.

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
396 changed files with 83539 additions and 604 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
@@ -0,0 +1,3 @@
 fix encoders opening for several tries
 encoderthread2() - change main cycle (remove pause, read data independently, ask for new only after timeout after last request)
 Read HW config even in model mode
--- a/LibSidServo/examples/CMakeLists.txt
+++ b/LibSidServo/examples/CMakeLists.txt
@@ -10,3 +10,5 @@ add_executable(dump dumpmoving.c dump.c conf.c)
 add_executable(dump_s dumpmoving_scmd.c dump.c conf.c)
 add_executable(dumpswing dumpswing.c dump.c conf.c)
 add_executable(traectory_s scmd_traectory.c dump.c traectories.c conf.c)
 add_executable(SSIIconf SSIIconf.c conf.c)
 add_executable(slewNtrack dumpmoving_dragNtrack.c dump.c conf.c)
--- a/LibSidServo/examples/Readme.md
+++ b/LibSidServo/examples/Readme.md
@@ -24,3 +24,5 @@ Some examples of usage of libsidservo
 *scmd_traectory.c* (`traectory_s`) - try to move around given traectory using "short" binary commands.
 *SSIIconf.c* (`SSIIconf`) - read/write hardware configuration of controller
--- a/LibSidServo/examples/SSIIconf.c
+++ b/LibSidServo/examples/SSIIconf.c
@@ -0,0 +1,163 @@
 /*
 * 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 <usefull_macros.h>
 #include "conf.h"
 #include "sidservo.h"
 #include "simpleconv.h"
 typedef struct{
    int help;
    int helpargs;
    int writeconf;
    char *conffile;
    char *hwconffile;
 } parameters;
 static hardware_configuration_t HW = {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"},
    {"help-opts",   NO_ARGS,    NULL,   'H',    arg_int,    APTR(&G.helpargs),  "configuration help"},
    {"serconf",     NEED_ARG,   NULL,   'C',    arg_string, APTR(&G.conffile),  "serial configuration file name"},
    {"hwconf",      NEED_ARG,   NULL,   'i',    arg_string, APTR(&G.hwconffile),"SSII configuration file name"},
    {"writeconf",   NO_ARGS,    NULL,   0,      arg_int,    APTR(&G.writeconf), "write configuration (BE CAREFUL!)"},
    end_option
 };
 static sl_option_t confopts[] = {
    {"Xaccel",      NEED_ARG,   NULL,   0,      arg_double, APTR(&HW.Xconf.accel),  "X Default Acceleration, rad/s^2"},
    {"Yaccel",      NEED_ARG,   NULL,   0,      arg_double, APTR(&HW.Yconf.accel),  "Y Default Acceleration, rad/s^2"},
    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);
    if(G.help)
        sl_showhelp(-1, cmdlnopts);
    if(G.helpargs)
        sl_showhelp(-1, confopts);
    conf_t *sconf = readServoConf(G.conffile);
    if(!sconf){
        dumpConf();
        return 1;
    }
    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
@@ -24,10 +24,32 @@
 static conf_t Config = {
    .MountDevPath = "/dev/ttyUSB0",
    .MountDevSpeed = 19200,
-    .EncoderDevPath = "/dev/ttyUSB1",
+    .EncoderXDevPath = "/dev/encoder_X0",
    .EncoderYDevPath = "/dev/encoder_Y0",
    .EncoderDevSpeed = 153000,
    .MountReqInterval = 0.1,
-    .SepEncoder = 1
+    .EncoderReqInterval = 0.001,
    .SepEncoder = 2,
    .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[] = {
@@ -35,8 +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"},
    {"SepEncoder",      NEED_ARG,   NULL,   0,  arg_int,    APTR(&Config.SepEncoder),       "encoder is separate device (1 - one device, 2 - two devices)"},
    {"EncoderXDevPath", NEED_ARG,   NULL,   0,  arg_string, APTR(&Config.EncoderXDevPath),  "path to X encoder (/dev/encoderX0)"},
    {"EncoderYDevPath", NEED_ARG,   NULL,   0,  arg_string, APTR(&Config.EncoderYDevPath),  "path to Y encoder (/dev/encoderY0)"},
    {"EncodersDisagreement", NEED_ARG,NULL, 0,  arg_double, APTR(&Config.EncodersDisagreement),"acceptable disagreement between motor and axis encoders"},
    {"MountReqInterval",NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.MountReqInterval), "interval of mount requests (not less than 0.05s)"},
-    {"SepEncoder",      NO_ARGS,    NULL,   0,  arg_int,    APTR(&Config.SepEncoder),       "encoder is separate device"},
+    {"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
 };
@@ -61,5 +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 +23,51 @@
 #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)
 static double filterK[NFILT];
 static double lastvals[2][NFILT] = {0};
 static int need2buildFilter = 1;
 static void buildFilter(){
    filterK[NFILT-1] = 1.;
    double sum = 1.;
    for(int i = NFILT-2; i > -1; --i){
        filterK[i] = (filterK[i+1] + 1.) * 1.1;
        sum += filterK[i];
    }
    for(int i = 0; i < NFILT; ++i) filterK[i] /= sum;
 }
 static double filter(double val, int idx){
    if(need2buildFilter){
        buildFilter();
        need2buildFilter = 0;
    }
    static int ctr[2] = {0};
    for(int i = NFILT-1; i > 0; --i) lastvals[idx][i] = lastvals[idx][i-1];
    lastvals[idx][0] = val;
    double r = 0.;
    if(ctr[idx] < NFILT){
        ++ctr[idx];
        return val;
    }
    for(int i = 0; i < NFILT; ++i) r += filterK[i] * lastvals[idx][i];
    return r;
 }
 #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
@@ -31,18 +76,16 @@
 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) millis T V\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;
    if(t0 < 0.) t0 = m->encposition.msrtime.tv_sec + (double)(m->encposition.msrtime.tv_usec) / 1e6;
    double t = m->encposition.msrtime.tv_sec + (double)(m->encposition.msrtime.tv_usec) / 1e6 - t0;
    // write data
-    fprintf(fcoords, "%12.6f %10.6f %10.6f %10.6f %10.6f %10u %6.1f %4.1f\n",
+    fprintf(fcoords, "%12.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10u\n",
-            t, RAD2DEG(m->motposition.X), RAD2DEG(m->motposition.Y),
+            Mount.timeDiff(&m->encXposition.t, &dumpT0), RAD2DEG(m->motXposition.val), RAD2DEG(m->motYposition.val),
-            RAD2DEG(m->encposition.X), RAD2DEG(m->encposition.Y),
+            RAD2DEG(m->encXposition.val), RAD2DEG(m->encYposition.val),
-            m->millis, m->temperature, m->voltage);
+            RAD2DEG(m->encXspeed.val), RAD2DEG(m->encYspeed.val),
            m->millis);
    fflush(fcoords);
 }
@@ -64,45 +107,48 @@ void dumpmoving(FILE *fcoords, double t, int N){
        WARNX("Can't get mount data");
        LOGWARN("Can't get mount data");
    }
-    uint32_t millis = mdata.encposition.msrtime.tv_usec;
+    uint32_t mdmillis = mdata.millis;
    struct timespec encXt = mdata.encXposition.t;
    int ctr = -1;
-    double xlast = mdata.motposition.X, ylast = mdata.motposition.Y;
+    double xlast = mdata.motXposition.val, ylast = mdata.motYposition.val;
-    double t0 = sl_dtime();
+    double t0 = Mount.timeFromStart();
-    //DBG("millis = %u", millis);
+    while(Mount.timeFromStart() - t0 < t && ctr < N){
    while(sl_dtime() - t0 < t && ctr < N){
        usleep(1000);
        if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
-        if(mdata.encposition.msrtime.tv_usec == millis) continue;
+        //double tmsr = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
-        //DBG("Got new data, posX=%g, posY=%g", mdata.motposition.X, mdata.motposition.Y);
+        struct timespec msrt = mdata.encXposition.t;
-        millis = mdata.encposition.msrtime.tv_usec;
+        if(msrt.tv_nsec == encXt.tv_nsec) continue;
        encXt = msrt;
        if(fcoords) logmnt(fcoords, &mdata);
-        if(mdata.motposition.X != xlast || mdata.motposition.Y != ylast){
+        if(mdata.millis == mdmillis) continue;
-            xlast = mdata.motposition.X;
+        //DBG("ctr=%d, motpos=%g/%g", ctr, mdata.motXposition.val, mdata.motYposition.val);
-            ylast = mdata.motposition.Y;
+        mdmillis = mdata.millis;
        if(mdata.motXposition.val != xlast || mdata.motYposition.val != ylast){
            xlast = mdata.motXposition.val;
            ylast = mdata.motYposition.val;
            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.motposition.X != xlast || mdata.motposition.Y != ylast){
+        if(mdata.Xstate != AXIS_STOPPED || mdata.Ystate != AXIS_STOPPED) ctr = 0;
-            xlast = mdata.motposition.X;
+        else ++ctr;
            ylast = mdata.motposition.Y;
            ctr = 0;
        }else ++ctr;
    }
 }
@@ -112,7 +158,7 @@ void waitmoving(int N){
 * @param Y (o) - encoder position (or NULL)
 * @return FALSE if failed
 */
-int getPos(coords_t *mot, coords_t *enc){
+int getPos(coordval_pair_t *mot, coordval_pair_t *enc){
    mountdata_t mdata = {0};
    int errcnt = 0;
    do{
@@ -126,19 +172,25 @@ int getPos(coords_t *mot, coords_t *enc){
        WARNX("Can't read mount status");
        return FALSE;
    }
-    if(mot) *mot = mdata.motposition;
+    if(mot){
-    if(enc) *enc = mdata.encposition;
+        mot->X = mdata.motXposition;
        mot->Y = mdata.motYposition;
    }
    if(enc){
        enc->X = mdata.encXposition;
        enc->Y = mdata.encYposition;
    }
    return TRUE;
 }
 // check current position and go to 0 if non-zero
 void chk0(int ncycles){
-    coords_t M;
+    coordval_pair_t M;
    if(!getPos(&M, NULL)) signals(2);
-    if(M.X || M.Y){
+    if(M.X.val || M.Y.val){
        WARNX("Mount position isn't @ zero; moving");
-        double zero = 0.;
+        coordpair_t zero = {0., 0.};
-        Mount.moveTo(&zero, &zero);
+        Mount.moveTo(&zero);
        waitmoving(ncycles);
        green("Now mount @ zero\n");
    }
--- a/LibSidServo/examples/dump.h
+++ b/LibSidServo/examples/dump.h
@@ -25,5 +25,6 @@
 void logmnt(FILE *fcoords, mountdata_t *m);
 void dumpmoving(FILE *fcoords, double t, int N);
 void waitmoving(int N);
-int getPos(coords_t *mot, coords_t *enc);
+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
@@ -49,7 +49,7 @@ static sl_option_t cmdlnopts[] = {
    {"logfile",     NEED_ARG,   NULL,   'l',    arg_string, APTR(&G.logfile),   "log file name"},
    {"ncycles",     NEED_ARG,   NULL,   'n',    arg_int,    APTR(&G.Ncycles),   "N cycles in stopped state (default: 40)"},
    {"coordsfile",  NEED_ARG,   NULL,   'o',    arg_string, APTR(&G.coordsoutput),"output file with coordinates log"},
-    {"conffile",    NEED_ARG,   NULL,   'C',    arg_int,    APTR(&G.conffile),  "configuration file name"},
+    {"conffile",    NEED_ARG,   NULL,   'C',    arg_string, APTR(&G.conffile),  "configuration file name"},
    end_option
 };
@@ -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){
@@ -85,18 +86,19 @@ int main(int argc, char **argv){
    LOGMSG("Mount device %s @ %d", Config->MountDevPath, Config->MountDevSpeed);
    LOGMSG("Encoder device %s @ %d", Config->EncoderDevPath, Config->EncoderDevSpeed);
    if(MCC_E_OK != Mount.init(Config)) ERRX("Can't init devices");
-    coords_t M;
+    coordval_pair_t M;
    if(!getPos(&M, NULL)) ERRX("Can't get current position");
    signal(SIGTERM, signals); // kill (-15) - quit
    signal(SIGHUP, SIG_IGN);  // hup - ignore
    signal(SIGINT, signals);  // ctrl+C - quit
    signal(SIGQUIT, signals); // ctrl+\ - quit
    signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
-    double tagx = DEG2RAD(45.) + M.X, tagy = DEG2RAD(45.) + M.Y;
+    coordpair_t tag = {.X = DEG2RAD(45.) + M.X.val, .Y = DEG2RAD(45.) + M.Y.val};
-    if(MCC_E_OK != Mount.moveTo(&tagx, &tagy))
+    if(MCC_E_OK != Mount.moveTo(&tag))
        ERRX("Can't move to 45, 45");
    dumpmoving(fcoords, 30., G.Ncycles);
-    Mount.moveTo(&M.X, &M.Y);
+    tag.X = M.X.val; tag.Y = M.Y.val;
    Mount.moveTo(&tag);
    dumpmoving(fcoords, 30., G.Ncycles);
    signals(0);
    return 0;
--- a/LibSidServo/examples/dumpmoving_dragNtrack.c
+++ b/LibSidServo/examples/dumpmoving_dragNtrack.c
@@ -0,0 +1,228 @@
 /*
 * 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/>.
