspeed / Max.accel;
    dx23 = setspeed * dt23 / 2.;
    // calculate dx12 and dt12
    double dx12 = Dx - dx01 - dx23;
    if(dx12 < -coord_tolerance){
        WARNX("Oops, WTF dx12=%g?", dx12);
        return FALSE;
    }
    double dt12 = dx12 / setspeed;
    p = &Params[STAGE_DECEL];
    p->accel = -sign * Max.accel;
    p->speed = sign * setspeed;
    p->coord = Params[STAGE_MAXSPEED].coord + sign * dx12;
    Times[STAGE_DECEL] = Times[STAGE_MAXSPEED] + dt12;
    p = &Params[STAGE_STOPPED];
    p->accel = 0.; p->speed = 0.; p->coord = x->coord;
    Times[STAGE_STOPPED] = Times[STAGE_DECEL] + dt23;
    for(int i = 0; i < 4; ++i)
        DBG("%d: t=%g, coord=%g, speed=%g, accel=%g", i,
            Times[i], Params[i].coord, Params[i].speed, Params[i].accel);
    state = ST_MOVE;
    movingstage = STAGE_ACCEL;
    return TRUE;
 }
 static movestate_t proc(moveparam_t *next, double t){
    if(state == ST_STOP) goto ret;
    for(movingstage_t s = STAGE_STOPPED; s >= 0; --s){
        if(Times[s] <= t){ // check time for current stage
            movingstage = s;
            break;
        }
    }
    if(movingstage == STAGE_STOPPED){
        curparams.coord = Params[STAGE_STOPPED].coord;
        emstop(t);
        goto ret;
    }
    // calculate current parameters
    double dt = t - Times[movingstage];
    double a = Params[movingstage].accel;
    double v0 = Params[movingstage].speed;
    double x0 = Params[movingstage].coord;
    curparams.accel = a;
    curparams.speed = v0 + a * dt;
    curparams.coord = x0 + v0 * dt + a * dt * dt / 2.;
 ret:
    if(next) *next = curparams;
    return state;
 }
 static movestate_t getst(moveparam_t *cur){
    if(cur) *cur = curparams;
    return state;
 }
 static double gettstop(){
    return Times[STAGE_STOPPED];
 }
 movemodel_t trapez = {
    .init_limits = initlims,
    .stop = stop,
    .emergency_stop = emstop,
    .get_state = getst,
    .calculate = calc,
    .proc_move = proc,
    .stoppedtime = gettstop,
 };
--- a/LibSidServo/PID_test/Tramp.h
+++ b/LibSidServo/PID_test/Tramp.h
@@ -0,0 +1,23 @@
 /*
 * This file is part of the moving_model 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 "moving_private.h"
 extern movemodel_t trapez;
--- a/LibSidServo/PID_test/main.c
+++ b/LibSidServo/PID_test/main.c
@@ -0,0 +1,222 @@
 /*
 * This file is part of the moving_model 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/>.
 */
 #include <math.h>
 #include <stdio.h>
 #include <strings.h>
 #include <usefull_macros.h>
 #include "moving.h"
 #include "PID.h"
 // errors for states: slewing/pointing/guiding
 // 10-degrees zone - Coordinate-driven PID
 #define MAX_POINTING_ERR    (36000.)
 // 1-arcminute zone - Velocity-dtiven PID
 #define MAX_GUIDING_ERR     (60.)
 // timeout to "forget" old data from I sum array; seconds
 #define PID_I_PERIOD        (3.)
 // PID for coordinate-driven and velocity-driven parts
 static PIDController_t *pidC = NULL, *pidV = NULL;
 static movemodel_t *model = NULL;
 static FILE *coordslog = NULL;
 typedef enum{
    Slewing,
    Pointing,
    Guiding
 } state_t;
 static state_t state = Slewing;
 typedef struct{
    int help;
    char *ramptype;
    char *xlog;
    double dTmon;
    double dTcorr;
    double Tend;
    double minerr;
    double startcoord;
    double error;
    PIDpar_t gainC, gainV;
 } pars;
 static pars G = {
    .dTmon = 0.01,
    .dTcorr = 0.05,
    .Tend = 100.,
    .minerr = 0.1,
    .gainC.P = 0.1,
    .gainV.P = 0.1,
    .startcoord = 100.,
 };
 static limits_t limits = {
    .min = {.coord = -1e6, .speed = 0.01, .accel = 0.1},
    .max = {.coord = 6648000, .speed = 36000., .accel = 36000.}
 };
 static sl_option_t opts[] = {
    {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),          "show this help"},
    {"tmon",    NEED_ARG,   NULL,   'T',    arg_double, APTR(&G.dTmon),         "time interval for monitoring (seconds, default: 0.001)"},
    {"tcor",    NEED_ARG,   NULL,   't',    arg_double, APTR(&G.dTcorr),        "time interval for corrections (seconds, default: 0.05)"},
    {"xlog",    NEED_ARG,   NULL,   'l',    arg_string, APTR(&G.xlog),          "log file name for coordinates logging"},
    {"tend",    NEED_ARG,   NULL,   'e',    arg_double, APTR(&G.Tend),          "end time of monitoring (seconds, default: 100)"},
    {"minerr",  NEED_ARG,   NULL,   'm',    arg_double, APTR(&G.minerr),        "minimal error for corrections (units, default: 0.1)"},
    {"propC",   NEED_ARG,   NULL,   'P',    arg_double, APTR(&G.gainC.P),       "P-coefficient of coordinate-driven PID"},
    {"integC",  NEED_ARG,   NULL,   'I',    arg_double, APTR(&G.gainC.I),       "I-coefficient of coordinate-driven PID"},
    {"diffC",   NEED_ARG,   NULL,   'D',    arg_double, APTR(&G.gainC.D),       "D-coefficient of coordinate-driven PID"},
    {"propV",   NEED_ARG,   NULL,   'p',    arg_double, APTR(&G.gainV.P),       "P-coefficient of velocity-driven PID"},
    {"integV",  NEED_ARG,   NULL,   'i',    arg_double, APTR(&G.gainV.I),       "I-coefficient of velocity-driven PID"},
    {"diffV",   NEED_ARG,   NULL,   'd',    arg_double, APTR(&G.gainV.D),       "D-coefficient of velocity-driven PID"},
    {"xstart",  NEED_ARG,   NULL,   '0',    arg_double, APTR(&G.startcoord),    "starting coordinate of target"},
    {"error",   NEED_ARG,   NULL,   'E',    arg_double, APTR(&G.error),         "error range"},
    // TODO: add parameters for limits setting
    end_option
 };
 // calculate coordinate target for given time (starting from zero)
 static double target_coord(double t){
    if(t > 20. && t < 30.) return 0.;
    //double pos = G.startcoord + 15. * t + G.error * (drand48() - 0.5);
    double pos = G.startcoord + 15. * sin(2*M_PI * t / 10.) + G.error * (drand48() - 0.5);
    return pos;
 }
 static double getNewSpeed(const moveparam_t *p, double targcoord, double dt){
    double error = targcoord - p->coord, fe = fabs(error);
    PIDController_t *pid = NULL;
    switch(state){
        case Slewing:
            if(fe < MAX_POINTING_ERR){
                pid_clear(pidC);
                state = Pointing;
                green("--> Pointing\n");
                pid = pidC;
            }else{
                red("Slewing...\n");
                return (error > 0.) ? limits.max.speed : -limits.max.speed;
            }
            break;
        case Pointing:
            if(fe < MAX_GUIDING_ERR){
                pid_clear(pidV);
                state = Guiding;
                green("--> Guiding\n");
                pid = pidV;
            }else if(fe > MAX_POINTING_ERR){
                red("--> Slewing\n");
                state = Slewing;
                return (error > 0.) ? limits.max.speed : -limits.max.speed;
            } else pid = pidC;
            break;
        case Guiding:
            pid= pidV;
            if(fe > MAX_GUIDING_ERR){
                red("--> Pointing\n");
                state = Pointing;
                pid_clear(pidC);
                pid = pidC;
            }else if(fe < G.minerr){
                    green("At target\n");
            }else printf("Current error: %g\n", fe);
            break;
    }
    if(!pid){
        WARNX("where is PID?"); return p->speed;
    }
    double tagspeed = pid_calculate(pid, error, dt);
    if(state == Guiding) return p->speed + tagspeed;
    return tagspeed;
 }
 // -P0.8 -D0.1 -I0.02 -p20 -d.5 -i.02
 // another: P0.8 -D0.1 -I0.02 -p5 -d0.9 -i0.1
 static void start_model(double Tend){
    double T = 0., Tcorr = 0.;
    moveparam_t target;
    uint64_t N = 0;
    double errmax = 0., errsum = 0., errsum2 = 0.;
    while(T <= Tend){
        moveparam_t p;
        movestate_t st = model->get_state(&p);
        if(st == ST_MOVE) st = model->proc_move(&p, T);
        double nextcoord = target_coord(T);
        double error = nextcoord - p.coord;
        if(state == Guiding){
            double ae = fabs(error);
            if(ae > errmax) errmax = ae;
            errsum += error; errsum2 += error * error;
            ++N;
        }
        if(T - Tcorr >= G.dTcorr){ // check correction
            double speed = getNewSpeed(&p, nextcoord, T - Tcorr);
            target.coord = (speed > 0) ? p.coord + 5e5 : p.coord - 5e5;
            target.speed = fabs(speed);
            double res_speed = limits.max.speed / 2.;
            if(target.speed > limits.max.speed){
                target.speed = limits.max.speed;
                res_speed = limits.max.speed / 4.;
            }else if(target.speed < limits.min.speed){
                target.speed = limits.min.speed;
                res_speed = limits.min.speed * 4.;
            }
            if(!move_to(&target, T)){
                target.speed = res_speed;
                if(!move_to(&target, T))
                    WARNX("move(): can't move to %g with max speed %g", target.coord, target.speed);
            }
            DBG("%g: tag/cur speed= %g / %g; tag/cur pos = %g / %g; err = %g", T, target.speed, p.speed, target.coord, p.coord, error);
            Tcorr = T;
        }
        // make log
        fprintf(coordslog, "%-9.4f\t%-10.4f\t%-10.4f\t%-10.4f\t%-10.4f\t%-10.4f\n",
                T, nextcoord, p.coord, p.speed, p.accel, error);
        T += G.dTmon;
    }
    printf("\n\n\n"); red("Calculated errors in `guiding` mode:\n");
    double mean = errsum / (double)N;
    printf("max error: %g, mean error: %g, std: %g\n\n", errmax, mean, sqrt(errsum2/(double)N - mean*mean));
 }
 int main(int argc, char **argv){
    sl_init();
    sl_parseargs(&argc, &argv, opts);
    if(G.help) sl_showhelp(-1, opts);
    if(G.xlog){
        coordslog = fopen(G.xlog, "w");
        if(!coordslog) ERR("Can't open %s", G.xlog);
    } else coordslog = stdout;
    if(G.dTmon <= 0.) ERRX("tmon should be > 0.");
    if(G.dTcorr <= 0. || G.dTcorr > 1.) ERRX("tcor should be > 0. and < 1.");
    if(G.Tend <= 0.) ERRX("tend should be > 0.");
    pidC = pid_create(&G.gainC, PID_I_PERIOD / G.dTcorr);
    pidV = pid_create(&G.gainV, PID_I_PERIOD / G.dTcorr);
    if(!pidC || !pidV) ERRX("Can't init PID regulators");
    model = init_moving(&limits);
    if(!model) ERRX("Can't init moving model: check parameters");
    fprintf(coordslog, "%-9s\t%-10s\t%-10s\t%-10s\t%-10s\t%-10s\n", "time", "target", "curpos", "speed", "accel", "error");
    start_model(G.Tend);
    pid_delete(&pidC);
    pid_delete(&pidV);
    fclose(coordslog);
    return 0;
 }
--- a/LibSidServo/PID_test/moving.c
+++ b/LibSidServo/PID_test/moving.c
@@ -0,0 +1,89 @@
 /*
 * This file is part of the moving_model 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/>.
 */
 #include <math.h>
 #include <stdio.h>
 #include <usefull_macros.h>
 #include <pthread.h>
 #include <time.h>
 #include "moving.h"
 #include "moving_private.h"
 #include "Tramp.h"
 static movemodel_t *model = &trapez;
 double coord_tolerance = COORD_TOLERANCE_DEFAULT;
 double time_tick = TIME_TICK_DEFAULT;
 // difference of time from first call, using nanoseconds
 double nanot(){
    static struct timespec *start = NULL;
    struct timespec now;
    if(!start){
        start = MALLOC(struct timespec, 1);
        if(!start) return -1.;
        if(clock_gettime(CLOCK_REALTIME, start)) return -1.;
    }
    if(clock_gettime(CLOCK_REALTIME, &now)) return -1.;
    //DBG("was: %ld, now: %ld", start->tv_nsec, now.tv_nsec);
    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;
 }
 static void chkminmax(double *min, double *max){
    if(*min <= *max) return;
    double t = *min;
    *min = *max;
    *max = t;
 }
 movemodel_t *init_moving(limits_t *l){
    if(!l) return FALSE;
    if(!model->init_limits) return NULL;
    moveparam_t *max = &l->max, *min = &l->min;
    if(min->speed < 0.) min->speed = -min->speed;
    if(max->speed < 0.) max->speed = -max->speed;
    if(min->accel < 0.) min->accel = -min->accel;
    if(max->accel < 0.) max->accel = -max->accel;
    chkminmax(&min->coord, &max->coord);
    chkminmax(&min->speed, &max->speed);
    chkminmax(&min->accel, &max->accel);
    if(!model->init_limits(l)) return NULL;
    return model;
 }
 int move_to(moveparam_t *target, double t){
    if(!target || !model) return FALSE;
    DBG("MOVE to %g at speed %g", target->coord, target->speed);
    // only positive velocity
    if(target->speed < 0.) target->speed = -target->speed;
    // don't mind about acceleration - user cannot set it now
    return model->calculate(target, t);
 }
 int init_coordtol(double tolerance){
    if(tolerance < COORD_TOLERANCE_MIN || tolerance > COORD_TOLERANCE_MAX) return FALSE;
    coord_tolerance = tolerance;
    return TRUE;
 }
 int init_timetick(double tick){
    if(tick < TIME_TICK_MIN || tick > TIME_TICK_MAX) return FALSE;
    time_tick = tick;
    return TRUE;
 }
--- a/LibSidServo/PID_test/moving.h
+++ b/LibSidServo/PID_test/moving.h
@@ -0,0 +1,62 @@
 /*
 * This file is part of the moving_model 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
 // tolerance, time ticks
 #define COORD_TOLERANCE_DEFAULT (0.01)
 #define COORD_TOLERANCE_MIN     (0.0001)
 #define COORD_TOLERANCE_MAX     (10.)
