seems like PID works on real telescope

.gitignore

@@ -23,3 +23,6 @@
 *.so
 *.so.*
 
+# build dirs
+mk/
+build/

Auxiliary_utils/Hydreon/cmdlnopts.c

@@ -49,7 +49,7 @@ static glob_pars const Gdefault = {
  * Define command line options by filling structure:
  *  name        has_arg     flag    val     type        argptr              help
 */
-static myoption cmdlnopts[] = {
+static sl_option_t cmdlnopts[] = {
 // common options
     {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&help),        _("show this help")},
     {"device",  NEED_ARG,   NULL,   'd',    arg_string, APTR(&G.device),    _("serial device name (default: )" DEFAULT_DEV ")")},
@@ -75,10 +75,10 @@ glob_pars *parse_args(int argc, char **argv){
     char helpstring[1024], *hptr = helpstring;
     snprintf(hptr, hlen, "Usage: %%s [args]\n\n\tWhere args are:\n");
     // format of help: "Usage: progname [args]\n"
-    change_helpstring(helpstring);
+    sl_helpstring(helpstring);
     // parse arguments
-    parseargs(&argc, &argv, cmdlnopts);
+    sl_parseargs(&argc, &argv, cmdlnopts);
-    if(help) showhelp(-1, cmdlnopts);
+    if(help) sl_showhelp(-1, cmdlnopts);
     if(argc > 0){
         WARNX("Ignore %d unknown parameters: ");
         for (i = 0; i < argc; i++)

Auxiliary_utils/Hydreon/dumpregs.c

@@ -57,7 +57,7 @@ static void dumpRchanges(rg11 *new, rg11 *old){
     int start = 1;
     for(int i = 0; i < RREGNUM; ++i){
         if(o[i] != n[i]){
-            sl_putlogt(start, globlog, LOGLEVEL_MSG, "%s=%d", regname(i), n[i]);
+            sl_putlogt(start, sl_globlog, LOGLEVEL_MSG, "%s=%d", regname(i), n[i]);
             DBG("%s=%d", regname(i), n[i]);
             if(start) start = 0;
         }
@@ -68,7 +68,7 @@ static void dumpRchanges(rg11 *new, rg11 *old){
         uint8_t f = 1;
         for(int i = 0; i < RGBITNUM; ++i, f <<= 1){
             if(xOr & f){
-                sl_putlogt(start, globlog, LOGLEVEL_MSG, "%s=%d", rgbitname(i), (new->RGBits & f) ? 1 : 0);
+                sl_putlogt(start, sl_globlog, LOGLEVEL_MSG, "%s=%d", rgbitname(i), (new->RGBits & f) ? 1 : 0);
                 DBG("%s=%d", rgbitname(i), (new->RGBits & f) ? 1 : 0);
                 if(start) start = 0;
             }
@@ -82,7 +82,7 @@ static void dumpSchanges(slowregs *new, slowregs *old){
     int start = 1;
     for(int i = 0; i < SREGNUM; ++i){
         if(o[i] != n[i]){
-            sl_putlogt(start, globlog, LOGLEVEL_MSG, "%s=%d", slowname(i), n[i]);
+            sl_putlogt(start, sl_globlog, LOGLEVEL_MSG, "%s=%d", slowname(i), n[i]);
             DBG("%s=%d", slowname(i), n[i]);
             if(start) start = 0;
         }
@@ -147,12 +147,12 @@ static void puttotable(rg11 *R, slowregs *S){
 }
 
 int main(int argc, char **argv){
-    initial_setup();
+    sl_init();
     char *self = strdup(argv[0]);
     G = parse_args(argc, argv);
     if(G->timeout < 5) ERRX("Timeout should be not less than 5 seconds");
     if(!G->logfile && !G->outfile) ERRX("Point at least log or output file name");
-    check4running(self, G->pidfile);
+    sl_check4running(self, G->pidfile);
     if(!hydreon_open(G->device)) return 1;
     if(G->logfile) OPENLOG(G->logfile, LOGLEVEL_ANY, 0);
     if(G->outfile){
@@ -166,9 +166,9 @@ int main(int argc, char **argv){
     signal(SIGINT, signals);  // ctrl+C - quit
     signal(SIGQUIT, signals); // ctrl+\ - quit
     signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
-    double t0 = dtime();
+    double t0 = sl_dtime();
     puttotable(NULL, NULL);
-    while(dtime() - t0 < (double)G->timeout){ // dump only changes
+    while(sl_dtime() - t0 < (double)G->timeout){ // dump only changes
         if(!hydreon_getpacket(&Rregs, &Sregs)) continue;
         int changes = FALSE;
         if(memcmp(&Rregs, &oRregs, RREGNUM + 1)){ // Rregs changed -> log changes
@@ -182,7 +182,7 @@ int main(int argc, char **argv){
             changes = TRUE;
         }
         if(changes) puttotable(&Rregs, &Sregs);
-        t0 = dtime();
+        t0 = sl_dtime();
     }
     signals(-1); // never reached
     return 0;

Auxiliary_utils/Hydreon/hydreon.c

@@ -20,7 +20,7 @@
 
 #include "hydreon.h"
 
-static TTY_descr *dev = NULL;
+static sl_tty_t *dev = NULL;
 
 // regular registers names
 static const char* rregnames[RREGNUM] = {
@@ -121,7 +121,7 @@ int hydreon_getpacket(rg11 *Rregs, slowregs *Sregs){
     if(!dev) return 0;
     static int buflen = 0;
     static char strbuf[BUFLEN];
-    int l = read_tty(dev);
+    int l = sl_tty_read(dev);
     if(l < 1) return FALSE;
     char s = dev->buf[0];
     if(s == 's'){ // start of new packet -> encode old
@@ -146,13 +146,13 @@ int hydreon_getpacket(rg11 *Rregs, slowregs *Sregs){
  * @return TRUE or FALSE if failed
  */
 int hydreon_open(const char *devname){
-    dev = new_tty((char*)devname, 1200, 1);
+    dev = sl_tty_new((char*)devname, 1200, 1);
     if(!dev) return FALSE;
-    dev = tty_open(dev, 1);
+    dev = sl_tty_open(dev, 1);
     if(!dev) return FALSE;
     return TRUE;
 }
 
 void hydreon_close(){
-    if(dev) close_tty(&dev);
+    if(dev) sl_tty_close(&dev);
 }

Auxiliary_utils/LibSidServo/CMakeLists.txt

@@ -15,6 +15,8 @@ set(CMAKE_COLOR_MAKEFILE ON)
 
 option(DEBUG "Compile in debug mode" OFF)
 option(EXAMPLES "Compile also some examples" ON)
+option(BUILD_SHARED "Build shared libarary" OFF)
+
 
 # cmake -DDEBUG=on -> debugging
 if(NOT CMAKE_BUILD_TYPE STREQUAL "Debug")
@@ -52,7 +54,13 @@ aux_source_directory(${CMAKE_CURRENT_SOURCE_DIR} SOURCES)
 #list(APPEND ${PROJ}_LIBRARIES "-lfftw3_threads")
 
 # library
-add_library(${PROJ} SHARED ${SOURCES})
+
+if(BUILD_SHARED)
+    add_library(${PROJ} SHARED ${SOURCES})
+else()
+    add_library(${PROJ} STATIC ${SOURCES})
+endif()
+
 # library header files
 set(LIBHEADER "sidservo.h")
 # -I

Auxiliary_utils/LibSidServo/PID.c

@@ -16,6 +16,7 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include <float.h>
 #include <math.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -25,33 +26,70 @@
 #include "PID.h"
 #include "serial.h"
 
-PIDController_t *pid_create(const PIDpar_t *gain, size_t Iarrsz){
+typedef struct {
+    PIDpar_t gain;      // PID gains
+    double prev_error;  // Previous error
+    double prev_tagpos; // previous target position
+    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;
+
+typedef struct{
+    axis_status_t state;
+    coordval_t position;
+    coordval_t speed;
+} axisdata_t;
+
+static 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));
+    curtime(&pid->prevT);
     return pid;
 }
 
 // don't clear lastT!
-void pid_clear(PIDController_t *pid){
+static 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;
+    curtime(&pid->prevT);
 }
-
+/*
-void pid_delete(PIDController_t **pid){
+static 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 new motor speed
+static double pid_calculate(PIDController_t *pid, double axispos, const coordval_t *target){
+    double dtpid = timediff(&target->t, &pid->prevT);
+    if(dtpid < 0 || dtpid > Conf.PIDMaxDt){
+        DBG("time diff too big: clear PID");
+        pid_clear(pid);
+        pid->prev_tagpos = target->val;
+        return 0.;
+    }
+    double dt = timediff(&target->t, &pid->prevT);
+    if(dt < FLT_EPSILON){
+        DBG("Target time in past");
+        return 0.;
+    }
+    pid->prevT = target->t;
+    double error = target->val - axispos;
+    double tagspeed = (target->val - pid->prev_tagpos) / dt;
+    pid->prev_tagpos = target->val;
     // calculate flowing integral
     double oldi = pid->pidIarray[pid->curIidx], newi = error * dt;
     //DBG("oldi/new: %g, %g", oldi, newi);
@@ -60,72 +98,62 @@ double pid_calculate(PIDController_t *pid, double error, double dt){
     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("pid pars: P=%g, I=%g, D=%f", pid->gain.P, pid->gain.I, pid->gain.D);
-    DBG("P=%g, I=%g, D=%g; sum=%g", pid->gain.P * error, pid->gain.I * pid->integral, pid->gain.D * derivative, sum);
+    double sum = pid->gain.P * error + pid->gain.I * pid->integral + pid->gain.D * derivative + tagspeed;
+    DBG("tagspeed=%g, P=%g, I=%g, D=%g; sum=%g", tagspeed, 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
+ * @return calculated NEW SPEED or NAN for max speed
  */
-static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t *axis){
+static double getspeed(const coordval_t *tagpos, PIDController_t *pid, axisdata_t *axis){
-    if(tagpos->t < axis->position.t || tagpos->t - axis->position.t > MCC_PID_MAX_DT){
+    double dt = timediff(&tagpos->t, &axis->position.t);
-        DBG("target time: %g, axis time: %g - too big! (%g)", tagpos->t, axis->position.t, MCC_PID_MAX_DT);
+    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);
-    PIDController_t *pid = NULL;
+    DBG("error: %g'', cur speed: %g (deg/s)", error * 180. * 3600. / M_PI, axis->speed.val*180./M_PI);
     switch(axis->state){
         case AXIS_SLEWING:
-            if(fe < MCC_MAX_POINTING_ERR){
+            if(fe < Conf.MaxFinePointingErr){
                 axis->state = AXIS_POINTING;
                 DBG("--> Pointing");
-                pid = pidpair->PIDC;
             }else{
                 DBG("Slewing...");
-                return -1.; // max speed for given axis
+                return NAN; // max speed for given axis
             }
             break;
         case AXIS_POINTING:
-            if(fe < MCC_MAX_GUIDING_ERR){
+            if(fe < Conf.MaxFinePointingErr){
                 axis->state = AXIS_GUIDING;
                 DBG("--> Guiding");
-                pid = pidpair->PIDV;
+            }else if(fe > Conf.MaxPointingErr){
-            }else if(fe > MCC_MAX_POINTING_ERR){
                 DBG("--> Slewing");
                 axis->state = AXIS_SLEWING;
-                return -1.;
+                return NAN;
-            } else pid = pidpair->PIDC;
+            }
             break;
         case AXIS_GUIDING:
-            pid = pidpair->PIDV;
+            if(fe > Conf.MaxFinePointingErr){
-            if(fe > MCC_MAX_GUIDING_ERR){
                 DBG("--> Pointing");
                 axis->state = AXIS_POINTING;
-                pid = pidpair->PIDC;
+            }else if(fe < Conf.MaxGuidingErr){
-            }else if(fe < MCC_MAX_ATTARGET_ERR){
                 DBG("At target");
                 // TODO: we can point somehow that we are at target or introduce new axis state
-            }else DBG("Current error: %g", fe);
+            }else DBG("Current abs error: %g", fe);
             break;
+        case AXIS_GONNASTOP:
         case AXIS_STOPPED: // start pointing to target; will change speed next time
-            DBG("AXIS STOPPED!!!!");
+            DBG("AXIS STOPPED!!!! --> Slewing");
             axis->state = AXIS_SLEWING;
-            return -1.;
+            return getspeed(tagpos, pid, axis);
         case AXIS_ERROR:
             DBG("Can't move from erroneous state");
             return 0.;
@@ -134,17 +162,7 @@ static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t
         DBG("WTF? Where is a PID?");
         return axis->speed.val;
     }
-    if(tagpos->t < pid->prevT || tagpos->t - pid->prevT > MCC_PID_MAX_DT){
+    return pid_calculate(pid, axis->position.val, tagpos);
-        DBG("time diff too big: clear PID");
-        pid_clear(pid);
-    }
-    double dt = tagpos->t - pid->prevT;
-    if(dt > MCC_PID_MAX_DT) dt = MCC_PID_CYCLE_TIME;
-    pid->prevT = tagpos->t;
-    //DBG("CALC PID (er=%g, dt=%g)", error, dt);
-    double tagspeed = pid_calculate(pid, error, dt);
-    if(axis->state == AXIS_GUIDING) return axis->speed.val + tagspeed; // velocity-based
-    return tagspeed; // coordinate-based
 }
 
 /**
@@ -153,41 +171,73 @@ static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t
  * @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, const coordpair_t *endpoint){
+mcc_errcodes_t correct2(const coordval_pair_t *target){
-    static PIDpair_t pidX = {0}, pidY = {0};
+    static PIDController_t *pidX = NULL, *pidY = NULL;
-    if(!pidX.PIDC){
+    if(!pidX){
-        pidX.PIDC = pid_create(&Conf.XPIDC, MCC_PID_CYCLE_TIME / MCC_PID_REFRESH_DT);
+        pidX = pid_create(&Conf.XPIDV, Conf.PIDCycleDt / Conf.PIDRefreshDt);
-        if(!pidX.PIDC) return MCC_E_FATAL;
+        if(!pidX) return MCC_E_FATAL;
-        pidX.PIDV = pid_create(&Conf.XPIDV, MCC_PID_CYCLE_TIME / MCC_PID_REFRESH_DT);
-        if(!pidX.PIDV) return MCC_E_FATAL;
     }
-    if(!pidY.PIDC){
+    if(!pidY){
-        pidY.PIDC = pid_create(&Conf.YPIDC, MCC_PID_CYCLE_TIME / MCC_PID_REFRESH_DT);
+        pidY = pid_create(&Conf.YPIDV, Conf.PIDCycleDt / Conf.PIDRefreshDt);
-        if(!pidY.PIDC) return MCC_E_FATAL;
+        if(!pidY) return MCC_E_FATAL;
-        pidY.PIDV = pid_create(&Conf.YPIDV, MCC_PID_CYCLE_TIME / MCC_PID_REFRESH_DT);
-        if(!pidY.PIDV) return MCC_E_FATAL;
     }
     mountdata_t m;
-    coordpair_t tagspeed;
+    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);
+    tagspeed.X = getspeed(&target->X, pidX, &axis);
-    if(tagspeed.X < 0. || tagspeed.X > MCC_MAX_X_SPEED) tagspeed.X = MCC_MAX_X_SPEED;
+    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);
+    tagspeed.Y = getspeed(&target->Y, pidY, &axis);
-    if(tagspeed.Y < 0. || tagspeed.Y > MCC_MAX_Y_SPEED) tagspeed.Y = MCC_MAX_Y_SPEED;
+    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);
     }
-    DBG("TAG speeds: %g/%g", tagspeed.X, tagspeed.Y);
+    coordpair_t endpoint;
-    return Mount.moveWspeed(endpoint, &tagspeed);
+#if 0
+    // 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;
+#endif
+    // allow 10s moving but not more than 10deg and not less than 1deg
+    double adder = fabs(tagspeed.X) * 10.;
+    if(adder > 0.17453) adder = 0.17453;
+    else if(adder < 0.017453) adder = 0.017453;
+    endpoint.X = m.encXposition.val + Xsign * adder;
+    adder = fabs(tagspeed.Y) * 10.;
+    if(adder > 0.17453) adder = 0.17453;
+    else if(adder < 0.017453) adder = 0.017453;
+    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);
 }

Auxiliary_utils/LibSidServo/PID.h

@@ -22,19 +22,10 @@
 
 #include "sidservo.h"
 
-typedef struct {
+/*
-    PIDpar_t gain;      // PID gains
-    double prev_error;  // Previous error
-    double integral;    // Integral term
-    double *pidIarray;  // array for Integral
-    double 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, const coordpair_t *endpoint);
+mcc_errcodes_t  correct2(const coordval_pair_t *target);

Auxiliary_utils/LibSidServo/PID_test/moving_model.files

@@ -1,5 +1,7 @@
 Dramp.c
 Dramp.h
+PID.c
+PID.h
 Sramp.c
 Sramp.h
 Tramp.c

Auxiliary_utils/LibSidServo/TODO

@@ -1,3 +1,3 @@
-1. PID: slew2
+fix encoders opening for several tries
-2. add model & config "model ON"
+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

Auxiliary_utils/LibSidServo/examples/SSIIconf.c

@@ -34,7 +34,9 @@ typedef struct{
 
 static hardware_configuration_t HW = {0};
 
-static parameters G = {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"},
@@ -53,7 +55,7 @@ static sl_option_t confopts[] = {
 
 static void dumpaxis(char axis, axis_config_t *c){
 #define STRUCTPAR(p)    (c)->p
-#define DUMP(par) do{printf("%c%s=%g\n", axis, #par, STRUCTPAR(par));}while(0)
+#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);
@@ -64,6 +66,8 @@ static void dumpaxis(char axis, axis_config_t *c){
     DUMP(outplimit);
     DUMP(currlimit);
     DUMP(intlimit);
+    DUMP(motor_stepsperrev);
+    DUMP(axis_stepsperrev);
 #undef DUMP
 #undef DUMPD
 }