 */
 // move telescope to target using short command and force it to track mode
 // also do some corrections while moving
 #include <math.h>
 #include <pthread.h>
 #include <signal.h>
 #include <stdio.h>
 #include <string.h>
 #include <time.h>
 #include <usefull_macros.h>
 #include "conf.h"
 #include "dump.h"
 #include "sidservo.h"
 #include "simpleconv.h"
 // Original XXI=6827
 // XXD=136546
 // XXB=4915666
 typedef struct{
    int help;
    int Ncycles;
    double reqint;
    char *coordsoutput;
    char *conffile;
 } parameters;
 static parameters G = {
    .Ncycles = 40,
    .reqint = -1.,
 };
 static FILE *fcoords = NULL;
 static sl_option_t cmdlnopts[] = {
    {"help",        NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),      "show this help"},
    {"ncycles",     NEED_ARG,   NULL,   'n',    arg_int,    APTR(&G.Ncycles),   "N cycles in stopped state (default: 40)"},
    {"coordsfile",  NEED_ARG,   NULL,   'o',    arg_string, APTR(&G.coordsoutput),"output file with coordinates log"},
    {"reqinterval", NEED_ARG,   NULL,   'i',    arg_double, APTR(&G.reqint),    "mount requests interval (default: 0.1)"},
    {"conffile",    NEED_ARG,   NULL,   'C',    arg_string, APTR(&G.conffile),  "configuration file name"},
    end_option
 };
 static mcc_errcodes_t return2zero();
 void signals(int sig){
    if(sig){
        signal(sig, SIG_IGN);
        DBG("Get signal %d, quit.\n", sig);
    }
    return2zero();
    sleep(5);
    Mount.quit();
    exit(sig);
 }
 // dump thread
 static void *dumping(void _U_ *u){
    dumpmoving(fcoords, 3600., G.Ncycles);
    return NULL;
 }
 // return TRUE if motor position is reached +- 0.01 degrees
 #define XYcount (DEG2RAD(0.3))
 // tag in degrees!
 static int Wait(double tag, int isX){
    mountdata_t mdata;
    red("Wait for %g degrees\n", tag);
    tag = DEG2RAD(tag);
    int errcnt = 0;
    uint32_t millis = 0;
    double curpos = 0.;
    double t0 = sl_dtime();
    do{
        if(MCC_E_OK != Mount.getMountData(&mdata)) ++errcnt;
        else{
            errcnt = 0;
            if(mdata.millis == millis) continue;
            millis = mdata.millis;
            if(isX) curpos = mdata.motXposition.val;
            else curpos = mdata.motYposition.val;
        }
        double t = sl_dtime();
        if(t - t0 > 1.){
            t0 = t;
            printf("\t\tCurrent MOT X/Y: %g / %g deg\n", RAD2DEG(mdata.motXposition.val),
                    RAD2DEG(mdata.motYposition.val));
        }
    }while(fabs(curpos - tag) > XYcount && errcnt < 10);
    if(errcnt >= 10){
        WARNX("Too much errors");
        return FALSE;
    }
    green("%s reached position %g degrees\n", (isX) ? "X" : "Y", RAD2DEG(tag));
    fflush(stdout);
    return TRUE;
 }
 // previous GOTO coords/speeds for `mkcorr`
 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(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);
    cmd.Xmot = DEG2RAD(target->X); cmd.Ymot = DEG2RAD(target->Y);
    cmd.Xspeed = DEG2RAD(speed->X);
    cmd.Yspeed = DEG2RAD(speed->Y);
    lastTag = *target;
    lastSpeed = *speed;
    /*cmd.xychange = 1;
    cmd.XBits = 108;
    cmd.YBits = 28;*/
    return Mount.shortCmd(&cmd);
 }
 static mcc_errcodes_t return2zero(){
    short_command_t cmd = {0};
    DBG("Try to move to zero");
    cmd.Xmot = 0.; cmd.Ymot = 0.;
    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;*/
    return Mount.shortCmd(&cmd);
 }
 static mcc_errcodes_t mkcorr(coordpair_t *adder, coordpair_t *time){
    long_command_t cmd = {0};
    cmd.Xspeed = DEG2RAD(lastSpeed.X);
    cmd.Yspeed = DEG2RAD(lastSpeed.Y);
    cmd.Xmot = DEG2RAD(lastTag.X);
    cmd.Ymot = DEG2RAD(lastTag.Y);
    cmd.Xadder = DEG2RAD(adder->X); cmd.Yadder = DEG2RAD(adder->Y);
    cmd.Xatime = time->X; cmd.Yatime = time->Y;
    return Mount.longCmd(&cmd);
 }
 int main(int argc, char **argv){
    sl_init();
    sl_parseargs(&argc, &argv, cmdlnopts);
    if(G.help) sl_showhelp(-1, cmdlnopts);
    if(G.coordsoutput){
        if(!(fcoords = fopen(G.coordsoutput, "w")))
            ERRX("Can't open %s", G.coordsoutput);
    }else fcoords = stdout;
    conf_t *Config = readServoConf(G.conffile);
    if(!Config){
        dumpConf();
        return 1;
    }
    if(G.reqint > 0.) Config->MountReqInterval = G.reqint;
    if(MCC_E_OK != Mount.init(Config)){
        WARNX("Can't init devices");
        return 1;
    }
    //if(!getPos(&M, NULL)) ERRX("Can't get current position");
    signal(SIGTERM, signals); // kill (-15) - quit
    signal(SIGHUP, SIG_IGN);  // hup - ignore
    signal(SIGINT, signals);  // ctrl+C - quit
    signal(SIGQUIT, signals); // ctrl+\ - quit
    signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
    // move to X=40 degr with different speeds
    pthread_t dthr;
    logmnt(fcoords, NULL);
    if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
    // move to 10/10
    coordpair_t coords, speeds, adders, tadd;
    coords = (coordpair_t){.X = 10., .Y = 20.};
    speeds = (coordpair_t){.X = 1., .Y = 2.};
    adders = (coordpair_t){.X = 0.01, .Y = 0.01};
    tadd = (coordpair_t){.X = 1., .Y = 2.};
    green("Goto\n");
    if(MCC_E_OK != gotos(&coords, &speeds)) ERRX("Can't go");
    DBG("c/s: %g %g %g %g", coords.X, coords.Y, speeds.X, speeds.Y);
    green("Waiting X==4\n");
    Wait(4., 1);
    // now we are at point by Y but still moving by X; make small correction by X/Y into '+'
    green("Mkcorr 1\n");
    if(MCC_E_OK != mkcorr(&adders, &tadd)) ERRX("Can't make corr");
    green("Waiting X==6\n");
    Wait(6., 1);
    green("Goto more\n");
    coords = (coordpair_t){.X = 20., .Y = 30.};
    if(MCC_E_OK != gotos(&coords, &speeds)) ERRX("Can't go");
    DBG("c/s: %g %g %g %g", coords.X, coords.Y, speeds.X, speeds.Y);
    green("Waiting Y==14\n");
    Wait(14., 0);
    // now we are @ point, make the same small correction again
    green("Mkcorr 2\n");
    if(MCC_E_OK != mkcorr(&coords, &speeds)) ERRX("Can't make corr");
    // wait for 5 seconds
    green("Wait for 5 seconds\n");
    sleep(5);
    // return to zero and wait
    green("Return 2 zero and wait\n");
    if(MCC_E_OK != return2zero()) ERRX("Can't return");
    Wait(0., 0);
    Wait(0., 1);
    // wait moving ends
    pthread_join(dthr, NULL);
    signals(0);
    return 0;
 }
--- a/LibSidServo/examples/dumpmoving_scmd.c
+++ b/LibSidServo/examples/dumpmoving_scmd.c
@@ -49,7 +49,7 @@ static parameters G = {
 static FILE *fcoords = NULL;
-static coords_t M;
+static coordval_pair_t M;
 static sl_option_t cmdlnopts[] = {
    {"help",        NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),      "show this help"},
@@ -57,7 +57,7 @@ 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)"},
    {"axis",        NEED_ARG,   NULL,   'a',    arg_string, APTR(&G.axis),      "axis to move (X, Y or B for both)"},
-    {"conffile",    NEED_ARG,   NULL,   'C',    arg_int,    APTR(&G.conffile),  "configuration file name"},
+    {"conffile",    NEED_ARG,   NULL,   'C',    arg_string, APTR(&G.conffile),  "configuration file name"},
    {"relative",    NO_ARGS,    NULL,   'r',    arg_int,    APTR(&G.relative),  "relative move"},
    end_option
 };
@@ -77,8 +77,8 @@ static void *dumping(void _U_ *u){
    return NULL;
 }
-// return TRUE if motor position is reached +- 0.1 degrees
+// return TRUE if motor position is reached +- 0.01 degrees
-#define XYcount (DEG2RAD(0.1))
+#define XYcount (DEG2RAD(0.01))
 static int Wait(double tag){
    mountdata_t mdata;
    red("Wait for %g degrees\n", RAD2DEG(tag));
@@ -92,8 +92,8 @@ static int Wait(double tag){
            errcnt = 0;
            if(mdata.millis == millis) continue;
            millis = mdata.millis;
-            if(*G.axis == 'X') curpos = mdata.motposition.X;
+            if(*G.axis == 'X') curpos = mdata.motXposition.val;
-            else curpos = mdata.motposition.Y;
+            else curpos = mdata.motYposition.val;
            if(sign == 0.) sign = (curpos > tag) ? 1. : -1.;
            //printf("%s=%g deg, need %g deg; delta=%g arcmin\n", G.axis, RAD2DEG(curpos),
            //       RAD2DEG(tag), RAD2DEG(sign*(curpos - tag))*60.);
@@ -104,27 +104,26 @@ static int Wait(double tag){
        return FALSE;
    }
    green("%s reached position %g degrees\n", G.axis, RAD2DEG(tag));
    fflush(stdout);
    return TRUE;
 }
 // move X/Y to 40 degr with given speed until given coord
 static void move(double target, double limit, double speed){
 #define SCMD()   do{if(MCC_E_OK != Mount.shortCmd(&cmd)) ERRX("Can't run command"); }while(0)
    green("Move %s to %g until %g with %gdeg/s\n", G.axis, target, limit, speed);
    short_command_t cmd = {0};
    if(*G.axis == 'X' || *G.axis == 'B'){
-        cmd.Xmot = DEG2RAD(target) + M.X;
+        cmd.Xmot = DEG2RAD(target) + M.X.val;
        cmd.Xspeed = DEG2RAD(speed);
-        limit = DEG2RAD(limit) + M.X;
+        limit = DEG2RAD(limit) + M.X.val;
    }
    if(*G.axis == 'Y' || *G.axis == 'B'){
-        cmd.Ymot = DEG2RAD(target) + M.Y;
+        cmd.Ymot = DEG2RAD(target) + M.Y.val;
        cmd.Yspeed = DEG2RAD(speed);
-        limit = DEG2RAD(limit) + M.Y;
+        if(*G.axis != 'B') limit = DEG2RAD(limit) + M.Y.val;
    }
-    SCMD();
+    if(MCC_E_OK != Mount.shortCmd(&cmd)) ERRX("Can't run command");
    if(!Wait(limit)) signals(9);
 #undef SCMD
 }
@@ -160,21 +159,19 @@ int main(int argc, char **argv){
    pthread_t dthr;
    logmnt(fcoords, NULL);
    if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
-    // goto 1 degr with 1'/s
+    // goto 30' with 5'/s
-    move(10., 1., 1./60.);
+    move(10., 30./60., 5./60.);
-    // goto 2 degr with 2'/s
+    // goto 1' with 10'/s
-    move(10., 2., 2./60.);
+    move(10., 1., 10./60.);
-    // goto 3 degr with 5'/s
+    // goto 3degr with 15'/s
-    move(10., 3., 5./60.);
+    move(10., 3., 15./60.);
-    // goto 4 degr with 10'/s
+    // and go back with 7deg/s
-    move(10., 4., 10./60.);
+    move(0., 0., 7.);
-    // and go back with 5deg/s
+    // be sure to move @ starting position
-    move(0., 0., 5.);
+    coordpair_t tag = {.X = M.X.val, .Y = M.Y.val};
-    // be sure to move @ 0,0
+    Mount.moveTo(&tag);
    Mount.moveTo(&M.X, &M.Y);
    // wait moving ends
    pthread_join(dthr, NULL);
 #undef SCMD
    signals(0);
    return 0;
 }
--- 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(sl_dtime() >= 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.motposition.X != xlast || mdata.motposition.Y != ylast){