 #define TIME_TICK_DEFAULT       (0.0001)
 #define TIME_TICK_MIN           (1e-9)
 #define TIME_TICK_MAX           (10.)
 typedef enum{
    ST_STOP,            // stopped
    ST_MOVE,            // moving
    ST_AMOUNT
 } movestate_t;
 typedef struct{ // all values could be both as positive and negative
    double coord;
    double speed;
    double accel;
 } moveparam_t;
 typedef struct{
    moveparam_t min;
    moveparam_t max;
 } limits_t;
 typedef struct{
    int (*init_limits)(limits_t *lim);                      // init values of limits, jerk
    int (*calculate)(moveparam_t *target, double t);        // calculate stages of traectory beginning from t
    movestate_t (*proc_move)(moveparam_t *next, double t);  // calculate next model point for time t
    movestate_t (*get_state)(moveparam_t *cur);             // get current moving state
    void (*stop)(double t);                                 // stop by ramp
    void (*emergency_stop)(double t);                       // stop with highest acceleration
    double (*stoppedtime)();                                // time when moving will ends
 } movemodel_t;
 extern double coord_tolerance;
 double nanot();
 movemodel_t *init_moving(limits_t *l);
 int init_coordtol(double tolerance);
 int init_timetick(double tick);
 int move_to(moveparam_t *target, double t);
--- a/LibSidServo/PID_test/moving_model.cflags
+++ b/LibSidServo/PID_test/moving_model.cflags
@@ -0,0 +1 @@
 -std=c17
--- a/LibSidServo/PID_test/moving_model.config
+++ b/LibSidServo/PID_test/moving_model.config
@@ -0,0 +1,4 @@
 // Add predefined macros for your project here. For example:
 // #define THE_ANSWER 42
 #define _XOPEN_SOURCE 666
 #define EBUG
--- a/LibSidServo/PID_test/moving_model.creator
+++ b/LibSidServo/PID_test/moving_model.creator
@@ -0,0 +1 @@
 [General]
--- a/LibSidServo/PID_test/moving_model.creator.user
+++ b/LibSidServo/PID_test/moving_model.creator.user
@@ -0,0 +1,221 @@
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--- a/LibSidServo/PID_test/moving_model.cxxflags
+++ b/LibSidServo/PID_test/moving_model.cxxflags
@@ -0,0 +1 @@
 -std=c++17
--- a/LibSidServo/PID_test/moving_model.files
+++ b/LibSidServo/PID_test/moving_model.files
@@ -0,0 +1,12 @@
 Dramp.c
 Dramp.h
 PID.c
 PID.h
 Sramp.c
 Sramp.h
 Tramp.c
 Tramp.h
 main.c
 moving.c
 moving.h
 moving_private.h
--- a/LibSidServo/PID_test/moving_model.includes
+++ b/LibSidServo/PID_test/moving_model.includes
--- a/LibSidServo/PID_test/moving_private.h
+++ b/LibSidServo/PID_test/moving_private.h
@@ -0,0 +1,26 @@
 /*
 * This file is part of the moving_model 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 "moving.h"
 extern double coord_tolerance;
 extern double time_tick;
--- a/LibSidServo/PID_test/plot
+++ b/LibSidServo/PID_test/plot
@@ -0,0 +1,4 @@
 #!/usr/bin/gnuplot
 plot for [col in "target curpos speed error"] 'coords' using 1:col with lines title columnheader
 pause mouse
--- a/LibSidServo/PID_test/plot.cont
+++ b/LibSidServo/PID_test/plot.cont
@@ -0,0 +1,8 @@
 #!/usr/bin/gnuplot
 #set term pdf
 #set output "output.pdf"
 while(1){
    plot for [col in "target curpos speed error"] 'coords' using 1:col with lines title columnheader
    pause 1
 }
--- a/LibSidServo/PID_test/plot_jpg
+++ b/LibSidServo/PID_test/plot_jpg
@@ -0,0 +1,6 @@
 #!/usr/bin/gnuplot
 set terminal jpeg size 1000,500
 set output "all.jpg"
 plot for [col in "target curpos speed error"] 'coords' using 1:col with lines title columnheader
--- a/LibSidServo/PID_test/plot_pdf
+++ b/LibSidServo/PID_test/plot_pdf
@@ -0,0 +1,5 @@
 #!/usr/bin/gnuplot
 set term pdf
 set output "output.pdf"
 plot for [col=2:4] 'coordlog' using 1:col with lines title columnheader
--- a/LibSidServo/PID_test/plotacc
+++ b/LibSidServo/PID_test/plotacc
@@ -0,0 +1,4 @@
 #!/usr/bin/gnuplot
 plot 'coords' using 1:5 with lines title columnheader
 pause mouse
--- a/LibSidServo/PID_test/ploterr
+++ b/LibSidServo/PID_test/ploterr
@@ -0,0 +1,4 @@
 #!/usr/bin/gnuplot
 plot 'coords' using 1:6 with lines title columnheader
 pause mouse
--- a/LibSidServo/PID_test/ploterr.cont
+++ b/LibSidServo/PID_test/ploterr.cont
@@ -0,0 +1,6 @@
 #!/usr/bin/gnuplot
 while(1){
    plot 'coords' using 1:6 with lines title columnheader
    pause 1
 }
--- a/LibSidServo/PID_test/ploterr_jpg
+++ b/LibSidServo/PID_test/ploterr_jpg
@@ -0,0 +1,5 @@
 #!/usr/bin/gnuplot
 set term jpeg size 1000,500
 set output "error.jpg"
 plot 'coords' using 1:6 with lines title columnheader
--- a/LibSidServo/TODO
+++ b/LibSidServo/TODO
@@ -1,15 +1,3 @@
-1. WTF after closing?
+fix encoders opening for several tries
-
+encoderthread2() - change main cycle (remove pause, read data independently, ask for new only after timeout after last request)
-closeSerial (/home/eddy/C-files/LibSidServo/serial.c, line 484): close fd
+Read HW config even in model mode
 closeSerial (/home/eddy/C-files/LibSidServo/serial.c, line 489): Kill encoder thread
 closeSerial (/home/eddy/C-files/LibSidServo/serial.c, line 491): close fd
 *** bit out of range 0 - FD_SETSIZE on fd_set ***: terminated
 Aborted
 2. Init: set "motors" positions due to "encoders" position
 3. From time to time: repeat 2
--- a/LibSidServo/examples/SSIIconf.c
+++ b/LibSidServo/examples/SSIIconf.c
@@ -16,6 +16,7 @@
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
 #include <math.h>
 #include <stdio.h>
 #include <usefull_macros.h>
@@ -33,7 +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"},
@@ -50,6 +53,86 @@ static sl_option_t confopts[] = {
    end_option
 };
 static void dumpaxis(char axis, axis_config_t *c){
 #define STRUCTPAR(p)    (c)->p
 #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);
    DUMPD(errlimit);
    DUMP(propgain);
    DUMP(intgain);
    DUMP(derivgain);
    DUMP(outplimit);
    DUMP(currlimit);
    DUMP(intlimit);
    DUMP(motor_stepsperrev);
    DUMP(axis_stepsperrev);
 #undef DUMP
 #undef DUMPD
 }
 static void dumpxbits(xbits_t *c){
 #define DUMPBIT(f) do{printf("X%s=%d\n", #f, STRUCTPAR(f));}while(0)
    DUMPBIT(motrev);
    DUMPBIT(motpolarity);
    DUMPBIT(encrev);
    DUMPBIT(dragtrack);
    DUMPBIT(trackplat);
    DUMPBIT(handpaden);
    DUMPBIT(newpad);
    DUMPBIT(guidemode);
 #undef DUMPBIT
 }
 static void dumpybits(ybits_t *c){
 #define DUMPBIT(f) do{printf("Y%s=%d\n", #f, STRUCTPAR(f));}while(0)
    DUMPBIT(motrev);
    DUMPBIT(motpolarity);
    DUMPBIT(encrev);
    DUMPBIT(slewtrack);
    DUMPBIT(digin_sens);
    printf("Ydigin=%d\n", c->digin);
 #undef DUMPBIT
 }
 static void dumpHWconf(){
 #undef STRUCTPAR
 #define STRUCTPAR(p)    (HW).p
 #define DUMP(par) do{printf("%s=%g\n", #par, STRUCTPAR(par));}while(0)
 #define DUMPD(par) do{printf("%s=%g\n", #par, RAD2DEG(STRUCTPAR(par)));}while(0)
 #define DUMPU8(par) do{printf("%s=%u\n", #par, (uint8_t)STRUCTPAR(par));}while(0)
 #define DUMPU32(par) do{printf("%s=%u\n", #par, (uint32_t)STRUCTPAR(par));}while(0)
    green("X axis configuration:\n");
    dumpaxis('X', &HW.Xconf);
    green("X bits:\n");
    dumpxbits(&HW.xbits);
    green("Y axis configuration:\n");
    dumpaxis('Y', &HW.Yconf);
    green("Y bits:\n");
    dumpybits(&HW.ybits);
    green("Other:\n");
    printf("address=%d\n", HW.address);
    DUMP(eqrate);
    DUMP(eqadj);
    DUMP(trackgoal);
    DUMPD(latitude);
    DUMPU32(Xsetpr);
    DUMPU32(Ysetpr);
    DUMPU32(Xmetpr);
    DUMPU32(Ymetpr);
    DUMPD(Xslewrate);
    DUMPD(Yslewrate);
    DUMPD(Xpanrate);
    DUMPD(Ypanrate);
    DUMPD(Xguiderate);
    DUMPD(Yguiderate);
    DUMPU32(baudrate);
    DUMPD(locsdeg);
    DUMPD(locsspeed);
    DUMPD(backlspd);
 }
 int main(int argc, char** argv){
    sl_init();
    sl_parseargs(&argc, &argv, cmdlnopts);
@@ -64,13 +147,17 @@ int main(int argc, char** argv){
    }
    if(MCC_E_OK != Mount.init(sconf)) ERRX("Can't init mount");
    if(MCC_E_OK != Mount.getHWconfig(&HW)) ERRX("Can't read configuration");
    /*
    char *c = sl_print_opts(confopts, TRUE);
    green("Got configuration:\n");
    printf("%s\n", c);
    FREE(c);
    */
    dumpHWconf();
    /*
    if(G.hwconffile && G.writeconf){
        ;
-    }
+    }*/
    Mount.quit();
    return 0;
 }
--- a/LibSidServo/examples/conf.c
+++ b/LibSidServo/examples/conf.c
@@ -24,13 +24,32 @@
 static conf_t Config = {
    .MountDevPath = "/dev/ttyUSB0",
    .MountDevSpeed = 19200,
-    .EncoderXDevPath = "/dev/encoderX0",
+    .EncoderXDevPath = "/dev/encoder_X0",
-    .EncoderYDevPath = "/dev/encoderY0",
+    .EncoderYDevPath = "/dev/encoder_Y0",
    .EncoderDevSpeed = 153000,
    .MountReqInterval = 0.1,
-    .EncoderReqInterval = 0.05,
+    .EncoderReqInterval = 0.001,
    .SepEncoder = 2,
-    .EncoderSpeedInterval = 0.1,
+    .EncoderSpeedInterval = 0.05,
    .EncodersDisagreement = 1e-5, // 2''
    .PIDMaxDt = 1.,
    .PIDRefreshDt = 0.1,
    .PIDCycleDt = 5.,
    .XPIDC.P = 0.5,
    .XPIDC.I = 0.1,
    .XPIDC.D = 0.2,
    .XPIDV.P = 0.09,
    .XPIDV.I = 0.0,
    .XPIDV.D = 0.05,
    .YPIDC.P = 0.5,
    .YPIDC.I = 0.1,
    .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[] = {
@@ -38,12 +57,35 @@ 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)"},
+    {"SepEncoder",      NEED_ARG,   NULL,   0,  arg_int,    APTR(&Config.SepEncoder),       "encoder is separate device (1 - one device, 2 - two devices)"},
    {"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)"},
    {"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)"},
    {"YPIDCP",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.YPIDC.P),          "P of Y PID (coordinate driven)"},
    {"YPIDCI",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.YPIDC.I),          "I of Y PID (coordinate driven)"},
    {"YPIDCD",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.YPIDC.D),          "D of Y PID (coordinate driven)"},
    {"XPIDVP",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.XPIDV.P),          "P of X PID (velocity driven)"},
    {"XPIDVI",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.XPIDV.I),          "I of X PID (velocity driven)"},
    {"XPIDVD",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.XPIDV.D),          "D of X PID (velocity driven)"},
    {"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
 };
@@ -68,5 +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
@@ -67,17 +76,13 @@ static double filter(double val, int idx){
 void logmnt(FILE *fcoords, mountdata_t *m){
    if(!fcoords) return;
    //DBG("LOG %s", m ? "data" : "header");
    static double t0 = -1.;
    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;
    double tnow = (m->encXposition.t + m->encYposition.t) / 2.;
    if(t0 < 0.) t0 = tnow;
    double t = tnow - t0;
    // write data
    fprintf(fcoords, "%12.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10u\n",
-            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);
@@ -103,19 +108,20 @@ 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();
+    double t0 = Mount.timeFromStart();
-    while(Mount.currentT() - t0 < t && ctr < N){
+    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.;
+        //double tmsr = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
-        if(tmsr == enct) continue;
+        struct timespec msrt = mdata.encXposition.t;
-        enct = tmsr;
+        if(msrt.tv_nsec == encXt.tv_nsec) continue;
        encXt = msrt;
        if(fcoords) logmnt(fcoords, &mdata);
        if(mdata.millis == mdmillis) continue;
-        //DBG("ctr=%d", ctr);
+        //DBG("ctr=%d, motpos=%g/%g", ctr, mdata.motXposition.val, mdata.motYposition.val);
        mdmillis = mdata.millis;
        if(mdata.motXposition.val != xlast || mdata.motYposition.val != ylast){
            xlast = mdata.motXposition.val;
@@ -123,27 +129,26 @@ void dumpmoving(FILE *fcoords, double t, int N){