Auxiliary_utils/LibSidServo/examples/conf.c

@@ -24,25 +24,32 @@
 static conf_t Config = {
     .MountDevPath = "/dev/ttyUSB0",
     .MountDevSpeed = 19200,
-    .EncoderXDevPath = "/dev/encoderX0",
+    .EncoderXDevPath = "/dev/encoder_X0",
-    .EncoderYDevPath = "/dev/encoderY0",
+    .EncoderYDevPath = "/dev/encoder_Y0",
     .EncoderDevSpeed = 153000,
     .MountReqInterval = 0.1,
-    .EncoderReqInterval = 0.05,
+    .EncoderReqInterval = 0.001,
     .SepEncoder = 2,
-    .EncoderSpeedInterval = 0.1,
+    .EncoderSpeedInterval = 0.05,
-    .XPIDC.P = 0.8,
+    .EncodersDisagreement = 1e-5, // 2''
+    .PIDMaxDt = 1.,
+    .PIDRefreshDt = 0.1,
+    .PIDCycleDt = 5.,
+    .XPIDC.P = 0.5,
     .XPIDC.I = 0.1,
-    .XPIDC.D = 0.3,
+    .XPIDC.D = 0.2,
-    .XPIDV.P = 1.,
+    .XPIDV.P = 0.09,
-    .XPIDV.I = 0.01,
+    .XPIDV.I = 0.0,
-    .XPIDV.D = 0.2,
+    .XPIDV.D = 0.05,
-    .YPIDC.P = 0.8,
+    .YPIDC.P = 0.5,
     .YPIDC.I = 0.1,
-    .YPIDC.D = 0.3,
+    .YPIDC.D = 0.2,
-    .YPIDV.P = 0.5,
+    .YPIDV.P = 0.09,
-    .YPIDV.I = 0.2,
+    .YPIDV.I = 0.0,
-    .YPIDV.D = 0.5,
+    .YPIDV.D = 0.05,
+    .MaxPointingErr = 0.13962634,
+    .MaxFinePointingErr = 0.026179939,
+    .MaxGuidingErr = 4.8481368e-7,
 };
 
 static sl_option_t opts[] = {
@@ -50,13 +57,17 @@ 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"},
-    {"MountReqInterval",NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.MountReqInterval), "interval of mount requests (not less than 0.05s)"},
+    {"SepEncoder",      NEED_ARG,   NULL,   0,  arg_int,    APTR(&Config.SepEncoder),       "encoder is separate device (1 - one device, 2 - two devices)"},
-    {"EncoderReqInterval",NEED_ARG, NULL,   0,  arg_double, APTR(&Config.EncoderReqInterval),"interval of encoder requests (in case of sep=2)"},
-    {"SepEncoder",      NO_ARGS,    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)"},
+    {"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)"},
@@ -69,6 +80,12 @@ static sl_option_t opts[] = {
     {"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
 };
 
@@ -93,5 +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];
 }

Auxiliary_utils/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);

Auxiliary_utils/LibSidServo/examples/dump.c

@@ -23,6 +23,9 @@
 #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)
@@ -59,6 +62,12 @@ static double filter(double val, int idx){
 }
 #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
@@ -67,17 +76,13 @@ static double filter(double val, int idx){
 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)   VX(d/s)    VY(d/s)     millis\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;
-    double tnow = (m->encXposition.t + m->encYposition.t) / 2.;
-    if(t0 < 0.) t0 = tnow;
-    double t = tnow - t0;
     // write data
     fprintf(fcoords, "%12.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10u\n",
-            t, RAD2DEG(m->motXposition.val), RAD2DEG(m->motYposition.val),
+            Mount.timeDiff(&m->encXposition.t, &dumpT0), RAD2DEG(m->motXposition.val), RAD2DEG(m->motYposition.val),
             RAD2DEG(m->encXposition.val), RAD2DEG(m->encYposition.val),
             RAD2DEG(m->encXspeed.val), RAD2DEG(m->encYspeed.val),
             m->millis);
@@ -103,16 +108,17 @@ void dumpmoving(FILE *fcoords, double t, int N){
         LOGWARN("Can't get mount data");
     }
     uint32_t mdmillis = mdata.millis;
-    double enct = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
+    struct timespec encXt = mdata.encXposition.t;
     int ctr = -1;
     double xlast = mdata.motXposition.val, ylast = mdata.motYposition.val;
-    double t0 = Mount.currentT();
+    double t0 = Mount.timeFromStart();
-    while(Mount.currentT() - t0 < t && ctr < N){
+    while(Mount.timeFromStart() - t0 < t && ctr < N){
         usleep(1000);
         if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
-        double tmsr = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
+        //double tmsr = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
-        if(tmsr == enct) continue;
+        struct timespec msrt = mdata.encXposition.t;
-        enct = tmsr;
+        if(msrt.tv_nsec == encXt.tv_nsec) continue;
+        encXt = msrt;
         if(fcoords) logmnt(fcoords, &mdata);
         if(mdata.millis == mdmillis) continue;
         //DBG("ctr=%d, motpos=%g/%g", ctr, mdata.motXposition.val, mdata.motYposition.val);
@@ -123,7 +129,7 @@ void dumpmoving(FILE *fcoords, double t, int N){
             ctr = 0;
         }else ++ctr;
     }
-    DBG("Exit dumping; tend=%g, tmon=%g", t, Mount.currentT() - t0);
+    DBG("Exit dumping; tend=%g, tmon=%g", t, Mount.timeFromStart() - t0);
 }
 
 /**
@@ -134,17 +140,15 @@ 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.motXposition.val != xlast || mdata.motYposition.val != ylast){
+        if(mdata.Xstate != AXIS_STOPPED || mdata.Ystate != AXIS_STOPPED) ctr = 0;
-            xlast = mdata.motXposition.val;
+        else ++ctr;
-            ylast = mdata.motYposition.val;
-            ctr = 0;
-        }else ++ctr;
     }
 }
 

Auxiliary_utils/LibSidServo/examples/dump.h

@@ -27,3 +27,4 @@ void dumpmoving(FILE *fcoords, double t, int N);
 void waitmoving(int N);
 int getPos(coordval_pair_t *mot, coordval_pair_t *enc);
 void chk0(int ncycles);
+void dumpt0(struct timespec *t);

Auxiliary_utils/LibSidServo/examples/dumpmoving.c

@@ -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){

Auxiliary_utils/LibSidServo/examples/dumpmoving_dragNtrack.c

@@ -139,8 +139,10 @@ static mcc_errcodes_t return2zero(){
     short_command_t cmd = {0};
     DBG("Try to move to zero");
     cmd.Xmot = 0.; cmd.Ymot = 0.;
-    cmd.Xspeed = MCC_MAX_X_SPEED;
+    coordpair_t maxspd;
-    cmd.Yspeed = MCC_MAX_Y_SPEED;
+    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;*/
@@ -216,7 +218,7 @@ int main(int argc, char **argv){
     sleep(5);
     // return to zero and wait
     green("Return 2 zero and wait\n");
-    if(!return2zero()) ERRX("Can't return");
+    if(MCC_E_OK != return2zero()) ERRX("Can't return");
     Wait(0., 0);
     Wait(0., 1);
     // wait moving ends

Auxiliary_utils/LibSidServo/examples/dumpswing.c

@@ -83,7 +83,7 @@ void waithalf(double t){
     uint32_t millis = 0;
     double xlast = 0., ylast = 0.;
     while(ctr < 5){
-        if(Mount.currentT() >= 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;
@@ -110,16 +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){
+        WARNX("Ncycles should be >2");
+        return 1;
+    }
     double absamp = fabs(G.amplitude);
-    if(absamp < 0.01 || absamp > 45.)
+    if(absamp < 0.01 || absamp > 45.){
-        ERRX("Amplitude should be from 0.01 to 45 degrees");
+        WARNX("Amplitude should be from 0.01 to 45 degrees");
-    if(G.period < 0.1 || G.period > 900.)
+        return 1;
-        ERRX("Period should be from 0.1 to 900s");
+    }
-    if(G.Nswings < 1) ERRX("Nswings should be more than 0");
+    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();
@@ -146,24 +158,24 @@ int main(int argc, char **argv){
     }else{
         tagX = 0.; tagY = DEG2RAD(G.amplitude);
     }
-    double t = Mount.currentT(), t0 = t;
+    double t = Mount.timeFromStart(), t0 = t;
     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(&tag);
-        DBG("CMD: %g", Mount.currentT()-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", Mount.currentT()-t0);
+        DBG("CMD: %g", Mount.timeFromStart()-t0);
         Mount.moveTo(&rtag);
         t += G.period;
         waithalf(t);
         DBG("Moved to -, t=%g", t-t0);
-        DBG("CMD: %g", Mount.currentT()-t0);
+        DBG("CMD: %g", Mount.timeFromStart()-t0);
     }
-    green("Move to zero @ %g\n", Mount.currentT());
+    green("Move to zero @ %g\n", Mount.timeFromStart());
     tag = (coordpair_t){0};
     // be sure to move @ 0,0
     if(MCC_E_OK != Mount.moveTo(&tag)){

Auxiliary_utils/LibSidServo/examples/goto.c

@@ -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);
 }
@@ -90,11 +91,10 @@ int main(int _U_ argc, char _U_ **argv){
     if(MCC_E_OK != Mount.init(Config)) ERRX("Can't init mount");
     coordval_pair_t M, E;
     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);
@@ -120,7 +120,11 @@ int main(int _U_ argc, char _U_ **argv){
     }
     printf("Moving to X=%gdeg, Y=%gdeg\n", G.X, G.Y);
     tag.X = DEG2RAD(G.X); tag.Y = DEG2RAD(G.Y);
-    Mount.moveTo(&tag);
+    mcc_errcodes_t e = Mount.moveTo(&tag);
+    if(MCC_E_OK != e){
+        WARNX("Cant go to given coordinates: %s\n", EcodeStr(e));
+        goto out;
+    }
     if(G.wait){
         sleep(1);
         waitmoving(G.Ncycles);
@@ -132,7 +136,9 @@ out:
     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.val), RAD2DEG(M.Y.val));
+        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;

Auxiliary_utils/LibSidServo/examples/scmd_traectory.c

@@ -44,6 +44,7 @@ typedef struct{
     char *conffile;
 } parameters;
 
+static conf_t *Config = NULL;
 static FILE *fcoords = NULL, *errlog = NULL;
 static pthread_t dthr;
 static parameters G = {
@@ -75,7 +76,6 @@ static sl_option_t cmdlnopts[] = {
 };
 
 void signals(int sig){
-    pthread_cancel(dthr);
     if(sig){
         signal(sig, SIG_IGN);
         DBG("Get signal %d, quit.\n", sig);
@@ -97,35 +97,45 @@ static void runtraectory(traectory_fn tfn){
     if(!tfn) return;
     coordval_pair_t telXY;
     coordval_pair_t target;
-    coordpair_t traectXY, endpoint;
+    coordpair_t traectXY;
-    endpoint.X = G.Xmax, endpoint.Y = G.Ymax;
+    double tlast = 0., tstart = Mount.timeFromStart();
-    double t0 = Mount.currentT(), tlast = 0.;
+    long tlastXnsec = 0, tlastYnsec = 0;
-    double tlastX = 0., tlastY = 0.;
+    struct timespec tcur, t0 = {0};
+    dumpt0(&t0);
     while(1){
         if(!telpos(&telXY)){
             WARNX("No next telescope position");
             return;
         }
-        if(telXY.X.t == tlastX && telXY.Y.t == tlastY) continue; // last measure - don't mind
+        if(!Mount.currentT(&tcur)) continue;
-        DBG("\n\nTELPOS: %g'/%g' measured @ %g/%g", RAD2AMIN(telXY.X.val), RAD2AMIN(telXY.Y.val), telXY.X.t, telXY.Y.t);
+        if(telXY.X.t.tv_nsec == tlastXnsec && telXY.Y.t.tv_nsec == tlastYnsec) continue; // last measure - don't mind
-        tlastX = telXY.X.t; tlastY = telXY.Y.t;
+        tlastXnsec = telXY.X.t.tv_nsec; tlastYnsec = telXY.Y.t.tv_nsec;
-        double t = Mount.currentT();
+        double t = Mount.timeFromStart();
-        if(fabs(telXY.X.val) > G.Xmax || fabs(telXY.Y.val) > G.Ymax || t - t0 > G.tmax) break;
+        if(fabs(telXY.X.val) > G.Xmax || fabs(telXY.Y.val) > G.Ymax || t - tstart > G.tmax){
-        if(!traectory_point(&traectXY, t)) break;
+            if(fabs(telXY.X.val) > G.Xmax) DBG("X over maximal limit!");
+            if(fabs(telXY.Y.val) > G.Ymax) DBG("Y over maximal limit!");
+            if(t - tstart > G.tmax) DBG("Time over...");
+            break;
+        }
+        if(!traectory_point(&traectXY, t)){
+            DBG("Error in 'traectory_point', time from start=%g", t);
+            break;
+        }
+        DBG("\n\nTELPOS: %g'/%g' (%.6f/%.6f); traectory: %g'/%g' (%.6f/%.6f)",
+            RAD2AMIN(telXY.X.val), RAD2AMIN(telXY.Y.val), RAD2DEG(telXY.X.val), RAD2DEG(telXY.Y.val),
+            RAD2AMIN(traectXY.X), RAD2AMIN(traectXY.Y), RAD2DEG(traectXY.X), RAD2DEG(traectXY.Y));
         target.X.val = traectXY.X; target.Y.val = traectXY.Y;
-        target.X.t = target.Y.t = t;
+        target.X.t = target.Y.t = tcur;
-        // check whether we should change direction
+        if(t0.tv_nsec == 0 && t0.tv_sec == 0) dumpt0(&t0);
-        if(telXY.X.val > traectXY.X) endpoint.X = -G.Xmax;
+        else{
-        else if(telXY.X.val < traectXY.X) endpoint.X = G.Xmax;
+            //DBG("target: %g'/%g'", RAD2AMIN(traectXY.X), RAD2AMIN(traectXY.Y));
-        if(telXY.Y.val > traectXY.Y) endpoint.Y = -G.Ymax;
+            DBG("%g, target-telescope: dX=%.4f'', dY=%.4f''", t-tstart, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
-        else if(telXY.Y.val < traectXY.Y) endpoint.Y = G.Ymax;
+            //DBG("Correct to: %g/%g with EP %g/%g", RAD2DEG(target.X.val), RAD2DEG(target.Y.val), RAD2DEG(endpoint.X), RAD2DEG(endpoint.Y));
-        DBG("target: %g'/%g'", RAD2AMIN(traectXY.X), RAD2AMIN(traectXY.Y));
-        DBG("%g: dX=%.4f'', dY=%.4f''", t-t0, 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, "%10.4g  %10.4g  %10.4g\n", t, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
+                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, &endpoint)) WARNX("Error of correction!");
+        }
-        while((t = Mount.currentT()) - tlast < MCC_PID_REFRESH_DT) usleep(50);
+        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 or emulation ends");
@@ -146,12 +156,14 @@ int main(int argc, char **argv){
             ERRX("Can't open error log %s", G.errlog);
         else
             fprintf(errlog, "#    time      Xerr''      Yerr''   // target - real\n");
+        setbuf(errlog, NULL);
     }
     if(G.coordsoutput){
         if(!(fcoords = fopen(G.coordsoutput, "w")))
             ERRX("Can't open %s", G.coordsoutput);
+        setbuf(fcoords, NULL);
     }else fcoords = stdout;
-    conf_t *Config = readServoConf(G.conffile);
+    Config = readServoConf(G.conffile);
     if(!Config || G.dumpconf){
         dumpConf();
         return 1;
@@ -164,21 +176,22 @@ int main(int argc, char **argv){
         return 1;
     }
     coordpair_t c = {.X = DEG2RAD(G.X0), .Y = DEG2RAD(G.Y0)};
-    if(!init_traectory(tfn, &c)){
-        ERRX("Can't init traectory");
-        return 1;
-    }
     mcc_errcodes_t e = Mount.init(Config);
     if(e != MCC_E_OK){
         WARNX("Can't init devices");
         return 1;
     }
+    // run this function only after mount inited!
+    if(!init_traectory(tfn, &c)){
+        ERRX("Can't init traectory");
+        return 1;
+    }
     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
-    chk0(G.Ncycles);
+//    chk0(G.Ncycles);
     logmnt(fcoords, NULL);
     if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
     ;

Auxiliary_utils/LibSidServo/examples/servo.conf

@@ -1,4 +1,4 @@
-Current configuration:
+# Current configuration
 MountDevPath=/dev/ttyUSB0
 MountDevSpeed=19200
 EncoderDevPath=(null)

Auxiliary_utils/LibSidServo/examples/traectories.c

@@ -41,7 +41,8 @@ int init_traectory(traectory_fn f, coordpair_t *XY0){
     if(!f || !XY0) return FALSE;
     cur_traectory = f;
     XYstart = *XY0;
-    tstart = Mount.currentT();
+    tstart = Mount.timeFromStart();
+    DBG("inited @ %gs from start", tstart);
     mountdata_t mdata;
     int ntries = 0;
     for(; ntries < 10; ++ntries){
@@ -58,11 +59,21 @@ int init_traectory(traectory_fn f, coordpair_t *XY0){
  * @return FALSE if something wrong (e.g. X not in -90..90 or Y not in -180..180)
  */
 int traectory_point(coordpair_t *nextpt, double t){
-    if(t < 0. || !cur_traectory) return FALSE;
+    if(t < 0. || !cur_traectory){
+        if(t < 0.) DBG("time in past!");
+        else DBG("no current traectory selected!");
+        return FALSE;
+    }
     coordpair_t pt;
-    if(!cur_traectory(&pt, t)) return FALSE;
+    if(!cur_traectory(&pt, t)){
+        DBG("error in cur_traectory");
+        return FALSE;
+    }
     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;
+    if(pt.X < -M_PI_2 || pt.X > M_PI_2 || pt.Y < -M_PI || pt.Y > M_PI){
+        DBG("some points is over limits, pt.x=%g, pt.y=%g degrees", RAD2DEG(pt.X), RAD2DEG(pt.Y));
+        return FALSE;
+    }
     return TRUE;
 }
 
@@ -76,6 +87,7 @@ int telpos(coordval_pair_t *curpos){
     }
     if(ntries == 10) return FALSE;
     coordval_pair_t pt;
+    //DBG("\n\nTELPOS: %g'/%g' measured @ %.6f", RAD2AMIN(mdata.encXposition.val), RAD2AMIN(mdata.encYposition.val), mdata.encXposition.t);
     pt.X.val = mdata.encXposition.val;
     pt.Y.val = mdata.encYposition.val;
     pt.X.t = mdata.encXposition.t;
@@ -87,6 +99,7 @@ int telpos(coordval_pair_t *curpos){
 // X=X0+1'/s, Y=Y0+15''/s
 int Linear(coordpair_t *nextpt, double t){
     coordpair_t pt;
+    DBG("t=%g, tfromstart=%g, dt=%g", t, tstart, t-tstart);
     pt.X = XYstart.X + ASEC2RAD(0.1) * (t - tstart);
     pt.Y = XYstart.Y + ASEC2RAD(15.)* (t - tstart);
     if(nextpt) *nextpt = pt;
@@ -97,7 +110,7 @@ int Linear(coordpair_t *nextpt, double t){
 int SinCos(coordpair_t *nextpt, double t){
     coordpair_t pt;
     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)/10.*2*M_PI);
     if(nextpt) *nextpt = pt;
     return TRUE;
 }
@@ -110,7 +123,7 @@ typedef struct{
 
 static tr_names names[] = {
     {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+1'*cos(t/10*2pi)"},
     {NULL, NULL, NULL}
 };
 