+        if(mdata.motXposition.val != xlast || mdata.motYposition.val != ylast){
-            DBG("NEQ: old=%g, now=%g", RAD2DEG(ylast), RAD2DEG(mdata.motposition.Y));
+            //DBG("NEQ: old=%g, now=%g", RAD2DEG(ylast), RAD2DEG(mdata.motYposition.val));
-            xlast = mdata.motposition.X;
+            xlast = mdata.motXposition.val;
-            ylast = mdata.motposition.Y;
+            ylast = mdata.motYposition.val;
            ctr = 0;
        }else{
-            DBG("EQ: old=%g, now=%g", RAD2DEG(ylast), RAD2DEG(mdata.motposition.Y));
+            //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();
@@ -145,25 +158,30 @@ int main(int argc, char **argv){
    }else{
        tagX = 0.; tagY = DEG2RAD(G.amplitude);
    }
-    double t = sl_dtime(), t0 = t;
+    double t = Mount.timeFromStart(), t0 = t;
-    double divide = 2., rtagX = -tagX, rtagY = -tagY;
+    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(&tagX, &tagY);
+        Mount.moveTo(&tag);
-        DBG("CMD: %g", sl_dtime()-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", sl_dtime()-t0);
+        DBG("CMD: %g", Mount.timeFromStart()-t0);
-        Mount.moveTo(&rtagX, &rtagY);
+        Mount.moveTo(&rtag);
        t += G.period;
        waithalf(t);
        DBG("Moved to -, t=%g", t-t0);
-        DBG("CMD: %g", sl_dtime()-t0);
+        DBG("CMD: %g", Mount.timeFromStart()-t0);
    }
-    double zero = 0.;
+    green("Move to zero @ %g\n", Mount.timeFromStart());
    tag = (coordpair_t){0};
    // be sure to move @ 0,0
-    Mount.moveTo(&zero, &zero);
+    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
@@ -40,7 +40,7 @@ typedef struct{
 } parameters;
 static parameters G = {
-    .Ncycles = 40,
+    .Ncycles = 10,
    .X = NAN,
    .Y = NAN,
 };
@@ -53,7 +53,7 @@ static sl_option_t cmdlnopts[] = {
    {"output",      NEED_ARG,   NULL,   'o',    arg_string, APTR(&G.coordsoutput),"file to log coordinates"},
    {"wait",        NO_ARGS,    NULL,   'w',    arg_int,    APTR(&G.wait),      "wait until mowing stopped"},
    {"relative",    NO_ARGS,    NULL,   'r',    arg_int,    APTR(&G.relative),  "relative move"},
-    {"conffile",    NEED_ARG,   NULL,   'C',    arg_int,    APTR(&G.conffile),  "configuration file name"},
+    {"conffile",    NEED_ARG,   NULL,   'C',    arg_string, APTR(&G.conffile),  "configuration file name"},
    end_option
 };
@@ -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);
 }
@@ -88,46 +89,56 @@ int main(int _U_ argc, char _U_ **argv){
        return 1;
    }
    if(MCC_E_OK != Mount.init(Config)) ERRX("Can't init mount");
-    coords_t M;
+    coordval_pair_t M, E;
-    if(!getPos(&M, NULL)) ERRX("Can't get current position");
+    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);
        if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
    }
-    printf("Mount position: X=%g, Y=%g\n", RAD2DEG(M.X), RAD2DEG(M.Y));
+    M.X.val = RAD2DEG(M.X.val);
    M.Y.val = RAD2DEG(M.Y.val);
    printf("Mount position: X=%g, Y=%g; encoders: X=%g, Y=%g\n", M.X.val, M.Y.val,
           RAD2DEG(E.X.val), RAD2DEG(E.Y.val));
    if(isnan(G.X) && isnan(G.Y)) goto out;
-    double *xtag = NULL, *ytag = NULL, xr, yr;
+    coordpair_t tag;
-    if(!isnan(G.X)){
+    if(isnan(G.X)){
-        xr = DEG2RAD(G.X);
+        if(G.relative) G.X = 0.;
-        if(G.relative) xr += M.X;
+        else G.X = M.X.val;
        xtag = &xr;
    }
-    if(!isnan(G.Y)){
+    if(isnan(G.Y)){
-        yr = DEG2RAD(G.Y);
+        if(G.relative) G.Y = 0.;
-        if(G.relative) yr += M.Y;
+        else G.Y = M.Y.val;
-        ytag = &yr;
+    }
    if(G.relative){
        G.X += M.X.val;
        G.Y += M.Y.val;
    }
    printf("Moving to X=%gdeg, Y=%gdeg\n", G.X, G.Y);
    tag.X = DEG2RAD(G.X); tag.Y = DEG2RAD(G.Y);
    mcc_errcodes_t e = Mount.moveTo(&tag);
    if(MCC_E_OK != e){
        WARNX("Cant go to given coordinates: %s\n", EcodeStr(e));
        goto out;
    }
    printf("Moving to ");
    if(xtag) printf("X=%gdeg ", G.X);
    if(ytag) printf("Y=%gdeg", G.Y);
    printf("\n");
    Mount.moveTo(xtag, ytag);
    if(G.wait){
        sleep(1);
        waitmoving(G.Ncycles);
        if(!getPos(&M, NULL)) WARNX("Can't get current position");
-        else printf("New mount position: X=%g, Y=%g\n", RAD2DEG(M.X), RAD2DEG(M.Y));
+        else printf("New mount position: X=%g, Y=%g\n", RAD2DEG(M.X.val), RAD2DEG(M.Y.val));
    }
 out:
    DBG("JOIN");
    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), RAD2DEG(M.Y));
+        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_int,    APTR(&G.conffile),  "configuration file name"},
+    {"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);
@@ -89,22 +95,40 @@ static void *dumping(void _U_ *u){
 // calculate
 static void runtraectory(traectory_fn tfn){
    if(!tfn) return;
-    coords_t telXY, traectXY;
+    coordval_pair_t telXY;
-    double t0 = sl_dtime();
+    coordval_pair_t target;
-    uint32_t susec_last = 0;
+    coordpair_t traectXY;
    double tlast = 0., tstart = Mount.timeFromStart();
    long tlastXnsec = 0, tlastYnsec = 0;
    struct timespec tcur, t0 = {0};
    dumpt0(&t0);
    while(1){
        if(!telpos(&telXY)){
            WARNX("No next telescope position");
            return;
        }
-        if(telXY.msrtime.tv_usec == susec_last) continue; // last measure - don't mind
+        if(!Mount.currentT(&tcur)) continue;
-        susec_last = telXY.msrtime.tv_usec;
+        if(telXY.X.t.tv_nsec == tlastXnsec && telXY.Y.t.tv_nsec == tlastYnsec) continue; // last measure - don't mind
-        double t = sl_dtime();
+        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 > G.Xmax || telXY.Y > 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), RAD2ASEC(traectXY.Y-telXY.Y));
+        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){
@@ -117,12 +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;
    }
@@ -133,7 +163,7 @@ int main(int argc, char **argv){
        print_tr_names();
        return 1;
    }
-    coords_t c = {.X = DEG2RAD(G.X0), .Y = DEG2RAD(G.Y0)};
+    coordpair_t c = {.X = DEG2RAD(G.X0), .Y = DEG2RAD(G.Y0)};
    if(!init_traectory(tfn, &c)){
        ERRX("Can't init traectory");
        return 1;
--- a/LibSidServo/examples/servo.conf
+++ b/LibSidServo/examples/servo.conf
@@ -0,0 +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
 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
@@ -28,12 +28,8 @@
 static traectory_fn cur_traectory = NULL;
 // starting point of traectory
-static coords_t XYstart = {0};
+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 coords_t XYcor = {0};
 /**
 * @brief init_traectory - init traectory fn, sync starting positions of motor & encoders
@@ -41,20 +37,17 @@ static coords_t XYcor = {0};
 * @param XY0 - starting point
 * @return FALSE if failed
 */
-int init_traectory(traectory_fn f, coords_t *XY0){
+int init_traectory(traectory_fn f, coordpair_t *XY0){
    if(!f || !XY0) return FALSE;
    cur_traectory = f;
    XYstart = *XY0;
-    tstart = sl_dtime();
+    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 = mdata.motposition.X - mdata.encposition.X;
    XYcor.Y = mdata.motposition.X + mdata.encposition.Y;
    DBG("STARTING POINTS: x=%g, y=%g degrees", DEG2RAD(XYcor.X), DEG2RAD(XYcor.Y));
    return TRUE;
 }
@@ -64,12 +57,10 @@ int init_traectory(traectory_fn f, coords_t *XY0){
 * @param t - UNIX-time of event
 * @return FALSE if something wrong (e.g. X not in -90..90 or Y not in -180..180)
 */
-int traectory_point(coords_t *nextpt, double t){
+int traectory_point(coordpair_t *nextpt, double t){
    if(t < 0. || !cur_traectory) return FALSE;
-    coords_t pt;
+    coordpair_t pt;
    if(!cur_traectory(&pt, t)) return FALSE;
    pt.msrtime.tv_sec = floor(t);
    pt.msrtime.tv_usec = (uint32_t) t - pt.msrtime.tv_sec;
    if(nextpt) *nextpt = pt;
    if(pt.X < -M_PI_2 || pt.X > M_PI_2 || pt.Y < -M_PI || pt.Y > M_PI) return FALSE;
    return TRUE;
@@ -77,35 +68,37 @@ int traectory_point(coords_t *nextpt, double t){
 // current telescope position according to starting motor coordinates
 // @return FALSE if failed to get current coordinates
-int telpos(coords_t *curpos){
+int telpos(coordval_pair_t *curpos){
    mountdata_t mdata;
    int ntries = 0;
    for(; ntries < 10; ++ntries){
        if(MCC_E_OK == Mount.getMountData(&mdata)) break;
    }
    if(ntries == 10) return FALSE;
-    coords_t pt;
+    coordval_pair_t pt;
-    pt.X = XYcor.X + mdata.encposition.X;
+    //DBG("\n\nTELPOS: %g'/%g' measured @ %.6f", RAD2AMIN(mdata.encXposition.val), RAD2AMIN(mdata.encYposition.val), mdata.encXposition.t);
-    pt.Y = XYcor.Y + mdata.encposition.Y;
+    pt.X.val = mdata.encXposition.val;
-    pt.msrtime = mdata.encposition.msrtime;
+    pt.Y.val = mdata.encYposition.val;
    pt.X.t = mdata.encXposition.t;
    pt.Y.t = mdata.encYposition.t;
    if(curpos) *curpos = pt;
    return TRUE;
 }
 // X=X0+1'/s, Y=Y0+15''/s
-int Linear(coords_t *nextpt, double t){
+int Linear(coordpair_t *nextpt, double t){
-    coords_t pt;
+    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;
 }
 // X=X0+5'*sin(t/30*2pi), Y=Y0+10'*cos(t/200*2pi)
-int SinCos(coords_t *nextpt, double t){
+int SinCos(coordpair_t *nextpt, double t){
-    coords_t pt;
+    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;
 }
@@ -117,8 +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/examples/traectories.h
+++ b/LibSidServo/examples/traectories.h
@@ -21,12 +21,12 @@
 #include "sidservo.h"
 // traectory
-typedef int (*traectory_fn)(coords_t *, double);
+typedef int (*traectory_fn)(coordpair_t *, double);
-int init_traectory(traectory_fn f, coords_t *XY0);
+int init_traectory(traectory_fn f, coordpair_t *XY0);
 traectory_fn traectory_by_name(const char *name);
 void print_tr_names();
-int traectory_point(coords_t *nextpt, double t);
+int traectory_point(coordpair_t *nextpt, double t);
-int telpos(coords_t *curpos);
+int telpos(coordval_pair_t *curpos);
-int Linear(coords_t *nextpt, double t);
+int Linear(coordpair_t *nextpt, double t);
-int SinCos(coords_t *nextpt, double t);
+int SinCos(coordpair_t *nextpt, double t);
--- 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
+#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 15.0.1, 2025-02-25T23:31:43. -->
+<!-- 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>