            ctr = 0;
        }else ++ctr;
    }
    DBG("Exit dumping; tend=%g, tmon=%g", t, Mount.timeFromStart() - t0);
 }
 /**
- * @brief waitmoving - wait until moving by both axes stops at least for N cycles
+ * @brief waitmoving - wait until moving by both axiss stops at least for N cycles
 * @param N - amount of stopped cycles
 */
 void waitmoving(int N){
    mountdata_t mdata;
    int ctr = -1;
    uint32_t millis = 0;
-    double xlast = 0., ylast = 0.;
+    //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){
+        if(mdata.Xstate != AXIS_STOPPED || mdata.Ystate != AXIS_STOPPED) ctr = 0;
-            xlast = mdata.motXposition.val;
+        else ++ctr;
            ylast = mdata.motYposition.val;
            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
@@ -120,16 +120,13 @@ static coordpair_t lastTag = {0}, lastSpeed = {0};
 // slew to given position and start tracking
 // pos/speed in deg and deg/s
-static mcc_errcodes_t gotos(coordpair_t *target, coordpair_t *speed){
+static mcc_errcodes_t gotos(const coordpair_t *target, const coordpair_t *speed){
    short_command_t cmd = {0};
    DBG("Try to move to (%g, %g) with speed (%g, %g)",
        target->X, target->Y, speed->X, speed->Y);
-    target->X = DEG2RAD(target->X);
+    cmd.Xmot = DEG2RAD(target->X); cmd.Ymot = DEG2RAD(target->Y);
-    target->Y = DEG2RAD(target->Y);
+    cmd.Xspeed = DEG2RAD(speed->X);
-    speed->X = DEG2RAD(speed->X);
+    cmd.Yspeed = DEG2RAD(speed->Y);
    speed->Y = DEG2RAD(speed->Y);
    cmd.Xmot = target->X; cmd.Ymot = target->Y;
    cmd.Xspeed = speed->X; cmd.Yspeed = speed->Y;
    lastTag = *target;
    lastSpeed = *speed;
    /*cmd.xychange = 1;
@@ -142,7 +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 = DEG2RAD(10.); cmd.Yspeed = DEG2RAD(10.);
+    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;*/
@@ -151,11 +151,11 @@ static mcc_errcodes_t return2zero(){
 static mcc_errcodes_t mkcorr(coordpair_t *adder, coordpair_t *time){
    long_command_t cmd = {0};
-    cmd.Xspeed = lastSpeed.X;
+    cmd.Xspeed = DEG2RAD(lastSpeed.X);
-    cmd.Yspeed = lastSpeed.Y;
+    cmd.Yspeed = DEG2RAD(lastSpeed.Y);
-    cmd.Xmot = lastTag.X;
+    cmd.Xmot = DEG2RAD(lastTag.X);
-    cmd.Ymot = lastTag.Y;
+    cmd.Ymot = DEG2RAD(lastTag.Y);
-    cmd.Xadder = adder->X; cmd.Yadder = adder->Y;
+    cmd.Xadder = DEG2RAD(adder->X); cmd.Yadder = DEG2RAD(adder->Y);
    cmd.Xatime = time->X; cmd.Yatime = time->Y;
    return Mount.longCmd(&cmd);
 }
@@ -218,7 +218,7 @@ int main(int argc, char **argv){
    sleep(5);
    // return to zero and wait
    green("Return 2 zero and wait\n");
-    return2zero();
+    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
@@ -55,7 +55,7 @@ static sl_option_t cmdlnopts[] = {
    {"coordsfile",  NEED_ARG,   NULL,   'o',    arg_string, APTR(&G.coordsoutput),"output file with coordinates log"},
    {"axis",        NEED_ARG,   NULL,   'a',    arg_string, APTR(&G.axis),      "axis to move (X or Y)"},
    {"period",      NEED_ARG,   NULL,   'p',    arg_double, APTR(&G.period),    "swinging period (could be not reached if amplitude is too small) - not more than 900s (default: 1)"},
-    {"amplitude",   NEED_ARG,   NULL,   'A',    arg_double, APTR(&G.amplitude), "max amplitude (could be not reaced if period is too small) - not more than 45deg (default: 5)"},
+    {"amplitude",   NEED_ARG,   NULL,   'A',    arg_double, APTR(&G.amplitude), "max amplitude (could be not reached if period is too small): [-45:45]deg (default: 5)"},
    {"nswings",     NEED_ARG,   NULL,   'N',    arg_int,    APTR(&G.Nswings),   "amount of swing periods (default: 10)"},
    {"conffile",    NEED_ARG,   NULL,   'C',    arg_int,    APTR(&G.conffile),  "configuration file name"},
    end_option
@@ -83,18 +83,18 @@ 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;
        millis = mdata.millis;
        if(mdata.motXposition.val != xlast || mdata.motYposition.val != ylast){
-            DBG("NEQ: old=%g, now=%g", RAD2DEG(ylast), RAD2DEG(mdata.motYposition.val));
+            //DBG("NEQ: old=%g, now=%g", RAD2DEG(ylast), RAD2DEG(mdata.motYposition.val));
            xlast = mdata.motXposition.val;
            ylast = mdata.motYposition.val;
            ctr = 0;
        }else{
-            DBG("EQ: old=%g, now=%g", RAD2DEG(ylast), RAD2DEG(mdata.motYposition.val));
+            //DBG("EQ: old=%g, now=%g", RAD2DEG(ylast), RAD2DEG(mdata.motYposition.val));
            ++ctr;
        }
    }
@@ -110,15 +110,28 @@ int main(int argc, char **argv){
        return 1;
    }
    if(G.coordsoutput){
-        if(!(fcoords = fopen(G.coordsoutput, "w")))
+        if(!(fcoords = fopen(G.coordsoutput, "w"))){
-            ERRX("Can't open %s", G.coordsoutput);
+            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){
-    if(G.amplitude < 0.01 || G.amplitude > 45.)
+        WARNX("Ncycles should be >2");
-        ERRX("Amplitude should be from 0.01 to 45 degrees");
+        return 1;
-    if(G.period < 0.1 || G.period > 900.)
+    }
-        ERRX("Period should be from 0.1 to 900s");
+    double absamp = fabs(G.amplitude);
-    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();
@@ -145,26 +158,30 @@ 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);
    }
-    tag = (coordpair_t){.X = 0., .Y = 0.};
+    green("Move to zero @ %g\n", Mount.timeFromStart());
    tag = (coordpair_t){0};
    // be sure to move @ 0,0
-    Mount.moveTo(&tag);
+    if(MCC_E_OK != Mount.moveTo(&tag)){
        Mount.emergStop();
        Mount.moveTo(&tag);
    }
    // wait moving ends
    pthread_join(dthr, NULL);
 #undef SCMD
--- 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
@@ -30,6 +30,7 @@
 typedef struct{
    int help;
    int dumpconf;
    int Ncycles;        // n cycles to wait stop
    double reqint;      // requests interval (seconds)
    double Xmax;        // maximal X to stop
@@ -38,11 +39,13 @@ typedef struct{
    double X0;          // starting point of traectory (-30..30 degr)
    double Y0;          // -//-
    char *coordsoutput; // dump file
    char *errlog;       // log with position errors
    char *tfn;          // traectory function name
    char *conffile;
 } parameters;
-static FILE *fcoords = NULL;
+static conf_t *Config = NULL;
 static FILE *fcoords = NULL, *errlog = NULL;
 static pthread_t dthr;
 static parameters G = {
    .Ncycles = 40,
@@ -61,21 +64,24 @@ static sl_option_t cmdlnopts[] = {
    {"coordsfile",  NEED_ARG,   NULL,   'o',    arg_string, APTR(&G.coordsoutput),"output file with coordinates log"},
    {"reqinterval", NEED_ARG,   NULL,   'i',    arg_double, APTR(&G.reqint),    "mount requests interval (default: 0.1 second)"},
    {"traectory",   NEED_ARG,   NULL,   't',    arg_string, APTR(&G.tfn),       "used traectory function (default: sincos)"},
-    {"xmax",        NEED_ARG,   NULL,   'X',    arg_double, APTR(&G.Xmax),      "maximal X coordinate for traectory (default: 45 degrees)"},
+    {"xmax",        NEED_ARG,   NULL,   'X',    arg_double, APTR(&G.Xmax),      "maximal abs X coordinate for traectory (default: 45 degrees)"},
-    {"ymax",        NEED_ARG,   NULL,   'Y',    arg_double, APTR(&G.Ymax),      "maximal X coordinate for traectory (default: 45 degrees)"},
+    {"ymax",        NEED_ARG,   NULL,   'Y',    arg_double, APTR(&G.Ymax),      "maximal abs Y coordinate for traectory (default: 45 degrees)"},
    {"tmax",        NEED_ARG,   NULL,   'T',    arg_double, APTR(&G.tmax),      "maximal duration time of emulation (default: 300 seconds)"},
    {"x0",          NEED_ARG,   NULL,   '0',    arg_double, APTR(&G.X0),        "starting X-coordinate of traectory (default: 10 degrees)"},
    {"y0",          NEED_ARG,   NULL,   '1',    arg_double, APTR(&G.Y0),        "starting Y-coordinate of traectory (default: 10 degrees)"},
    {"conffile",    NEED_ARG,   NULL,   'C',    arg_string, APTR(&G.conffile),  "configuration file name"},
    {"errlog",      NEED_ARG,   NULL,   'e',    arg_string, APTR(&G.errlog),    "file with errors log"},
    {"dumpconf",    NO_ARGS,    NULL,   'D',    arg_int,    APTR(&G.dumpconf),  "dump current configuration"},
    end_option
 };
 void signals(int sig){
    pthread_cancel(dthr);
    if(sig){
        signal(sig, SIG_IGN);
        DBG("Get signal %d, quit.\n", sig);
    }
    Mount.stop();
    sleep(1);
    Mount.quit();
    if(fcoords) fclose(fcoords);
    exit(sig);
@@ -90,22 +96,39 @@ static void *dumping(void _U_ *u){
 static void runtraectory(traectory_fn tfn){
    if(!tfn) return;
    coordval_pair_t telXY;
    coordval_pair_t target;
    coordpair_t traectXY;
-    double t0 = Mount.currentT();
+    double tlast = 0., tstart = Mount.timeFromStart();
-    double tlast = 0.;
+    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 == tlast && telXY.Y.t == tlast) continue; // last measure - don't mind
+        if(!Mount.currentT(&tcur)) continue;
-        tlast = (telXY.X.t + telXY.Y.t) / 2.;
+        if(telXY.X.t.tv_nsec == tlastXnsec && telXY.Y.t.tv_nsec == tlastYnsec) continue; // last measure - don't mind
-        double t = Mount.currentT();
+        DBG("\n\nTELPOS: %g'/%g' (%.6f/%.6f)", RAD2AMIN(telXY.X.val), RAD2AMIN(telXY.Y.val), RAD2DEG(telXY.X.val), RAD2DEG(telXY.Y.val));
-        if(telXY.X.val > G.Xmax || telXY.Y.val > G.Ymax || t - t0 > G.tmax) break;
+        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;
-        DBG("%g: dX=%.1f'', dY=%.1f''", t-t0, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
+        target.X.val = traectXY.X; target.Y.val = traectXY.Y;
        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-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, "%10.4f  %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");
+    WARNX("No next traectory point or emulation ends");
 }
 int main(int argc, char **argv){
@@ -118,12 +141,18 @@ int main(int argc, char **argv){
    G.Xmax = DEG2RAD(G.Xmax); G.Ymax = DEG2RAD(G.Ymax);
    if(G.X0 < -30. || G.X0 > 30. || G.Y0 < -30. || G.Y0 > 30.)
        ERRX("X0 and Y0 should be -30..30 degrees");
    if(G.errlog){
        if(!(errlog = fopen(G.errlog, "w")))
            ERRX("Can't open error log %s", G.errlog);
        else
            fprintf(errlog, "#    time      Xerr''      Yerr''   // target - real\n");
    }
    if(G.coordsoutput){
        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){
+    if(!Config || G.dumpconf){
        dumpConf();
        return 1;
    }
--- a/LibSidServo/examples/servo.conf
+++ b/LibSidServo/examples/servo.conf
@@ -1,9 +1,25 @@
 # Current configuration
 MountDevPath=/dev/ttyUSB0
 MountDevSpeed=19200
 EncoderDevPath=(null)
 EncoderDevSpeed=1000000
 MountReqInterval=0.1
 EncoderReqInterval=0.001
 SepEncoder=2
 EncoderXDevPath=/dev/encoder_X0
 EncoderYDevPath=/dev/encoder_Y0
 MountReqInterval=0.05
 SepEncoder=2
 EncoderReqInterval=0.001
 EncoderDevSpeed=1000000
 EncoderSpeedInterval=0.05
 RunModel=1
 XPIDCP=0.8
 XPIDCI=0.0
 XPIDCD=0.0
 YPIDCP=0.5
 YPIDCI=0.0
 YPIDCD=0.0
 XPIDVP=0.2
 XPIDVI=0.1
 XPIDVD=0.0
 YPIDVP=0.2
 YPIDVI=0.1
 YPIDVD=0.0
--- a/LibSidServo/examples/simpleconv.h
+++ b/LibSidServo/examples/simpleconv.h
@@ -20,10 +20,10 @@
 #include <math.h>
-#define DEG2RAD(d)  (d/180.*M_PI)
+#define DEG2RAD(d)  ((d)/180.*M_PI)
-#define ASEC2RAD(d) (d/180.*M_PI/3600.)
+#define ASEC2RAD(d) ((d)/180.*M_PI/3600.)
-#define AMIN2RAD(d) (d/180.*M_PI/60.)
+#define AMIN2RAD(d) ((d)/180.*M_PI/60.)
-#define RAD2DEG(r)  (r/M_PI*180.)
+#define RAD2DEG(r)  ((r)/M_PI*180.)
-#define RAD2ASEC(r) (r/M_PI*180.*3600.)
+#define RAD2ASEC(r) ((r)/M_PI*180.*3600.)
-#define RAD2AMIN(r) (r/M_PI*180.*60.)
+#define RAD2AMIN(r) ((r)/M_PI*180.*60.)
