start configurator

Auxiliary_utils/LibSidServo/sidservo.h

@@ -18,6 +18,11 @@
 
 #pragma once
 
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
 #include <stddef.h>
 #include <stdint.h>
 #include <sys/time.h>
@@ -55,8 +60,30 @@ typedef struct{
 } data_t;
 
 typedef struct{
-    uint8_t XBits;
-    uint8_t YBits;
+    uint8_t motrev :1;      // If 1, the motor encoder is incremented in the opposite direction
+    uint8_t motpolarity :1; // If 1, the motor polarity is reversed
+    uint8_t encrev :1;      // If 1, the axis encoder is reversed
+    uint8_t dragtrack :1;   // If 1, we are in computerless Drag and Track mode
+    uint8_t trackplat :1;   // If 1, we are in the tracking platform mode
+    uint8_t handpaden :1;   // If 1, hand paddle is enabled
+    uint8_t newpad :1;      // If 1, hand paddle is compatible with New hand paddle, which allows slewing in two directions and guiding
+    uint8_t guidemode :1;   // If 1, we are in guide mode. The pan rate is added or subtracted from the current tracking rate
+} xbits_t;
+
+typedef struct{
+    uint8_t motrev :1;      // If 1, the motor encoder is incremented in the opposite direction
+    uint8_t motpolarity :1; // If 1, the motor polarity is reversed
+    uint8_t encrev :1;      // If 1, the axis encoder is reversed
+    /* 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 :3; // Digital input from radio handpad receiver
+} ybits_t;
+
+typedef struct{
+    xbits_t XBits;
+    ybits_t YBits;
     uint8_t ExtraBits;
     uint16_t ain0;
     uint16_t ain1;
@@ -71,8 +98,16 @@ typedef struct{
     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)
@@ -94,15 +129,64 @@ typedef struct{
     double Yatime;      // 28
 } long_command_t; // long command
 
+// hardware axe 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 (???)
+} __attribute__((packed)) axe_config_t;
+
+// hardware configuration
+typedef struct{
+    axe_config_t Xconf;
+    xbits_t xbits;
+    axe_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 (???)
+} hardware_configuration_t;
+
 // 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  (*moveTo)(const double *X, const double *Y); // move to given position ans stop
+    mcc_errcodes_t  (*moveWspeed)(const coords_t *target, const  coords_t *speed); // move with given max speed
+    mcc_errcodes_t  (*setSpeed)(const double *X, const double *Y); // 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
 } mount_t;
 
 extern mount_t Mount;
+
+
+#ifdef __cplusplus
+}
+#endif