Auxiliary_utils/LibSidServo/kalman.c

@@ -0,0 +1,169 @@
+/*
+ * 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 <math.h>
+
+#include "kalman.h"
+
+void kalman3_init(Kalman3 *kf, double dt, double enc_var){
+    kf->dt = dt;
+
+    kf->x[0] = 0;
+    kf->x[1] = 0;
+    kf->x[2] = 0;
+
+    for(int i=0;i<3;i++)
+        for(int j=0;j<3;j++)
+            kf->P[i][j] = 0;
+
+    kf->P[0][0] = 1;
+    kf->P[1][1] = 1;
+    kf->P[2][2] = 1;
+
+    // process noise
+    kf->Q[0][0] = 1e-6;
+    kf->Q[1][1] = 1e-4;
+    kf->Q[2][2] = 1e-3;
+
+    kf->R = enc_var; // encoder noise variance
+}
+
+void kalman3_set_jerk_noise(Kalman3 *kf, double sigma_j){
+    double dt = kf->dt;
+
+    double dt2 = dt*dt;
+    double dt3 = dt2*dt;
+    double dt4 = dt3*dt;
+    double dt5 = dt4*dt;
+
+    double q = sigma_j * sigma_j;
+
+    kf->Q[0][0] = q * dt5 / 20.0;
+    kf->Q[0][1] = q * dt4 / 8.0;
+    kf->Q[0][2] = q * dt3 / 6.0;
+
+    kf->Q[1][0] = q * dt4 / 8.0;
+    kf->Q[1][1] = q * dt3 / 3.0;
+    kf->Q[1][2] = q * dt2 / 2.0;
+
+    kf->Q[2][0] = q * dt3 / 6.0;
+    kf->Q[2][1] = q * dt2 / 2.0;
+    kf->Q[2][2] = q * dt;
+}
+
+void kalman3_predict(Kalman3 *kf){
+    double dt = kf->dt;
+    double dt2 = 0.5 * dt * dt;
+
+    double theta = kf->x[0];
+    double omega = kf->x[1];
+    double alpha = kf->x[2];
+
+    // state prediction
+    kf->x[0] = theta + omega*dt + alpha*dt2;
+    kf->x[1] = omega + alpha*dt;
+    kf->x[2] = alpha;
+
+    // transition matrix
+    double F[3][3] =
+        {
+            {1, dt, dt2},
+            {0, 1,  dt},
+            {0, 0,  1}
+        };
+
+    // P = FPF^T + Q
+
+    double FP[3][3];
+
+    for(int i=0;i<3;i++)
+        for(int j=0;j<3;j++){
+            FP[i][j] =
+                F[i][0]*kf->P[0][j] +
+                F[i][1]*kf->P[1][j] +
+                F[i][2]*kf->P[2][j];
+        }
+
+    double Pnew[3][3];
+
+    for(int i=0;i<3;i++)
+        for(int j=0;j<3;j++){
+            Pnew[i][j] =
+                FP[i][0]*F[j][0] +
+                FP[i][1]*F[j][1] +
+                FP[i][2]*F[j][2] +
+                kf->Q[i][j];
+        }
+
+    for(int i=0;i<3;i++)
+        for(int j=0;j<3;j++)
+            kf->P[i][j] = Pnew[i][j];
+}
+
+void kalman3_update(Kalman3 *kf, double z){
+    // innovation
+    double y = z - kf->x[0];
+
+    // S = HPH^T + R
+    double S = kf->P[0][0] + kf->R;
+
+    // Kalman gain
+    double K[3];
+
+    K[0] = kf->P[0][0] / S;
+    K[1] = kf->P[1][0] / S;
+    K[2] = kf->P[2][0] / S;
+
+    // state update
+    kf->x[0] += K[0] * y;
+    kf->x[1] += K[1] * y;
+    kf->x[2] += K[2] * y;
+
+    // covariance update
+    double P00 = kf->P[0][0];
+    double P01 = kf->P[0][1];
+    double P02 = kf->P[0][2];
+
+    double P10 = kf->P[1][0];
+    double P11 = kf->P[1][1];
+    double P12 = kf->P[1][2];
+
+    double P20 = kf->P[2][0];
+    double P21 = kf->P[2][1];
+    double P22 = kf->P[2][2];
+
+    kf->P[0][0] = P00 - K[0]*P00;
+    kf->P[0][1] = P01 - K[0]*P01;
+    kf->P[0][2] = P02 - K[0]*P02;
+
+    kf->P[1][0] = P10 - K[1]*P00;
+    kf->P[1][1] = P11 - K[1]*P01;
+    kf->P[1][2] = P12 - K[1]*P02;
+
+    kf->P[2][0] = P20 - K[2]*P00;
+    kf->P[2][1] = P21 - K[2]*P01;
+    kf->P[2][2] = P22 - K[2]*P02;
+}
+
+
+// estimation of the R
+double encoder_noise(int counts){
+    double d = 2.0*M_PI / counts;
+    return d*d / 12.0;
+}
+

Auxiliary_utils/LibSidServo/kalman.h

@@ -0,0 +1,34 @@
+/*
+ * 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/>.
+ */
+
+#pragma once
+
+typedef struct{
+    double x[3];        // [theta, omega, alpha]
+    double P[3][3];     // covariance
+    double Q[3][3];     // process noise
+    double R;           // measurement noise
+    double dt;
+} Kalman3;
+
+
+double encoder_noise(int counts);
+void kalman3_update(Kalman3 *kf, double z);
+void kalman3_predict(Kalman3 *kf);
+void kalman3_set_jerk_noise(Kalman3 *kf, double sigma_j);
+void kalman3_init(Kalman3 *kf, double dt, double enc_var);

Auxiliary_utils/LibSidServo/libsidservo.creator.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 17.0.0, 2025-07-30T17:30:52. -->
+<!-- Written by QtCreator 18.0.0, 2026-03-23T09:21:54. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
@@ -86,6 +86,7 @@
     <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>
@@ -110,8 +111,8 @@
       <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
      </valuemap>
      <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Сборка</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Build</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Сборка</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Build</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value>
     </valuemap>
     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.1">
@@ -123,8 +124,8 @@
       <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
      </valuemap>
      <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Очистка</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Clean</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Очистка</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Clean</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
     </valuemap>
     <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
@@ -139,8 +140,8 @@
     <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">Развёртывание</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
-      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Развёртывание</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>
@@ -164,6 +165,7 @@
      <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>
@@ -173,8 +175,8 @@
    <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">Развёртывание</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Развёртывание</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>
@@ -198,6 +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>
@@ -208,10 +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>

Auxiliary_utils/LibSidServo/libsidservo.files

@@ -13,15 +13,18 @@ examples/dumpswing.c
 examples/goto.c
 examples/scmd_traectory.c
 examples/simpleconv.h
+kalman.c
 main.c
 sidservo.h
 serial.c
 examples/CMakeLists.txt
 examples/traectories.c
 examples/traectories.h
+kalman.h
 main.h
 movingmodel.c
 movingmodel.h
+polltest/main.c
 ramp.c
 ramp.h
 serial.h

Auxiliary_utils/LibSidServo/main.c

@@ -25,6 +25,7 @@
 #include <time.h>
 #include <stdio.h>
 #include <stdlib.h>
+#include <unistd.h>
 
 #include "main.h"
 #include "movingmodel.h"
@@ -32,40 +33,82 @@
 #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
-static limits_t
+// 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 = MCC_MAX_X_SPEED, .accel = MCC_X_ACCELERATION}},
+        .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 = MCC_MAX_Y_SPEED, .accel = MCC_Y_ACCELERATION}}
+        .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 nanotime - monotonic time from first run
+ * @brief curtime - monotonic time from first run
- * @return time in seconds
+ * @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
  */
-double nanotime(){
+int curtime(struct timespec *t){
-    static struct timespec *start = NULL;
     struct timespec now;
-    if(!start){
+    if(clock_gettime(CLOCK_MONOTONIC, &now)) return FALSE;
-        start = malloc(sizeof(struct timespec));
+    now.tv_sec += timeadder.tv_sec;
-        if(!start) return -1.;
+    now.tv_nsec += timeadder.tv_nsec;
-        if(clock_gettime(CLOCK_MONOTONIC, start)) return -1.;
+    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.;
-    double nd = ((double)now.tv_nsec - (double)start->tv_nsec) * 1e-9;
+    return (now.tv_sec - starttime.tv_sec) + (now.tv_nsec - starttime.tv_nsec) / 1e9;
-    double sd = (double)now.tv_sec - (double)start->tv_sec;
-    return sd + nd;
 }
 
 /**
  * @brief quit - close all opened and return to default state
+ * TODO: close serial devices even in "model" mode
  */
 static void quit(){
     if(Conf.RunModel) return;
@@ -75,25 +118,19 @@ static void quit(){
     DBG("Exit");
 }
 
-void getModData(mountdata_t *mountdata){
+void getModData(coordpair_t *c, movestate_t *xst, movestate_t *yst){
-    if(!mountdata || !Xmodel || !Ymodel) return;
+    if(!c || !Xmodel || !Ymodel) return;
-    static double oldmt = -100.; // old `millis measurement` time
+    double tnow = timefromstart();
-    static uint32_t oldmillis = 0;
-    double tnow = nanotime();
     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);
-    mountdata->motXposition.t = mountdata->encXposition.t = mountdata->motYposition.t = mountdata->encYposition.t = tnow;
+    c->X = Xp.coord;
-    mountdata->motXposition.val = mountdata->encXposition.val  = Xp.coord;
+    c->Y = Yp.coord;
-    mountdata->motYposition.val  = mountdata->encYposition.val  = Yp.coord;
+    if(xst) *xst = Xst;
-    getXspeed(); getYspeed();
+    if(yst) *yst = Yst;
-    if(tnow - oldmt > Conf.MountReqInterval){
-        oldmillis = mountdata->millis = (uint32_t)(tnow * 1e3);
-        oldmt = tnow;
-    }else mountdata->millis = oldmillis;
 }
 
 /**
@@ -124,6 +161,8 @@ 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;
@@ -135,14 +174,13 @@ double LS_calc_slope(less_square_t *l, double x, double t){
     l->xtsum += xt - oldxt;
     double n = (double)l->arraysz;
     double denominator = n * l->t2sum - l->tsum * l->tsum;
-    //DBG("idx=%zd, arrsz=%zd, den=%g", l->idx, l->arraysz, denominator);
     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
@@ -151,65 +189,97 @@ double LS_calc_slope(less_square_t *l, double x, double t){
 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;
     Xmodel = model_init(&Xlimits);
     Ymodel = model_init(&Ylimits);
+    if(Conf.MountReqInterval > 1. || Conf.MountReqInterval < 0.05){
+        DBG("Bad value of MountReqInterval");
+        ret = MCC_E_BADFORMAT;
+    }
     if(Conf.RunModel){
         if(!Xmodel || !Ymodel || !openMount()) return MCC_E_FAILED;
         return MCC_E_OK;
     }
-    if(!Conf.MountDevPath || Conf.MountDevSpeed < 1200){
+    DBG("Try to open mount device");
+    if(!Conf.MountDevPath || Conf.MountDevSpeed < MOUNT_BAUDRATE_MIN){
         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){
+    // TODO: read hardware configuration on init
-        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;
-        }
-    }
-    if(Conf.MountReqInterval > 1. || Conf.MountReqInterval < 0.05){
-        DBG("Bad value of MountReqInterval");
-        ret = MCC_E_BADFORMAT;
-    }
     if(Conf.EncoderSpeedInterval < Conf.EncoderReqInterval * MCC_CONF_MIN_SPEEDC || Conf.EncoderSpeedInterval > MCC_CONF_MAX_SPEEDINT){
         DBG("Wrong speed interval");
         ret = MCC_E_BADFORMAT;
     }
-    //uint8_t buf[1024];
-    //data_t d = {.buf = buf, .len = 0, .maxlen = 1024};
-    if(!SSrawcmd(CMD_EXITACM, NULL)) ret = MCC_E_FAILED;
     if(ret != MCC_E_OK) return ret;
-    return updateMotorPos();
+    DBG("Exit ACM, exit manual mode");
+    SSrawcmd(CMD_EXITACM, NULL);
+    SStextcmd(CMD_AUTOX, NULL);
+    SStextcmd(CMD_AUTOY, NULL);
+    // read HW config to update constants
+    hardware_configuration_t HW;
+    DBG("Read hardware configuration");
+    ret = MCC_E_FAILED;
+    for(int i = 0; i < MAX_ERR_CTR; ++i){
+        DBG("TRY %d..", i);
+        ret = get_hwconf(&HW);
+        if(ret == MCC_E_OK) break;
+    }
+    if(MCC_E_OK != ret) return ret;
+    // make a pause for actual encoder's values
+    DBG("Check encoders");
+    if(Conf.SepEncoder){
+        if(!Conf.EncoderDevPath && !Conf.EncoderXDevPath){
+            DBG("Define encoder device path");
+            ret = MCC_E_BADFORMAT;
+        }else{
+            ret = MCC_E_ENCODERDEV;
+            for(int i = 0; i < MAX_ERR_CTR; ++i){
+                if(openEncoder()){
+                    ret = MCC_E_OK;
+                    break;
+                }
+            }
+        }
+    }
+    if(MCC_E_OK != ret) return ret;
+    double t0 = timefromstart();
+    DBG("Wait for first encoders' measurement");
+    while(timefromstart() - t0 < Conf.EncoderReqInterval * 15.) usleep(1000);
+    DBG("Update motor position");
+    mcc_errcodes_t e = updateMotorPos();
+    // and refresh data after updating
+    DBG("Wait for next mount reading");
+    t0 = timefromstart();
+    while(timefromstart() - t0 < Conf.MountReqInterval * 5.) usleep(1000);
+    DBG("ALL READY!");
+    return e;
 }
 
 // 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 > MCC_MAX_X_SPEED) return FALSE;
+    if(s < Xlimits.min.speed || s > Xlimits.max.speed) return FALSE;
     return TRUE;
 }
 static int chkYs(double s){
-    if(s < 0. || s > MCC_MAX_Y_SPEED) return FALSE;
+    if(s < Ylimits.min.speed || s > Ylimits.max.speed) return FALSE;
     return TRUE;
 }
 
-// set SLEWING state if axis was stopped later
+// set SLEWING state if axis was stopped
 static void setslewingstate(){
     //FNAME();
     mountdata_t d;
@@ -225,19 +295,6 @@ static void setslewingstate(){
     }else DBG("CAN't GET MOUNT DATA!");
 }
 
-/*
-static mcc_errcodes_t slew2(const coordpair_t *target, slewflags_t flags){
-    (void)target;
-    (void)flags;
-    //if(Conf.RunModel) return ... ;
-    if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
-    //...
-    setStat(AXIS_SLEWING, AXIS_SLEWING);
-    //...
-    return MCC_E_FAILED;
-}
-*/
-
 /**
  * @brief move2 - simple move to given point and stop
  * @param X - new X coordinate (radians: -pi..pi) or NULL
@@ -252,12 +309,9 @@ static mcc_errcodes_t move2(const coordpair_t *target){
     DBG("x,y: %g, %g", target->X, target->Y);
     cmd.Xmot = target->X;
     cmd.Ymot = target->Y;
-    cmd.Xspeed = MCC_MAX_X_SPEED;
+    cmd.Xspeed = Xlimits.max.speed;
-    cmd.Yspeed = MCC_MAX_Y_SPEED;
+    cmd.Yspeed = Ylimits.max.speed;
-    mcc_errcodes_t r = shortcmd(&cmd);
+    return shortcmd(&cmd);
-    if(r != MCC_E_OK) return r;
-    setslewingstate();
-    return MCC_E_OK;
 }
 
 /**
@@ -286,16 +340,14 @@ static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed
     if(!target || !speed) return MCC_E_BADFORMAT;
     if(!chkX(target->X) || !chkY(target->Y)) return MCC_E_BADFORMAT;
     if(!chkXs(speed->X) || !chkYs(speed->Y)) return MCC_E_BADFORMAT;
+    // updateMotorPos() here can make a problem; TODO: remove?
     if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
     short_command_t cmd = {0};
     cmd.Xmot = target->X;
     cmd.Ymot = target->Y;
     cmd.Xspeed = speed->X;
     cmd.Yspeed = speed->Y;
-    mcc_errcodes_t r = shortcmd(&cmd);
+    return shortcmd(&cmd);
-    if(r != MCC_E_OK) return r;
-    setslewingstate();
-    return MCC_E_OK;
 }
 
 /**
@@ -305,7 +357,7 @@ static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed
 static mcc_errcodes_t emstop(){
     FNAME();
     if(Conf.RunModel){
-        double curt = nanotime();
+        double curt = timefromstart();
         Xmodel->emergency_stop(Xmodel, curt);
         Ymodel->emergency_stop(Ymodel, curt);
         return MCC_E_OK;
@@ -317,7 +369,7 @@ static mcc_errcodes_t emstop(){
 static mcc_errcodes_t stop(){
     FNAME();
     if(Conf.RunModel){
-        double curt = nanotime();
+        double curt = timefromstart();
         Xmodel->stop(Xmodel, curt);
         Ymodel->stop(Ymodel,curt);
         return MCC_E_OK;
@@ -334,7 +386,7 @@ 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 = nanotime();
+        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;
@@ -366,7 +418,7 @@ static mcc_errcodes_t shortcmd(short_command_t *cmd){
 static mcc_errcodes_t longcmd(long_command_t *cmd){
     if(!cmd) return MCC_E_BADFORMAT;
     if(Conf.RunModel){
-        double curt = nanotime();
+        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;
@@ -393,6 +445,7 @@ static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
     if(!hwConfig) return MCC_E_BADFORMAT;
     if(Conf.RunModel) return MCC_E_FAILED;
     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);
@@ -432,8 +485,8 @@ static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
     // Copy ticks per revolution
     hwConfig->Xsetpr = __bswap_32(config.Xsetpr);
     hwConfig->Ysetpr = __bswap_32(config.Ysetpr);
-    hwConfig->Xmetpr = __bswap_32(config.Xmetpr) / 4; // as documentation said, real ticks are 4 times less
+    hwConfig->Xmetpr = __bswap_32(config.Xmetpr); // as documentation said, real ticks are 4 times less
-    hwConfig->Ymetpr = __bswap_32(config.Ymetpr) / 4;
+    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);
@@ -451,6 +504,30 @@ static mcc_errcodes_t get_hwconf(hardware_configuration_t *hwConfig){
     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;
 }
 