--- a/LibSidServo/examples/traectories.c
+++ b/LibSidServo/examples/traectories.c
@@ -30,10 +30,6 @@ static traectory_fn cur_traectory = NULL;
 // starting point of traectory
 static coordpair_t XYstart = {0};
 static double tstart = 0.;
 // convert Xe/Ye to approximate motor coordinates:
 // Xnew = Xcor+Xe; Ynew = Ycor+Ye; as Ye goes backwards to Ym, we have
 // Xcor = Xm0 - Xe0; Ycor = Xm0 + Ye0
 static coordval_pair_t XYcor = {0};
 /**
 * @brief init_traectory - init traectory fn, sync starting positions of motor & encoders
@@ -45,16 +41,13 @@ 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){
        if(MCC_E_OK == Mount.getMountData(&mdata)) break;
    }
    if(ntries == 10) return FALSE;
    XYcor.X.val = mdata.motXposition.val - mdata.encXposition.val;
    XYcor.Y.val = mdata.motYposition.val - mdata.encYposition.val;
    DBG("STARTING POINTS: x=%g, y=%g degrees", DEG2RAD(XYcor.X.val), DEG2RAD(XYcor.Y.val));
    return TRUE;
 }
@@ -83,8 +76,9 @@ int telpos(coordval_pair_t *curpos){
    }
    if(ntries == 10) return FALSE;
    coordval_pair_t pt;
-    pt.X.val = XYcor.X.val + mdata.encXposition.val;
+    //DBG("\n\nTELPOS: %g'/%g' measured @ %.6f", RAD2AMIN(mdata.encXposition.val), RAD2AMIN(mdata.encYposition.val), mdata.encXposition.t);
-    pt.Y.val = XYcor.Y.val + mdata.encYposition.val;
+    pt.X.val = mdata.encXposition.val;
    pt.Y.val = mdata.encYposition.val;
    pt.X.t = mdata.encXposition.t;
    pt.Y.t = mdata.encYposition.t;
    if(curpos) *curpos = pt;
@@ -94,7 +88,7 @@ int telpos(coordval_pair_t *curpos){
 // X=X0+1'/s, Y=Y0+15''/s
 int Linear(coordpair_t *nextpt, double t){
    coordpair_t pt;
-    pt.X = XYstart.X + ASEC2RAD(1.) * (t - tstart);
+    pt.X = XYstart.X + ASEC2RAD(0.1) * (t - tstart);
    pt.Y = XYstart.Y + ASEC2RAD(15.)* (t - tstart);
    if(nextpt) *nextpt = pt;
    return TRUE;
@@ -103,8 +97,8 @@ int Linear(coordpair_t *nextpt, double t){
 // X=X0+5'*sin(t/30*2pi), Y=Y0+10'*cos(t/200*2pi)
 int SinCos(coordpair_t *nextpt, double t){
    coordpair_t pt;
-    pt.X = XYstart.X + AMIN2RAD(5.) * sin((t-tstart)/30.*2*M_PI);
+    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;
 }
@@ -116,8 +110,8 @@ typedef struct{
 } tr_names;
 static tr_names names[] = {
-    {Linear, "linear", "X=X0+1'/s, Y=Y0+15''/s"},
+    {Linear, "linear", "X=X0+0.1''/s, Y=Y0+15''/s"},
-    {SinCos, "sincos", "X=X0+5'*sin(t/30*2pi), Y=Y0+10'*cos(t/200*2pi)"},
+    {SinCos, "sincos", "X=X0+5''*sin(t/30*2pi), Y=Y0+10'*cos(t/200*2pi)"},
    {NULL, NULL, NULL}
 };
--- a/LibSidServo/libsidservo.config
+++ b/LibSidServo/libsidservo.config
@@ -1,6 +1,7 @@
 // Add predefined macros for your project here. For example:
 // #define THE_ANSWER 42
 #define EBUG
-#define _POSIX_C_SOURCE  111
+#define _POSIX_C_SOURCE  11111111
 #define PACKAGE_VERSION  "0.0.1"
-
+#define _XOPEN_SOURCE    666
 #define _DEFAULT_SOURCE
--- a/LibSidServo/libsidservo.creator.user
+++ b/LibSidServo/libsidservo.creator.user
@@ -1,10 +1,10 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 17.0.0, 2025-07-23T22:48:05. -->
+<!-- Written by QtCreator 18.0.0, 2026-03-11T12:36:26. -->
 <qtcreator>
 <data>
  <variable>EnvironmentId</variable>
-  <value type="QByteArray">{7bd84e39-ca37-46d3-be9d-99ebea85bc0d}</value>
+  <value type="QByteArray">{cf63021e-ef53-49b0-b03b-2f2570cdf3b6}</value>
 </data>
 <data>
  <variable>ProjectExplorer.Project.ActiveTarget</variable>
@@ -40,9 +40,9 @@
   <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">true</value>
+   <value type="bool" key="EditorConfiguration.ScrollWheelZooming">false</value>
   <value type="bool" key="EditorConfiguration.ShowMargin">false</value>
-   <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</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>
@@ -51,10 +51,10 @@
   <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">false</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">false</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>
@@ -75,19 +75,18 @@
   <valuelist type="QVariantList" key="AutoTest.PathFilters"/>
   <value type="int" key="AutoTest.RunAfterBuild">0</value>
   <value type="bool" key="AutoTest.UseGlobal">true</value>
   <valuelist type="QVariantList" key="ClangCodeModel.CustomCommandLineKey"/>
   <value type="bool" key="ClangCodeModel.UseGlobalConfig">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">8</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>
@@ -97,12 +96,12 @@
   <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">{65a14f9e-e008-4c1b-89df-4eaa4774b6e3}</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">/Big/Data/00__Small_tel/C-sources/erfa</value>
+    <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">
@@ -154,7 +153,9 @@
    <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"/>
@@ -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>
@@ -186,7 +188,9 @@
   <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"/>
@@ -196,6 +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>
@@ -206,10 +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
@@ -1,5 +1,6 @@
 CMakeLists.txt
-dbg.h
+PID.c
 PID.h
 examples/SSIIconf.c
 examples/conf.c
 examples/conf.h
@@ -18,6 +19,12 @@ serial.c
 examples/CMakeLists.txt
 examples/traectories.c
 examples/traectories.h
 main.h
 movingmodel.c
 movingmodel.h
 polltest/main.c
 ramp.c
 ramp.h
 serial.h
 ssii.c
 ssii.h
--- a/LibSidServo/main.c
+++ b/LibSidServo/main.c
@@ -16,28 +16,171 @@
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
 /*
 * main functions to fill struct `mount_t`
 */
 #include <inttypes.h>
 #include <strings.h>
 #include <time.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <unistd.h>
-#include "dbg.h"
+#include "main.h"
 #include "movingmodel.h"
 #include "serial.h"
 #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
 // 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 = 0.174533, .accel = 0.219911}},
    Ylimits = {
        .min = {.coord = -3.1241, .speed = 1e-10, .accel = 1e-6},
        .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 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
 */
 int curtime(struct timespec *t){
    struct timespec now;
    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.;
    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(){
-    DBG("Close serial devices");
+    if(Conf.RunModel) return;
    for(int i = 0; i < 10; ++i) if(SSstop(TRUE)) break;
    DBG("Close all serial devices");
    closeSerial();
    DBG("Exit");
 }
 void getModData(coordpair_t *c, movestate_t *xst, movestate_t *yst){
    if(!c || !Xmodel || !Ymodel) return;
    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 = Xp.coord;
    c->Y = Yp.coord;
    if(xst) *xst = Xst;
    if(yst) *yst = Yst;
 }
 /**
 * less square calculations of speed
 */
 less_square_t *LS_init(size_t Ndata){
    if(Ndata < 5){
        DBG("Ndata=%zd - TOO SMALL", Ndata);
        return NULL;
    }
    DBG("Init less squares: %zd", Ndata);
    less_square_t *l = calloc(1, sizeof(less_square_t));
    l->x = calloc(Ndata, sizeof(double));
    l->t2 = calloc(Ndata, sizeof(double));
    l->t = calloc(Ndata, sizeof(double));
    l->xt = calloc(Ndata, sizeof(double));
    l->arraysz = Ndata;
    return l;
 }
 void LS_delete(less_square_t **l){
    if(!l || !*l) return;
    free((*l)->x); free((*l)->t2); free((*l)->t); free((*l)->xt);
    free(*l);
    *l = NULL;
 }
 // add next data portion and calculate current slope
 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;
    ++idx;
    l->idx = (idx >= l->arraysz) ? 0 : idx;
    l->xsum += x - oldx;
    l->t2sum += t2 - oldt2;
    l->tsum += t - oldt;
    l->xtsum += xt - oldxt;
    double n = (double)l->arraysz;
    double denominator = n * l->t2sum - l->tsum * l->tsum;
    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
@@ -46,9 +189,20 @@ static void quit(){
 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;
-    if(!Conf.MountDevPath || Conf.MountDevSpeed < 1200){
+    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 < MOUNT_BAUDRATE_MIN){
        DBG("Define mount device path and speed");
        ret = MCC_E_BADFORMAT;
    }else if(!openMount()){
@@ -64,66 +218,62 @@ static mcc_errcodes_t init(conf_t *c){
            ret = MCC_E_ENCODERDEV;
        }
    }
-    if(Conf.MountReqInterval > 1. || Conf.MountReqInterval < 0.05){
+    // TODO: read hardware configuration on init
        DBG("Bad value of MountReqInterval");
        ret = MCC_E_BADFORMAT;
    }
    if(Conf.EncoderSpeedInterval < Conf.EncoderReqInterval * MCC_CONF_MIN_SPEEDC || Conf.EncoderSpeedInterval > MCC_CONF_MAX_SPEEDINT){
        DBG("Wrong speed interval");
        ret = MCC_E_BADFORMAT;
    }
-    uint8_t buf[1024];
+    if(!SSrawcmd(CMD_EXITACM, NULL)) ret = MCC_E_FAILED;
    data_t d = {.buf = buf, .len = 0, .maxlen = 1024};
    // read input data as there may be some trash on start
    if(!SSrawcmd(CMD_EXITACM, &d)) ret = MCC_E_FAILED;
    if(ret != MCC_E_OK) return ret;
-    mountdata_t md = {0};
+    // read HW config to update constants
-    ret = MCC_E_FATAL;
+    hardware_configuration_t HW;
-    double t0 = dtime(), t = 0.;
+    if(MCC_E_OK != get_hwconf(&HW)) return MCC_E_FAILED;
-    do{
+    // make a pause for actual encoder's values
-        t = dtime();
+    double t0 = timefromstart();
-        if(MCC_E_OK == getMD(&md)){
+    while(timefromstart() - t0 < Conf.EncoderReqInterval) usleep(1000);
-            if(fabs(md.encXposition.t - t) < 0.1 && fabs(md.encYposition.t - t) < 0.1){
+    mcc_errcodes_t e = updateMotorPos();
-                DBG("FIX motors position to encoders");
+    // and refresh data after updating
-                int32_t Xpos = X_RAD2MOT(md.encXposition.val), Ypos = Y_RAD2MOT(md.encYposition.val);
+    DBG("Wait for next mount reading");
-                if(SSsetterI(CMD_MOTXSET, Xpos) && SSsetterI(CMD_MOTYSET, Ypos)){
+    t0 = timefromstart();
-                    DBG("All OK");
+    while(timefromstart() - t0 < Conf.MountReqInterval * 3.) usleep(1000);
-                    ret = MCC_E_OK;
+    return e;
                    break;
                }
            }
        }
        DBG("NO DATA; dt = %g", t - t0);
    }while(t - t0 < 2.);
    return ret;
 }
 // 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;
 }
-static mcc_errcodes_t slew2(const coordpair_t *target, slewflags_t flags){
+// set SLEWING state if axis was stopped
-    (void)target;
+static void setslewingstate(){
-    (void)flags;
+    //FNAME();
-    return MCC_E_FAILED;
+    mountdata_t d;
    if(MCC_E_OK == getMD(&d)){
        axis_status_t newx = d.Xstate, newy = d.Ystate;
        //DBG("old state: %d/%d", d.Xstate, d.Ystate);
        if(d.Xstate == AXIS_STOPPED) newx = AXIS_SLEWING;
        if(d.Ystate == AXIS_STOPPED) newy = AXIS_SLEWING;
        if(newx != d.Xstate || newy != d.Ystate){
            DBG("Started moving -> slew");
            setStat(newx, newy);
        }
    }else DBG("CAN't GET MOUNT DATA!");
 }
 /**
 * @brief move2 - simple move to given point and stop
 * @param X - new X coordinate (radians: -pi..pi) or NULL
@@ -133,12 +283,17 @@ static mcc_errcodes_t slew2(const coordpair_t *target, slewflags_t flags){
 static mcc_errcodes_t move2(const coordpair_t *target){
    if(!target) return MCC_E_BADFORMAT;
    if(!chkX(target->X) || !chkY(target->Y)) return MCC_E_BADFORMAT;
    if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
    short_command_t cmd = {0};
    DBG("x,y: %g, %g", target->X, target->Y);
    cmd.Xmot = target->X;
    cmd.Ymot = target->Y;
-    cmd.Xspeed = MCC_MAX_X_SPEED;
+    cmd.Xspeed = Xlimits.max.speed;
-    cmd.Yspeed = MCC_MAX_Y_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 shortcmd(&cmd);
 }
@@ -150,6 +305,7 @@ static mcc_errcodes_t move2(const coordpair_t *target){
 */
 static mcc_errcodes_t setspeed(const coordpair_t *tagspeed){
    if(!tagspeed || !chkXs(tagspeed->X) || !chkYs(tagspeed->Y)) return MCC_E_BADFORMAT;
    if(Conf.RunModel) return MCC_E_FAILED;
    int32_t spd = X_RS2MOTSPD(tagspeed->X);
    if(!SSsetterI(CMD_SPEEDX, spd)) return MCC_E_FAILED;
    spd = Y_RS2MOTSPD(tagspeed->Y);
@@ -167,12 +323,17 @@ 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;
    cmd.Ymot = target->Y;
    cmd.Xspeed = speed->X;
    cmd.Yspeed = speed->Y;
-    return shortcmd(&cmd);
+    mcc_errcodes_t r = shortcmd(&cmd);
    if(r != MCC_E_OK) return r;
    setslewingstate();
    return MCC_E_OK;
 }
 /**
@@ -180,11 +341,25 @@ static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed
 * @return errcode
 */
 static mcc_errcodes_t emstop(){
    FNAME();
    if(Conf.RunModel){
        double curt = timefromstart();
        Xmodel->emergency_stop(Xmodel, curt);
        Ymodel->emergency_stop(Ymodel, curt);
        return MCC_E_OK;
    }
    if(!SSstop(TRUE)) return MCC_E_FAILED;
    return MCC_E_OK;
 }
 // normal stop
 static mcc_errcodes_t stop(){
    FNAME();
    if(Conf.RunModel){
        double curt = timefromstart();
        Xmodel->stop(Xmodel, curt);
        Ymodel->stop(Ymodel,curt);
        return MCC_E_OK;
    }
    if(!SSstop(FALSE)) return MCC_E_FAILED;
    return MCC_E_OK;
 }
@@ -196,6 +371,16 @@ 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 = timefromstart();
        moveparam_t param = {0};
        param.coord = cmd->Xmot; param.speed = cmd->Xspeed;
        if(!model_move2(Xmodel, &param, curt)) return MCC_E_FAILED;
        param.coord = cmd->Ymot; param.speed = cmd->Yspeed;
        if(!model_move2(Ymodel, &param, curt)) return MCC_E_FAILED;
        setslewingstate();
        return MCC_E_OK;
    }
    SSscmd s = {0};
    DBG("tag: xmot=%g rad, ymot=%g rad", cmd->Xmot, cmd->Ymot);
    s.Xmot = X_RAD2MOT(cmd->Xmot);
@@ -207,16 +392,27 @@ static mcc_errcodes_t shortcmd(short_command_t *cmd){
    s.YBits = cmd->YBits;
    DBG("X->%d, Y->%d, Xs->%d, Ys->%d", s.Xmot, s.Ymot, s.Xspeed, s.Yspeed);
    if(!cmdS(&s)) return MCC_E_FAILED;
    setslewingstate();
    return MCC_E_OK;
 }
 /**
- * @brief shortcmd - send and receive long binary command
+ * @brief longcmd - send and receive long binary command
 * @param cmd (io) - command
 * @return errcode
 */
 static mcc_errcodes_t longcmd(long_command_t *cmd){
    if(!cmd) return MCC_E_BADFORMAT;
    if(Conf.RunModel){
        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;
        param.coord = cmd->Ymot; param.speed = cmd->Yspeed;
        if(!model_move2(Ymodel, &param, curt)) return MCC_E_FAILED;
        setslewingstate();
        return MCC_E_OK;
    }
    SSlcmd l = {0};
    l.Xmot = X_RAD2MOT(cmd->Xmot);
    l.Ymot = Y_RAD2MOT(cmd->Ymot);
@@ -227,12 +423,15 @@ static mcc_errcodes_t longcmd(long_command_t *cmd){
    l.Xatime = S2ADDER(cmd->Xatime);
    l.Yatime = S2ADDER(cmd->Yatime);
    if(!cmdL(&l)) return MCC_E_FAILED;
    setslewingstate();
    return MCC_E_OK;
 }
 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);
@@ -266,14 +465,14 @@ static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
    hwConfig->address = config.address;
    // TODO: What to do with eqrate, eqadj and trackgoal?