@@ -13,8 +13,8 @@
 <data>
  <variable>ProjectExplorer.Project.EditorSettings</variable>
  <valuemap type="QVariantMap">
   <value type="bool" key="EditorConfiguration.AutoDetect">true</value>
   <value type="bool" key="EditorConfiguration.AutoIndent">true</value>
   <value type="bool" key="EditorConfiguration.AutoSpacesForTabs">false</value>
   <value type="bool" key="EditorConfiguration.CamelCaseNavigation">true</value>
   <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
    <value type="QString" key="language">Cpp</value>
@@ -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>
@@ -75,33 +75,33 @@
   <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>
  <variable>ProjectExplorer.Project.Target.0</variable>
  <valuemap type="QVariantMap">
   <value type="QString" key="DeviceType">Desktop</value>
   <value type="bool" key="HasPerBcDcs">true</value>
   <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
   <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
-   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{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">
@@ -135,6 +135,41 @@
    <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">По умолчанию</value>
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericBuildConfiguration</value>
    <value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
    <value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
    <valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
      <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Deploy</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
     </valuemap>
     <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
     <valuemap type="QVariantMap" key="ProjectExplorer.DeployConfiguration.CustomData"/>
     <value type="bool" key="ProjectExplorer.DeployConfiguration.CustomDataEnabled">false</value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
    </valuemap>
    <value type="qlonglong" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
    <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
     <value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
     <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
     <value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
     <value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
     <value type="QList&lt;int&gt;" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
     <valuelist type="QVariantList" key="CustomOutputParsers"/>
     <value type="int" key="PE.EnvironmentAspect.Base">2</value>
     <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
     <value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
     <value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
     <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
     <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
     <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
     <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
     <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
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    <value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
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   <value type="qlonglong" key="ProjectExplorer.Target.BuildConfigurationCount">1</value>
   <valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
@@ -153,7 +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"/>
@@ -163,6 +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>
@@ -173,10 +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
@@ -1,10 +1,13 @@
 CMakeLists.txt
-dbg.h
+PID.c
 PID.h
 examples/SSIIconf.c
 examples/conf.c
 examples/conf.h
 examples/dump.c
 examples/dump.h
 examples/dumpmoving.c
 examples/dumpmoving_dragNtrack.c
 examples/dumpmoving_scmd.c
 examples/dumpswing.c
 examples/goto.c
@@ -16,6 +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
@@ -16,26 +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
@@ -44,55 +189,90 @@ 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);
-        DBG("Define mount device path and speed");
+    Ymodel = model_init(&Ylimits);
        ret = MCC_E_BADFORMAT;
    }else if(!openMount(Conf.MountDevPath, Conf.MountDevSpeed)){
        DBG("Can't open %s with speed %d", Conf.MountDevPath, Conf.MountDevSpeed);
        ret = MCC_E_MOUNTDEV;
    }
    if(Conf.SepEncoder){
        if(!Conf.EncoderDevPath || Conf.EncoderDevSpeed < 1200){
            DBG("Define encoder device path and speed");
            ret = MCC_E_BADFORMAT;
        }else if(!openEncoder(Conf.EncoderDevPath, Conf.EncoderDevSpeed)){
            DBG("Can't open %s with speed %d", Conf.EncoderDevPath, Conf.EncoderDevSpeed);
            ret = MCC_E_ENCODERDEV;
        }
    }
    if(Conf.MountReqInterval > 1. || Conf.MountReqInterval < 0.05){
        DBG("Bad value of MountReqInterval");
        ret = MCC_E_BADFORMAT;
    }
-    uint8_t buf[1024];
+    if(Conf.RunModel){
-    data_t d = {.buf = buf, .len = 0, .maxlen = 1024};
+        if(!Xmodel || !Ymodel || !openMount()) return MCC_E_FAILED;
-    // read input data as there may be some trash on start
+        return MCC_E_OK;
-    if(!SSrawcmd(CMD_EXITACM, &d)) ret = MCC_E_FAILED;
+    }
-    if(ret != MCC_E_OK) quit();
+    if(!Conf.MountDevPath || Conf.MountDevSpeed < MOUNT_BAUDRATE_MIN){
-    return ret;
+        DBG("Define mount device path and speed");
        ret = MCC_E_BADFORMAT;
    }else if(!openMount()){
        DBG("Can't open %s with speed %d", Conf.MountDevPath, Conf.MountDevSpeed);
        ret = MCC_E_MOUNTDEV;
    }
    if(Conf.SepEncoder){
        if(!Conf.EncoderDevPath && !Conf.EncoderXDevPath){
            DBG("Define encoder device path");
            ret = MCC_E_BADFORMAT;
        }else if(!openEncoder()){
            DBG("Can't open encoder device");
            ret = MCC_E_ENCODERDEV;
        }
    }
    // TODO: read hardware configuration on init
    if(Conf.EncoderSpeedInterval < Conf.EncoderReqInterval * MCC_CONF_MIN_SPEEDC || Conf.EncoderSpeedInterval > MCC_CONF_MAX_SPEEDINT){
        DBG("Wrong speed interval");
        ret = MCC_E_BADFORMAT;
    }
    if(!SSrawcmd(CMD_EXITACM, NULL)) ret = MCC_E_FAILED;
    if(ret != MCC_E_OK) return ret;
    // read HW config to update constants
    hardware_configuration_t HW;
    if(MCC_E_OK != get_hwconf(&HW)) return MCC_E_FAILED;
    // make a pause for actual encoder's values
    double t0 = timefromstart();
    while(timefromstart() - t0 < Conf.EncoderReqInterval) usleep(1000);
    mcc_errcodes_t e = updateMotorPos();
    // and refresh data after updating
    DBG("Wait for next mount reading");
    t0 = timefromstart();
    while(timefromstart() - t0 < Conf.MountReqInterval * 3.) usleep(1000);
    return e;
 }
-// check coordinates and speeds; return FALSE if failed
+// 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 > X_SPEED_MAX) return FALSE;
+    if(s < Xlimits.min.speed || s > Xlimits.max.speed) return FALSE;
    return TRUE;
 }
 static int chkYs(double s){
-    if(s < 0. || s > Y_SPEED_MAX) return FALSE;
+    if(s < Ylimits.min.speed || s > Ylimits.max.speed) return FALSE;
    return TRUE;
 }
 // set SLEWING state if axis was stopped
 static void setslewingstate(){
    //FNAME();
    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
@@ -100,41 +280,36 @@ static int chkYs(double s){
 * @param Y - new Y coordinate (radians: -pi..pi) or NULL
 * @return error code
 */
-static mcc_errcodes_t move2(const double *X, const double *Y){
+static mcc_errcodes_t move2(const coordpair_t *target){
-    if(!X && !Y) return MCC_E_BADFORMAT;
+    if(!target) return MCC_E_BADFORMAT;
-    if(X){
+    if(!chkX(target->X) || !chkY(target->Y)) return MCC_E_BADFORMAT;
-        if(!chkX(*X)) return MCC_E_BADFORMAT;
+    if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
-        int32_t tag = X_RAD2MOT(*X);
+    short_command_t cmd = {0};
-        DBG("X: %g, tag: %d", *X, tag);
+    DBG("x,y: %g, %g", target->X, target->Y);
-        if(!SSsetterI(CMD_MOTX, tag)) return MCC_E_FAILED;
+    cmd.Xmot = target->X;
-    }
+    cmd.Ymot = target->Y;
-    if(Y){
+    cmd.Xspeed = Xlimits.max.speed;
-        if(!chkY(*Y)) return MCC_E_BADFORMAT;
+    cmd.Yspeed = Ylimits.max.speed;
-        int32_t tag = Y_RAD2MOT(*Y);
+    /*mcc_errcodes_t r = shortcmd(&cmd);
-        DBG("Y: %g, tag: %d", *Y, tag);
+    if(r != MCC_E_OK) return r;
-        if(!SSsetterI(CMD_MOTY, tag)) return MCC_E_FAILED;
+    setslewingstate();
-    }
+    return MCC_E_OK;*/
-    return MCC_E_OK;
+    return shortcmd(&cmd);
 }
 /**
- * @brief setspeed - set maximal speed over axis
+ * @brief setspeed - set maximal speed over axis by text command
 * @param X (i) - max speed or NULL
 * @param Y (i) - -//-
 * @return errcode
 */
-static mcc_errcodes_t setspeed(const double *X, const double *Y){
+static mcc_errcodes_t setspeed(const coordpair_t *tagspeed){
-    if(!X && !Y) return MCC_E_BADFORMAT;
+    if(!tagspeed || !chkXs(tagspeed->X) || !chkYs(tagspeed->Y)) return MCC_E_BADFORMAT;
-    if(X){
+    if(Conf.RunModel) return MCC_E_FAILED;
-        if(!chkXs(*X)) return MCC_E_BADFORMAT;
+    int32_t spd = X_RS2MOTSPD(tagspeed->X);
-        int32_t spd = X_RS2MOTSPD(*X);
+    if(!SSsetterI(CMD_SPEEDX, spd)) return MCC_E_FAILED;
-        if(!SSsetterI(CMD_SPEEDX, spd)) return MCC_E_FAILED;
+    spd = Y_RS2MOTSPD(tagspeed->Y);
-    }
+    if(!SSsetterI(CMD_SPEEDY, spd)) return MCC_E_FAILED;
    if(Y){
        if(!chkYs(*Y)) return MCC_E_BADFORMAT;
        int32_t spd = Y_RS2MOTSPD(*Y);
        if(!SSsetterI(CMD_SPEEDY, spd)) return MCC_E_FAILED;
    }
    return MCC_E_OK;
 }
@@ -144,19 +319,20 @@ static mcc_errcodes_t setspeed(const double *X, const double *Y){
 * @param speed (i) - speed or NULL
 * @return
 */
-static mcc_errcodes_t move2s(const coords_t *target, const coords_t *speed){
+static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed){
-    if(!target && !speed) return MCC_E_BADFORMAT;
+    if(!target || !speed) return MCC_E_BADFORMAT;
-    if(!target) return setspeed(&speed->X, &speed->Y);
+    if(!chkX(target->X) || !chkY(target->Y)) return MCC_E_BADFORMAT;
-    if(!speed) return move2(&target->X, &target->Y);
+    if(!chkXs(speed->X) || !chkYs(speed->Y)) return MCC_E_BADFORMAT;
-    if(!chkX(target->X) || !chkY(target->Y) || !chkXs(speed->X) || !chkYs(speed->Y))
+    // updateMotorPos() here can make a problem; TODO: remove?