@@ -506,17 +583,37 @@ static mcc_errcodes_t write_hwconf(hardware_configuration_t *hwConfig){
     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;
+}
+
 // init mount class
 mount_t Mount = {
     .init = init,
     .quit = quit,
     .getMountData = getMD,
-//    .slewTo = slew2,
     .moveTo = move2,
     .moveWspeed = move2s,
     .setSpeed = setspeed,
@@ -526,7 +623,13 @@ mount_t Mount = {
     .longCmd = longcmd,
     .getHWconfig = get_hwconf,
     .saveHWconfig = write_hwconf,
-    .currentT = nanotime,
+    .currentT = curtime,
+    .timeFromStart = timefromstart,
+    .timeDiff = timediff,
+    .timeDiff0 = timediff0,
     .correctTo = correct2,
+    .getMaxSpeed = maxspeed,
+    .getMinSpeed = minspeed,
+    .getAcceleration = acceleration,
 };
 

Auxiliary_utils/LibSidServo/main.h

@@ -24,11 +24,16 @@
 
 #include <stdlib.h>
 
+#include "movingmodel.h"
 #include "sidservo.h"
 
 extern conf_t Conf;
-double nanotime();
+extern limits_t Xlimits, Ylimits;
-void getModData(mountdata_t *mountdata);
+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
@@ -42,10 +47,6 @@ 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))
 

Auxiliary_utils/LibSidServo/movingmodel.c

@@ -60,9 +60,14 @@ movemodel_t *model_init(limits_t *l){
 
 int model_move2(movemodel_t *model, moveparam_t *target, double t){
     if(!target || !model) return FALSE;
-    DBG("MOVE to %g at speed %g", target->coord, target->speed);
+    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);
 }

Auxiliary_utils/LibSidServo/movingmodel.h

@@ -44,7 +44,7 @@ typedef struct{
 typedef struct{
     moveparam_t min;
     moveparam_t max;
-    double acceleration;
+    //double acceleration;
 } limits_t;
 
 typedef enum{

Auxiliary_utils/LibSidServo/polltest/main.c

@@ -0,0 +1,237 @@
+/*
+ * 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>
+
+#define XYBUFSZ     (2048)
+
+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;
+}
+
+static int eolcnt(buf_t *buf){
+    if(!buf) return -1;
+    int cnt = 0;
+    for(int i = 0; i < buf->len; ++i)
+        if(buf->buf[i] == '\n') ++cnt;
+    return cnt;
+}
+// move last record (if any) into head of buffer
+static void movelast(buf_t *buf){
+    FNAME();
+    if(!buf) return;
+    DBG("buf was: %s", buf->buf);
+    int cnt = eolcnt(buf);
+    char *E = strrchr(buf->buf, '\n');
+    int idx = -1;
+    if(E){
+        idx = ++E - buf->buf; // position of symbol after '\n'
+    }else{
+        buf->len = strlen(buf->buf);
+        DBG("leave as is (%s)", buf->buf);
+        return;
+    }
+    DBG("cnt=%d, idx=%d", cnt, idx);
+    switch(cnt){
+        case 0: // EOL not found - clear buf
+            buf->len = 0;
+        break;
+        case 1: // only one record - move all after '\n'
+            if(idx > 0 && idx < XYBUFSZ){
+                buf->len = XYBUFSZ - idx;
+                memmove(buf->buf, E, buf->len);
+            }else buf->len = 0;
+        break;
+        default: // more than one record - move
+        {
+            int i = idx - 2;
+            for(; i > -1; --i)
+                if(buf->buf[i] == '\n') break;
+            ++i;
+            buf->len = XYBUFSZ - i;
+            memmove(buf->buf, &buf->buf[i], buf->len);
+        }
+    }
+    buf->buf[buf->len] = 0;
+    DBG("MOVED; now buf[%d]=%s", buf->len, buf->buf);
+}
+// write to buffer next data portion; return FALSE in case of error
+static int readstrings(buf_t *buf, int fd){
+    if(!buf){WARNX("Empty buffer"); return FALSE;}
+    int L = XYBUFSZ - buf->len;
+    if(L == 0){
+        DBG("len: %d", buf->len);
+        movelast(buf);
+        L = XYBUFSZ - buf->len;
+    }
+    int got = read(fd, &buf->buf[buf->len], L);
+    if(got < 0){
+        WARN("read()");
+        return FALSE;
+    }else if(got == 0) 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) return -1;
+    // read record between last '\n' and previous (or start of string)
+    int cnt = eolcnt(buf);
+    if(cnt < 1) return FALSE;
+    char *last = strrchr(buf->buf, '\n');
+    if(!last) return FALSE; // WTF?
+    *last = 0;
+    char *prev = buf->buf;
+    if(cnt > 1) prev = strrchr(buf->buf, '\n') + 1;
+    if(!prev) prev = buf->buf; // ??
+    if(out) *out = atol(prev);
+    int l = strlen(++last);
+    if(l < XYBUFSZ){
+        buf->len = l;
+        if(l){
+            memmove(buf->buf, last, l);
+            DBG("moved: %s", buf->buf);
+        }else DBG("empty line");
+    }else{
+        buf->len = 0;
+        DBG("buffer clear");
+    }
+    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, 1) < 0){
+            WARN("poll()");
+            break;
+        }
+        if(pfds[0].revents && POLLIN){
+            if(!readstrings(&xbuf, Xfd)) break;
+        }
+        if(pfds[1].revents && POLLIN){
+            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;
+}

Auxiliary_utils/LibSidServo/ramp.c

@@ -23,12 +23,14 @@
 
 #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){
@@ -120,7 +122,7 @@ static void unlockedcalc(movemodel_t *m, moveparam_t *x, double t){
         }
     }else{
         // if we are here, we have the worst case: change speed direction
-        DBG("Hardest 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;
@@ -132,7 +134,7 @@ static void unlockedcalc(movemodel_t *m, moveparam_t *x, double t){
         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);
+       // DBG("NOW t[0]=%g, X[0]=%g, V[0]=%g", t, x0, v0);
         return;
     }
     m->state = ST_MOVE;
@@ -210,11 +212,10 @@ static movestate_t proc(movemodel_t *m, moveparam_t *next, double t){
     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);
+       /* DBG("REACHED STOPping stage @ t=%g", t);
         for(int s = STAGE_STOPPED; s >= 0; --s){
             DBG("T[%d]=%g, ", s, m->Times[s]);
-        }
+        }*/
-        fflush(stdout);
         emstop(m, t);
         goto ret;
     }

Auxiliary_utils/LibSidServo/serial.c

@@ -20,6 +20,7 @@
 #include <errno.h>
 #include <fcntl.h>
 #include <math.h>
+#include <poll.h>
 #include <pthread.h>
 #include <signal.h>
 #include <stdint.h>
@@ -30,6 +31,7 @@
 #include <sys/stat.h>
 #include <unistd.h>
 
+#include "kalman.h"
 #include "main.h"
 #include "movingmodel.h"
 #include "serial.h"
@@ -48,7 +50,13 @@ static pthread_mutex_t  mntmutex = 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 - for `select`
-static struct timeval encRtmout = {.tv_sec = 0, .tv_usec = 50000}, mntRtmout = {.tv_sec = 0, .tv_usec = 50000};
+// this values will be modified later
+static struct timeval encRtmout = {.tv_sec = 0, .tv_usec = 100}, // encoder reading timeout
+    mnt1Rtmout = {.tv_sec = 0, .tv_usec = 200000}, // first reading
+    mntRtmout =  {.tv_sec = 0, .tv_usec = 50000}; // next readings
+
+static volatile int GlobExit = 0;
+
 // encoders raw data
 typedef struct __attribute__((packed)){
     uint8_t magick;
@@ -64,18 +72,12 @@ void getXspeed(){
         ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
         if(!ls) return;
     }
-    double speed = LS_calc_slope(ls, mountdata.encXposition.val, mountdata.encXposition.t);
+    double dt = timediff0(&mountdata.encXposition.t);
-    if(fabs(speed) < 1.5 * MCC_MAX_X_SPEED){
+    double speed = LS_calc_slope(ls, mountdata.encXposition.val, dt);
+    if(fabs(speed) < 1.5 * Xlimits.max.speed){
         mountdata.encXspeed.val = speed;
         mountdata.encXspeed.t = mountdata.encXposition.t;
     }
-    //DBG("Xspeed=%g", mountdata.encXspeed.val);
-#if 0
-    mountdata.encXspeed.val = (mountdata.encXposition.val - lastXenc.val) / (t - lastXenc.t);
-    mountdata.encXspeed.t = (lastXenc.t + mountdata.encXposition.t) / 2.;
-    lastXenc.val = mountdata.encXposition.val;
-    lastXenc.t = t;
-#endif
 }
 void getYspeed(){
     static less_square_t *ls = NULL;
@@ -83,17 +85,12 @@ void getYspeed(){
         ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
         if(!ls) return;
     }
-    double speed = LS_calc_slope(ls, mountdata.encYposition.val, mountdata.encYposition.t);
+    double dt = timediff0(&mountdata.encYposition.t);
-    if(fabs(speed) < 1.5 * MCC_MAX_Y_SPEED){
+    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
-    mountdata.encYspeed.val = (mountdata.encYposition.val - lastYenc.val) / (t - lastYenc.t);
-    mountdata.encYspeed.t = (lastYenc.t + mountdata.encYposition.t) / 2.;
-    lastYenc.val = mountdata.encYposition.val;
-    lastYenc.t = t;
-#endif
 }
 
 /**
@@ -101,7 +98,8 @@ void getYspeed(){
  * @param databuf - input buffer with 13 bytes of data
  * @param t - time when databuf[0] got
  */
-static void parse_encbuf(uint8_t databuf[ENC_DATALEN], double t){
+static void parse_encbuf(uint8_t databuf[ENC_DATALEN], struct timespec *t){
+    if(!t) return;
     enc_t *edata = (enc_t*) databuf;
 /*
 #ifdef EBUG
@@ -136,66 +134,16 @@ static void parse_encbuf(uint8_t databuf[ENC_DATALEN], double t){
         return;
     }
     pthread_mutex_lock(&datamutex);
-    mountdata.encXposition.val = X_ENC2RAD(edata->encX);
+    mountdata.encXposition.val = Xenc2rad(edata->encX);
-    mountdata.encYposition.val = Y_ENC2RAD(edata->encY);
+    mountdata.encYposition.val = Yenc2rad(edata->encY);
     DBG("Got positions X/Y= %.6g / %.6g", mountdata.encXposition.val, mountdata.encYposition.val);
-    mountdata.encXposition.t = t;
+    mountdata.encXposition.t = *t;
-    mountdata.encYposition.t = t;
+    mountdata.encYposition.t = *t;
-    //if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed();
-    //if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed();
     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);
 }
 
-/**
- * @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, double *t){
-    if(fd < 0) return FALSE;
-    char buf[128];
-    int got = 0, Lmax = 127;
-    double t0 = nanotime();
-    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) continue;
-        if(retval < 0){
-            if(errno == EINTR) continue;
-            return 0;
-        }
-        if(FD_ISSET(fd, &rfds)){
-            ssize_t l = read(fd, &buf[got], Lmax);
-            if(l < 1) return 0; // disconnected ??
-            got += l; Lmax -= l;
-            buf[got] = 0;
-        } else continue;
-        if(strchr(buf, '\n')) break;
-    }while(Lmax && nanotime() - t0 < Conf.EncoderReqInterval);
-    if(got == 0) return 0; // WTF?
-    char *estr = strrchr(buf, '\n');
-    if(!estr) 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) *t = t0;
-    return got;
-}
 // 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] < 0) return -1;
@@ -219,46 +167,61 @@ static int getencbyte(){
     }while(1);
     return (int)byte;
 }
-// read 1 byte from mount; return -1 if nothing to read, -2 if disconnected
+
-static int getmntbyte(){
+/**
-    if(mntfd < 0) return -1;
+ * @brief readmntdata - read data
-    uint8_t byte;
+ * @param buffer - input buffer
+ * @param maxlen - maximal buffer length
+ * @return amount of bytes read or -1 in case of error
+ */
+static int readmntdata(uint8_t *buffer, int maxlen){
+    if(mntfd < 0){
+        DBG("mntfd non opened");
+        return -1;
+    }
+    if(!buffer || maxlen < 1) return 0;
+    //DBG("ask for %d bytes", maxlen);
+    int got = 0;
     fd_set rfds;
-   /* ssize_t l = read(mntfd, &byte, 1);
+    struct timeval tv = mnt1Rtmout;
-    //DBG("MNT read=%zd byte=0x%X", l, byte);
-    if(l == 0) return -1;
-    if(l != 1) return -2; // disconnected ??
-    return (int) byte;*/
     do{
         FD_ZERO(&rfds);
         FD_SET(mntfd, &rfds);
-        struct timeval tv = mntRtmout;
+        //DBG("select");
         int retval = select(mntfd + 1, &rfds, NULL, NULL, &tv);
+        //DBG("returned %d", retval);
         if(retval < 0){
             if(errno == EINTR) continue;
             DBG("Error in select()");
             return -1;
         }
-        //DBG("FD_ISSET = %d", FD_ISSET(mntfd, &rfds));
         if(FD_ISSET(mntfd, &rfds)){
-            ssize_t l = read(mntfd, &byte, 1);
+            ssize_t l = read(mntfd, buffer, maxlen);
-            //DBG("MNT read=%zd byte=0x%X", l, byte);
+            if(l == 0){
-            if(l != 1){
+                DBG("read ZERO");
+                continue;
+            }
+            if(l < 0){
                 DBG("Mount disconnected?");
                 return -2; // disconnected ??
             }
+            buffer += l;
+            maxlen -= l;
+            got += l;
+        }else{
+            DBG("no new data after %d bytes (%s)", got, buffer - got);
             break;
-        } else return -1;
+        }
-    }while(1);
+        tv = mntRtmout;
-    return (int)byte;
+    }while(maxlen);
+    return got;
 }
+
 // clear data from input buffer
 static void clrmntbuf(){
     if(mntfd < 0) return;
-    uint8_t byte;
+    uint8_t bytes[256];
     fd_set rfds;
-    //double t0 = nanotime();
-    //int n = 0;
     do{
         FD_ZERO(&rfds);
         FD_SET(mntfd, &rfds);
@@ -270,12 +233,11 @@ static void clrmntbuf(){
             break;
         }
         if(FD_ISSET(mntfd, &rfds)){
-            ssize_t l = read(mntfd, &byte, 1);
+            ssize_t l = read(mntfd, &bytes, 256);
-            if(l != 1) break;
+            if(l < 1) break;
-            //++n;
+            DBG("clr got %zd bytes: %s", l, bytes);
-        } else break;
+        }else break;
     }while(1);
-    //DBG("Cleared by %g (got %d bytes)", nanotime() - t0, n);
 }
 
