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62 lines
1.8 KiB
C
62 lines
1.8 KiB
C
/*
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* This file is part of the SSII project.
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* Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#ifndef SIDSERVO_H__
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#define SIDSERVO_H__
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#include <usefull_macros.h>
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// ASCII commands
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#define U8P(x) ((uint8_t*)x)
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// get binary data of all statistics
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#define CMD_GETSTAT U8P("XXS")
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#define BUFLEN (256)
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// timeout (seconds) of reading answer
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#define READTIMEOUT (0.1)
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// all need data in one
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typedef struct{
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int32_t DECmot; // Dec/RA motor position
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int32_t RAmot;
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int32_t DECenc; // Dec/RA encoder position
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int32_t RAenc;
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uint8_t keypad; // keypad status
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uint8_t XBits;
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uint8_t YBits;
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uint8_t ExtraBits;
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uint16_t ain0; // analog inputs
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uint16_t ain1;
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uint32_t millis; // milliseconds clock
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int8_t tF; // temperature (degF)
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uint8_t voltage; // input voltage *10
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uint32_t reserved0;
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uint32_t reserved1;
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uint16_t checksum; // checksum, H inverted
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}__attribute__((packed)) SSstat;
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int SSinit(char *devpath, int speed);
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void SSclose();
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int SSwrite(const uint8_t *buf, int len);
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uint8_t *SSread(int *l);
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int SSgetstat(SSstat *s);
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#endif // SIDSERVO_H__
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