SSII

Auxiliary_utils/SiderealServoII/sidservo.h

@@ -20,42 +20,106 @@
 #ifndef SIDSERVO_H__
 #define SIDSERVO_H__
 
-#include <usefull_macros.h>
+#include <stdint.h>
 
 // ASCII commands
 #define U8P(x)   ((uint8_t*)x)
 // get binary data of all statistics
-#define CMD_GETSTAT U8P("XXS")
-
+#define CMD_GETSTAT     U8P("XXS")
+// send short command
+#define CMD_SHORTCMD    U8P("XXR")
+// send long command
+#define CMD_LONGCMD     U8P("YXR")
+// get/set HA/DEC in motsteps
+#define CMD_MOTDEC      U8P("X")
+#define CMD_MOTHA       U8P("Y")
+// -//- in encoders' ticks
+#define CMD_ENCDEC      U8P("XZ")
+#define CMD_ENCHA       U8P("YZ")
+// normal stop dec/ra
+#define CMD_STOPDEC     U8P("XN")
+#define CMD_STOPHA      U8P("YN")
+// emergency stop
+#define CMD_EMSTOPDEC   U8P("XG")
+#define CMD_EMSTOPHA    U8P("YG")
+// getters of motor's encoders per rev
+#define CMD_GETDECMEPR  U8P("XXU")
+#define CMD_GETHAMEPR   U8P("XXV")
+// -//- axis encoders
+#define CMD_GETDECAEPR  U8P("XXT")
+#define CMD_GETHAAEPR   U8P("XXZ")
 
 #define BUFLEN  (256)
-// timeout (seconds) of reading answer
-#define READTIMEOUT (0.1)
+// timeout (seconds) of reading answer (from last symbol read)
+#define READTIMEOUT (0.05)
+
+// Zero positions of RA/DEC encoderc
+#define HA_ENC_ZEROPOS  (43066232)
+#define DEC_ENC_ZEROPOS (37282120)
+
+
+
 
 // all need data in one
-typedef struct{
-    int32_t DECmot;     // Dec/RA motor position
-    int32_t RAmot;
-    int32_t DECenc;     // Dec/RA encoder position
-    int32_t RAenc;
-    uint8_t keypad;     // keypad status
-    uint8_t XBits;
-    uint8_t YBits;
-    uint8_t ExtraBits;
-    uint16_t ain0;      // analog inputs
-    uint16_t ain1;
-    uint32_t millis;    // milliseconds clock
-    int8_t tF;          // temperature (degF)
-    uint8_t voltage;    // input voltage *10
-    uint32_t reserved0;
-    uint32_t reserved1;
-    uint16_t checksum;  // checksum, H inverted
+typedef struct{ // 41 bytes
+    uint8_t ctrlAddr;   // 0  a8 + controller address
+    int32_t DECmot;     // 1  Dec/HA motor position
+    int32_t HAmot;      // 5
+    int32_t DECenc;     // 9  Dec/HA encoder position
+    int32_t HAenc;      // 13
+    uint8_t keypad;     // 17 keypad status
+    uint8_t XBits;      // 18
+    uint8_t YBits;      // 19
+    uint8_t ExtraBits;  // 20
+    uint16_t ain0;      // 21 analog inputs
+    uint16_t ain1;      // 23
+    uint32_t millis;    // 25 milliseconds clock
+    int8_t tF;          // 29 temperature (degF)
+    uint8_t voltage;    // 30 input voltage *10 (RA worm phase?)
+    uint32_t DecLast;   // 31 Alt/Dec motor location at last Alt/Dec scope encoder location change
+    uint32_t HALast;    // 35 Az/RA motor location at last Az/RA scope encoder location change
+    uint16_t checksum;  // 39 checksum, H inverted
 }__attribute__((packed)) SSstat;
 
+typedef struct{
+    int32_t DECmot;     // 0  DEC motor position
+    int32_t DECspeed;   // 4  DEC speed
+    int32_t HAmot;      // 8
+    int32_t HAspeed;    // 12
+    uint8_t xychange;   // 16 change Xbits/Ybits value
+    uint8_t XBits;      // 17
+    uint8_t YBits;      // 18
+    uint16_t checksum;  // 19
+} __attribute__((packed)) SSscmd; // short command
+
+typedef struct{
+    int32_t DECmot;     // 0  DEC motor position
+    int32_t DECspeed;   // 4  DEC speed
+    int32_t HAmot;      // 8
+    int32_t HAspeed;    // 12
+    int32_t DECadder;   // 16 - DEC adder
+    int32_t HAadder;    // 20
+    int32_t DECatime;   // 24 DEC adder time
+    int32_t HAatime;    // 28
+    uint16_t checksum;  // 32
+} __attribute__((packed)) SSlcmd; // long command
+
 int SSinit(char *devpath, int speed);
 void SSclose();
-int SSwrite(const uint8_t *buf, int len);
+int SSwrite(const uint8_t *buf, int len, int isbin);
+int SSwritecmd(const uint8_t *cmd);
+int SSgetInt(const uint8_t *cmd, int64_t *ans);
+int SScmds(SSscmd *cmd);
+int SScmdl(SSlcmd *cmd);
 uint8_t *SSread(int *l);
 int SSgetstat(SSstat *s);
+int SSgetPartialstat(SSstat *s);
+double SSticks2deg(int32_t ticks, int isdec);
+double SSenc2deg(int32_t ticks, int isdec);
+int32_t SSdeg2ticks(double d, int isdec);
+int32_t SSdeg2enc(double d, int isdec);
+int SSgoto(double ha, double dec);
+void SSwaitmoving();
+int SScatchtarg(double ra, double dec);
 
 #endif // SIDSERVO_H__