 // main encoder thread (for separate encoder): read next data and make parsing
@@ -283,8 +245,8 @@ static void *encoderthread1(void _U_ *u){
     if(Conf.SepEncoder != 1) return NULL;
     uint8_t databuf[ENC_DATALEN];
     int wridx = 0, errctr = 0;
-    double t = 0.;
+    struct timespec tcur;
-    while(encfd[0] > -1 && errctr < MAX_ERR_CTR){
+    while(encfd[0] > -1 && errctr < MAX_ERR_CTR && !GlobExit){
         int b = getencbyte();
         if(b == -2) ++errctr;
         if(b < 0) continue;
@@ -294,15 +256,16 @@ static void *encoderthread1(void _U_ *u){
             if((uint8_t)b == ENC_MAGICK){
 //                DBG("Got magic -> start filling packet");
                 databuf[wridx++] = (uint8_t) b;
-                t = nanotime();
             }
             continue;
         }else databuf[wridx++] = (uint8_t) b;
         if(wridx == ENC_DATALEN){
-            parse_encbuf(databuf, t);
+            if(curtime(&tcur)){
+                parse_encbuf(databuf, &tcur);
                 wridx = 0;
             }
         }
+    }
     if(encfd[0] > -1){
         close(encfd[0]);
         encfd[0] = -1;
@@ -310,49 +273,172 @@ static void *encoderthread1(void _U_ *u){
     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;
+    }
+//    DBG("got data");
+    // 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;
-    double t0 = nanotime();
+
-    const char *req = "\n";
+    // init Kalman for both axes
-    int need2ask = 0; // need or not to ask encoder for new data
+    Kalman3 kf[2];
-    while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR){
+    double dt = Conf.EncoderReqInterval; // 1ms encoders step
-        if(need2ask){
+    double sigma_jx = 1e-6, sigma_jy = 1e-6; // "jerk" sigma
-            if(1 != write(encfd[0], req, 1)) { ++errctr; continue; }
+    double xnoice = encoder_noise(X_ENC_STEPSPERREV);
-            else if(1 != write(encfd[1], req, 1)) { ++errctr; continue; }
+    double ynoice = encoder_noise(Y_ENC_STEPSPERREV);
+    kalman3_init(&kf[0], dt, xnoice);
+    kalman3_init(&kf[1], dt, ynoice);
+    kalman3_set_jerk_noise(&kf[0], sigma_jx);
+    kalman3_set_jerk_noise(&kf[1], sigma_jy);
+
+    do{ // main cycle
+        if(poll(pfds, 2, 0) < 0){
+            DBG("poll()");
+            break;
         }
-        double v, t;
+        int got = 0;
-        if(getencval(encfd[0], &v, &t)){
+        for(int i = 0; i < 2; ++i){
-            mountdata.encXposition.val = X_ENC2RAD(v);
+            if(pfds[i].revents && POLLIN){
-            //DBG("encX(%g) = %g", t, mountdata.encXposition.val);
+                if(!readstrings(&strbuf[i], encfd[i])){
-            mountdata.encXposition.t = t;
+                    DBG("ERR");
-            //if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed();
+                    ++errctr;
+                    break;
+                }
+            }
+            double curt = timefromstart();
+            if(getdata(&strbuf[i], &msrlast[i])) mtlast[i] = curt;
+            if(curt - t0[i] >= Conf.EncoderReqInterval){ // get last records
+                //DBG("last rec %d, curt=%g, t0=%g, mtlast=%g", i, curt, t0[i], mtlast[i]);
+                if(curt - mtlast[i] < 1.5*Conf.EncoderReqInterval){
+                    //DBG("time OK");
+                    pthread_mutex_lock(&datamutex);
+                    double pos = (double)msrlast[i];
+                    if(i == 0){
+                        pos = Xenc2rad(pos);
+                        // Kalman filtering
+                        kalman3_predict(&kf[i]);
+                        kalman3_update(&kf[i], pos);
+                        //DBG("Got pos=%g, kalman: angle=%g, vel=%g, acc=%g",
+                        //    pos, kf[i].x[0], kf[i].x[1], kf[i].x[2]);
+                        mountdata.encXposition.val = kf[i].x[0];
+                        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();
-            if(getencval(encfd[1], &v, &t)){
+                        //mountdata.encXspeed.val = kf[i].x[1];
-                mountdata.encYposition.val = Y_ENC2RAD(v);
+                        //mountdata.encXspeed.t = mountdata.encXposition.t;
-                //DBG("encY(%g) = %g", t, mountdata.encYposition.val);
+                    }else{
-                mountdata.encYposition.t = t;
+                        pos = Yenc2rad(pos);
-                //if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed();
+                        kalman3_predict(&kf[i]);
+                        kalman3_update(&kf[i], pos);
+                        //DBG("Got pos=%g, kalman: angle=%g, vel=%g, acc=%g",
+                        //    pos, kf[i].x[0], kf[i].x[1], kf[i].x[2]);
+                        mountdata.encYposition.val = kf[i].x[0];
+                        curtime(&mountdata.encYposition.t);
                         getYspeed();
-                errctr = 0;
+                        //mountdata.encYspeed.val = kf[i].x[1];
-                need2ask = 0;
+                        //mountdata.encYspeed.t = mountdata.encYposition.t;
-            } else {
-                if(need2ask) ++errctr;
-                else need2ask = 1;
-                continue;
                     }
-        } else {
+                    pthread_mutex_unlock(&datamutex);
-            if(need2ask) ++errctr;
-            else need2ask = 1;
-            continue;
                 }
-        while(nanotime() - t0 < Conf.EncoderReqInterval){ usleep(50); }
+                if(!asknext(encfd[i])){
-        //DBG("DT=%g (RI=%g)", nanotime()-t0, Conf.EncoderReqInterval);
+                    ++errctr;
-        t0 = nanotime();
+                    break;
                 }
-    DBG("ERRCTR=%d", errctr);
+                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 && !GlobExit);
+    DBG("\n\nEXIT: ERRCTR=%d", errctr);
     for(int i = 0; i < 2; ++i){
         if(encfd[i] > -1){
             close(encfd[i]);
@@ -378,53 +464,77 @@ 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)];
+    uint8_t buf[sizeof(SSstat)];
     SSstat *status = (SSstat*) buf;
     bzero(&mountdata, sizeof(mountdata));
-    if(Conf.RunModel) while(1){
+    double t0 = timefromstart(), tstart = t0, tcur = t0;
-        pthread_mutex_lock(&datamutex);
+    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(!GlobExit){
+            coordpair_t c;
+            movestate_t xst, yst;
             // now change data
-        getModData(&mountdata);
+            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);
-        double t0 = nanotime();
+            while(timefromstart() - t0 < Conf.EncoderReqInterval) usleep(50);
-        while(nanotime() - t0 < Conf.EncoderReqInterval) usleep(50);
+            t0 = timefromstart();
-        t0 = nanotime();
+        }
     }
     // 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;
-    while(mntfd > -1 && errctr < MAX_ERR_CTR){
+    while(mntfd > -1 && errctr < MAX_ERR_CTR && !GlobExit){
         // read data to status
-        double t0 = nanotime();
+        struct timespec tcur;
-#if 0
+        if(!curtime(&tcur)) continue;
-// 127 milliseconds to get answer on X/Y commands!!!
-        int64_t ans;
-        int ctr = 0;
-        if(SSgetint(CMD_MOTX, &ans)){
-            pthread_mutex_lock(&datamutex);
-            mountdata.motXposition.t = tgot;
-            mountdata.motXposition.val = X_MOT2RAD(ans);
-            pthread_mutex_unlock(&datamutex);
-            ++ctr;
-        }
-        tgot = nanotime();
-        if(SSgetint(CMD_MOTY, &ans)){
-            pthread_mutex_lock(&datamutex);
-            mountdata.motXposition.t = tgot;
-            mountdata.motXposition.val = X_MOT2RAD(ans);
-            pthread_mutex_unlock(&datamutex);
-            ++ctr;
-        }
-        if(ctr == 2){
-            mountdata.millis = (uint32_t)(1e3 * tgot);
-            DBG("Got both coords; millis=%d", mountdata.millis);
-        }
-#endif
         // 80 milliseconds to get answer on GETSTAT
         if(!MountWriteRead(cmd_getstat, &d) || d.len != sizeof(SSstat)){
 #ifdef EBUG
@@ -441,14 +551,13 @@ static void *mountthread(void _U_ *u){
         errctr = 0;
         pthread_mutex_lock(&datamutex);
         // now change data
-        SSconvstat(status, &mountdata, t0);
+        SSconvstat(status, &mountdata, &tcur);
         pthread_mutex_unlock(&datamutex);
-        //DBG("GOT FULL stat by %g", nanotime() - t0);
         // allow writing & getters
         do{
             usleep(500);
-        }while(nanotime() - t0 < Conf.MountReqInterval);
+        }while(timefromstart() - t0 < Conf.MountReqInterval);
-        t0 = nanotime();
+        t0 = timefromstart();
     }
     data_free(&cmd_getstat);
 failed:
@@ -464,17 +573,28 @@ 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
     tty.c_cflag     = BOTHER | CS8 | CREAD | CLOCAL; // other speed, 8bit, RW, ignore line ctrl
     tty.c_ispeed = speed;
     tty.c_ospeed = speed;
-    //tty.c_cc[VMIN]  = 0;  // non-canonical mode
+    tty.c_cc[VMIN]  = 0;  // non-canonical mode
-    //tty.c_cc[VTIME] = 5;
+    tty.c_cc[VTIME] = 5;
-    if(ioctl(fd, TCSETS2, &tty)){ close(fd); return -1; }
+    if(ioctl(fd, TCSETS2, &tty)){
+        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
@@ -484,15 +604,18 @@ static int ttyopen(const char *path, speed_t speed){
 
 // return FALSE if failed
 int openEncoder(){
+    // TODO: open real devices in "model" mode too!
     if(Conf.RunModel) return TRUE;
     if(!Conf.SepEncoder) return FALSE; // try to open separate encoder when it's absent
+    /*
+    encRtmout.tv_sec = 0;
+    encRtmout.tv_usec = 100000000 / Conf.EncoderDevSpeed; // 10 bytes
+*/
     if(Conf.SepEncoder == 1){ // only one device
         DBG("One device");
         if(encfd[0] > -1) close(encfd[0]);
         encfd[0] = ttyopen(Conf.EncoderDevPath, (speed_t) Conf.EncoderDevSpeed);
         if(encfd[0] < 0) return FALSE;
-        encRtmout.tv_sec = 0;
-        encRtmout.tv_usec = 100000000 / Conf.EncoderDevSpeed; // 10 bytes
         if(pthread_create(&encthread, NULL, encoderthread1, NULL)){
             close(encfd[0]);
             encfd[0] = -1;
@@ -506,8 +629,6 @@ int openEncoder(){
             encfd[i] = ttyopen(paths[i], (speed_t) Conf.EncoderDevSpeed);
             if(encfd[i] < 0) return FALSE;
         }
-        encRtmout.tv_sec = 0;
-        encRtmout.tv_usec = 1000; // 1ms
         if(pthread_create(&encthread, NULL, encoderthread2, NULL)){
             for(int i = 0; i < 2; ++i){
                 close(encfd[i]);
@@ -522,6 +643,7 @@ int openEncoder(){
 
 // return FALSE if failed
 int openMount(){
+    // TODO: open real devices in "model" mode too!
     if(Conf.RunModel) goto create_thread;
     if(mntfd > -1) close(mntfd);
     DBG("Open mount %s @ %d", Conf.MountDevPath, Conf.MountDevSpeed);
@@ -529,16 +651,13 @@ int openMount(){
     if(mntfd < 0) return FALSE;
     DBG("mntfd=%d", mntfd);
     // clear buffer
-    while(getmntbyte() > -1);
+    clrmntbuf();
-    /*int g = write(mntfd, "XXS\r", 4);
+    /*
-    DBG("Written %d", g);
+    mnt1Rtmout.tv_sec = 0;
-    uint8_t buf[100];
+    mnt1Rtmout.tv_usec = 500000000 / Conf.MountDevSpeed; // 50 bytes * 10bits / speed
-    do{
-        ssize_t l = read(mntfd, buf, 100);
-        DBG("got %zd", l);
-    }while(1);*/
     mntRtmout.tv_sec = 0;
-    mntRtmout.tv_usec = 500000000 / Conf.MountDevSpeed; // 50 bytes * 10bits / speed
+    mntRtmout.tv_usec = mnt1Rtmout.tv_usec / 50;
+*/
 create_thread:
     if(pthread_create(&mntthread, NULL, mountthread, NULL)){
         DBG("Can't create mount thread");
@@ -554,14 +673,17 @@ create_thread:
 
 // close all opened serial devices and quit threads
 void closeSerial(){
-    if(Conf.RunModel) return;
+    GlobExit = 1;
+    DBG("Give 100ms to proper close");
+    usleep(100000);
+    DBG("Force closed all devices");
     if(mntfd > -1){
         DBG("Cancel mount thread");
         pthread_cancel(mntthread);
         DBG("join mount thread");
         pthread_join(mntthread, NULL);
         DBG("close mount fd");
-        close(mntfd);
+        if(mntfd > -1) close(mntfd);
         mntfd = -1;
     }
     if(encfd[0] > -1){
@@ -570,13 +692,14 @@ void closeSerial(){
         DBG("join encoder thread");
         pthread_join(encthread, NULL);
         DBG("close encoder's fd");
-        close(encfd[0]);
+        if(encfd[0] > -1) close(encfd[0]);
         encfd[0] = -1;
-        if(Conf.SepEncoder == 2){
+        if(Conf.SepEncoder == 2 && encfd[1] > -1){
             close(encfd[1]);
             encfd[1] = -1;
         }
     }
+    GlobExit = 0;
 }
 
 // get fresh encoder information
@@ -585,6 +708,8 @@ 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;
 }
 
@@ -602,32 +727,29 @@ static int wr(const data_t *out, data_t *in, int needeol){
         DBG("Wrong arguments or no mount fd");
         return FALSE;
     }
+    //DBG("clrbuf");
     clrmntbuf();
-    //double t0 = nanotime();
     if(out){
+        //DBG("write %zd bytes (%s)", out->len, out->buf);
         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);
+        //DBG("eol, mntfd=%d", mntfd);
         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
     }
-    //DBG("sent by %g", nanotime() - t0);
+    if(!in || in->maxlen < 1) return TRUE;
-    //uint8_t buf[256];
+    int got = readmntdata(in->buf, in->maxlen);
-    //data_t dumb = {.buf = buf, .maxlen = 256};
+    if(got < 0){
-    if(!in) return TRUE;
+        DBG("Error reading mount data!");
-    //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){
+        return FALSE;
-        int b = getmntbyte();
-        if(b < 0) break; // nothing to read -> go out
-        in->buf[in->len++] = (uint8_t) b;
     }
-    //DBG("got %zd bytes by %g", in->len, nanotime() - t0);
+    in->len = got;
-    while(getmntbyte() > -1);
     return TRUE;
 }
 
@@ -638,22 +760,24 @@ 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;
+    if(Conf.RunModel) return FALSE;
+    //double t0 = timefromstart();
     pthread_mutex_lock(&mntmutex);
     int ret = wr(out, in, 1);
     pthread_mutex_unlock(&mntmutex);
+    //DBG("Got %gus", (timefromstart()-t0)*1e6);
     return ret;
 }
 // send binary data - without EOL
 int MountWriteReadRaw(const data_t *out, data_t *in){
-    if(Conf.RunModel) return -1;
+    if(Conf.RunModel) return FALSE;
     pthread_mutex_lock(&mntmutex);
     int ret = wr(out, in, 0);
     pthread_mutex_unlock(&mntmutex);
     return ret;
 }
 
-#ifdef EBUG
+#if 0
 static void logscmd(SSscmd *c){
     printf("Xmot=%d, Ymot=%d, Xspeed=%d, Yspeed=%d\n", c->Xmot, c->Ymot, c->Xspeed, c->Yspeed);
     printf("xychange=0x%02X, Xbits=0x%02X, Ybits=0x%02X\n", c->xychange, c->XBits, c->YBits);
@@ -676,31 +800,37 @@ static int bincmd(uint8_t *cmd, int len){
     if(!dlcmd) dlcmd = cmd2dat(CMD_LONGCMD);
     int ret = FALSE;
     pthread_mutex_lock(&mntmutex);
-    // dummy buffer to clear trash in input
-    //char ans[300];
-    //data_t a = {.buf = (uint8_t*)ans, .maxlen=299};
     if(len == sizeof(SSscmd)){
         ((SSscmd*)cmd)->checksum = SScalcChecksum(cmd, len-2);
-        DBG("Short command");
+        //DBG("Short command");
-#ifdef EBUG
+#if 0
         logscmd((SSscmd*)cmd);
 #endif
         if(!wr(dscmd, NULL, 1)) goto rtn;
     }else if(len == sizeof(SSlcmd)){
         ((SSlcmd*)cmd)->checksum = SScalcChecksum(cmd, len-2);
-        DBG("Long command");
+       // DBG("Long command");
-#ifdef EBUG
+#if 0
         loglcmd((SSlcmd*)cmd);
 #endif
         if(!wr(dlcmd, NULL, 1)) goto rtn;
     }else{
         goto rtn;
     }
-    data_t d;
+    SSstat ans;
+    data_t d, in;
     d.buf = cmd;
     d.len = d.maxlen = len;
-    ret = wr(&d, NULL, 0);
+    in.buf = (uint8_t*)&ans; in.maxlen = sizeof(SSstat);
+    ret = wr(&d, &in, 0);
     DBG("%s", ret ? "SUCCESS" : "FAIL");
+    if(ret){
+        SSscmd *sc = (SSscmd*)cmd;
+        mountdata.Xtarget = sc->Xmot;
+        mountdata.Ytarget = sc->Ymot;
+        DBG("ANS: Xmot/Ymot: %d/%d, Ylast/Ylast: %d/%d; Xtag/Ytag: %d/%d",
+            ans.Xmot, ans.Ymot, ans.XLast, ans.YLast, mountdata.Xtarget, mountdata.Ytarget);
+    }
 rtn:
     pthread_mutex_unlock(&mntmutex);
     return ret;
@@ -730,16 +860,23 @@ int cmdC(SSconfig *conf, int rw){
     }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) return FALSE;
+        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);
-            return FALSE;
+            ret = FALSE;
+            goto rtn;
         }
     }
 rtn:

Auxiliary_utils/LibSidServo/servo_real.conf

@@ -0,0 +1,23 @@
+MountDevPath=/dev/ttyUSB0
+MountDevSpeed=19200
+EncoderDevSpeed=1000000
+MountReqInterval=0.1
+EncoderReqInterval=0.001
+SepEncoder=2
+EncoderXDevPath=/dev/encoder_X0
+EncoderYDevPath=/dev/encoder_Y0
+EncoderSpeedInterval=0.05
+RunModel=0
+# telescope is in "pointing state" when coordinate error less than MaxFinePointingErr and goes to "slewing state"
+#   when this error greater than MaxPointingErr
+MaxPointingErr = 0.3490658504 # "pointing zone" - 20 degr
+MaxFinePointingErr = 0.1745329252 # "guiding zone" - 10 degr
+MaxGuidingErr = 4.8481368e-6 # "on target zone" - 1 arcsec
+XPIDVP=0.9
+XPIDVI=0.0005
+XPIDVD=0.0
+YPIDVP=0.5
+YPIDVI=0.005
+YPIDVD=0.
+XEncZero=36627112
+YEncZero=36067741

Auxiliary_utils/LibSidServo/sidservo.h

@@ -32,37 +32,13 @@ extern "C"
 #include <stdint.h>
 #include <sys/time.h>
 
-// acceptable position error - 0.1''
+// minimal serial speed of mount device
-#define MCC_POSITION_ERROR      (5e-7)
+#define MOUNT_BAUDRATE_MIN      (1200)
-// acceptable disagreement between motor and axis encoders - 2''
-#define MCC_ENCODERS_ERROR      (1e-7)
-
-// max speeds (rad/s): xs=10 deg/s, ys=8 deg/s
-#define MCC_MAX_X_SPEED         (0.174533)
-#define MCC_MAX_Y_SPEED         (0.139626)
-// accelerations by both axis (for model); TODO: move speeds/accelerations into config?
-// xa=12.6 deg/s^2, ya= 9.5 deg/s^2
-#define MCC_X_ACCELERATION      (0.219911)
-#define MCC_Y_ACCELERATION      (0.165806)
-
 // max speed interval, seconds
 #define MCC_CONF_MAX_SPEEDINT   (2.)
 // minimal speed interval in parts of EncoderReqInterval
 #define MCC_CONF_MIN_SPEEDC     (3.)
-// PID I cycle time (analog of "RC" for PID on opamps)
+
-#define MCC_PID_CYCLE_TIME      (5.)
-// maximal PID refresh time interval (if larger all old data will be cleared)
-#define MCC_PID_MAX_DT          (1.)
-// normal PID refresh interval
-#define MCC_PID_REFRESH_DT      (0.1)
-// boundary conditions for axis state: "slewing/pointing/guiding"
-// if angle < MCC_MAX_POINTING_ERR, change state from "slewing" to "pointing": 5 degrees
-//#define MCC_MAX_POINTING_ERR    (0.20943951)
-#define MCC_MAX_POINTING_ERR    (0.08726646)
-// if angle < MCC_MAX_GUIDING_ERR, chane state from "pointing" to "guiding": 1.5 deg
-#define MCC_MAX_GUIDING_ERR     (0.026179939)
-// if error less than this value we suppose that target is captured and guiding is good: 0.1''
-#define MCC_MAX_ATTARGET_ERR    (4.8481368e-7)
 
