add LibSidServo - pre-pre-...-pre-alpha

Auxiliary_utils/LibSidServo/sidservo.h

@@ -0,0 +1,108 @@
+/*
+ * 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 <stdint.h>
+#include <sys/time.h>
+
+// error codes
+typedef enum{
+    MCC_E_OK = 0,       // all OK
+    MCC_E_FATAL,        // some fatal error
+    MCC_E_BADFORMAT,    // wrong arguments of function
+    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_errcodes_t;
+
+typedef struct{
+    char*   MountDevPath;       // path to mount device
+    int     MountDevSpeed;      // serial speed
+    char*   EncoderDevPath;     // path to encoder device
+    int     EncoderDevSpeed;    // serial speed
+    int     SepEncoder;         // ==1 if encoder works as separate serial device
+    double  MountReqInterval;   // maximal interval between subsequent mount requests (seconds)
+    ;
+} conf_t;
+
+// coordinates in degrees: X, Y and time when they were reached
+typedef struct{
+    double X; double Y; struct timeval msrtime;
+} coords_t;
+
+// data to read/write
+typedef struct{
+    uint8_t *buf;   // data buffer
+    size_t len;     // its length
+    size_t maxlen;  // maximal buffer size
+} data_t;
+
+typedef struct{
+    uint8_t XBits;
+    uint8_t YBits;
+    uint8_t ExtraBits;
+    uint16_t ain0;
+    uint16_t ain1;
+} extradata_t;
+
+typedef struct{
+    coords_t motposition;
+    coords_t encposition;
+    coords_t lastmotposition;
+    uint8_t keypad;
+    extradata_t extradata;
+    uint32_t millis;
+    double temperature;
+    double voltage;
+} mountdata_t;
+
+typedef struct{
+    double Xmot;        // 0  X motor position (rad)
+    double Xspeed;      // 4  X speed (rad/s)
+    double Ymot;        // 8
+    double Yspeed;      // 12
+    uint8_t xychange;   // 16 change Xbits/Ybits value
+    uint8_t XBits;      // 17
+    uint8_t YBits;      // 18
+} short_command_t; // short command
+
+typedef struct{
+    double Xmot;        // 0  X motor position (rad)
+    double Xspeed;      // 4  X speed (rad/s)
+    double Ymot;        // 8
+    double Yspeed;      // 12
+    double Xadder;      // 16 - X adder (rad/s)
+    double Yadder;      // 20
+    double Xatime;      // 24 X adder time, sec
+    double Yatime;      // 28
+} long_command_t; // long command
+
+// mount class
+typedef struct{
+    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)(double X, double Y); // move to given position ans 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
+} mount_t;
+
+extern mount_t Mount;