-        return MCC_E_BADFORMAT;
+    if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
-    char buf[128];
+    short_command_t cmd = {0};
-    int32_t spd = X_RS2MOTSPD(speed->X), tag = X_RAD2MOT(target->X);
+    cmd.Xmot = target->X;
-    snprintf(buf, 127, "%s%" PRIi64 "%s%" PRIi64, CMD_MOTX, tag, CMD_MOTXYS, spd);
+    cmd.Ymot = target->Y;
-    if(!SStextcmd(buf, NULL)) return MCC_E_FAILED;
+    cmd.Xspeed = speed->X;
-    spd = Y_RS2MOTSPD(speed->Y); tag = Y_RAD2MOT(target->Y);
+    cmd.Yspeed = speed->Y;
-    snprintf(buf, 127, "%s%" PRIi64 "%s%" PRIi64, CMD_MOTY, tag, CMD_MOTXYS, spd);
+    mcc_errcodes_t r = shortcmd(&cmd);
-    if(!SStextcmd(buf, NULL)) return MCC_E_FAILED;
+    if(r != MCC_E_OK) return r;
    setslewingstate();
    return MCC_E_OK;
 }
@@ -165,11 +341,25 @@ static mcc_errcodes_t move2s(const coords_t *target, const coords_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;
 }
@@ -181,8 +371,18 @@ 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("xmot=%g, ymot=%g", cmd->Xmot, cmd->Ymot);
+    DBG("tag: xmot=%g rad, ymot=%g rad", cmd->Xmot, cmd->Ymot);
    s.Xmot = X_RAD2MOT(cmd->Xmot);
    s.Ymot = Y_RAD2MOT(cmd->Ymot);
    s.Xspeed = X_RS2MOTSPD(cmd->Xspeed);
@@ -192,23 +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;
-    cmd->Xmot = X_MOT2RAD(s.Xmot);
+    setslewingstate();
    cmd->Ymot = Y_MOT2RAD(s.Ymot);
    cmd->Xspeed = X_MOTSPD2RS(s.Xspeed);
    cmd->Yspeed = Y_MOTSPD2RS(s.Yspeed);
    cmd->xychange = s.xychange;
    cmd->XBits = s.XBits;
    cmd->YBits = s.YBits;
    return MCC_E_OK;
 }
 /**
- * @brief shortcmd - send and receive long binary command
+ * @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);
@@ -219,14 +423,175 @@ 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;
-    cmd->Xmot = X_MOT2RAD(l.Xmot);
+    setslewingstate();
-    cmd->Ymot = Y_MOT2RAD(l.Ymot);
+    return MCC_E_OK;
-    cmd->Xspeed = X_MOTSPD2RS(l.Xspeed);
+}
-    cmd->Yspeed = Y_MOTSPD2RS(l.Yspeed);
+
-    cmd->Xadder = X_MOTSPD2RS(l.Xadder);
+static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
-    cmd->Yadder = Y_MOTSPD2RS(l.Yadder);
+    if(!hwConfig) return MCC_E_BADFORMAT;
-    cmd->Xatime = ADDER2S(l.Xatime);
+    if(Conf.RunModel) return MCC_E_FAILED;
-    cmd->Yatime = ADDER2S(l.Yatime);
+    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);
    hwConfig->Yconf.accel = Y_MOTACC2RS(config.Yconf.accel);
    // Convert backlash (ticks to radians)
    hwConfig->Xconf.backlash = X_MOT2RAD(config.Xconf.backlash);
    hwConfig->Yconf.backlash = Y_MOT2RAD(config.Yconf.backlash);
    // Convert error limit (ticks to radians)
    hwConfig->Xconf.errlimit = X_MOT2RAD(config.Xconf.errlimit);
    hwConfig->Yconf.errlimit = Y_MOT2RAD(config.Yconf.errlimit);
    // Proportional, integral, and derivative gains are unitless, so no conversion needed
    hwConfig->Xconf.propgain = (double)config.Xconf.propgain;
    hwConfig->Yconf.propgain = (double)config.Yconf.propgain;
    hwConfig->Xconf.intgain = (double)config.Xconf.intgain;
    hwConfig->Yconf.intgain = (double)config.Yconf.intgain;
    hwConfig->Xconf.derivgain = (double)config.Xconf.derivgain;
    hwConfig->Yconf.derivgain = (double)config.Yconf.derivgain;
    // Output limit is a percentage (0-100)
    hwConfig->Xconf.outplimit = (double)config.Xconf.outplimit / 255.0 * 100.0;
    hwConfig->Yconf.outplimit = (double)config.Yconf.outplimit / 255.0 * 100.0;
    // Current limit in amps
    hwConfig->Xconf.currlimit = (double)config.Xconf.currlimit / 100.0;
    hwConfig->Yconf.currlimit = (double)config.Yconf.currlimit / 100.0;
    // Integral limit is unitless
    hwConfig->Xconf.intlimit = (double)config.Xconf.intlimit;
    hwConfig->Yconf.intlimit = (double)config.Yconf.intlimit;
    // Copy XBits and YBits (no conversion needed)
    hwConfig->xbits = config.xbits;
    hwConfig->ybits = config.ybits;
    // Copy address
    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;
    // Copy ticks per revolution
    hwConfig->Xsetpr = __bswap_32(config.Xsetpr);
    hwConfig->Ysetpr = __bswap_32(config.Ysetpr);
    hwConfig->Xmetpr = __bswap_32(config.Xmetpr); // as documentation said, real ticks are 4 times less
    hwConfig->Ymetpr = __bswap_32(config.Ymetpr);
    // Convert slew rates (ticks per loop to rad/s)
    hwConfig->Xslewrate = X_MOTSPD2RS(config.Xslewrate);
    hwConfig->Yslewrate = Y_MOTSPD2RS(config.Yslewrate);
    // Convert pan rates (ticks per loop to rad/s)
    hwConfig->Xpanrate = X_MOTSPD2RS(config.Xpanrate);
    hwConfig->Ypanrate = Y_MOTSPD2RS(config.Ypanrate);
    // Convert guide rates (ticks per loop to rad/s)
    hwConfig->Xguiderate = X_MOTSPD2RS(config.Xguiderate);
    hwConfig->Yguiderate = Y_MOTSPD2RS(config.Yguiderate);
    // copy baudrate
    hwConfig->baudrate = (uint32_t) config.baudrate;
    // Convert local search degrees (degrees * 100 to radians)
    hwConfig->locsdeg = (double)config.locsdeg / 100.0 * M_PI / 180.0;
    // Convert local search speed (arcsec per second to rad/s)
    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);
    // Convert backlash (radians to ticks)
    config.Xconf.backlash = X_RAD2MOT(hwConfig->Xconf.backlash);
    config.Yconf.backlash = Y_RAD2MOT(hwConfig->Yconf.backlash);
    // Convert error limit (radians to ticks)
    config.Xconf.errlimit = X_RAD2MOT(hwConfig->Xconf.errlimit);
    config.Yconf.errlimit = Y_RAD2MOT(hwConfig->Yconf.errlimit);
    // Proportional, integral, and derivative gains are unitless, so no conversion needed
    config.Xconf.propgain = (uint16_t)hwConfig->Xconf.propgain;
    config.Yconf.propgain = (uint16_t)hwConfig->Yconf.propgain;
    config.Xconf.intgain = (uint16_t)hwConfig->Xconf.intgain;
    config.Yconf.intgain = (uint16_t)hwConfig->Yconf.intgain;
    config.Xconf.derivgain = (uint16_t)hwConfig->Xconf.derivgain;
    config.Yconf.derivgain = (uint16_t)hwConfig->Yconf.derivgain;
    // Output limit is a percentage (0-100), so convert back to 0-255
    config.Xconf.outplimit = (uint8_t)(hwConfig->Xconf.outplimit / 100.0 * 255.0);
    config.Yconf.outplimit = (uint8_t)(hwConfig->Yconf.outplimit / 100.0 * 255.0);
    // Current limit is in amps (convert back to *100)
    config.Xconf.currlimit = (uint16_t)(hwConfig->Xconf.currlimit * 100.0);
    config.Yconf.currlimit = (uint16_t)(hwConfig->Yconf.currlimit * 100.0);
    // Integral limit is unitless, so no conversion needed
    config.Xconf.intlimit = (uint16_t)hwConfig->Xconf.intlimit;
    config.Yconf.intlimit = (uint16_t)hwConfig->Yconf.intlimit;
    // Copy XBits and YBits (no conversion needed)
    config.xbits = hwConfig->xbits;
    config.ybits = hwConfig->ybits;
    // Convert latitude (radians to degrees * 100)
    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);
    // Convert pan rates (rad/s to ticks per loop)
    config.Xpanrate = X_RS2MOTSPD(hwConfig->Xpanrate);
    config.Ypanrate = Y_RS2MOTSPD(hwConfig->Ypanrate);
    // Convert guide rates (rad/s to ticks per loop)
    config.Xguiderate = X_RS2MOTSPD(hwConfig->Xguiderate);
    config.Yguiderate = Y_RS2MOTSPD(hwConfig->Yguiderate);
    // Convert local search degrees (radians to degrees * 100)
    config.locsdeg = (uint32_t)(hwConfig->locsdeg * 180.0 / M_PI * 100.0);
    // Convert local search speed (rad/s to arcsec per second)
    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;
 }
@@ -242,4 +607,15 @@ mount_t Mount = {
    .stop = stop,
    .shortCmd = shortcmd,
    .longCmd = longcmd,
    .getHWconfig = get_hwconf,
    .saveHWconfig = write_hwconf,
    .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/movingfilter.c-
+++ b/LibSidServo/movingfilter.c-
@@ -0,0 +1,46 @@
 #include <math.h>
 #include <stdio.h>
 #include <stdlib.h>
 #define NFILT	(5)
 static double filterK[NFILT];
 static void buildFilter(){
 	filterK[NFILT-1] = 1.;
 	double sum = 1.;
 	for(int i = NFILT-2; i > -1; --i){
 		filterK[i] = (filterK[i+1] + 1.) * 1.1;
 		sum += filterK[i];
 	}
 	for(int i = 0; i < NFILT; ++i){
 		filterK[i] /= sum;
 		fprintf(stderr, "%d: %g\n", i, filterK[i]);
 	}
 }
 static double filter(double val){
 	static int ctr = 0;
 	static double lastvals[NFILT] = {0.};
 	for(int i = NFILT-1; i > 0; --i) lastvals[i] = lastvals[i-1];
 	lastvals[0] = val;
 	double r = 0.;
 	if(ctr < NFILT){
 		++ctr;
 		return val;
 	}
 	for(int i = 0; i < NFILT; ++i) r += filterK[i] * lastvals[i];
 	return r;
 }
 int main(int argc, char **argv){
 	buildFilter();
 	printf("Signal\tNoiced\tFiltered\n");
 	for(int i = 0; i < 100; ++i){
 		double di = (double)i;
 		double sig = di * di / 1e5 + sin(i * M_PI / 1500.);
 		double noiced = sig + 0.1 * (drand48() - 0.5);
 		printf("%.3f\t%.3f\t%.3f\n", sig, noiced, filter(noiced));
 	}
 	return 0;
 }
--- 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
@@ -20,31 +20,36 @@
 #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 = -1, mntfd = -1;
+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};
 // mutexes for RW operations with mount device and data
 static pthread_mutex_t  mntmutex = PTHREAD_MUTEX_INITIALIZER,
                        datamutex = 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
+// 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;
@@ -53,34 +58,41 @@ typedef struct __attribute__((packed)){
    uint8_t CRC[4];
 } enc_t;
-/**
+// calculate current X/Y speeds