-
+    config.latitude = __bswap_16(config.latitude);
    // Convert latitude (degrees * 100 to radians)
-    hwConfig->latitude = (double)config.latitude / 100.0 * M_PI / 180.0;
+    hwConfig->latitude = ((double)config.latitude) / 100.0 * M_PI / 180.0;
    // Copy ticks per revolution
-    hwConfig->Xsetpr = config.Xsetpr;
+    hwConfig->Xsetpr = __bswap_32(config.Xsetpr);
-    hwConfig->Ysetpr = config.Ysetpr;
+    hwConfig->Ysetpr = __bswap_32(config.Ysetpr);
-    hwConfig->Xmetpr = config.Xmetpr;
+    hwConfig->Xmetpr = __bswap_32(config.Xmetpr); // as documentation said, real ticks are 4 times less
-    hwConfig->Ymetpr = config.Ymetpr;
+    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);
@@ -291,11 +490,36 @@ 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;
 }
 static mcc_errcodes_t write_hwconf(hardware_configuration_t *hwConfig){
    SSconfig config;
    if(Conf.RunModel) return MCC_E_FAILED;
    // Convert acceleration (rad/s^2 to ticks per loop^2)
    config.Xconf.accel = X_RS2MOTACC(hwConfig->Xconf.accel);
    config.Yconf.accel = Y_RS2MOTACC(hwConfig->Yconf.accel);
@@ -325,7 +549,7 @@ static mcc_errcodes_t write_hwconf(hardware_configuration_t *hwConfig){
    config.xbits = hwConfig->xbits;
    config.ybits = hwConfig->ybits;
    // Convert latitude (radians to degrees * 100)
-    config.latitude = (uint16_t)(hwConfig->latitude * 180.0 / M_PI * 100.0);
+    config.latitude = __bswap_16((uint16_t)(hwConfig->latitude * 180.0 / M_PI * 100.0));
    // Convert slew rates (rad/s to ticks per loop)
    config.Xslewrate = X_RS2MOTSPD(hwConfig->Xslewrate);
    config.Yslewrate = Y_RS2MOTSPD(hwConfig->Yslewrate);
@@ -341,17 +565,41 @@ static mcc_errcodes_t write_hwconf(hardware_configuration_t *hwConfig){
    config.locsspeed = (uint32_t)(hwConfig->locsspeed * 180.0 * 3600.0 / M_PI);
    // Convert backlash speed (rad/s to ticks per loop)
    config.backlspd = X_RS2MOTSPD(hwConfig->backlspd);
    config.Xsetpr = __bswap_32(hwConfig->Xsetpr);
    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,
@@ -361,5 +609,13 @@ mount_t Mount = {
    .longCmd = longcmd,
    .getHWconfig = get_hwconf,
    .saveHWconfig = write_hwconf,
-    .currentT = dtime,
+    .currentT = curtime,
    .timeFromStart = timefromstart,
    .timeDiff = timediff,
    .timeDiff0 = timediff0,
    .correctTo = correct2,
    .getMaxSpeed = maxspeed,
    .getMinSpeed = minspeed,
    .getAcceleration = acceleration,
 };
--- a/LibSidServo/main.h
+++ b/LibSidServo/main.h
@@ -16,20 +16,37 @@
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
 /*
 * Almost all here used for debug purposes
 */
 #pragma once
 #include <stdlib.h>
 #include "movingmodel.h"
 #include "sidservo.h"
 extern conf_t Conf;
 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
    size_t idx; // index of current data in array
    size_t arraysz; // size of arrays
 } less_square_t;
 less_square_t *LS_init(size_t Ndata);
 void LS_delete(less_square_t **ls);
 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))
@@ -53,12 +70,12 @@ extern conf_t Conf;
    #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__); \
+    #define DBG(...) do{ fprintf(stderr, COLOR_RED "%s " COLOR_OLD, __func__); \
        fprintf(stderr, "(%s, line %d): ", __FILE__, __LINE__); \
        fprintf(stderr, __VA_ARGS__);           \
        fprintf(stderr, "\n");} while(0)
 #else  // EBUG
-    #define FNAME()  do{}while(0)
+    #define FNAME()
-    #define DBG(...) do{}while(0)
+    #define DBG(...)
 #endif // EBUG
--- a/LibSidServo/mainconf.conf
+++ b/LibSidServo/mainconf.conf
@@ -1,7 +0,0 @@
 # configuration file for SSII driven equatorial mount
 verbose = 5
 mountpath = /dev/ttyS1
 mountspeed = 19200
 encoderpath = /dev/ttyUSB0
 encoderspeed = 153000
--- a/LibSidServo/movingmodel.c
+++ b/LibSidServo/movingmodel.c
@@ -0,0 +1,73 @@
 /*
 * This file is part of the moving_model 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/>.
 */
 #include <math.h>
 #include <stdio.h>
 #include <string.h>
 #include <pthread.h>
 #include "main.h"
 #include "movingmodel.h"
 #include "ramp.h"
 extern movemodel_t trapez;
 static void chkminmax(double *min, double *max){
    if(*min <= *max) return;
    double t = *min;
    *min = *max;
    *max = t;
 }
 movemodel_t *model_init(limits_t *l){
    if(!l) return FALSE;
    movemodel_t *m = calloc(1, sizeof(movemodel_t));
    // we can't use memcpy or assign as Times/Params would be common for all
    *m = trapez;
    m->Times = calloc(STAGE_AMOUNT, sizeof(double));
    m->Params = calloc(STAGE_AMOUNT, sizeof(moveparam_t));
    moveparam_t *max = &l->max, *min = &l->min;
    if(min->speed < 0.) min->speed = -min->speed;
    if(max->speed < 0.) max->speed = -max->speed;
    if(min->accel < 0.) min->accel = -min->accel;
    if(max->accel < 0.) max->accel = -max->accel;
    chkminmax(&min->coord, &max->coord);
    chkminmax(&min->speed, &max->speed);
    chkminmax(&min->accel, &max->accel);
    m->Min = l->min;
    m->Max = l->max;
    m->movingstage = STAGE_STOPPED;
    m->state = ST_STOP;
    pthread_mutex_init(&m->mutex, NULL);
    DBG("model inited");
    return m;
 }
 int model_move2(movemodel_t *model, moveparam_t *target, double t){
    if(!target || !model) return FALSE;
    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
@@ -0,0 +1,76 @@
 /*
 * This file is part of the moving_model 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 <pthread.h>
 #include "sidservo.h"
 // tolerance, time ticks
 #define COORD_TOLERANCE_DEFAULT (1e-8)
 #define COORD_TOLERANCE_MIN     (1e-12)
 #define COORD_TOLERANCE_MAX     (10.)
 #define TIME_TICK_DEFAULT       (0.0001)
 #define TIME_TICK_MIN           (1e-9)
 #define TIME_TICK_MAX           (10.)
 typedef enum{
    ST_STOP,            // stopped
    ST_MOVE,            // moving
    ST_AMOUNT
 } movestate_t;
 typedef struct{
    double coord;
    double speed;
    double accel;
 } moveparam_t;
 typedef struct{
    moveparam_t min;
    moveparam_t max;
    //double acceleration;
 } limits_t;
 typedef enum{
    STAGE_ACCEL,        // start from last speed and accelerate/decelerate to target speed
    STAGE_MAXSPEED,     // go with target speed
    STAGE_DECEL,        // go from target speed to zero
    STAGE_STOPPED,      // stop
    STAGE_AMOUNT
 } movingstage_t;
 typedef struct movemodel{
    moveparam_t Min;
    moveparam_t Max;
    movingstage_t movingstage;
    movestate_t state;
    double *Times;
    moveparam_t *Params;
    moveparam_t curparams;                    // init values of limits, jerk
    int (*calculate)(struct movemodel *m, moveparam_t *target, double t);        // calculate stages of traectory beginning from t
    movestate_t (*proc_move)(struct movemodel *m, moveparam_t *next, double t);  // calculate next model point for time t
    movestate_t (*get_state)(struct movemodel *m, moveparam_t *cur);             // get current moving state
    void (*stop)(struct movemodel *m, double t);                                 // stop by ramp
    void (*emergency_stop)(struct movemodel *m, double t);                       // stop with highest acceleration
    double (*stoppedtime)(struct movemodel *m);                                  // time when moving will ends
    pthread_mutex_t mutex;
 } movemodel_t;
 movemodel_t *model_init(limits_t *l);
 int model_move2(movemodel_t *model, moveparam_t *target, double t);
--- 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
@@ -0,0 +1,259 @@
 /*
 * This file is part of the moving_model 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/>.
 */
 // simplest trapezioidal ramp
 #include <math.h>
 #include <strings.h>
 #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){
    FNAME();
    pthread_mutex_lock(&m->mutex);
    m->curparams.accel = 0.;
    m->curparams.speed = 0.;
    bzero(m->Times, sizeof(double) * STAGE_AMOUNT);
    bzero(m->Params, sizeof(moveparam_t) * STAGE_AMOUNT);
    m->state = ST_STOP;
    m->movingstage = STAGE_STOPPED;
    pthread_mutex_unlock(&m->mutex);
 }
 static void stop(movemodel_t *m, double t){
    FNAME();
    pthread_mutex_lock(&m->mutex);
    if(m->state == ST_STOP || m->movingstage == STAGE_STOPPED) goto ret;
    m->movingstage = STAGE_DECEL;
    m->state = ST_MOVE;
    m->Times[STAGE_DECEL] = t;
    m->Params[STAGE_DECEL].speed = m->curparams.speed;
    if(m->curparams.speed > 0.) m->Params[STAGE_DECEL].accel = -m->Max.accel;
    else m->Params[STAGE_DECEL].accel = m->Max.accel;
    m->Params[STAGE_DECEL].coord = m->curparams.coord;
    // speed: v=v2+a2(t-t2), v2 and a2 have different signs; t3: v3=0 -> t3=t2-v2/a2
    m->Times[STAGE_STOPPED] = t - m->curparams.speed / m->Params[STAGE_DECEL].accel;
    // coordinate: x=x2+v2(t-t2)+a2(t-t2)^2/2 -> x3=x2+v2(t3-t2)+a2(t3-t2)^2/2
    double dt = m->Times[STAGE_STOPPED] - t;
    m->Params[STAGE_STOPPED].coord = m->curparams.coord + m->curparams.speed * dt +
                                  m->Params[STAGE_DECEL].accel * dt * dt / 2.;
 ret:
    pthread_mutex_unlock(&m->mutex);
 }
 // inner part of `calc`, could be called recoursively for hard case
 static void unlockedcalc(movemodel_t *m, moveparam_t *x, double t){
    // signs
    double sign_a01 = 0., sign_a23 = 0., sign_vset = 0.; // accelerations on stages ACCEL and DECEL, speed on maxspeed stage
    // times
    double dt01 = 0., dt12 = 0., dt23 = 0.;
    // absolute speed at stage 23 (or in that point); absolute max acceleration
    double abs_vset = x->speed, abs_a = m->Max.accel;
    // absolute target movement
    double abs_Dx = fabs(x->coord - m->curparams.coord);
    if(m->state == ST_STOP && abs_Dx < coord_tolerance){
        DBG("Movement too small -> stay at place");
        return;
    }
    // signs of Dx and current speed
    double sign_Dx = (x->coord > m->curparams.coord) ? 1. : -1.;
    double v0 = m->curparams.speed;
    double sign_v0 = v0 < 0. ? -1 : 1., abs_v0 = fabs(v0);
    if(v0 == 0.) sign_v0 = 0.;
    // preliminary calculations (vset and dependent values could be changed)
    dt01 = fabs(abs_v0 - abs_vset) / abs_a;
    double abs_dx23 = abs_vset * abs_vset / 2. / abs_a;
    dt23 = abs_vset / abs_a;
    double abs_dx_stop = abs_v0 * abs_v0 / 2. / abs_a;
    if(sign_Dx * sign_v0 >= 0. && abs_dx_stop < abs_Dx){ // we shouldn't change speed direction
        if(fabs(abs_dx_stop - abs_Dx) <= coord_tolerance){ // simplest case: just stop
            //DBG("Simplest case: stop");
            dt01 = dt12 = 0.;
            sign_a23 = -sign_v0;
            dt23 = abs_v0 / abs_a;
        }else if(abs_vset < abs_v0){ // move with smaller speed than now: very simple case
            //DBG("Move with smaller speed");
            sign_a01 = sign_a23 = -sign_v0;
            sign_vset = sign_v0;
            double abs_dx01 = abs_v0 * dt01 - abs_a * dt01 * dt01 / 2.;
            double abs_dx12 = abs_Dx - abs_dx01 - abs_dx23;
            dt12 = abs_dx12 / abs_vset;
        }else{// move with larget speed
            //DBG("Move with larger speed");
            double abs_dx01 = abs_v0 * dt01 + abs_a * dt01 * dt01 / 2.;
            if(abs_Dx < abs_dx01 + abs_dx23){ // recalculate target speed and other
                abs_vset = sqrt(abs_a * abs_Dx + abs_v0 * abs_v0 / 2.);
                dt01 = fabs(abs_v0 - abs_vset) / abs_a;
                abs_dx01 = abs_v0 * dt01 + abs_a * dt01 * dt01 / 2.;
                dt23 = abs_vset / abs_a;
                abs_dx23 = abs_vset * abs_vset / 2. / abs_a;
                DBG("Can't reach target speed %g, take %g instead", x->speed, abs_vset);
            }
            sign_a01 = sign_Dx; // sign_v0 could be ZERO!!!