 // error codes
 typedef enum{
@@ -72,6 +48,7 @@ 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{
@@ -86,14 +63,23 @@ typedef struct{
     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/speeds in degrees or d/s: X, Y
@@ -104,7 +90,7 @@ typedef struct{
 // coordinate/speed and time of last measurement
 typedef struct{
     double val;
-    double t;
+    struct timespec t;
 } coordval_t;
 
 typedef struct{
@@ -150,10 +136,11 @@ typedef struct{
 } extradata_t;
 
 typedef enum{
-    AXIS_STOPPED,
+    AXIS_STOPPED,   // stop
-    AXIS_SLEWING,
+    AXIS_GONNASTOP, // stop command run
-    AXIS_POINTING,
+    AXIS_SLEWING,   // go to target with maximal speed
-    AXIS_GUIDING,
+    AXIS_POINTING,  // axis is in pointing zone, use PID
+    AXIS_GUIDING,   // near target
     AXIS_ERROR,
 } axis_status_t;
 
@@ -171,6 +158,9 @@ typedef struct{
     uint32_t millis;
     double temperature;
     double voltage;
+    // target X/Y position by last `short` or `long` command
+    int32_t Xtarget; // in SidServo's counts
+    int32_t Ytarget; // -//-
 } mountdata_t;
 
 typedef struct{
@@ -205,6 +195,9 @@ typedef struct{
     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
@@ -246,7 +239,7 @@ typedef struct{
     void            (*quit)(); // deinit
     mcc_errcodes_t  (*getMountData)(mountdata_t *d); // get last data
 //    mcc_errcodes_t  (*slewTo)(const coordpair_t *target, slewflags_t flags);
-    mcc_errcodes_t  (*correctTo)(const coordval_pair_t *target, const coordpair_t *endpoint);
+    mcc_errcodes_t  (*correctTo)(const coordval_pair_t *target);
     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
@@ -256,7 +249,13 @@ typedef struct{
     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
-    double          (*currentT)(); // current time
+    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;

Auxiliary_utils/LibSidServo/ssii.c

@@ -18,6 +18,7 @@
 
 #include <ctype.h>
 #include <inttypes.h>
+#include <stdio.h>
 #include <string.h>
 #include <unistd.h>
 
@@ -25,6 +26,13 @@
 #include "serial.h"
 #include "ssii.h"
 
+int X_ENC_ZERO = 0, Y_ENC_ZERO = 0; // will be filled later from config
+// 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++){
@@ -37,27 +45,36 @@ uint16_t SScalcChecksum(uint8_t *buf, int len){
 }
 
 // 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){
+static axis_status_t chkstopstat(int32_t *prev, int32_t cur, int32_t tag, int *nstopped, axis_status_t stat){
     if(*prev == INT32_MAX){
-        *stat = AXIS_STOPPED;
+        stat = AXIS_STOPPED;
         DBG("START");
-    }else if(*stat != AXIS_STOPPED){
+    }else if(stat == AXIS_GONNASTOP || (stat != AXIS_STOPPED && cur == tag)){ // got command "stop" or motor is on target
-        if(*prev == cur && ++(*nstopped) > MOTOR_STOPPED_CNT){
+        if(*prev == cur){
-            *stat = AXIS_STOPPED;
+            DBG("Test for stop, nstopped=%d", *nstopped);
+            if(++(*nstopped) > MOTOR_STOPPED_CNT){
+                stat = AXIS_STOPPED;
                 DBG("AXIS stopped");
             }
+        }else *nstopped = 0;
     }else if(*prev != cur){
         DBG("AXIS moving");
         *nstopped = 0;
     }
     *prev = cur;
+    return stat;
 }
 // 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);
+    axis_status_t Xstat, Ystat;
-    chkstopstat(&Ymot_prev, s->Ymot, &Ynstopped, &m->Ystate);
+    Xstat = chkstopstat(&Xmot_prev, s->Xmot, m->Xtarget, &Xnstopped, m->Xstate);
+    Ystat = chkstopstat(&Ymot_prev, s->Ymot, m->Ytarget, &Ynstopped, m->Ystate);
+    if(Xstat != m->Xstate || Ystat != m->Ystate){
+        DBG("Status changed");
+        setStat(Xstat, Ystat);
+    }
 }
 
 /**
@@ -66,17 +83,19 @@ static void ChkStopped(const SSstat *s, mountdata_t *m){
  * @param m (o) - output
  * @param t - measurement time
  */
-void SSconvstat(const SSstat *s, mountdata_t *m, double t){
+void SSconvstat(const SSstat *s, mountdata_t *m, struct timespec *t){
-    if(!s || !m) return;
+    if(!s || !m || !t) return;
     m->motXposition.val = X_MOT2RAD(s->Xmot);
     m->motYposition.val = Y_MOT2RAD(s->Ymot);
     ChkStopped(s, m);
-    m->motXposition.t = m->motYposition.t = t;
+    m->motXposition.t = m->motYposition.t = *t;
     // fill encoder data from here, as there's no separate enc thread
     if(!Conf.SepEncoder){
-        m->encXposition.val = X_ENC2RAD(s->Xenc);
+        DBG("ENCODER from SSII");
-        m->encYposition.val = Y_ENC2RAD(s->Yenc);
+        m->encXposition.val = Xenc2rad(s->Xenc);
-        m->encXposition.t = m->encYposition.t = t;
+        DBG("encx: %g", m->encXposition.val);
+        m->encYposition.val = Yenc2rad(s->Yenc);
+        m->encXposition.t = m->encYposition.t = *t;
         getXspeed(); getYspeed();
     }
     m->keypad = s->keypad;
@@ -160,14 +179,17 @@ int SSsetterI(const char *cmd, int32_t ival){
 }
 
 int SSstop(int emerg){
+    FNAME();
     int i = 0;
     const char *cmdx = (emerg) ? CMD_EMSTOPX : CMD_STOPX;
     const char *cmdy = (emerg) ? CMD_EMSTOPY : CMD_STOPY;
+    setStat(AXIS_GONNASTOP, AXIS_GONNASTOP);
     for(; i < 10; ++i){
         if(!SStextcmd(cmdx, NULL)) continue;
         if(SStextcmd(cmdy, NULL)) break;
     }
     if(i == 10) return FALSE;
+    DBG("Stopped");
     return TRUE;
 }
 
@@ -175,33 +197,39 @@ int SSstop(int emerg){
 mcc_errcodes_t updateMotorPos(){
     mountdata_t md = {0};
     if(Conf.RunModel) return MCC_E_OK;
-    double t0 = nanotime(), t = 0.;
+    double t0 = timefromstart(), t = 0.;
+    struct timespec curt;
     DBG("start @ %g", t0);
     do{
-        t = nanotime();
+        t = timefromstart();
-        if(MCC_E_OK == getMD(&md)){
+        if(!curtime(&curt)){
-            if(md.encXposition.t == 0 || md.encYposition.t == 0){
+            usleep(10000);
-                DBG("Just started, t-t0 = %g!", t - t0);
-                sleep(1);
-                DBG("t-t0 = %g", nanotime() - t0);
-                //usleep(10000);
             continue;
         }
-            DBG("got; t pos x/y: %g/%g; tnow: %g", md.encXposition.t, md.encYposition.t, t);
+        //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) > MCC_ENCODERS_ERROR && md.Xstate == AXIS_STOPPED){
+            if(fabs(md.motXposition.val - md.encXposition.val) > Conf.EncodersDisagreement && md.Xstate == AXIS_STOPPED){
-                DBG("NEED to sync X: motors=%g, axiss=%g", md.motXposition.val, md.encXposition.val);
+                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", nanotime() - t0);
+                }else DBG("Xpos sync OK, Dt=%g", t - t0);
             }
-            if(fabs(md.motYposition.val - md.encYposition.val) > MCC_ENCODERS_ERROR && md.Xstate == AXIS_STOPPED){
+            if(fabs(md.motYposition.val - md.encYposition.val) > Conf.EncodersDisagreement && md.Ystate == AXIS_STOPPED){
-                DBG("NEED to sync Y: motors=%g, axiss=%g", md.motYposition.val, md.encYposition.val);
+                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", nanotime() - t0);
+                }else DBG("Ypos sync OK, Dt=%g", t - t0);
             }
             if(MCC_E_OK == OK){
                 DBG("Encoders synced");

Auxiliary_utils/LibSidServo/ssii.h

@@ -173,64 +173,74 @@
 #define SITECH_LOOP_FREQUENCY   (1953.)
 
 // amount of consequent same coordinates to detect stop
-#define MOTOR_STOPPED_CNT       (4)
+#define MOTOR_STOPPED_CNT       (19)
+
+// replace macros with global variables inited when config read
+extern int X_ENC_ZERO, Y_ENC_ZERO;
+extern double X_MOT_STEPSPERREV, Y_MOT_STEPSPERREV, X_ENC_STEPSPERREV, Y_ENC_STEPSPERREV;
 
 // TODO: take it from settings?
 // steps per revolution (SSI - x4 - for SSI)
-#define X_MOT_STEPSPERREV_SSI   (13312000.)
+// -> hwconf.Xconf.mot/enc_stepsperrev
+//#define X_MOT_STEPSPERREV_SSI   (13312000.)
 // 13312000 / 4 = 3328000
-#define X_MOT_STEPSPERREV   (3328000.)
+//#define X_MOT_STEPSPERREV   (3328000.)
-#define Y_MOT_STEPSPERREV_SSI (17578668.)
+//#define Y_MOT_STEPSPERREV_SSI (17578668.)
 // 17578668 / 4 = 4394667
-#define Y_MOT_STEPSPERREV   (4394667.)
+//#define Y_MOT_STEPSPERREV   (4394667.)
 
 // 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
-#define X_ENC_ZERO          (61245239)
+// -> conf.XEncZero/YEncZero
-#define Y_ENC_ZERO          (36999830)
+//#define X_ENC_ZERO          (61245239)
-// encoder reversed (no: +1)
+//#define Y_ENC_ZERO          (36999830)
-#define X_ENC_SIGN          (-1.)
+// encoder reversed (no: +1) -> sign of ...stepsperrev
-#define Y_ENC_SIGN          (-1.)
+//#define X_ENC_SIGN          (-1.)
+//#define Y_ENC_SIGN          (-1.)
+
+
 // encoder position to radians and back
-#define X_ENC2RAD(n)    ang2half(X_ENC_SIGN * 2.*M_PI * ((double)((n)-X_ENC_ZERO)) / X_ENC_STEPSPERREV)
+#define Xenc2rad(n)    ang2half(2.*M_PI * ((double)((n)-(X_ENC_ZERO))) / (X_ENC_STEPSPERREV))
-#define Y_ENC2RAD(n)    ang2half(Y_ENC_SIGN * 2.*M_PI * ((double)((n)-Y_ENC_ZERO)) / 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 double ang2half(double ang){
+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 double ang2full(double ang){
+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 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 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 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))
+#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 X_MOTSPD2RS(n)  (X_MOT2RAD(n) / 65536. * (SITECH_LOOP_FREQUENCY))
-#define Y_MOTSPD2RS(n)  (Y_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 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))
+#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 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 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 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))
+#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 ADDER2S(a)  ((a) / (SITECH_LOOP_FREQUENCY))
-#define S2ADDER(s)  ((s) * SITECH_LOOP_FREQUENCY)
+#define S2ADDER(s)  ((s) * (SITECH_LOOP_FREQUENCY))
 
 // encoder's tolerance (ticks)
 #define YencTOL    (25.)
@@ -331,7 +341,7 @@ typedef struct{
 } __attribute__((packed)) SSconfig;
 
 uint16_t SScalcChecksum(uint8_t *buf, int len);
-void SSconvstat(const SSstat *status, mountdata_t *mountdata, double t);
+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);

Auxiliary_utils/PCS_create/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 3.30)
 set(PROJ PCS_create)
 set(MINOR_VERSION "0")
 set(MID_VERSION "1")

Auxiliary_utils/PCS_create/PCS.c

@@ -321,7 +321,7 @@ static void printheader(){
 }
 
 int main(int argc, char **argv) {
-    initial_setup();
+    sl_init();
     G = parse_args(argc, argv);
     if(G->pressure < 0.) ERRX("Pressure should be greater than zero");
     if(G->temperature < -100. || G->temperature > 100.) ERRX("Temperature over the range -100..+100");

Auxiliary_utils/PCS_create/cmdlnopts.c

@@ -40,7 +40,7 @@ glob_pars const Gdefault = {
  * Define command line options by filling structure:
  *  name    has_arg flag    val     type        argptr          help
 */
-static myoption cmdlnopts[] = {
+static sl_option_t cmdlnopts[] = {
     // set 1 to param despite of its repeating number:
     {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&help),        _("show this help")},
     {"10m",     NO_ARGS,    NULL,   't',    arg_int,    APTR(&G.for10m),    _("make output suitable for 10-micron mount")},
@@ -68,10 +68,10 @@ static myoption cmdlnopts[] = {
 glob_pars *parse_args(int argc, char **argv){
     void *ptr = memcpy(&G, &Gdefault, sizeof(G)); assert(ptr);
     // format of help: "Usage: progname [args]\n"
-    change_helpstring(_("Version: " PACKAGE_VERSION "\nUsage: %s [args] FITS_files\nMake PCS list for equatorial mount\n\tWhere args are:\n"));
+    sl_helpstring(_("Version: " PACKAGE_VERSION "\nUsage: %s [args] FITS_files\nMake PCS list for equatorial mount\n\tWhere args are:\n"));
     // parse arguments
-    parseargs(&argc, &argv, cmdlnopts);
+    sl_parseargs(&argc, &argv, cmdlnopts);
-    if(help) showhelp(-1, cmdlnopts);
+    if(help) sl_showhelp(-1, cmdlnopts);
     G.nfiles = argc;
     G.infiles = MALLOC(char*, argc);
     for(int i = 0; i < argc; i++){

Auxiliary_utils/SILA_inverter/Makefile

@@ -1,5 +1,5 @@
 # run `make DEF=...` to add extra defines
-PROGRAM := getparams
+PROGRAM := invertercmd
 LDFLAGS := -fdata-sections -ffunction-sections -Wl,--gc-sections -Wl,--discard-all
 LDFLAGS += -lusefull_macros
 SRCS := $(wildcard *.c)

Auxiliary_utils/SILA_inverter/getparams.c

@@ -30,6 +30,7 @@ typedef struct{
     char *getstatus;
     int baudrate;
     int status;
+    int settershelp;
 } globopts;
 
 typedef struct{
@@ -39,6 +40,9 @@ typedef struct{
     int flag;
     int status;
     int mode;
+    int warning;
+    int deflt;
+    int bateq;
 } statusinfo;
 
 typedef void (*parsefn)(const char *answer);
@@ -55,7 +59,8 @@ static sl_option_t opts[] = {
     {"devpath", NEED_ARG,   NULL,   'd',    arg_string, APTR(&G.path),      "path to device (default: /dev/ttyS0)"},
     {"baudrate",NEED_ARG,   NULL,   'b',    arg_int,    APTR(&G.baudrate),  "baudrate (default: 2400)"},
     {"cmd",     NEED_ARG,   NULL,   'c',    arg_string, APTR(&G.customcmd), "custom command to send"},
-    {"status",  NEED_ARG,   NULL,   's',    arg_string, APTR(&G.getstatus), "get status (type 'help' for options)"},
+    {"status",  NEED_ARG,   NULL,   's',    arg_string, APTR(&G.getstatus), "get status: comma-separated options (type 'help' for options)"},
+    {"helpsetters",NO_ARGS, NULL,   0,      arg_int,    APTR(&G.settershelp),"show help about setters"},
     end_option
 };
 
@@ -66,6 +71,9 @@ static sl_suboption_t sopts[] = {
     {"flag",    NO_ARGS,    arg_int,    APTR(&S.flag)},
     {"status",  NO_ARGS,    arg_int,    APTR(&S.status)},
     {"mode",    NO_ARGS,    arg_int,    APTR(&S.mode)},
+    {"warning", NO_ARGS,    arg_int,    APTR(&S.warning)},
+    {"default", NO_ARGS,    arg_int,    APTR(&S.deflt)},
+    {"bateq",   NO_ARGS,    arg_int,    APTR(&S.bateq)},
     end_suboption
 };
 
@@ -76,16 +84,20 @@ static void gettershelp(){
     fprintf(stderr, "flag - device flag status (QFLAG)\n");
     fprintf(stderr, "status - device general status parameters (QPIGS)\n");
     fprintf(stderr, "mode - device mode (QMOD)\n");
+    fprintf(stderr, "warning - warning status (QPIWS)\n");
+    fprintf(stderr, "default - default settings (QDI)\n");
+    fprintf(stderr, "bateq - battery equalization parameters (QBEQI)\n");
 //  fprintf(stderr, "\n");
 }
 
 static uint8_t *cal_crc(const char *cmd, int len){
-    static uint8_t CRC[3]; // 0 - hi, 1 - low
+    static uint8_t CRC[4]; // 0 - hi, 1 - low, four bytes for quick zeroing
     if(!cmd || len < 1) return 0;
     const uint16_t crc_table[16] = {
         0x0000,0x1021,0x2042,0x3063,0x4084,0x50a5,0x60c6,0x70e7,
         0x8108,0x9129,0xa14a,0xb16b,0xc18c,0xd1ad,0xe1ce,0xf1ef
     };
+    *((uint32_t*)CRC) = 0;
     uint16_t crc = 0;
     uint8_t *ptr = (uint8_t*)cmd;
     while(len--){
@@ -131,6 +143,7 @@ static char *rd(){
     if(!dev) return NULL;
     int got = sl_tty_read(dev);
     if(got < 0) ERR("Can't read");
+    DBG("got %d bytes, buflen: %zd", got, dev->buflen);
     if(dev->buflen < 3) return NULL;
     uint8_t *CRC = cal_crc(dev->buf, dev->buflen - 3);
     DBG("GOT CRC: 0x%02X 0x%02X", (uint8_t)dev->buf[dev->buflen-3], (uint8_t)dev->buf[dev->buflen-2]);
@@ -152,7 +165,7 @@ static void ratingparsing(const char *str){
         &b, &c, &d, &e, &f, &h, &i, &j1, &k1, &j2, &k2, &l, &o1, &p1, &q, &o2, &p2, &q2, &r, &s, &t,
                    &u, &v, &w, &x);
     if(N != 25){ WARNX("Got not full answer (%d instead of 25): '%s'", N, str); return; }
-    printf("\nGrid rating voltage: %g\nGrid rating current: %g\nAC optuput rating voltage: %g\n", b, c, d);
+    printf("Grid rating voltage: %g\nGrid rating current: %g\nAC optuput rating voltage: %g\n", b, c, d);
     printf("AC output rating frequency: %g\nAC output rating current: %g\nAC output rating apparent power: %d\n", e, f, h);
     printf("AC output rating active power: %d\nBattery rating voltage: %g\nBattery recharge voltage: %g\n", i, j1, k1);
     printf("Battery undervoltage: %g\nBattery bulk voltage: %g\nBattery float voltage: %g\n", j2, k2, l);
@@ -175,27 +188,26 @@ static void ratingparsing(const char *str){
     printf("\nTopology: %s\n", (t) ? "transformer" : "transformerless");
     printf("Output mode: %d\nBattery redischarge voltage: %g\n", u, v);
     printf("PV OK condition for parallel: %s\n", (w) ? "Only all connected" : "At least one connected");
-    printf("PV power balance: %s\n\n", (x) ? "Sum of powers" : "Max charged current");
+    printf("PV power balance: %s\n", (x) ? "Sum of powers" : "Max charged current");
 }
 