- * @brief dtime - UNIX time with microsecond
+void getXspeed(){
- * @return value
+    static less_square_t *ls = NULL;
- */
+    if(!ls){
-double dtime(){
+        ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
-    double t;
+        if(!ls) return;
-    struct timeval tv;
+    }
-    gettimeofday(&tv, NULL);
+    double dt = timediff0(&mountdata.encXposition.t);
-    t = tv.tv_sec + ((double)tv.tv_usec)/1e6;
+    double speed = LS_calc_slope(ls, mountdata.encXposition.val, dt);
-    return t;
+    if(fabs(speed) < 1.5 * Xlimits.max.speed){
        mountdata.encXspeed.val = speed;
        mountdata.encXspeed.t = mountdata.encXposition.t;
    }
 }
 void getYspeed(){
    static less_square_t *ls = NULL;
    if(!ls){
        ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
        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;
    }
 }
 #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
 /**
- * @brief parse_encbuf - check encoder buffer (for separate encoder) and fill fresh data
+ * @brief parse_encbuf - check encoder buffer (for encoder data based on SSII proto) and fill fresh data
 * @param databuf - input buffer with 13 bytes of data
- * @param nexttime - time when databuf[0] got
+ * @param t - time when databuf[0] got
 */
-static void parse_encbuf(uint8_t databuf[ENC_DATALEN], struct timeval *tv){
+static void parse_encbuf(uint8_t databuf[ENC_DATALEN], struct timespec *t){
    if(!t) return;
    enc_t *edata = (enc_t*) databuf;
 /*
 #ifdef EBUG
@@ -115,31 +127,104 @@ static void parse_encbuf(uint8_t databuf[ENC_DATALEN], struct timeval *tv){
        return;
    }
    pthread_mutex_lock(&datamutex);
-    mountdata.encposition.X = X_ENC2RAD(edata->encX);
+    mountdata.encXposition.val = Xenc2rad(edata->encX);
-    mountdata.encposition.Y = Y_ENC2RAD(edata->encY);
+    mountdata.encYposition.val = Yenc2rad(edata->encY);
-    mountdata.encposition.msrtime = *tv;
+    DBG("Got positions X/Y= %.6g / %.6g", mountdata.encXposition.val, mountdata.encYposition.val);
    mountdata.encXposition.t = *t;
    mountdata.encYposition.t = *t;
    getXspeed(); getYspeed();
    pthread_mutex_unlock(&datamutex);
    //DBG("time = %zd+%zd/1e6, X=%g deg, Y=%g deg", tv->tv_sec, tv->tv_usec, mountdata.encposition.X*180./M_PI, mountdata.encposition.Y*180./M_PI);
 }
 #if 0
 /**
 * @brief getencval - get uint64_t data from encoder
 * @param fd - encoder fd
 * @param val - value read
 * @param t - measurement time
 * @return amount of data read or 0 if problem
 */
 static int getencval(int fd, double *val, struct timespec *t){
    if(fd < 0){
        DBG("Encoder fd < 0!");
        return FALSE;
    }
    char buf[128];
    int got = 0, Lmax = 127;
    double t0 = 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){
            //DBG("select()==0 - timeout, %.6g", timefromstart());
            break;
        }
        if(retval < 0){
            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){
                DBG("read() < 0");
                return 0; // disconnected ??
            }
            got += l; Lmax -= l;
            buf[got] = 0;
        } else continue;
        if(buf[got-1] == '\n') break; // got EOL as last symbol
    }while(Lmax && timefromstart() - t0 < Conf.EncoderReqInterval / 5.);
    if(got == 0){
        //DBG("No data from encoder, tfs=%.6g", timefromstart());
        return 0;
    }
    char *estr = strrchr(buf, '\n');
    if(!estr){
        DBG("No EOL");
        return 0;
    }
    *estr = 0;
    char *bgn = strrchr(buf, '\n');
    if(bgn) ++bgn;
    else bgn = buf;
    char *eptr;
    long data = strtol(bgn, &eptr, 10);
    if(eptr != estr){
        DBG("NAN");
        return 0; // wrong number
    }
    if(val) *val = (double) data;
    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) return -1;
+    if(encfd[0] < 0) return -1;
    uint8_t byte = 0;
    fd_set rfds;
    struct timeval tv;
    do{
        FD_ZERO(&rfds);
-        FD_SET(encfd, &rfds);
+        FD_SET(encfd[0], &rfds);
-        tv = encRtmout;
+        struct timeval tv = encRtmout;
-        int retval = select(encfd + 1, &rfds, NULL, NULL, &tv);
+        int retval = select(encfd[0] + 1, &rfds, NULL, NULL, &tv);
        if(!retval) break;
        if(retval < 0){
            if(errno == EINTR) continue;
            return -1;
        }
-        if(FD_ISSET(encfd, &rfds)){
+        if(FD_ISSET(encfd[0], &rfds)){
-            ssize_t l = read(encfd, &byte, 1);
+            ssize_t l = read(encfd[0], &byte, 1);
            if(l != 1) return -2; // disconnected ??
            break;
        } else return -1;
@@ -151,7 +236,6 @@ static int getmntbyte(){
    if(mntfd < 0) return -1;
    uint8_t byte;
    fd_set rfds;
    struct timeval tv;
   /* ssize_t l = read(mntfd, &byte, 1);
    //DBG("MNT read=%zd byte=0x%X", l, byte);
    if(l == 0) return -1;
@@ -160,7 +244,7 @@ static int getmntbyte(){
    do{
        FD_ZERO(&rfds);
        FD_SET(mntfd, &rfds);
-        tv = mntRtmout;
+        struct timeval tv = mntRtmout;
        int retval = select(mntfd + 1, &rfds, NULL, NULL, &tv);
        if(retval < 0){
            if(errno == EINTR) continue;
@@ -171,19 +255,44 @@ 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 *encoderthread(void _U_ *u){
+static void *encoderthread1(void _U_ *u){
    if(Conf.SepEncoder != 1) return NULL;
    uint8_t databuf[ENC_DATALEN];
    int wridx = 0, errctr = 0;
-    struct timeval tv;
+    struct timespec tcur;
-    while(encfd > -1 && errctr < MAX_ERR_CTR){
+    while(encfd[0] > -1 && errctr < MAX_ERR_CTR){
        int b = getencbyte();
        if(b == -2) ++errctr;
        if(b < 0) continue;
@@ -193,18 +302,160 @@ static void *encoderthread(void _U_ *u){
            if((uint8_t)b == ENC_MAGICK){
 //                DBG("Got magic -> start filling packet");
                databuf[wridx++] = (uint8_t) b;
                gettimeofday(&tv, NULL);
            }
            continue;
        }else databuf[wridx++] = (uint8_t) b;
        if(wridx == ENC_DATALEN){
-            parse_encbuf(databuf, &tv);
+            if(curtime(&tcur)){
-            wridx = 0;
+                parse_encbuf(databuf, &tcur);
                wridx = 0;
            }
        }
    }
-    if(encfd > -1){
+    if(encfd[0] > -1){
-        close(encfd);
+        close(encfd[0]);
-        encfd = -1;
+        encfd[0] = -1;
    }
    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;
    do{ // main cycle
        if(poll(pfds, 2, 0) < 0){
            DBG("poll()");
            break;
        }
        int got = 0;
        for(int i = 0; i < 2; ++i){
            if(pfds[i].revents && POLLIN){
                if(!readstrings(&strbuf[i], encfd[i])){
                    ++errctr;
                    break;
                }
            }
            double curt = timefromstart();
            if(getdata(&strbuf[i], &msrlast[i])) mtlast[i] = curt;
            if(curt - t0[i] >= Conf.EncoderReqInterval){ // get last records
                if(curt - mtlast[i] < 1.5*Conf.EncoderReqInterval){
                    pthread_mutex_lock(&datamutex);
                    if(i == 0){
                        mountdata.encXposition.val = Xenc2rad((double)msrlast[i]);
                        curtime(&mountdata.encXposition.t);
                        /*DBG("msrlast=%ld, Xpos.val=%g, t=%zd; XEzero=%d, SPR=%g",
                            msrlast[i], mountdata.encXposition.val, mountdata.encXposition.t.tv_sec,
                            X_ENC_ZERO, X_ENC_STEPSPERREV);*/
                        getXspeed();
                    }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;
            }
        }
        if(got == 2) errctr = 0;
    }while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR);
    DBG("\n\nEXIT: ERRCTR=%d", errctr);
    for(int i = 0; i < 2; ++i){
        if(encfd[i] > -1){
            close(encfd[i]);
            encfd[i] = -1;
        }
    }
    return NULL;
 }
@@ -225,26 +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
-        struct timeval tgot;
+        struct timespec tcur;
-        if(0 != gettimeofday(&tgot, NULL)) continue;
+        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);
@@ -260,13 +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:
@@ -282,8 +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
@@ -292,8 +602,12 @@ 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("Check speed");
+        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
    if(ioctl(fd, TIOCEXCL)){DBG("Can't make exclusive");}
@@ -301,27 +615,49 @@ static int ttyopen(const char *path, speed_t speed){
 }
 // return FALSE if failed
-int openEncoder(const char *path, int speed){
+int openEncoder(){
    if(Conf.RunModel) return TRUE;
    if(!Conf.SepEncoder) return FALSE; // try to open separate encoder when it's absent
-    if(encfd > -1) close(encfd);
+    if(Conf.SepEncoder == 1){ // only one device
-    encfd = ttyopen(path, (speed_t) speed);
+        DBG("One device");
-    if(encfd < 0) return FALSE;
+        if(encfd[0] > -1) close(encfd[0]);
-    encRtmout.tv_sec = 0;
+        encfd[0] = ttyopen(Conf.EncoderDevPath, (speed_t) Conf.EncoderDevSpeed);
-    encRtmout.tv_usec = 200000000 / speed; // 20 bytes
+        if(encfd[0] < 0) return FALSE;
-    if(pthread_create(&encthread, NULL, encoderthread, NULL)){