            sign_a23 = -sign_Dx;
            sign_vset = sign_Dx;
            double abs_dx12 = abs_Dx - abs_dx01 - abs_dx23;
            dt12 = abs_dx12 / abs_vset;
        }
    }else{
        // if we are here, we have the worst case: change speed direction
       // DBG("Hardest case: change speed direction");
        // now we should calculate coordinate at which model stops and biuld new trapezium from that point
        double x0 = m->curparams.coord, v0 = m->curparams.speed;
        double xstop = x0 + sign_v0 * abs_dx_stop, tstop = t + abs_v0 / abs_a;
        m->state = ST_STOP;
        m->curparams.accel = 0.; m->curparams.coord = xstop; m->curparams.speed = 0.;
        unlockedcalc(m, x, tstop); // calculate new ramp
        // and change started conditions
        m->curparams.coord = x0; m->curparams.speed = v0;
        m->Times[STAGE_ACCEL] = t;
        m->Params[STAGE_ACCEL].coord = x0;
        m->Params[STAGE_ACCEL].speed = v0;
       // DBG("NOW t[0]=%g, X[0]=%g, V[0]=%g", t, x0, v0);
        return;
    }
    m->state = ST_MOVE;
    m->movingstage = STAGE_ACCEL;
    // some knot parameters
    double a01 = sign_a01 * abs_a, a23 = sign_a23 * abs_a;
    double v1, v2, x0, x1, x2;
    v2 = v1 = sign_vset * abs_vset;
    x0 = m->curparams.coord;
    x1 = x0 + v0 * dt01 + a01 * dt01 * dt01 / 2.;
    x2 = x1 + v1 * dt12;
    // fill knot parameters
    moveparam_t *p = &m->Params[STAGE_ACCEL]; // 0-1 - change started speed
    p->accel = a01;
    p->speed = m->curparams.speed;
    p->coord = x0;
    m->Times[STAGE_ACCEL] = t;
    p = &m->Params[STAGE_MAXSPEED]; // 1-2 - constant speed
    p->accel = 0.;
    p->speed = v1;
    p->coord = x1;
    m->Times[STAGE_MAXSPEED] = m->Times[STAGE_ACCEL] + dt01;
    p = &m->Params[STAGE_DECEL]; // 2-3 - decrease speed
    p->accel = a23;
    p->speed = v2;
    p->coord = x2;
    m->Times[STAGE_DECEL] = m->Times[STAGE_MAXSPEED] + dt12;
    p = &m->Params[STAGE_STOPPED]; // 3 - stop at target
    p->accel = p->speed = 0.;
    p->coord = x->coord;
    m->Times[STAGE_STOPPED] = m->Times[STAGE_DECEL] + dt23;
 }
 /**
 * @brief calc - moving calculation
 * @param x - using max speed (>0!!!) and coordinate
 * @param t - current time value
 * @return FALSE if can't move with given parameters
 */
 static int calc(movemodel_t *m, moveparam_t *x, double t) {
    //DBG("target coord/speed: %g/%g; current: %g/%g", x->coord, x->speed, m->curparams.coord, m->curparams.speed);
    if (!x || !m) return FALSE;
    pthread_mutex_lock(&m->mutex);
    int ret = FALSE;
    // Validate input parameters
    if(x->coord < m->Min.coord || x->coord > m->Max.coord){
        DBG("Wrong coordinate [%g, %g]", m->Min.coord, m->Max.coord);
        goto ret;
    }
    if(x->speed < m->Min.speed || x->speed > m->Max.speed){
        DBG("Wrong speed [%g, %g]", m->Min.speed, m->Max.speed);
        goto ret;
    }
    ret = TRUE; // now there's no chanses to make error
    unlockedcalc(m, x, t);
    // Debug output
    /*for(int i = 0; i < STAGE_AMOUNT; i++){
        DBG("Stage %d: t=%.6f, coord=%.6f, speed=%.6f, accel=%.6f",
            i, m->Times[i], m->Params[i].coord, m->Params[i].speed, m->Params[i].accel);
    }*/
 ret:
    pthread_mutex_unlock(&m->mutex);
    return ret;
 }
 static movestate_t proc(movemodel_t *m, moveparam_t *next, double t){
    pthread_mutex_lock(&m->mutex);
    if(m->state == ST_STOP) goto ret;
    for(movingstage_t s = STAGE_STOPPED; s >= 0; --s){
        if(m->Times[s] <= t){ // check time for current stage
            m->movingstage = s;
            break;
        }
    }
    if(m->movingstage == STAGE_STOPPED){
        m->curparams.coord = m->Params[STAGE_STOPPED].coord;
        pthread_mutex_unlock(&m->mutex);
       /* DBG("REACHED STOPping stage @ t=%g", t);
        for(int s = STAGE_STOPPED; s >= 0; --s){
            DBG("T[%d]=%g, ", s, m->Times[s]);
        }*/
        emstop(m, t);
        goto ret;
    }
    // calculate current parameters
    double dt = t - m->Times[m->movingstage];
    double a = m->Params[m->movingstage].accel;
    double v0 = m->Params[m->movingstage].speed;
    double x0 = m->Params[m->movingstage].coord;
    m->curparams.accel = a;
    m->curparams.speed = v0 + a * dt;
    m->curparams.coord = x0 + v0 * dt + a * dt * dt / 2.;
 ret:
    if(next) *next = m->curparams;
    movestate_t st = m->state;
    pthread_mutex_unlock(&m->mutex);
    return st;
 }
 static movestate_t getst(movemodel_t *m, moveparam_t *cur){
    pthread_mutex_lock(&m->mutex);
    if(cur) *cur = m->curparams;
    movestate_t st = m->state;
    pthread_mutex_unlock(&m->mutex);
    return st;
 }
 static double gettstop(movemodel_t *m){
    pthread_mutex_lock(&m->mutex);
    double r = m->Times[STAGE_STOPPED];
    pthread_mutex_unlock(&m->mutex);
    return r;
 }
 movemodel_t trapez = {
    .stop = stop,
    .emergency_stop = emstop,
    .get_state = getst,
    .calculate = calc,
    .proc_move = proc,
    .stoppedtime = gettstop,
 };
--- a/LibSidServo/ramp.h
+++ b/LibSidServo/ramp.h
@@ -0,0 +1,23 @@
 /*
 * This file is part of the moving_model 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 "movingmodel.h"
 extern movemodel_t trapez;
--- a/LibSidServo/serial.c
+++ b/LibSidServo/serial.c
@@ -20,25 +20,28 @@
 #include <errno.h>
 #include <fcntl.h>
 #include <math.h>
 #include <poll.h>
 #include <pthread.h>
 #include <signal.h>
 #include <stdint.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
 #include <sys/ioctl.h>
 #include <sys/stat.h>
 #include <time.h>
 #include <unistd.h>
-#include "dbg.h"
+#include "main.h"
 #include "movingmodel.h"
 #include "serial.h"
 #include "ssii.h"
 // serial devices FD
 static int encfd[2] = {-1, -1}, mntfd = -1;
 // main mount data
 static mountdata_t mountdata = {0};
 // last encoders time and last encoders data - for speed measurement
-static coordval_t lastXenc = {0}, lastYenc = {0};
+//static coordval_t lastXenc = {0}, lastYenc = {0};
 // mutexes for RW operations with mount device and data
 static pthread_mutex_t  mntmutex = PTHREAD_MUTEX_INITIALIZER,
@@ -46,7 +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 = {0}, mntRtmout = {0};
+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;
@@ -55,46 +58,32 @@ typedef struct __attribute__((packed)){
    uint8_t CRC[4];
 } enc_t;
 /**
 * @brief dtime - UNIX time with microsecond
 * @return value
 */
 double dtime(){
    double t;
    struct timeval tv;
    gettimeofday(&tv, NULL);
    t = tv.tv_sec + ((double)tv.tv_usec)/1e6;
    return t;
 }
 #if 0
 double tv2d(struct timeval *tv){
    if(!tv) return 0.;
    double t = tv->tv_sec + ((double)tv->tv_usec) / 1e6;
    return t;
 }
 #endif
 #if 0
 // init start time
 static void gttime(){
    struct timeval tv;
    gettimeofday(&tv, NULL);
    tv_sec_got = tv.tv_sec;
    tv_usec_got = tv.tv_usec;
 }
 #endif
 // calculate current X/Y speeds
-static void getXspeed(double t){
+void getXspeed(){
-    mountdata.encXspeed.val = (mountdata.encXposition.val - lastXenc.val) / (t - lastXenc.t);
+    static less_square_t *ls = NULL;
-    mountdata.encXspeed.t = (lastXenc.t + t) / 2.;
+    if(!ls){
-    lastXenc.val = mountdata.encXposition.val;
+        ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
-    lastXenc.t = t;
+        if(!ls) return;
    }
    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;
    }
 }
-static void getYspeed(double t){
+void getYspeed(){
-    mountdata.encYspeed.val = (mountdata.encYposition.val - lastYenc.val) / (t - lastYenc.t);
+    static less_square_t *ls = NULL;
-    mountdata.encYspeed.t = (lastYenc.t + t) / 2.;
+    if(!ls){
-    lastYenc.val = mountdata.encYposition.val;
+        ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
-    lastYenc.t = t;
+        if(!ls) return;
    }
    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;
    }
 }
 /**
@@ -102,7 +91,8 @@ static void getYspeed(double t){
 * @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
@@ -137,17 +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.encXposition.val = Xenc2rad(edata->encX);
-    mountdata.encYposition.val = Y_ENC2RAD(edata->encY);
+    mountdata.encYposition.val = Yenc2rad(edata->encY);
    DBG("Got positions X/Y= %.6g / %.6g", mountdata.encXposition.val, mountdata.encYposition.val);
-    mountdata.encXposition.t = t;
+    mountdata.encXposition.t = *t;
-    mountdata.encYposition.t = t;
+    mountdata.encYposition.t = *t;
-    if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed(t);
+    getXspeed(); getYspeed();
    if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed(t);
    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
@@ -155,33 +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){
+static int getencval(int fd, double *val, struct timespec *t){
-    if(fd < 0) return FALSE;
+    if(fd < 0){
        DBG("Encoder fd < 0!");
        return FALSE;
    }
    char buf[128];
    int got = 0, Lmax = 127;
-    double t0 = dtime();
+    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;
+        if(buf[got-1] == '\n') break; // got EOL as last symbol
-    }while(Lmax && dtime() - t0 < Conf.EncoderReqInterval);
+    }while(Lmax && timefromstart() - t0 < Conf.EncoderReqInterval / 5.);
-    if(got == 0) return 0; // WTF?
+    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;
@@ -193,9 +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;
@@ -243,19 +255,43 @@ static int getmntbyte(){
        if(FD_ISSET(mntfd, &rfds)){
            ssize_t l = read(mntfd, &byte, 1);
            //DBG("MNT read=%zd byte=0x%X", l, byte);
-            if(l != 1) return -2; // disconnected ??
+            if(l != 1){
                DBG("Mount disconnected?");
                return -2; // disconnected ??