+static const char *DEflags = "abjkuvxyz";
+static const char *DEmeanings[] = {
+    "buzzer", "bypass", "power saving", "LCD display escape 1min", "overload restart",
+    "over temperature restart", "backlight on", "alarm on interrupt", "fault code record",
+    NULL
+};
+
 static void flagparsing(const char *str){
     char c;
     int first = 0;
     while((c = *str++)){
-        if(c == 'D'){ red("\nDISABLED: "); first = 1; }
+        if(c == 'D'){ green("\nDISABLED: "); first = 1; }
-        else if(c == 'E'){ green("\nENABLED: "); first = 1; }
+        else if(c == 'E'){ red("ENABLED: "); first = 1; }
         else{
             const char *field = "unknown";
-            switch(c){
+            for(int i = 0; DEflags[i]; ++i){
-                case 'a': field = "buzzer"; break;
+                if(DEflags[i] == c){ field = DEmeanings[i]; break; }
-                case 'b': field = "bypass"; break;
-                case 'j': field = "power saving"; break;
-                case 'k': field = "LCD display escape 1min"; break;
-                case 'u': field = "overload restart"; break;
-                case 'v': field = "over temperature restart"; break;
-                case 'x': field = "backlight on"; break;
-                case 'y': field = "alarm on interrupt"; break;
-                case 'z': field = "fault code record"; break;
             }
             printf("%s%s", (first) ? "" : ", ", field);
             first = 0;
@@ -204,9 +216,19 @@ static void flagparsing(const char *str){
     printf("\n");
 }
 
+/**
+ * @brief showflags - display bitflags
+ * @param flags - string with flags ('1' / '0')
+ * @param meaning - array with meaning of each flag, starting from H bit, i.e. meaning[0] is lesser bit
+ * @param nfields - strlen of flags (or less), H first
+ */
 static void showflags(const char *flags, const char **meaning, int nfields){
-    for(int i = 0; i < nfields; ++i)
+    for(int i = 0; i < nfields; ++i){
-        printf("\t%s: %s\n", meaning[i], flags[i]=='1' ? "on/yes" : "off/no");
+        if(!meaning[i]) continue;
+        printf("\t%s: ", meaning[i]);
+        if(flags[i] == '1') red("on/yes\n");
+        else green("off/no\n");
+    }
 }
 
 // 230.0 50.0 232.0 50.0 0000 0000 000 409 26.99 000 100 0489 0000 000.0 00.00 00000 10011101 00 03 00000 100
@@ -214,8 +236,6 @@ static void showflags(const char *flags, const char **meaning, int nfields){
 static void statusparsing(const char *str){
     float b, c, d, e, j, u, w;
     int f, g, h, i, k, o, t, e1, p, S, H, I;
-    //int l = strlen(str);
-    //for(int i = 0; i < l; ++i){char c = str[i]; if(isalnum(c)||c==' '||c=='.') printf("%c", c); else printf("\\x%02X", c); }
     char x[9], T[4];
     int N = sscanf(str, "%f %f %f %f %d %d %d %d %f %d %d %d %d %f %f %d %8s %d %d %d %3s",
                     &b, &c, &d, &e, &f, &g, &h, &i, &j, &k, &o, &t, &e1, &u, &w, &p, x, &S, &H, &I, T);
@@ -227,8 +247,8 @@ static void statusparsing(const char *str){
         printf("Bus voltage: %d\nBattery voltage: %g\nBattery charging current: %d\nBattery capacity: %d\n", i, j, k, o);
         printf("Inverter heat sink temperature: %d\nPV input current for battery: %d\nPV input voltage 1: %g\n", t, e1, u);
         printf("Battery voltage from SCC: %g\nBattery discharge current: %d\nDevice status:\n", w, p);
-        static const char *sf[] = {"AC charging", "SCC charging", "Charging", "Steady batt voltage while charging",
+        static const char *sf[] = {"SBU priority version", "configuration changed", "SCC firmware updated",
-                                "Load status", "SCC firmware updated", "configuration changed", "SBU priority version"};
+                                "Load status", "Steady batt voltage while charging", "Charging", "SCC charging", "AC charging"};
         showflags(x, sf, 8);
         if(N > 17){
             printf("Battery offset for fans on: %d\nEEPROM version: %d\nPV charging power: %d\n", S, H, I);
@@ -242,29 +262,125 @@ static void statusparsing(const char *str){
 static void modeparsing(const char *str){
     printf("Device mode: ");
     switch(*str){
-        case 'B': printf("Battery\n"); break;
+        case 'B': printf("Battery"); break;
-        case 'F': printf("Fault\n"); break;
+        case 'F': printf("Fault"); break;
-        case 'H': printf("Power saving\n"); break;
+        case 'H': printf("Power saving"); break;
-        case 'L': printf("Line\n"); break;
+        case 'L': printf("Line"); break;
-        case 'P': printf("Power on\n"); break;
+        case 'P': printf("Power on"); break;
-        case 'S': printf("Standby\n"); break;
+        case 'S': printf("Standby"); break;
         default: printf("Unknown");
     }
     printf("\n");
 }
 
+static void warningparsing(const char *str){
+    int l = strlen(str);
+    if(l < 32) WARNX("Non-full status! Data could be wrong");
+    static const char *wmsgs[] = {
+        NULL, "Inverter fault", "Bus over", "Bus under", "Bus soft fail", "Line fail", "OPV short",
+        "Inv voltage too low", "Inv voltage too high", "Over temperature", "Fan locked", "Battery voltage high",
+        "Battery low alarm", "Overcharge", "Battery under shutdown", "Battery derating", "Overload", "EEPROM fault",
+        "Inverter overcurrent", "Inverter soft fail", "Self test fail", "OP DC voltage over", "Bat open",
+        "Current sensor fail", "Battery short", "Power limit", "PV voltage high", "MPPT overload fault",
+        "MPPT overload warning", "Battery too low to charge", NULL, NULL
+    };
+    printf("Warning status:\n");
+    showflags(str, wmsgs, l);
+
+}
+
+static const char *endis(int val){
+    return (val) ? COLOR_RED "enable" COLOR_OLD : COLOR_GREEN "disable" COLOR_OLD;
+}
+
+// 230.0 50.0 0025 21.0 27.0 28.2 23.0 50 0 0 2 0 1 0 0 0 1 1 1 0 1 0 27.0 0 0 ()
+//  b     c     d   e    f    g    h    i j k l m n o p q r s t u v w y    x z  a
+static void defaultparsing(const char *str){
+    float b, c, e, f, g, h, y;
+    int d, i, j, k, l, m, n, o, p, q, r, s, t, u, v, w, x, z, a;
+    int N = sscanf(str, "%f %f %d %f %f %f %f %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d %f %d %d %d",
+                   &b, &c, &d, &e, &f, &g, &h, &i, &j, &k, &l, &m, &n, &o, &p, &q, &r, &s, &t, &u, &v, &w, &y, &x, &z, &a);
+    if(N < 25){WARNX("Wrong data format: %d fields instead of 25", N); return;}
+    printf("AC output voltage: %g\nAC output frequency: %g\nMax AC charging current: %d\n", b, c, d);
+    printf("Battery undervoltage: %g\nCharging float voltage: %g\nCharging bulk voltage: %g\n", e, f, g);
+    printf("Battery default recharge voltage: %g\nMax charging current: %d\nAC input voltage range: %s\n", h, i, (j) ? "UPS" : "appliance");
+    printf("Output source priority: %s\nCharger source priority: %s\n", (k) ? "solar first": "utility first", (l) ? "solar first" : "utility first");
+    printf("Battery type: %s\nBuzzer: %s\nPover saving: %s\n", (m) ? "other" : "AGM", endis(n), endis(o));
+    printf("Overload restart: %s\nOver temperature restart: %s\n", endis(p), endis(q));
+    printf("Backlight: %s\nAlarm on interrupt: %s\nFault code record: %s\n", endis(r), endis(s), endis(t));
+    printf("Overload bypass: %s\nLCD timeout escape: %s\nOutput mode: %d\n", endis(u), endis(v), w);
+    printf("Battery re-discharge voltage: %g\nPV OK condition for parallel: %s\n", y, (x) ? "all" : "any");
+    printf("PV power balance: %s\n", (z) ? "?" : "PV max current is charged current");
+    if(N == 26) printf("Max charging time @ CV stage: %s\n", (a) ? "?" : "automatically");
+}
+
+// 0 060 030 050 030 29.20 000 120 0 0000
+// b  c   d   e   f   g     h   i  j  k
+static void equparsing(const char *str){
+    float g;
+    int b, c, d, e, f, h, i, j, k;
+    int N = sscanf(str, "%d %d %d %d %d %f%d %d %d %d", &b, &c, &d, &e, &f, &g, &h, &i, &j, &k);
+    if(N != 10){ WARNX("Not enougn parameters: got %d instead of 10\n", N); return; }
+    printf("Equalization: %s\n", endis(b));
+    printf("Eq. time: %d minutes\nEq. period: %d days\nEq. max current: %d\n", c, d, e);
+    printf("Eq. voltage: %g\nEq. over time: %d minutes\nEq. active status: %d\n", g, i, j);
+}
+
+static void printpar(const char *str){
+    printf("%s\n", str);
+}
+
 static void runparsing(const char *cmd, parsefn f){
     if(sendcmd(cmd)){
         char *got = rd();
-        if(got) f(got);
+        if(got && *got){
+            f(got);
+            printf("\n");
+        } else red("Can't get data\n\n");
     }
 }
 
 static void showstatus(){
+    green("\nModel name: "); runparsing("QMN", printpar);
     if(S.all || S.rating) runparsing("QPIRI", ratingparsing);
     if(S.all || S.flag) runparsing("QFLAG", flagparsing);
     if(S.all || S.status) runparsing("QPIGS", statusparsing);
     if(S.all || S.mode) runparsing("QMOD", modeparsing);
+    if(S.all || S.warning) runparsing("QPIWS", warningparsing);
+    if(S.all || S.deflt) runparsing("QDI", defaultparsing);
+    if(S.all || S.bateq) runparsing("QBEQI", equparsing);
+}
+
+static void showsettershelp(){
+    printf("\n\n");
+    red("Be carefull with setters! Think twice before changing something!!!\n\n");
+    printf("Here are setters...\n");
+    printf("PEx - enable status / DEx - disable status, where 'x':\n");
+    for(int i = 0; DEflags[i]; ++i) printf("\t%c - %s\n", DEflags[i], DEmeanings[i]);
+    printf("PF - set all control parameters to default\n");
+    printf("MCHGCx - max charging current (Amps)\n");
+    printf("MUCHGCx - utility max charging current\n");
+    printf("Fx - invertere output frequency\n");
+    printf("POPx - output source priority (0 - utility, 1 - solar, 2 - SBU)\n");
+    printf("PBCVx - battery re-charge voltage\n");
+    printf("PBDVx - battery re-discharge voltage\n");
+    printf("PCPx - inverter charging priority (0-3: utility first/solar first/solar+utility/solar only\n");
+    printf("PGRx - inverter grid voltage range (0 - appliance, 1 - UPS)\n");
+    printf("PBTx - battery type (0 - AGM, 1 - flooded)\n");
+    printf("PSDVx - battery cut-off voltage\n");
+    printf("PCVVx - CV (constant voltage) charging voltage\n");
+    printf("PBFTx - battery float charging voltage\n");
+    printf("PBEQEx - enable (1) or disable (0) battery equalization\n");
+    printf("PBEQT x - battery equalization time (minutes)\n");
+    printf("PBEQPx - battery equalization period (days)\n");
+    printf("PBEQVx - battery equalization voltage\n");
+    printf("PBEQOTx - battery equalization overtime (minutes)\n");
+    printf("PBEQAx - activate (1) or disactivate (0) battery equalization now\n");
+    printf("PCVTx - max charging time an CV stage\n");
+    printf("\n\nAnd some getters that aren't in `status` variants:\n");
+    printf("QID - inverter's serial\nQVFW - firmware version\nQMCHGCR - max charging currents available\n");
+    printf("QMUCHGCR - max utility charging currents available\n");
+    printf("\n\n");
 }
 
 int main(int argc, char **argv){
@@ -293,5 +409,6 @@ int main(int argc, char **argv){
         }
     }
     sl_tty_close(&dev);
+    if(G.settershelp) showsettershelp();
     return 0;
 }

Auxiliary_utils/Weather_chk/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 3.30)
 set(PROJ chkweather)
 set(MINOR_VERSION "1")
 set(MID_VERSION "0")

Auxiliary_utils/Weather_chk/cmdlnopts.c

@@ -40,7 +40,7 @@ glob_pars const Gdefault = {
  * Define command line options by filling structure:
  *  name    has_arg flag    val     type        argptr          help
 */
-static myoption cmdlnopts[] = {
+static sl_option_t cmdlnopts[] = {
     // set 1 to param despite of its repeating number:
     {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&help),        _("show this help")},
     {"speed",   NEED_ARG,   NULL,   's',    arg_int,    APTR(&G.speed),     _("baudrate (default: 9600)")},
@@ -59,10 +59,10 @@ static myoption cmdlnopts[] = {
 glob_pars *parse_args(int argc, char **argv){
     void *ptr = memcpy(&G, &Gdefault, sizeof(G)); assert(ptr);
     // format of help: "Usage: progname [args]\n"
-    change_helpstring(_("Usage: %s [args]\n\n\tWhere args are:\n"));
+    sl_helpstring(_("Usage: %s [args]\n\n\tWhere args are:\n"));
     // parse arguments
-    parseargs(&argc, &argv, cmdlnopts);
+    sl_parseargs(&argc, &argv, cmdlnopts);
-    if(help) showhelp(-1, cmdlnopts);
+    if(help) sl_showhelp(-1, cmdlnopts);
     if(argc > 0){
         WARNX("Wrong arguments:\n");
         for(int i = 0; i < argc; i++)

Auxiliary_utils/Weather_chk/main.c

@@ -51,28 +51,28 @@ static int getpar(char *string, double *Val, char *Name){
 
 int main(int argc, char **argv){
     glob_pars *G = NULL; // default parameters see in cmdlnopts.c
-    initial_setup();
+    sl_init();
     G = parse_args(argc, argv);
-    TTY_descr *dev = new_tty(G->ttyname, G->speed, 64);
+    sl_tty_t *dev = sl_tty_new(G->ttyname, G->speed, 64);
     if(!dev) return 1;
     size_t got, L = 0;
     char buff[BUFLEN], *ptr = buff;
     int errctr = 0;
     for(; errctr < ERRCTR_MAX; ++errctr){
-        if(!tty_open(dev, 1)){
+        if(!sl_tty_open(dev, 1)){
             sleep(1);
             continue;
         }
-        while(read_tty(dev)); // clear buffer
+        while(sl_tty_read(dev)); // clear buffer
-        if(write_tty(dev->comfd, "?U\r\n", 3)){
+        if(sl_tty_write(dev->comfd, "?U\r\n", 3)){
             WARNX("write_tty()");
             continue;
         }
-        double t0 = dtime();
+        double t0 = sl_dtime();
-        while(dtime() - t0 < 10.){ // timeout - 10s
+        while(sl_dtime() - t0 < 10.){ // timeout - 10s
-            got = read_tty(dev);
+            got = sl_tty_read(dev);
             if(got == 0) continue;
-            t0 = dtime();
+            t0 = sl_dtime();
             if(L + got > BUFLEN - 1) break;
             L += got;
             buff[L] = 0;
@@ -92,8 +92,8 @@ int main(int argc, char **argv){
             continue;
         }else break;
     }
-    while(read_tty(dev));
+    while(sl_tty_read(dev));
-    close_tty(&dev);
+    sl_tty_close(&dev);
     if(errctr == ERRCTR_MAX){
         ERRX("No connection to meteostation");
     }

Auxiliary_utils/bash_scripts/AZpoint

@@ -4,7 +4,7 @@ A="90:00:00"
 H="45:00:00"
 
 function sendcmd(){
-	echo $1 | nc 192.168.70.33 10001 -q10
+	echo $1 | nc localhost 10001 -q10
 }
 
 sendcmd ":Sz${A}#"

Auxiliary_utils/bash_scripts/allsky_sixel.sh

@@ -0,0 +1,20 @@
+#!/bin/bash
+
+#
+# $1 - scaling factor (in percents) of the image
+#
+
+scale=50
+if [ $# -gt 0 ]; then
+     scale=$1
+fi
+
+unset http_proxy
+
+clear
+while [[ 1 ]]; do
+    tput cup 0 0
+    curl -s http://zarch.sao.ru/webcam/mirat_allsky.cgi | magick - -colors 256 +dither -normalize -resize $scale% sixel:- 
+#    sleep 30s
+    sleep 5s
+done