+        encRtmout.tv_sec = 0;
-        close(encfd);
+        encRtmout.tv_usec = 100000000 / Conf.EncoderDevSpeed; // 10 bytes
-        encfd = -1;
+        if(pthread_create(&encthread, NULL, encoderthread1, NULL)){
-        return FALSE;
+            close(encfd[0]);
-    }
+            encfd[0] = -1;
            return FALSE;
        }
    }else if(Conf.SepEncoder == 2){
        DBG("Two devices!");
        const char* paths[2] = {Conf.EncoderXDevPath, Conf.EncoderYDevPath};
        for(int i = 0; i < 2; ++i){
            if(encfd[i] > -1) close(encfd[i]);
            encfd[i] = ttyopen(paths[i], (speed_t) Conf.EncoderDevSpeed);
            if(encfd[i] < 0) return FALSE;
        }
        encRtmout.tv_sec = 0;
        encRtmout.tv_usec = 100000000 / Conf.EncoderDevSpeed;
        if(pthread_create(&encthread, NULL, encoderthread2, NULL)){
            for(int i = 0; i < 2; ++i){
                close(encfd[i]);
                encfd[i] = -1;
            }
            return FALSE;
        }
    }else return FALSE;
    DBG("Encoder opened, thread started");
    return TRUE;
 }
 // return FALSE if failed
-int openMount(const char *path, int speed){
+int openMount(){
    if(Conf.RunModel) goto create_thread;
    if(mntfd > -1) close(mntfd);
-    DBG("Open mount %s @ %d", path, speed);
+    DBG("Open mount %s @ %d", Conf.MountDevPath, Conf.MountDevSpeed);
-    mntfd = ttyopen(path, (speed_t) speed);
+    mntfd = ttyopen(Conf.MountDevPath, (speed_t) Conf.MountDevSpeed);
    if(mntfd < 0) return FALSE;
    DBG("mntfd=%d", mntfd);
    // clear buffer
@@ -334,11 +670,14 @@ int openMount(const char *path, int speed){
        DBG("got %zd", l);
    }while(1);*/
    mntRtmout.tv_sec = 0;
-    mntRtmout.tv_usec = 500000000 / speed; // 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");
@@ -347,19 +686,29 @@ int openMount(const char *path, int speed){
 // 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("close fd");
+        DBG("join mount thread");
        pthread_join(mntthread, NULL);
        DBG("close mount fd");
        close(mntfd);
        mntfd = -1;
    }
-    if(encfd > -1){
+    if(encfd[0] > -1){
-        DBG("Kill encoder thread");
+        DBG("Cancel encoder thread");
        pthread_cancel(encthread);
-        DBG("close fd");
+        DBG("join encoder thread");
-        close(encfd);
+        pthread_join(encthread, NULL);
-        encfd = -1;
+        DBG("close encoder's fd");
        close(encfd[0]);
        encfd[0] = -1;
        if(Conf.SepEncoder == 2 && encfd[1] > -1){
            close(encfd[1]);
            encfd[1] = -1;
        }
    }
 }
@@ -369,32 +718,45 @@ 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;
    }
    while(getmntbyte() > -1);
    return TRUE;
 }
@@ -405,6 +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);
@@ -412,6 +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);
@@ -435,42 +799,43 @@ 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;
-    ret = wr(&d, &d, 0);
+    ret = wr(&d, NULL, 0);
 #ifdef EBUG
    if(len == sizeof(SSscmd)) logscmd((SSscmd*)cmd);
    else loglcmd((SSlcmd*)cmd);
 #endif
    DBG("%s", ret ? "SUCCESS" : "FAIL");
 rtn:
    pthread_mutex_unlock(&mntmutex);
    return ret;
 }
 // short, long and config text-binary commands
 // return TRUE if OK
 int cmdS(SSscmd *cmd){
    return bincmd((uint8_t *)cmd, sizeof(SSscmd));
@@ -478,3 +843,42 @@ int cmdS(SSscmd *cmd){
 int cmdL(SSlcmd *cmd){
    return bincmd((uint8_t *)cmd, sizeof(SSlcmd));
 }
 // 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
    char ans[300];
    data_t a = {.buf = (uint8_t*)ans, .maxlen=299};
    if(!wcmd) wcmd = cmd2dat(CMD_PROGFLASH);
    if(!rcmd) rcmd = cmd2dat(CMD_DUMPFLASH);
    pthread_mutex_lock(&mntmutex);
    if(rw){ // write
        if(!wr(wcmd, &a, 1)) goto rtn;
    }else{ // read
        data_t d;
        d.buf = (uint8_t *) conf;
        d.len = 0; d.maxlen = 0;
        ret = wr(rcmd, &d, 1);
        DBG("write command: %s", ret ? "TRUE" : "FALSE");
        if(!ret) goto rtn;
        // make a huge pause for stupid SSII
        usleep(100000);
        d.len = 0;  d.maxlen = sizeof(SSconfig);
        ret = wr(rcmd, &d, 1);
        DBG("wr returned %s; got %zd bytes of %zd", ret ? "TRUE" : "FALSE", d.len, d.maxlen);
        if(d.len != d.maxlen){ 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);
            ret = FALSE;
            goto rtn;
        }
    }
 rtn:
    pthread_mutex_unlock(&mntmutex);
    return ret;
 }
--- a/LibSidServo/serial.h
+++ b/LibSidServo/serial.h
@@ -28,14 +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(const char *path, int speed);
+int openEncoder();
-int openMount(const char *path, int speed);
+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
@@ -27,6 +32,14 @@ extern "C"
 #include <stdint.h>
 #include <sys/time.h>
 // minimal serial speed of mount device
 #define MOUNT_BAUDRATE_MIN      (1200)
 // max speed interval, seconds
 #define MCC_CONF_MAX_SPEEDINT   (2.)
 // minimal speed interval in parts of EncoderReqInterval
 #define MCC_CONF_MIN_SPEEDC     (3.)
 // error codes
 typedef enum{
    MCC_E_OK = 0,       // all OK
@@ -35,22 +48,55 @@ 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
+    char*   MountDevPath;           // path to mount device
-    double  MountReqInterval;   // maximal interval between subsequent mount requests (seconds)
+    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  EncodersDisagreement;   // acceptable disagreement between motor and axis encoders
    double  MountReqInterval;       // interval between subsequent mount requests (seconds)
    double  EncoderReqInterval;     // interval between subsequent encoder requests (seconds)
    double  EncoderSpeedInterval;   // interval between speed calculations
    int     RunModel;               // == 1 if you want to use model instead of real mount
    double  PIDMaxDt;               // maximal PID refresh time interval (if larger all old data will be cleared)
    double  PIDRefreshDt;           // normal PID refresh interval
    double  PIDCycleDt;             // PID I cycle time (analog of "RC" for PID on opamps)
    PIDpar_t XPIDC;                 // gain parameters of PID for both axiss (C - coordinate driven, V - velocity driven)
    PIDpar_t XPIDV;
    PIDpar_t YPIDC;
    PIDpar_t YPIDV;
    double  MaxPointingErr;         // if angle < this, change state from "slewing" to "pointing" (coarse pointing): 8 degrees
    double  MaxFinePointingErr;     // if angle < this, chane state from "pointing" to "guiding" (fine poinging): 1.5 deg
    double  MaxGuidingErr;          // if error less than this value we suppose that target is captured and guiding is good (true guiding): 0.1''
    int     XEncZero;               // encoders' zero position
    int     YEncZero;
 } conf_t;
-// coordinates in degrees: X, Y and time when they were reached
+// coordinates/speeds in degrees or d/s: X, Y
 typedef struct{
-    double X; double Y; struct timeval msrtime;
+    double X; double Y;
-} coords_t;
+} coordpair_t;
 // coordinate/speed and time of last measurement
 typedef struct{
    double val;
    struct timespec t;
 } coordval_t;
 typedef struct{
    coordval_t X;
    coordval_t Y;
 } coordval_pair_t;
 // data to read/write
 typedef struct{
@@ -77,8 +123,8 @@ typedef struct{
    /* If 1, we are in computerless Slew and Track mode
       (no clutches; use handpad to slew; must be in Drag and Track mode too) */
    uint8_t slewtrack :1;
-    uint8_t digin_sens :1; // Digital input from radio handpad receiver, or RA PEC Sensor sync
+    uint8_t digin_sens :1;  // Digital input from radio handpad receiver, or RA PEC Sensor sync
-    uint8_t digin :3; // Digital input from radio handpad receiver
+    uint8_t digin :3;       // Digital input from radio handpad receiver
 } ybits_t;
 typedef struct{
@@ -89,25 +135,30 @@ typedef struct{
    uint16_t ain1;
 } extradata_t;
 typedef enum{
    AXIS_STOPPED,
    AXIS_SLEWING,
    AXIS_POINTING,
    AXIS_GUIDING,
    AXIS_ERROR,
 } axis_status_t;
 typedef struct{
-    coords_t motposition;
+    axis_status_t Xstate;
-    coords_t encposition;
+    axis_status_t Ystate;
-    coords_t lastmotposition;
+    coordval_t motXposition;
    coordval_t motYposition;
    coordval_t encXposition;
    coordval_t encYposition;
    coordval_t encXspeed; // once per <config> s
    coordval_t encYspeed;
    uint8_t keypad;
    extradata_t extradata;
    uint32_t millis;
    double temperature;
    double voltage;
    int32_t XmotRaw;
    int32_t YmotRaw;
    int32_t XencRaw;
    int32_t YencRaw;
 } mountdata_t;
 typedef struct{
    ;
 } mountstat_t;
 typedef struct{
    double Xmot;        // 0  X motor position (rad)
    double Xspeed;      // 4  X speed (rad/s)
@@ -129,23 +180,82 @@ typedef struct{
    double Yatime;      // 28
 } long_command_t; // long command
 // hardware axis configuration
 typedef struct{
    double accel;       // Default Acceleration, rad/s^2
    double backlash;    // Backlash (???)
    double errlimit;    // Error Limit, rad
    double propgain;    // Proportional Gain (???)
    double intgain;     // Integral Gain (???)
    double derivgain;   // Derivative Gain (???)
    double outplimit;   // Output Limit, percent (0..100)
    double currlimit;   // Current Limit (A)
    double intlimit;    // Integral Limit (???)