            }
            break;
        } else return -1;
    }while(1);
    return (int)byte;
 }
 // clear data from input buffer
 static void clrmntbuf(){
    if(mntfd < 0) return;
    uint8_t byte;
    fd_set rfds;
    do{
        FD_ZERO(&rfds);
        FD_SET(mntfd, &rfds);
        struct timeval tv = {.tv_sec=0, .tv_usec=10};
        int retval = select(mntfd + 1, &rfds, NULL, NULL, &tv);
        if(retval < 0){
            if(errno == EINTR) continue;
            DBG("Error in select()");
            break;
        }
        if(FD_ISSET(mntfd, &rfds)){
            ssize_t l = read(mntfd, &byte, 1);
            if(l != 1) break;
        } else break;
    }while(1);
 }
 // main encoder thread (for separate encoder): read next data and make parsing
 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;
@@ -266,13 +302,14 @@ static void *encoderthread1(void _U_ *u){
            if((uint8_t)b == ENC_MAGICK){
 //                DBG("Got magic -> start filling packet");
                databuf[wridx++] = (uint8_t) b;
                t = dtime();
            }
            continue;
        }else databuf[wridx++] = (uint8_t) b;
        if(wridx == ENC_DATALEN){
-            parse_encbuf(databuf, t);
+            if(curtime(&tcur)){
-            wridx = 0;
+                parse_encbuf(databuf, &tcur);
                wridx = 0;
            }
        }
    }
    if(encfd[0] > -1){
@@ -282,47 +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 = dtime();
+    do{ // main cycle
-    const char *req = "next\n";
+        if(poll(pfds, 2, 0) < 0){
-    int need2ask = 0; // need or not to ask encoder for new data
+            DBG("poll()");
-    while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR){
+            break;
        if(need2ask){
            if(5 != write(encfd[0], req, 5)) { ++errctr; continue; }
            else if(5 != write(encfd[1], req, 5)) { ++errctr; continue; }
        }
-        double v, t;
+        int got = 0;
-        if(getencval(encfd[0], &v, &t)){
+        for(int i = 0; i < 2; ++i){
-            mountdata.encXposition.val = X_ENC2RAD(v);
+            if(pfds[i].revents && POLLIN){
-            //DBG("encX(%g) = %g", t, mountdata.encXposition.val);
+                if(!readstrings(&strbuf[i], encfd[i])){
-            mountdata.encXposition.t = t;
+                    ++errctr;
-            if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed(t);
+                    break;
-            if(getencval(encfd[1], &v, &t)){
+                }
-                mountdata.encYposition.val = Y_ENC2RAD(v);
+            }
-                //DBG("encY(%g) = %g", t, mountdata.encYposition.val);
+            double curt = timefromstart();
-                mountdata.encYposition.t = t;
+            if(getdata(&strbuf[i], &msrlast[i])) mtlast[i] = curt;
-                if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed(t);
+            if(curt - t0[i] >= Conf.EncoderReqInterval){ // get last records
-                errctr = 0;
+                if(curt - mtlast[i] < 1.5*Conf.EncoderReqInterval){
-                need2ask = 0;
+                    pthread_mutex_lock(&datamutex);
-            } else {
+                    if(i == 0){
-                if(need2ask) ++errctr;
+                        mountdata.encXposition.val = Xenc2rad((double)msrlast[i]);
-                else need2ask = 1;
+                        curtime(&mountdata.encXposition.t);
-                continue;
+                        /*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();
                    }else{
                        mountdata.encYposition.val = Yenc2rad((double)msrlast[i]);
                        curtime(&mountdata.encYposition.t);
                        getYspeed();
                    }
                    pthread_mutex_unlock(&datamutex);
                }
                if(!asknext(encfd[i])){
                    ++errctr;
                    break;
                }
                t0[i] = (curt - t0[i] < 2.*Conf.EncoderReqInterval) ? t0[i] + Conf.EncoderReqInterval : curt;
                ++got;
            }
        } else {
            if(need2ask) ++errctr;
            else need2ask = 1;
            continue;
        }
-        while(dtime() - t0 < Conf.EncoderReqInterval){ usleep(10); }
+        if(got == 2) errctr = 0;
-        //DBG("DT=%g (RI=%g)", dtime()-t0, Conf.EncoderReqInterval);
+    }while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR);
-        t0 = dtime();
+    DBG("\n\nEXIT: ERRCTR=%d", errctr);
    }
    DBG("ERRCTR=%d", errctr);
    for(int i = 0; i < 2; ++i){
        if(encfd[i] > -1){
            close(encfd[i]);
@@ -348,25 +476,78 @@ 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 = timefromstart(), tstart = t0, tcur = t0;
    double oldmt = -100.; // old `millis measurement` time
    static uint32_t oldmillis = 0;
    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, &xst, &yst);
            struct timespec tnow;
            if(!curtime(&tnow) || (tcur = timefromstart()) < 0.) continue;
            pthread_mutex_lock(&datamutex);
            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(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;
            chkModStopped(&Xprev, c.X, &xcnt, &mountdata.Xstate);
            chkModStopped(&Yprev, c.Y, &ycnt, &mountdata.Ystate);
            getXspeed(); getYspeed();
            pthread_mutex_unlock(&datamutex);
            while(timefromstart() - t0 < Conf.EncoderReqInterval) usleep(50);
            t0 = timefromstart();
        }
    }
    // data to get
    data_t d = {.buf = buf, .maxlen = sizeof(buf)};
    // cmd to send
    data_t *cmd_getstat = cmd2dat(CMD_GETSTAT);
    if(!cmd_getstat) goto failed;
    double t0 = dtime();
 /*
 #ifdef EBUG
    double t00 = t0;
 #endif
 */
    while(mntfd > -1 && errctr < MAX_ERR_CTR){
        // read data to status
-        double tgot = dtime();
+        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
            DBG("Can't read SSstat, need %zd got %zd bytes", sizeof(SSstat), d.len);
@@ -382,13 +563,13 @@ static void *mountthread(void _U_ *u){
        errctr = 0;
        pthread_mutex_lock(&datamutex);
        // now change data
-        SSconvstat(status, &mountdata, tgot);
+        SSconvstat(status, &mountdata, &tcur);
        pthread_mutex_unlock(&datamutex);
        // allow writing & getters
-        //DBG("t0=%g, tnow=%g", t0-t00, dtime()-t00);
+        do{
-        if(dtime() - t0 >= Conf.MountReqInterval) usleep(50);
+            usleep(500);
-        while(dtime() - t0 < Conf.MountReqInterval);
+        }while(timefromstart() - t0 < Conf.MountReqInterval);
-        t0 = dtime();
+        t0 = timefromstart();
    }
    data_free(&cmd_getstat);
 failed:
@@ -404,8 +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((fd = open(path, O_RDWR|O_NOCTTY)) < 0){
-    if(ioctl(fd, TCGETS2, &tty)){ close(fd); return -1; }
+        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
@@ -414,7 +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
@@ -424,6 +616,7 @@ static int ttyopen(const char *path, speed_t speed){
 // return FALSE if failed
 int openEncoder(){
    if(Conf.RunModel) return TRUE;
    if(!Conf.SepEncoder) return FALSE; // try to open separate encoder when it's absent
    if(Conf.SepEncoder == 1){ // only one device
        DBG("One device");
@@ -431,7 +624,7 @@ int openEncoder(){
        encfd[0] = ttyopen(Conf.EncoderDevPath, (speed_t) Conf.EncoderDevSpeed);
        if(encfd[0] < 0) return FALSE;
        encRtmout.tv_sec = 0;
-        encRtmout.tv_usec = 200000000 / Conf.EncoderDevSpeed; // 20 bytes
+        encRtmout.tv_usec = 100000000 / Conf.EncoderDevSpeed; // 10 bytes
        if(pthread_create(&encthread, NULL, encoderthread1, NULL)){
            close(encfd[0]);
            encfd[0] = -1;
@@ -446,7 +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]);
@@ -461,6 +654,7 @@ int openEncoder(){
 // return FALSE if failed
 int openMount(){
    if(Conf.RunModel) goto create_thread;
    if(mntfd > -1) close(mntfd);
    DBG("Open mount %s @ %d", Conf.MountDevPath, Conf.MountDevSpeed);
    mntfd = ttyopen(Conf.MountDevPath, (speed_t) Conf.MountDevSpeed);
@@ -476,11 +670,14 @@ int openMount(){
        DBG("got %zd", l);
    }while(1);*/
    mntRtmout.tv_sec = 0;
-    mntRtmout.tv_usec = 500000000 / Conf.MountDevSpeed; // 50 bytes
+    mntRtmout.tv_usec = 500000000 / Conf.MountDevSpeed; // 50 bytes * 10bits / speed
 create_thread:
    if(pthread_create(&mntthread, NULL, mountthread, NULL)){
-        DBG("Can't create thread");
+        DBG("Can't create mount thread");
-        close(mntfd);
+        if(!Conf.RunModel){
-        mntfd = -1;
+            close(mntfd);
            mntfd = -1;
        }
        return FALSE;
    }
    DBG("Mount opened, thread started");
@@ -489,24 +686,26 @@ int openMount(){
 // 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("Kill mount thread");
+        DBG("Cancel mount thread");
        pthread_cancel(mntthread);
        DBG("join mount thread");
        pthread_join(mntthread, NULL);
-        DBG("close fd");
+        DBG("close mount fd");
        close(mntfd);
        mntfd = -1;
    }
    if(encfd[0] > -1){
-        DBG("Kill encoder thread");
+        DBG("Cancel encoder thread");
        pthread_cancel(encthread);
        DBG("join encoder thread");
        pthread_join(encthread, NULL);
-        DBG("close fd");
+        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;
        }
@@ -519,33 +718,44 @@ 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;
 }
 void setStat(axis_status_t Xstate, axis_status_t Ystate){
    DBG("set x/y state to %d/%d", Xstate, Ystate);
    pthread_mutex_lock(&datamutex);
    mountdata.Xstate = Xstate;
    mountdata.Ystate = Ystate;
    pthread_mutex_unlock(&datamutex);
 }
 // write-read without locking mutex (to be used inside other functions)
 static int wr(const data_t *out, data_t *in, int needeol){
-    if((!out && !in) || mntfd < 0) return FALSE;
+    if((!out && !in) || mntfd < 0){
        DBG("Wrong arguments or no mount fd");
        return FALSE;
    }
    clrmntbuf();
    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
    }
-    uint8_t buf[256];
+    if(!in) return TRUE;
    data_t dumb = {.buf = buf, .maxlen = 256};
    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("Clear trashing input");
    while(getmntbyte() > -1);
    return TRUE;
 }
@@ -557,6 +767,7 @@ static int wr(const data_t *out, data_t *in, int needeol){
 * @return FALSE if failed
 */
 int MountWriteRead(const data_t *out, data_t *in){
    if(Conf.RunModel) return -1;
    pthread_mutex_lock(&mntmutex);
    int ret = wr(out, in, 1);
    pthread_mutex_unlock(&mntmutex);
@@ -564,6 +775,7 @@ int MountWriteRead(const data_t *out, data_t *in){
 }
 // send binary data - without EOL
 int MountWriteReadRaw(const data_t *out, data_t *in){
    if(Conf.RunModel) return -1;
    pthread_mutex_lock(&mntmutex);
    int ret = wr(out, in, 0);
    pthread_mutex_unlock(&mntmutex);
@@ -587,28 +799,32 @@ static void loglcmd(SSlcmd *c){
 // send short/long binary command; return FALSE if failed
 static int bincmd(uint8_t *cmd, int len){
    if(Conf.RunModel) return FALSE;
    static data_t *dscmd = NULL, *dlcmd = NULL;
    if(!dscmd) dscmd = cmd2dat(CMD_SHORTCMD);
    if(!dlcmd) dlcmd = cmd2dat(CMD_LONGCMD);
    int ret = FALSE;
    pthread_mutex_lock(&mntmutex);
    // dummy buffer to clear trash in input
-    char ans[300];
+    //char ans[300];
-    data_t a = {.buf = (uint8_t*)ans, .maxlen=299};
+    //data_t a = {.buf = (uint8_t*)ans, .maxlen=299};
    if(len == sizeof(SSscmd)){
        ((SSscmd*)cmd)->checksum = SScalcChecksum(cmd, len-2);
        DBG("Short command");
 #ifdef EBUG
        logscmd((SSscmd*)cmd);
-        if(!wr(dscmd, &a, 1)) goto rtn;
+#endif
        if(!wr(dscmd, NULL, 1)) goto rtn;
    }else if(len == sizeof(SSlcmd)){
        ((SSlcmd*)cmd)->checksum = SScalcChecksum(cmd, len-2);
        DBG("Long command");
 #ifdef EBUG
        loglcmd((SSlcmd*)cmd);
-        if(!wr(dlcmd, &a, 1)) goto rtn;
+#endif
        if(!wr(dlcmd, NULL, 1)) goto rtn;
    }else{
        goto rtn;
    }
    DBG("Write %d bytes and wait for ans", len);
    data_t d;
    d.buf = cmd;
    d.len = d.maxlen = len;
@@ -619,6 +835,7 @@ rtn:
    return ret;
 }
 // short, long and config text-binary commands
 // return TRUE if OK
 int cmdS(SSscmd *cmd){
    return bincmd((uint8_t *)cmd, sizeof(SSscmd));
@@ -628,6 +845,7 @@ int cmdL(SSlcmd *cmd){
 }
 // rw == 1 to write, 0 to read
 int cmdC(SSconfig *conf, int rw){
    if(Conf.RunModel) return FALSE;
    static data_t *wcmd = NULL, *rcmd = NULL;
    int ret = FALSE;
    // dummy buffer to clear trash in input
@@ -641,16 +859,23 @@ int cmdC(SSconfig *conf, int rw){
    }else{ // read
        data_t d;
        d.buf = (uint8_t *) conf;
-        d.len = 0; d.maxlen = sizeof(SSconfig);
+        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/serial.h
+++ b/LibSidServo/serial.h
@@ -28,15 +28,17 @@
 // max error counter (when read() returns -1)
 #define MAX_ERR_CTR (100)
 double dtime();
 data_t *cmd2dat(const char *cmd);
 void data_free(data_t **x);
 int openEncoder();
 int openMount();
 void closeSerial();
 mcc_errcodes_t getMD(mountdata_t  *d);
 void setStat(axis_status_t Xstate, axis_status_t Ystate);
 int MountWriteRead(const data_t *out, data_t *in);
 int MountWriteReadRaw(const data_t *out, data_t *in);
 int cmdS(SSscmd *cmd);
 int cmdL(SSlcmd *cmd);
 int cmdC(SSconfig *conf, int rw);
 void getXspeed();
 void getYspeed();
--- a/LibSidServo/sidservo.h
+++ b/LibSidServo/sidservo.h
@@ -16,6 +16,11 @@
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
 /*
 * This file contains all need for external usage
 */
 #pragma once
 #ifdef __cplusplus
@@ -27,15 +32,14 @@ extern "C"
 #include <stdint.h>
 #include <sys/time.h>
-// max speeds (rad/s): xs=10 deg/s, ys=8 deg/s
+// minimal serial speed of mount device
-#define MCC_MAX_X_SPEED         (0.174533)
+#define MOUNT_BAUDRATE_MIN      (1200)
 #define MCC_MAX_Y_SPEED         (0.139626)
 // max speed interval, seconds
 #define MCC_CONF_MAX_SPEEDINT   (2.)
 // minimal speed interval in parts of EncoderReqInterval
 #define MCC_CONF_MIN_SPEEDC     (3.)
 // error codes
 typedef enum{
    MCC_E_OK = 0,       // all OK
@@ -44,19 +48,38 @@ 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{
-    char*   MountDevPath;       // path to mount device
+    double P, I, D;
-    int     MountDevSpeed;      // serial speed
+} PIDpar_t;
-    char*   EncoderDevPath;     // path to encoder device
+
-    int     EncoderDevSpeed;    // serial speed
+typedef struct{
-    int     SepEncoder;         // ==1 if encoder works as separate serial device, ==2 if there's new version with two devices
+    char*   MountDevPath;           // path to mount device
-    char*   EncoderXDevPath;    // paths to new controller devices
+    int     MountDevSpeed;          // serial speed
    char*   EncoderDevPath;         // path to encoder device
    int     EncoderDevSpeed;        // serial speed
    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  MountReqInterval;   // interval between subsequent mount requests (seconds)
+    double  EncodersDisagreement;   // acceptable disagreement between motor and axis encoders
-    double  EncoderReqInterval; // interval between subsequent encoder requests (seconds)
+    double  MountReqInterval;       // interval between subsequent mount requests (seconds)
-    double  EncoderSpeedInterval;// interval between speed calculations
+    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
@@ -67,7 +90,7 @@ typedef struct{
 // coordinate/speed and time of last measurement
 typedef struct{
    double val;
-    double t;
+    struct timespec t;
 } coordval_t;
 typedef struct{
@@ -112,12 +135,21 @@ typedef struct{
    uint16_t ain1;
 } extradata_t;
 typedef enum{
    AXIS_STOPPED,
    AXIS_SLEWING,
    AXIS_POINTING,
    AXIS_GUIDING,
    AXIS_ERROR,
 } axis_status_t;
 typedef struct{
    axis_status_t Xstate;
    axis_status_t Ystate;
    coordval_t motXposition;
    coordval_t motYposition;
    coordval_t encXposition;
    coordval_t encYposition;
    // TODO: add speedX/Y
    coordval_t encXspeed; // once per <config> s
    coordval_t encYspeed;
    uint8_t keypad;
@@ -127,10 +159,6 @@ typedef struct{
    double voltage;
 } mountdata_t;
 typedef struct{
    ;
 } mountstat_t;
 typedef struct{
    double Xmot;        // 0  X motor position (rad)
    double Xspeed;      // 4  X speed (rad/s)
@@ -152,7 +180,7 @@ typedef struct{
    double Yatime;      // 28
 } long_command_t; // long command
-// hardware axe configuration
+// hardware axis configuration
 typedef struct{
    double accel;       // Default Acceleration, rad/s^2
    double backlash;    // Backlash (???)