Auxiliary_utils/bash_scripts/allsky_sixel_weather.sh

@@ -0,0 +1,114 @@
+#!/bin/bash
+
+#
+# $1 - scaling factor (in percents) of the image
+#
+
+function get_val {
+  echo $(echo $1 | cut -d "=" -f 2 | cut -d "." -f 1)
+}
+
+white_col="\e[97m"
+red_col="\e[1m\e[31m"
+end_col="\e[0m"
+last_row=0
+
+scale=50
+if [ $# -gt 0 ]; then
+     scale=$1
+fi
+
+unset http_proxy
+
+im_sleep=20 # in secs
+info_sleep=180 # in secs
+
+n_info=$((info_sleep/im_sleep))
+
+
+
+clear
+while [[ 1 ]]; do
+    # weather info
+    m_old=($(curl 192.168.70.33:12345 2>/dev/null)// / )
+    rain=${m_old[0]}
+    clouds=${m_old[1]}
+    temp=${m_old[2]}
+
+    m_new=($(curl localhost:3333/stat3600 2>/dev/null | sed 's/[\x01-\x1F\x7F]//g')// / )
+    windmax=${m_new[0]}
+    m_new=($(curl localhost:3333 2>/dev/null | sed 's/[\x01-\x1F\x7F]//g')// / )
+    wind=${m_new[0]}
+    humi=${m_new[4]}
+
+    rain_col=$white_col
+    clouds_col=$white_col
+    humi_col=$white_col
+    wind_col=$white_col
+    wind_max_col=$white_col
+
+    let rain_flag=$(get_val $rain)
+    if [[ $rain_flag -eq 1 ]]; then
+        rain_col=$red_col
+    fi
+
+    let clouds_val=$(get_val $clouds)
+    if [[ $clouds_val -le 1500 ]]; then
+        clouds_col=$red_col
+
+    fi
+
+    let humi_val=$(get_val $humi)
+    if [[ $humi_val -ge 90 ]]; then
+        humi_col=$red_col
+    fi
+
+    let wind_val=$(get_val $wind)
+    if [[ $wind_val -ge 10 ]]; then
+        wind_col=$red_col
+    fi
+
+    let wind_max_val=$(get_val $windmax)
+    if [[ $wind_max_val -ge 10 ]]; then
+        wind_max_col=$red_col
+    fi
+
+    ncols=`tput cols`
+    start_col=$((ncols-25))
+
+    tput cup $last_row $start_col
+#    echo -e "\e[4m`date`:\e[0m"
+    echo -e "\e[4m`date +'%F %T'`:\e[0m"
+
+    ((++last_row))
+
+    tput cup $last_row $start_col
+    echo -e "$clouds_col$clouds $rain_col($rain)$end_col"
+
+    ((++last_row))
+
+    tput cup $last_row $start_col
+#    echo -e "$temp $humi_col($humi)$end_col"
+    temp_val=`printf "%.1f" ${temp#*=}`
+    echo -e "Temp=$temp_val, ${humi_col}Hum=$humi_val%$end_col"
+
+    ((++last_row))
+
+    tput cup $last_row $start_col
+#    echo -e "$wind_col$wind $wind_max_col($windmax @hour)$end_col\n"
+    wind_max_val=`printf "%.1f" ${windmax#*=}`
+    echo -e "$wind_col$wind $wind_max_col(Max=$wind_max_val/hour)$end_col\n"
+
+    IFS='[;' read -p $'\e[6n' -d R -rs _ last_row col _
+
+    # allsky image
+
+    for i in `seq $n_info`; do
+        tput cup 0 0
+        curl -s http://zarch.sao.ru/webcam/omea_allsky.cgi  | magick - -colors 256 -normalize +dither -resize $scale% sixel:- 
+#        curl -s http://zarch.sao.ru/webcam/mirat_allsky.cgi | magick - -colors 256 -resize $scale% sixel:- 
+        sleep ${im_sleep}s
+    done
+
+
+done

Auxiliary_utils/bash_scripts/copy_and_xz.sh

@@ -0,0 +1,18 @@
+#!/bin/bash
+
+#
+# $1 - directory to be copied
+#
+
+RDIR="/home/obs/robotel1_2025"
+
+# copy non-FITS files
+tar c --exclude='*.fit' --exclude='*shit*' $1 | ssh obs@roboserv "tar x -C  $RDIR"
+#tar c --exclude='*.fit' --exclude='*shit*' $1 | ssh obs@roboserv "tar x -C  /home/obs/robotel1_2023"
+
+# copy FITS files and XZ-ing it on remote server
+CMD='sh -c "xz -6e -T0 - > $TAR_FILENAME.xz"'
+tar c $1/*.fit | ssh obs@roboserv "cd  $RDIR; tar x --to-command='$CMD'"
+#tar c $1/*.fit | ssh obs@roboserv "cd  /home/obs/robotel1_2023; tar x --to-command='$CMD'"
+
+ssh obs@roboserv "cd $RDIR;  tar c $1 | ssh data@robostorage 'tar x -C  /mnt/ARCHIVE/ROBOTEL1/'"

Auxiliary_utils/bash_scripts/park_telescope_1

@@ -0,0 +1,33 @@
+#!/bin/bash
+
+A="01:48:38"
+H="01:13:29"
+
+function sendcmd(){
+	echo $1 | nc localhost 10001 -q10 || (echo "Can't connect" >&2; exit 1)
+}
+
+#lower limit is 0
+sendcmd ":So0#"
+sendcmd ":Sz${A}#"
+sendcmd ":Sa${H}#"
+sendcmd ":MA#" # || exit 1
+
+errctr=0
+
+while true; do
+	sleep 2
+	ANS=$(sendcmd ":Gstat#")
+	if [ "x$ANS" == "x" ]; then
+		[[ $((++errctr)) < 5 ]] && continue
+		echo "No connection to server" >&2
+		exit 1
+	fi
+	echo $ANS
+	[ $ANS == "0#" -o $ANS == "7#" ] && break
+done
+
+# stop tracking
+sendcmd ":AL#"
+
+echo -e "\n\nTelescope parked\n"

Auxiliary_utils/bash_scripts/park_telescope_2

@@ -0,0 +1,33 @@
+#!/bin/bash
+
+A="00:00:00"
+H="2:00:00"
+
+function sendcmd(){
+	echo $1 | nc localhost 10001 -q10 || (echo "Can't connect" >&2; exit 1)
+}
+
+#lower limit is 0
+sendcmd ":So0#"
+sendcmd ":Sz${A}#"
+sendcmd ":Sa${H}#"
+sendcmd ":MA#" # || exit 1
+
+errctr=0
+
+while true; do
+	sleep 2
+	ANS=$(sendcmd ":Gstat#")
+	if [ "x$ANS" == "x" ]; then
+		[[ $((++errctr)) < 5 ]] && continue
+		echo "No connection to server" >&2
+		exit 1
+	fi
+	echo $ANS
+	[ $ANS == "0#" -o $ANS == "7#" ] && break
+done
+
+# stop tracking
+sendcmd ":AL#"
+
+echo -e "\n\nTelescope parked\n"

Auxiliary_utils/bash_scripts/run_full.new_foc

@@ -0,0 +1,165 @@
+#!/bin/bash
+RA="17:17:08.86"
+DEC="+67:57:11.4"
+OBJ="GALEX171708.5"
+EXPTIME=31000
+FLATTIME=40000
+OBS="Fatkhullin T.A."
+BADWEATHER=1300
+DATEEND=$(sunrise 14)
+# focus each N seconds
+FOCUST=7200
+
+FNO=1
+FDATE=0
+
+#
+# NOTE: THIS IS A NEW VERSION OF THE OBSERVATION SCRIPT!
+# CHAGLELOG: 
+#   Oct 2024: replace focussing algorithm (T. Fatkhullin)
+#             At the night start the first focussing run
+#             uses of two-step algorithm:
+#               1) rough focus astimation along full season-to-season
+#                  focus range (as it was implemented in the old obs. script)
+#               2) precise focussing along narrow range computed from
+#                  previous rough estimation
+#             Next focussing runs compute range from the current focus value.
+#             (new function 'focustel_new')
+#
+#  May 2025: rewrite detection of running this script process (T. Fatkhullin)
+#            (use of '-c' commandline option for 'pgrep' command)
+
+function focustel_new(){
+    rm focus*.fit 2>/dev/null
+    echo "Focussing..."
+
+    let fno=$1
+    if [[ $fno -gt 1 ]]; then
+        let curr_foc=`fli_control | tail -n 5 | head -n 1 | cut -d "=" -f 2`
+        let lowf=$curr_foc-1500
+        let highf=$curr_foc+1500
+        focus_seq_FLI.py -v -c focus$(printf "%02d" $1).jpg $lowf $highf 500
+        
+        if [[ $? -ne 0 ]]; then
+            echo -e "\nFOCUSSING SCRIPT RETURNED: $?"
+            echo -e "SOMETHING WAS WRONG IN FOCUSSING SEQUENCE!!! SET FOCUS TO PREVIOUS VALUE!!\n"
+            fli_control -g $curr_foc
+        fi
+    else
+        focus_seq_FLI.py --guess -v -N 7 -c focus$(printf "%02d" $1).jpg 47000 60000 500
+    fi 
+
+    FDATE=$(date +%s)
+}
+
+function sendcmd(){
+    echo $1 | nc 192.168.70.33 10001 -q10
+}
+
+function point_tel(){
+	touch lastpointing
+	send_coords -r $1 -d $2
+}
+
+#c=$(pgrep run_full | wc -l)
+# $ will run another run_full, so c=2 for single run
+#if [[ $c -gt 1 ]]; then
+#    echo "Another process is running; exiting"
+#    exit 1
+#fi
+
+if [[ $(pgrep -c run_full) -gt 1 ]]; then
+    echo "Another process is running! Exit!"
+    exit 1
+fi
+
+export http_proxy=""
+
+# set lower limit to 5degr
+send_command2mount ":So5#"
+
+echo "Time diff: $(($DATEEND-$(date +%s)))"
+if [ $(($DATEEND-$(date +%s))) -lt 3600 ]; then
+	echo "There's less an hour for observation!"
+	exit 2
+fi
+
+if [ $(($DATEEND-$(date +%s))) -gt 53200 ]; then
+	echo "There's more than 12 hours till closing, check script data!"
+	exit 3
+fi
+
+#STARTobs
+
+#send_coords
+#echo "Wait a little"
+#sleep 10
+
+echo "GoTo object: ${RA} ${DEC}"
+send_coords -r${RA} -d${DEC}
+
+echo "Start taking object"
+
+badweather=0
+while true; do
+	now=$(date +%s)
+	ANS=$(curl localhost:55555/status 2>/dev/null)
+	echo "Dome status: $ANS"
+	if [ $ANS != "opened" ]; then
+		echo "Closed"
+		curl localhost:55555/weather 2>/dev/null > DomeClosed
+		break;
+	fi
+	chkweather ${BADWEATHER} > lastweather && badweather=0 || badweather=$((badweather+1))
+	[ $badweather -gt 5 ] && break
+	[ -f stopobs ] && break
+	[ -f exitjob ] && exit 0
+	if [ "$now" -lt "$DATEEND" ]; then
+		est=$(sendcmd ":Gmte#"|sed -e 's/^0*//' -e 's/#//')
+		echo -e "\n\n\n\n\nEstimated time to flip: $est minutes"
+		if [[ ("x$est" == "x") || ($est -lt 3) ]]; then
+			point_tel "${RA}" "${DEC}"
+			continue
+		fi
+		ST=$(send_coords | awk '{print $4}')
+		[ "x$ST" == "x" ] && break
+		if [ $ST -ne "0" ]; then
+			point_tel "${RA}" "${DEC}"
+			continue
+		else
+			[ $(($(date +%s) - $FDATE)) -gt $FOCUST ] && focustel_new $((FNO++))
+#			[ $(($(date +%s) - $FDATE)) -gt $FOCUST ] && focustel $((FNO++))
+			preflash
+			fli_control -r /tmp/10micron.fitsheader -x $EXPTIME -N "${OBS}" -O "${OBJ}" "$OBJ"
+		fi
+	else
+		break
+	fi
+done
+
+echo "Dome closed @ $(date)" >> closed
+curl localhost:55555/close
+
+relay_manage -s1
+park_telescope
+
+for x in $(seq 1 10); do
+	preflash
+	fli_control -r /tmp/10micron.fitsheader -x1 -N "${OBS}" -O "bias" -d bias
+	preflash
+	fli_control -r /tmp/10micron.fitsheader -x $EXPTIME -N "${OBS}" -O "dark" -d dark
+	preflash
+	fli_control -r /tmp/10micron.fitsheader -n3 -x $FLATTIME -N "${OBS}" -O "flat" flat
+done
+
+relay_manage -r1
+echo "Closed @ $(date)" >> closed
+
+STOPobs || true
+
+DIR=$(basename $PWD)
+echo "TAR: $DIR"
+cd ..
+./copy_and_xz.sh $DIR
+echo "Archived, end"
+echo "$DIR archived @ $(date)"  >> archived

Auxiliary_utils/bash_scripts/setup_obs.sh

@@ -0,0 +1,44 @@
+#!/bin/bash
+
+#
+# The script creates working directory,
+# copies 'run' script into it and
+# edits observer name according to 
+# the its argument
+#
+# Working directory name is formed from
+# date of the script running and is computed
+# as follows:
+#    now - 12hours
+# i.e. the day starts from 12h not from 0h!
+#
+# $1 - observer name
+#
+
+if [[ $# -eq 0 ]]; then
+    obs_name="Fatkhullin T.A."
+else
+    obs_name=$1
+fi
+
+# now - 12h
+let now12=`date +%s`-12*3600
+
+# working directory
+wdir=/DATA/FITS/`date -d @$now12 +%y.%m.%d`
+
+echo -n "Creating working directory: $wdir ..."
+if [[ -d $wdir ]]; then
+    echo -e "\tFAILED! The directory already exists! Exit!"
+    exit 1
+else
+    echo -e "\tOK!"
+    mkdir $wdir
+    cd $wdir
+fi
+
+cp ../run_full.new_foc .
+
+# replace observer name
+sed -i "0,/^OBS=\".*\"/ s//OBS=\"${obs_name}\"/" run_full.new_foc
+#sed -i "0,/^OBS=\"[a-zA-Z \.]*\"/ s//OBS=\"${obs_name}\"/" run_full.new_foc

Auxiliary_utils/bash_scripts/video2dome1-2.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+
+mpv -vo sixel --really-quiet=yes "rtsp://viewer:view25@192.168.70.25:554/axis-media/media.amp?videocodec=h264&resolution=640x480"

Auxiliary_utils/calc_points/cmdlnopts.c

@@ -41,7 +41,7 @@ static glob_pars G = {
  * Define command line options by filling structure:
  *  name        has_arg     flag    val     type        argptr              help
 */
-static myoption cmdlnopts[] = {
+static sl_option_t cmdlnopts[] = {
 // common options
     {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&help),        "show this help"},
     {"delimeter",NEED_ARG,  NULL,   'd',    arg_string, APTR(&G.delimeter), "coordinates delimeter string (default: ':')"},
@@ -71,10 +71,10 @@ glob_pars *parse_args(int argc, char **argv){
     char helpstring[1024], *hptr = helpstring;
     snprintf(hptr, hlen, "Usage: %%s [args]\n\n\tWhere args are:\n");
     // format of help: "Usage: progname [args]\n"
-    change_helpstring(helpstring);
+    sl_helpstring(helpstring);
     // parse arguments
-    parseargs(&argc, &argv, cmdlnopts);
+    sl_parseargs(&argc, &argv, cmdlnopts);
-    if(help) showhelp(-1, cmdlnopts);
+    if(help) sl_showhelp(-1, cmdlnopts);
     if(argc > 0){
         G.rest_pars_num = argc;
         G.rest_pars = MALLOC(char *, argc);

Auxiliary_utils/calc_points/main.c

@@ -100,7 +100,7 @@ static void savepoints(FILE *f, point *pts, int N, char *delim, int mask){
 }
 
 int main(int argc, char **argv){
-    initial_setup();
+    sl_init();
     glob_pars *G = parse_args(argc, argv);
     FILE *f = NULL;
     if(G->outfile){

Auxiliary_utils/focussing/main.c

@@ -32,7 +32,7 @@ typedef struct{
 
 static glob_pars G = {.tolerance = 10.};
 
-static myoption cmdlnopts[] = {
+static sl_option_t cmdlnopts[] = {
     // common options
     {"help",    NO_ARGS,    NULL,   'h',    arg_none,   APTR(&G.help),      _("show this help")},
     {"infile",  NEED_ARG,   NULL,   'i',    arg_string, APTR(&G.input),     _("input file name")},
@@ -158,11 +158,11 @@ static double calcfocus(double coeffs[3]){
 
 int main(int argc, char **argv){
     char helpstring[256];
-    initial_setup();
+    sl_init();
     snprintf(helpstring, 255, "Usage: `cat file | %%s` or with args; file format \"x y\\n..\"\n\tArgs:\n");
-    change_helpstring(helpstring);
+    sl_helpstring(helpstring);
-    parseargs(&argc, &argv, cmdlnopts);
+    sl_parseargs(&argc, &argv, cmdlnopts);
-    if(G.help) showhelp(-1, cmdlnopts);
+    if(G.help) sl_showhelp(-1, cmdlnopts);
     if(G.tolerance <= 0.) ERRX("Tolerance should be > 0");
     FILE *f = stdin;
     if(G.input){

Auxiliary_utils/libastrotools/examples/coordstest.c

@@ -36,7 +36,7 @@ static const char *radtodeg(double r){
 
 
 int main(){
-    initial_setup();
+    sl_init();
     at_MJD_t mjd;
     if(!at_get_MJDu(time(NULL), &mjd)) ERRX("at_get_MJDu");
     printf("MJD=%g; TAI=%g/%g, TT=%g/%g, UTC=%g/%g\n", mjd.MJD, mjd.tai1, mjd.tai2, mjd.tt1, mjd.tt2, mjd.utc1, mjd.utc2);

Auxiliary_utils/libastrotools/examples/transform.c

@@ -56,7 +56,7 @@ static parameters G = {
     .py = -10000.
 };
 
-static myoption cmdlnopts[] = {
+static sl_option_t cmdlnopts[] = {
     {"help",        NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),      "show this help"},
     {"obsplace",    NO_ARGS,    NULL,   'O',    arg_int,    APTR(&G.obsplace),  "input RA/Dec is observed place"},
     {"JD",          NEED_ARG,   NULL,   'J',    arg_double, APTR(&G.JD),        "Julian date"},
@@ -77,9 +77,9 @@ static myoption cmdlnopts[] = {
 
 
 int main(int argc, char **argv){
-    initial_setup();
+    sl_init();
-    parseargs(&argc, &argv, cmdlnopts);
+    sl_parseargs(&argc, &argv, cmdlnopts);
-    if(G.help) showhelp(-1, cmdlnopts);
+    if(G.help) sl_showhelp(-1, cmdlnopts);
     at_MJD_t MJD;
     G.ra *= ERFA_DD2R;
     G.dec *= ERFA_DD2R;

Daemons/Readme.md

@@ -8,3 +8,5 @@ Different daemons & tools
 - *netsocket* - scripts for management of network 220V-socket
 - *send_coordinates* - get/send coordinates to 10-micron mount through stellarium daemon
 - *teldaemon* - open/close Astrosib-500 scope covers by network query
+- *weatherdaemon* - weather daemon for old meteostation
+- *weatherdaemon_newmeteo* - daemon for new (chinese) meteostation