109 lines
3.4 KiB
C
109 lines
3.4 KiB
C
/*
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* This file is part of the libsidservo project.
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* Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <stddef.h>
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#include <stdint.h>
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#include <sys/time.h>
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// error codes
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typedef enum{
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MCC_E_OK = 0, // all OK
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MCC_E_FATAL, // some fatal error
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MCC_E_BADFORMAT, // wrong arguments of function
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MCC_E_ENCODERDEV, // encoder device error or can't open
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MCC_E_MOUNTDEV, // mount device error or can't open
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MCC_E_FAILED, // failed to run command - protocol error
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} mcc_errcodes_t;
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typedef struct{
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char* MountDevPath; // path to mount device
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int MountDevSpeed; // serial speed
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char* EncoderDevPath; // path to encoder device
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int EncoderDevSpeed; // serial speed
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int SepEncoder; // ==1 if encoder works as separate serial device
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double MountReqInterval; // maximal interval between subsequent mount requests (seconds)
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;
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} conf_t;
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// coordinates in degrees: X, Y and time when they were reached
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typedef struct{
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double X; double Y; struct timeval msrtime;
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} coords_t;
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// data to read/write
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typedef struct{
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uint8_t *buf; // data buffer
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size_t len; // its length
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size_t maxlen; // maximal buffer size
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} data_t;
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typedef struct{
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uint8_t XBits;
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uint8_t YBits;
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uint8_t ExtraBits;
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uint16_t ain0;
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uint16_t ain1;
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} extradata_t;
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typedef struct{
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coords_t motposition;
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coords_t encposition;
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coords_t lastmotposition;
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uint8_t keypad;
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extradata_t extradata;
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uint32_t millis;
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double temperature;
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double voltage;
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} mountdata_t;
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typedef struct{
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int32_t Xmot; // 0 X motor position (rad)
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int32_t Xspeed; // 4 X speed (rad/s)
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int32_t Ymot; // 8
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int32_t Yspeed; // 12
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uint8_t xychange; // 16 change Xbits/Ybits value
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uint8_t XBits; // 17
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uint8_t YBits; // 18
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} short_command_t; // short command
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typedef struct{
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int32_t Xmot; // 0 X motor position (rad)
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int32_t Xspeed; // 4 X speed (rad/s)
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int32_t Ymot; // 8
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int32_t Yspeed; // 12
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int32_t Xadder; // 16 - X adder (rad/s)
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int32_t Yadder; // 20
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int32_t Xatime; // 24 X adder time, sec
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int32_t Yatime; // 28
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} long_command_t; // long command
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// mount class
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typedef struct{
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mcc_errcodes_t (*init)(conf_t *c); // init device
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void (*quit)(); // deinit
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mcc_errcodes_t (*getMountData)(mountdata_t *d); // get last data
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mcc_errcodes_t (*moveTo)(double X, double Y); // move to given position ans stop
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mcc_errcodes_t (*emergStop)(); // emergency stop
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mcc_errcodes_t (*shortCmd)(short_command_t *cmd); // send/get short command
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mcc_errcodes_t (*longCmd)(long_command_t *cmd); // send/get long command
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} mount_t;
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extern mount_t Mount;
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