@@ -163,13 +191,16 @@ typedef struct{
    double outplimit;   // Output Limit, percent (0..100)
    double currlimit;   // Current Limit (A)
    double intlimit;    // Integral Limit (???)
-} __attribute__((packed)) axe_config_t;
+    // 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
 typedef struct{
-    axe_config_t Xconf;
+    axis_config_t Xconf;
    xbits_t xbits;
-    axe_config_t Yconf;
+    axis_config_t Yconf;
    ybits_t ybits;
    uint8_t address;
    double eqrate;      // Equatorial Rate (???)
@@ -192,21 +223,19 @@ typedef struct{
    double backlspd;    // Backlash speed (rad/s)
 } hardware_configuration_t;
-// flags for slew function
+/* flags for slew function
 typedef struct{
-    uint32_t slewNguide : 1; // ==1 to gude after slewing
+    uint32_t slewNguide : 1; // ==1 to guide after slewing
 } slewflags_t;
-
+*/
 // mount class
 typedef struct{
    // TODO: on init/quit clear all XY-bits to default`
    mcc_errcodes_t  (*init)(conf_t *c); // init device
    void            (*quit)(); // deinit
    mcc_errcodes_t  (*getMountData)(mountdata_t *d); // get last data
-    // TODO: change (or add flags) switching slew-and-stop and slew-and-track
+//    mcc_errcodes_t  (*slewTo)(const coordpair_t *target, slewflags_t flags);
-    // add mount state: stop/slew/guide
+    mcc_errcodes_t  (*correctTo)(const coordval_pair_t *target);
    mcc_errcodes_t  (*slewTo)(const coordpair_t *target, slewflags_t flags);
    mcc_errcodes_t  (*correctBy)(coordpair_t *delta); // delta = Target - Real
    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
@@ -216,12 +245,17 @@ 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;
 #ifdef __cplusplus
 }
 #endif
--- a/LibSidServo/ssii.c
+++ b/LibSidServo/ssii.c
@@ -18,12 +18,21 @@
 #include <ctype.h>
 #include <inttypes.h>
 #include <stdio.h>
 #include <string.h>
 #include <unistd.h>
-#include "dbg.h"
+#include "main.h"
 #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++){
@@ -35,33 +44,50 @@ uint16_t SScalcChecksum(uint8_t *buf, int len){
    return checksum;
 }
 // Next three functions runs under locked mountdata_t mutex and shouldn't call locked it again!!
 static void chkstopstat(int32_t *prev, int32_t cur, int *nstopped, axis_status_t *stat){
    if(*prev == INT32_MAX){
        *stat = AXIS_STOPPED;
        DBG("START");
    }else if(*stat != AXIS_STOPPED){
        if(*prev == cur && ++(*nstopped) > MOTOR_STOPPED_CNT){
            *stat = AXIS_STOPPED;
            DBG("AXIS stopped");
        }
    }else if(*prev != cur){
        DBG("AXIS moving");
        *nstopped = 0;
    }
    *prev = cur;
 }
 // check for stopped/pointing states
 static void ChkStopped(const SSstat *s, mountdata_t *m){
    static int32_t Xmot_prev = INT32_MAX, Ymot_prev = INT32_MAX; // previous coordinates
    static int Xnstopped = 0, Ynstopped = 0; // counters to get STOPPED state
    chkstopstat(&Xmot_prev, s->Xmot, &Xnstopped, &m->Xstate);
    chkstopstat(&Ymot_prev, s->Ymot, &Ynstopped, &m->Ystate);
 }
 /**
 * @brief SSconvstat - convert stat from SSII format to human
 * @param s (i) - just read data
 * @param m (o) - output
 * @param t - measurement time
 */
-void SSconvstat(const SSstat *s, mountdata_t *m, double t){
+void SSconvstat(const SSstat *s, mountdata_t *m, struct timespec *t){
-    if(!s || !m) return;
+    if(!s || !m || !t) return;
 /*
 #ifdef EBUG
    static double t0 = -1.;
    if(t0 < 0.) t0 = dtime();
 #endif
    DBG("Convert, t=%g", dtime()-t0);
 */
    m->motXposition.val = X_MOT2RAD(s->Xmot);
    m->motYposition.val = Y_MOT2RAD(s->Ymot);
-    m->motXposition.t = m->motYposition.t = t;
+    ChkStopped(s, m);
    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->encXposition.val = Xenc2rad(s->Xenc);
-        m->encYposition.val = Y_ENC2RAD(s->Yenc);
+        DBG("encx: %g", m->encXposition.val);
-        m->encXposition.t = m->encYposition.t = t;
+        m->encYposition.val = Yenc2rad(s->Yenc);
        m->encXposition.t = m->encYposition.t = *t;
        getXspeed(); getYspeed();
    }
    //m->lastmotposition.X = X_MOT2RAD(s->XLast);
    //m->lastmotposition.Y = Y_MOT2RAD(s->YLast);
    //m->lastmotposition.msrtime = *tdat;
    m->keypad = s->keypad;
    m->extradata.ExtraBits = s->ExtraBits;
    m->extradata.ain0 = s->ain0;
@@ -87,7 +113,7 @@ int SStextcmd(const char *cmd, data_t *answer){
    data_t d;
    d.buf = (uint8_t*) cmd;
    d.len = d.maxlen = strlen(cmd);
-    DBG("send %zd bytes: %s", d.len, d.buf);
+    //DBG("send %zd bytes: %s", d.len, d.buf);
    return MountWriteRead(&d, answer);
 }
@@ -100,7 +126,7 @@ int SSrawcmd(const char *cmd, data_t *answer){
    data_t d;
    d.buf = (uint8_t*) cmd;
    d.len = d.maxlen = strlen(cmd);
-    DBG("send %zd bytes: %s", d.len, d.buf);
+    //DBG("send %zd bytes: %s", d.len, d.buf);
    return MountWriteReadRaw(&d, answer);
 }
@@ -154,3 +180,50 @@ int SSstop(int emerg){
    return TRUE;
 }
 // update motors' positions due to encoders'
 mcc_errcodes_t updateMotorPos(){
    mountdata_t md = {0};
    if(Conf.RunModel) return MCC_E_OK;
    double t0 = timefromstart(), t = 0.;
    struct timespec curt;
    DBG("start @ %g", t0);
    do{
        t = timefromstart();
        if(!curtime(&curt)){
            usleep(10000);
            continue;
        }
        //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) > 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", t - t0);
            }
            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", t - t0);
            }
            if(MCC_E_OK == OK){
                DBG("Encoders synced");
                return OK;
            }
        }
        DBG("NO DATA; dt = %g", t - t0);
    }while(t - t0 < 2.);
    return MCC_E_FATAL;
 }
--- a/LibSidServo/ssii.h
+++ b/LibSidServo/ssii.h
@@ -16,6 +16,10 @@
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
 /*
 * This file contains stuff for sidereal-servo specific protocol
 */
 #pragma once
 #include <math.h>
@@ -168,51 +172,75 @@
 // Loop freq
 #define SITECH_LOOP_FREQUENCY   (1953.)
 // amount of consequent same coordinates to detect stop
 #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)
 // -> hwconf.Xconf.mot/enc_stepsperrev
 //#define X_MOT_STEPSPERREV_SSI   (13312000.)
 // 13312000 / 4 = 3328000
-#define X_MOT_STEPSPERREV_SSI   (13312000.)
+//#define X_MOT_STEPSPERREV   (3328000.)
-//#define X_MOT_STEPSPERREV   (3325952.)
+//#define Y_MOT_STEPSPERREV_SSI (17578668.)
 #define X_MOT_STEPSPERREV   (3328000.)
 // 17578668 / 4 = 4394667
-#define Y_MOT_STEPSPERREV_SSI (17578668.)
+//#define Y_MOT_STEPSPERREV   (4394667.)
 //#define Y_MOT_STEPSPERREV   (4394960.)
 #define Y_MOT_STEPSPERREV   (4394667.)
 // motor position to radians and back
 #define X_MOT2RAD(n)    (2. * M_PI * ((double)(n)) / X_MOT_STEPSPERREV)
 #define Y_MOT2RAD(n)    (2. * M_PI * ((double)(n)) / Y_MOT_STEPSPERREV)
 #define X_RAD2MOT(r)    ((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))
 // 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))
 // adder time to seconds vice versa
 #define ADDER2S(a)  ((a) / SITECH_LOOP_FREQUENCY)
 #define S2ADDER(s)  ((s) * SITECH_LOOP_FREQUENCY)
 // encoder per revolution
-#define X_ENC_STEPSPERREV   (67108864.)
+//#define X_ENC_STEPSPERREV   (67108864.)
-#define Y_ENC_STEPSPERREV   (67108864.)
+//#define Y_ENC_STEPSPERREV   (67108864.)
 // encoder zero position
-//#define X_ENC_ZERO          (46033555)
+// -> conf.XEncZero/YEncZero
-#define X_ENC_ZERO          (4603355)
+//#define X_ENC_ZERO          (61245239)
-#define Y_ENC_ZERO          (36674010)
+//#define Y_ENC_ZERO          (36999830)
-// encoder reversed (no: +1)
+// encoder reversed (no: +1) -> sign of ...stepsperrev
-#define X_ENC_SIGN          (-1.)
+//#define X_ENC_SIGN          (-1.)
-#define Y_ENC_SIGN          (-1.)
+//#define Y_ENC_SIGN          (-1.)
 // encoder position to radians and back
-#define X_ENC2RAD(n)    (X_ENC_SIGN * 2.*M_PI * ((double)(n-X_ENC_ZERO)) / X_ENC_STEPSPERREV)
+#define Xenc2rad(n)    ang2half(2.*M_PI * ((double)((n)-(X_ENC_ZERO))) / (X_ENC_STEPSPERREV))
-#define Y_ENC2RAD(n)    (Y_ENC_SIGN * 2.*M_PI * ((double)(n-Y_ENC_ZERO)) / Y_ENC_STEPSPERREV)
+#define Yenc2rad(n)    ang2half(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 Xrad2enc(r)    ((uint32_t)((r) / 2./M_PI * (X_ENC_STEPSPERREV)))
-#define Y_RAD2ENC(r)    ((uint32_t)((r) / 2./M_PI * Y_ENC_STEPSPERREV))
+#define Yrad2enc(r)    ((uint32_t)((r) / 2./M_PI * (Y_ENC_STEPSPERREV)))
 // convert angle in radians to +-pi
 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 __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)))
 // 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)))
 // 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)))
 // adder time to seconds vice versa
 #define ADDER2S(a)  ((a) / (SITECH_LOOP_FREQUENCY))
 #define S2ADDER(s)  ((s) * (SITECH_LOOP_FREQUENCY))
 // encoder's tolerance (ticks)
 #define YencTOL    (25.)
@@ -313,10 +341,10 @@ 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);
 int SSsetterI(const char *cmd, int32_t ival);
 int SSstop(int emerg);
-int SSshortCmd(SSscmd *cmd);
+mcc_errcodes_t updateMotorPos();
--- 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/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
Edward V. Emelianov	34d22614a6	fixed bug in PID	2025-08-07 17:39:13 +03:00
Timur A. Fatkhullin	f0ab4ae770	...	2025-08-07 02:24:28 +03:00
Edward V. Emelianov	2fee216924	Indeed? The moving model works???	2025-08-06 15:05:37 +03:00
Timur A. Fatkhullin	6315d5e18e	...	2025-08-06 02:06:59 +03:00
Edward V. Emelianov	138e4bf84d	PID seems like almost working, but I have a great problem with model!	2025-08-05 18:55:21 +03:00
Timur A. Fatkhullin	864e257884	...	2025-08-04 22:23:51 +03:00
Edward V. Emelianov	f661dfad44	add PID (not tested yet)	2025-08-04 17:43:35 +03:00
Edward Emelianov	219cec6055	last week	2025-08-04 09:02:22 +03:00
Timur A. Fatkhullin	25438960e6	...	2025-08-02 14:40:05 +03:00
Timur A. Fatkhullin	9bfe1c3ad5	...	2025-08-01 17:55:55 +03:00
Timur A. Fatkhullin	750d29ceb9	...	2025-07-31 22:48:01 +03:00
Edward V. Emelianov	9fbd858086	less squares 4 speed + fixed some bugs (but found more)	2025-07-31 17:03:15 +03:00
Timur A. Fatkhullin	ca9dcdfa68	...	2025-07-30 22:48:27 +03:00
Timur A. Fatkhullin	c39496ff25	...	2025-07-30 22:48:27 +03:00
Edward V. Emelianov	a96682bc12	some problems fixed; model isn't tested yet	2025-07-30 17:23:56 +03:00
Edward V. Emelianov	04ee999159	introduce a lot of errors when trying to apply model	2025-07-30 16:45:42 +03:00
Edward V. Emelianov	502014bee4	PID test almost in ssii format	2025-07-30 13:43:39 +03:00
Edward V. Emelianov	c862d160fe	update pos, statuses	2025-07-29 22:11:42 +03:00
Edward V. Emelianov	89b86f8b7f	moving model	2025-07-29 13:34:17 +03:00
Edward V. Emelianov	7363d608ea	add PID_test @ model	2025-07-25 15:57:44 +03:00
Edward V. Emelianov	4ef6f2f6f9	fixed bug in moving model	2025-07-25 13:42:14 +03:00
Timur A. Fatkhullin	bed7ac87f8	...	2025-07-25 12:09:38 +03:00
Timur A. Fatkhullin	2ff2c24e52	...	2025-07-25 12:06:23 +03:00
Timur A. Fatkhullin	c71cf98dd9	...	2025-07-25 09:03:38 +03:00
Edward V. Emelianov	1d49077d7b	...	2025-07-25 08:58:52 +03:00
Timur A. Fatkhullin	7c8bf5bb0b	...	2025-07-25 01:31:03 +03:00
Timur A. Fatkhullin	1033506c11	...	2025-07-24 19:23:31 +03:00
Timur A. Fatkhullin	961c72f17f	...	2025-07-24 18:55:59 +03:00
Timur A. Fatkhullin	7e1709727a	...	2025-07-24 15:57:04 +03:00