    // these params are taken from mount by text commands (don't save negative values - better save these marks in xybits
    double motor_stepsperrev;// encoder's steps per revolution: motor and axis
    double axis_stepsperrev; // negative sign of these values means reverse direction
 } __attribute__((packed)) axis_config_t;
 // hardware configuration
 typedef struct{
    axis_config_t Xconf;
    xbits_t xbits;
    axis_config_t Yconf;
    ybits_t ybits;
    uint8_t address;
    double eqrate;      // Equatorial Rate (???)
    double eqadj;       // Equatorial UpDown adjust (???)
    double trackgoal;   // Tracking Platform Goal (???)
    double latitude;    // Latitude, rad
    uint32_t Ysetpr;    // Azm Scope Encoder Ticks Per Rev
    uint32_t Xsetpr;    // Alt Scope Encoder Ticks Per Rev
    uint32_t Ymetpr;    // Azm Motor Ticks Per Rev
    uint32_t Xmetpr;    // Alt Motor Ticks Per Rev
    double Xslewrate;   // Alt/Dec Slew Rate (rad/s)
    double Yslewrate;   // Azm/RA Slew Rate (rad/s)
    double Xpanrate;    // Alt/Dec Pan Rate (rad/s)
    double Ypanrate;    // Azm/RA Pan Rate (rad/s)
    double Xguiderate;  // Alt/Dec Guide Rate (rad/s)
    double Yguiderate;  // Azm/RA Guide Rate (rad/s)
    uint32_t baudrate;  // Baud Rate (baud)
    double locsdeg;     // Local Search Degrees (rad)
    double locsspeed;   // Local Search Speed (rad/s)
    double backlspd;    // Backlash speed (rad/s)
 } hardware_configuration_t;
 /* flags for slew function
 typedef struct{
    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
-    mcc_errcodes_t  (*moveTo)(const double *X, const double *Y); // move to given position ans stop
+//    mcc_errcodes_t  (*slewTo)(const coordpair_t *target, slewflags_t flags);
-    mcc_errcodes_t  (*moveWspeed)(const coords_t *target, const  coords_t *speed); // move with given max speed
+    mcc_errcodes_t  (*correctTo)(const coordval_pair_t *target);
-    mcc_errcodes_t  (*setSpeed)(const double *X, const double *Y); // set speed
+    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
    mcc_errcodes_t  (*stop)(); // stop
    mcc_errcodes_t  (*emergStop)(); // emergency stop
    mcc_errcodes_t  (*shortCmd)(short_command_t *cmd); // send/get short command
    mcc_errcodes_t  (*longCmd)(long_command_t *cmd); // send/get long command
    mcc_errcodes_t  (*getHWconfig)(hardware_configuration_t *c); // get hardware configuration
    mcc_errcodes_t  (*saveHWconfig)(hardware_configuration_t *c); // save hardware configuration
    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++){
@@ -35,32 +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 status (i) - just read data
+ * @param s (i) - just read data
- * @param mountdata (o) - output
+ * @param m (o) - output
 * @param t - measurement time
 */
-void SSconvstat(const SSstat *s, mountdata_t *m, struct timeval *tdat){
+void SSconvstat(const SSstat *s, mountdata_t *m, struct timespec *t){
-    if(!s || !m || !tdat) return;
+    if(!s || !m || !t) return;
-/*
+    m->motXposition.val = X_MOT2RAD(s->Xmot);
-#ifdef EBUG
+    m->motYposition.val = Y_MOT2RAD(s->Ymot);
-    static double t0 = -1.;
+    ChkStopped(s, m);
-    if(t0 < 0.) t0 = dtime();
+    m->motXposition.t = m->motYposition.t = *t;
 #endif
    DBG("Convert, t=%g", dtime()-t0);
 */
    m->motposition.X = X_MOT2RAD(s->Xmot);
    m->motposition.Y = Y_MOT2RAD(s->Ymot);
    m->motposition.msrtime = *tdat;
    // fill encoder data from here, as there's no separate enc thread
    if(!Conf.SepEncoder){
-        m->encposition.X = X_ENC2RAD(s->Xenc);
+        m->encXposition.val = Xenc2rad(s->Xenc);
-        m->encposition.Y = Y_ENC2RAD(s->Yenc);
+        DBG("encx: %g", m->encXposition.val);
-        m->encposition.msrtime = *tdat;
+        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;
@@ -86,7 +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);
 }
@@ -99,7 +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);
 }
@@ -153,3 +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>
@@ -165,38 +169,78 @@
 // X,Y - motor, XZ,YZ - encoder, XC,YC - current*100, V - voltage*10, T - temp (F), XA,YA - mode (A[uto]/M[anual]), K - handpad status bits
 #define CMD_GETSTATTEXT "\r"
 // Loop freq
 #define SITECH_LOOP_FREQUENCY   (1953.)
 // amount of consequent same coordinates to detect stop
 #define MOTOR_STOPPED_CNT       (19)
-// steps per revolution
+// replace macros with global variables inited when config read
-#define X_MOT_STEPSPERREV   (3325952.)
+extern int X_ENC_ZERO, Y_ENC_ZERO;
-#define Y_MOT_STEPSPERREV   (4394960.)
+extern double X_MOT_STEPSPERREV, Y_MOT_STEPSPERREV, X_ENC_STEPSPERREV, Y_ENC_STEPSPERREV;
-// maximal speeds in rad/s: 10deg/s by X and 8deg/s by Y
+// TODO: take it from settings?
-#define X_SPEED_MAX         (0.17453)
+// steps per revolution (SSI - x4 - for SSI)
-#define Y_SPEED_MAX         (0.13963)
+// -> hwconf.Xconf.mot/enc_stepsperrev
-
+//#define X_MOT_STEPSPERREV_SSI   (13312000.)
-// motor position to radians and back
+// 13312000 / 4 = 3328000
-#define X_MOT2RAD(n)    (2.*M_PI * ((double)n) / X_MOT_STEPSPERREV)
+//#define X_MOT_STEPSPERREV   (3328000.)
-#define Y_MOT2RAD(n)    (2.*M_PI * ((double)n) / Y_MOT_STEPSPERREV)
+//#define Y_MOT_STEPSPERREV_SSI (17578668.)
-#define X_RAD2MOT(r)    ((int32_t)((r) / 2./M_PI * X_MOT_STEPSPERREV))
+// 17578668 / 4 = 4394667
-#define Y_RAD2MOT(r)    ((int32_t)((r) / 2./M_PI * Y_MOT_STEPSPERREV))
+//#define Y_MOT_STEPSPERREV   (4394667.)
 // motor speed in rad/s and back
 #define X_MOTSPD2RS(n)  (X_MOT2RAD(n)/65536.*1953.)
 #define X_RS2MOTSPD(r)  ((int32_t)(X_RAD2MOT(r)*65536./1953.))
 #define Y_MOTSPD2RS(n)  (Y_MOT2RAD(n)/65536.*1953.)
 #define Y_RS2MOTSPD(r)  ((int32_t)(Y_RAD2MOT(r)*65536./1953.))
 // adder time to seconds vice versa
 #define ADDER2S(a)  ((a)*1953.)
 #define S2ADDER(s)  ((s)/1953.)
 // encoder per revolution
-#define X_ENC_STEPSPERREV   (67108864.)
+//#define X_ENC_STEPSPERREV   (67108864.)
-#define Y_ENC_STEPSPERREV   (67108864.)
+//#define Y_ENC_STEPSPERREV   (67108864.)
 // encoder zero position
 // -> conf.XEncZero/YEncZero
 //#define X_ENC_ZERO          (61245239)
 //#define Y_ENC_ZERO          (36999830)
 // encoder reversed (no: +1) -> sign of ...stepsperrev
 //#define X_ENC_SIGN          (-1.)
 //#define Y_ENC_SIGN          (-1.)
 // encoder position to radians and back
-#define X_ENC2RAD(n)    (2.*M_PI * ((double)n) / X_ENC_STEPSPERREV)
+#define Xenc2rad(n)    ang2half(2.*M_PI * ((double)((n)-(X_ENC_ZERO))) / (X_ENC_STEPSPERREV))
-#define Y_ENC2RAD(n)    (2.*M_PI * ((double)n) / 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.)
@@ -247,11 +291,60 @@ typedef struct{
    uint16_t checksum;  // 32
 } __attribute__((packed)) SSlcmd; // long command
 typedef struct{
    uint32_t accel;     // Default Acceleration (0..3900)
    uint32_t backlash;  // Backlash (???)
    uint16_t errlimit;  // Error Limit (0..32767)
    uint16_t propgain;  // Proportional Gain (0..32767)
    uint16_t intgain;   // Integral Gain (0..32767)
    uint16_t derivgain; // Derivative Gain (0..32767)
    uint16_t outplimit; // Output Limit, 0xFF = 100.0 (0..255)
    uint16_t currlimit; // Current Limit * 100 (0..240)
    uint16_t intlimit;  // Integral Limit (0..24000)
 } __attribute__((packed)) AxeConfig;
 typedef struct{
    AxeConfig Xconf;
    xbits_t xbits;
    uint8_t unused0;
    AxeConfig Yconf;
    ybits_t ybits;
    uint8_t unused1;
    uint8_t address;
    uint8_t unused2;
    uint32_t eqrate;    // Equatorial Rate (platform?) (???)
    int32_t eqadj;      // Equatorial UpDown adjust (???)
    uint32_t trackgoal; // Tracking Platform Goal (???)
    uint16_t latitude;  // Latitude * 100, MSB FIRST!!
    uint32_t Ysetpr;    // Azm Scope Encoder Ticks Per Rev, MSB FIRST!!
    uint32_t Xsetpr;    // Alt Scope Encoder Ticks Per Rev, MSB FIRST!!
    uint32_t Ymetpr;    // Azm Motor Ticks Per Rev, MSB FIRST!!
    uint32_t Xmetpr;    // Alt Motor Ticks Per Rev, MSB FIRST!!
    int32_t Xslewrate;  // Alt/Dec Slew Rate (rates are negative in "through the pole" mode!!!)
    int32_t Yslewrate;  // Azm/RA Slew Rate
    int32_t Xpanrate;   // Alt/Dec Pan Rate
    int32_t Ypanrate;   // Azm/RA Pan Rate
    int32_t Xguiderate; // Alt/Dec Guide Rate
    int32_t Yguiderate; // Azm/RA Guide Rate
    uint8_t unknown0;   // R/A PEC Auto Sync Enable (if low bit = 1), or PicServo Comm Timeout??
    uint8_t unused3;
    uint8_t baudrate;   // Baud Rate??
    uint8_t unused4;
    uint8_t specmode;   // 1 = Enable Argo Navis, 2 = Enable Sky Commander
    uint8_t unused5;
    uint32_t locsdeg;   // Local Search Degrees * 100
    uint32_t locsspeed; // Local Search Speed, arcsec per sec (???)
    uint32_t backlspd;  // Backlash speed
    uint32_t pecticks;  // RA/Azm PEC Ticks
    uint16_t unused6;
    uint16_t checksum;
 } __attribute__((packed)) SSconfig;
 uint16_t SScalcChecksum(uint8_t *buf, int len);
-void SSconvstat(const SSstat *status, mountdata_t *mountdata, struct timeval *tdat);
+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/README.md
+++ b/README.md
@@ -1,2 +1,5 @@
 # mountcontrol
 LibSidServo - low-level library for SSII controller management
 moving_model - model of one-axis moving with ideal reaction
--- 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/Show More
+++ b/Show More
`@@ -24,3 +24,5 @@ Some examples of usage of libsidservo`

	scmd_traectory.c (`traectory_s`) - try to move around given traectory using "short" binary commands.	scmd_traectory.c (`traectory_s`) - try to move around given traectory using "short" binary commands.

		SSIIconf.c (`SSIIconf`) - read/write hardware configuration of controller