...

.gitignore

@@ -0,0 +1,83 @@
+# This file is used to ignore files which are generated
+# ----------------------------------------------------------------------------
+
+*~
+*.autosave
+*.a
+*.core
+*.moc
+*.o
+*.obj
+*.orig
+*.rej
+*.so
+*.so.*
+*_pch.h.cpp
+*_resource.rc
+*.qm
+.#*
+*.*#
+core
+!core/
+tags
+.DS_Store
+.directory
+*.debug
+Makefile*
+*.prl
+*.app
+moc_*.cpp
+ui_*.h
+qrc_*.cpp
+Thumbs.db
+*.res
+*.rc
+/.qmake.cache
+/.qmake.stash
+
+# qtcreator generated files
+*.pro.user*
+*.qbs.user*
+CMakeLists.txt.user*
+
+# xemacs temporary files
+*.flc
+
+# Vim temporary files
+.*.swp
+
+# Visual Studio generated files
+*.ib_pdb_index
+*.idb
+*.ilk
+*.pdb
+*.sln
+*.suo
+*.vcproj
+*vcproj.*.*.user
+*.ncb
+*.sdf
+*.opensdf
+*.vcxproj
+*vcxproj.*
+
+# MinGW generated files
+*.Debug
+*.Release
+
+# Python byte code
+*.pyc
+
+# Binaries
+# --------
+*.dll
+*.exe
+
+# Directories with generated files
+.moc/
+.obj/
+.pch/
+.rcc/
+.uic/
+/build*/
+.qtcreator/

.gitmodules

@@ -1,3 +0,0 @@
-[submodule "mcc"]
-	path = mcc
-	url = https://git.sao.ru/timur/mcc.git

CMakeLists.txt

@@ -0,0 +1,159 @@
+cmake_minimum_required(VERSION 3.16)
+
+project(ASIBFM700 LANGUAGES CXX)
+
+set(CMAKE_CXX_STANDARD 23)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# for ccls
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+# pass to mcc-library
+option(USE_BSPLINE_PCM "Use of FITPACK bivariate splines for PCM" ON)
+
+find_package(cxxopts REQUIRED)
+
+set(EXAMPLES OFF CACHE BOOL "" FORCE)
+# set(CMAKE_BUILD_TYPE "Release")
+set(CMAKE_BUILD_TYPE "Debug")
+add_subdirectory(LibSidServo)
+
+# include(FetchContent)
+
+# FetchContent_Declare(
+#     mcc
+#     GIT_REPOSITORY https://git.sao.ru/timur/mcc.git
+#     GIT_PROGRESS 1
+#     OVERRIDE_FIND_PACKAGE
+# )
+# FetchContent_MakeAvailable(mcc)
+# set(CMAKE_MODULE_PATH
+#     ${CMAKE_MODULE_PATH}
+#     "${CMAKE_BINARY_DIR}/_deps/mcc-build"
+# )
+# find_package(mcc REQUIRED)
+
+# execute_process(
+#     WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/
+#     COMMAND ninja -C ${CMAKE_BINARY_DIR}/erfa_lib
+# )
+
+# include(ExternalProject)
+
+# ExternalProject_Add(
+#     mcclib
+#     # PREFIX ${CMAKE_BINARY_DIR}
+#     GIT_REPOSITORY https://git.sao.ru/timur/mcc.git
+#     GIT_PROGRESS 1
+#     GIT_SHALLOW 1
+#     BINARY_DIR ${CMAKE_BINARY_DIR}/mcc_build
+#     # INSTALL_DIR ${CMAKE_BINARY_DIR}/mcc_build
+#     CMAKE_ARGS
+#         -DBUILD_TESTS=OFF -USE_BSPLINE_PCM=${USE_BSPLINE_PCM}
+#         -DCMAKE_INSTALL_PREFIX=${CMAKE_BINARY_DIR}/mcc_build
+#     # BUILD_COMMAND make install
+#     # BUILD_BYPRODUCTS ${CMAKE_BINARY_DIR}/mcc_build/mccTargets.cmake
+#     # INSTALL_COMMAND ${CMAKE_COMMAND} -E echo "Starting $<CONFIG> build"
+# )
+
+# message(STATUS "MCC: ${mcc_INCLUDE_DIR}")
+
+# make_directory(${CMAKE_BINARY_DIR}/mcc_build/include)
+
+# set(CMAKE_MODULE_PATH
+#     ${CMAKE_MODULE_PATH}
+#     "${CMAKE_BINARY_DIR}/mcc_build"
+# )
+
+# find_package(mcc CONFIG REQUIRED PATHS ${CMAKE_BINARY_DIR}/mcc_build)
+
+# add_library(mcc INTERFACE IMPORTED GLOBAL)
+# add_dependencies(mcc mcclib)
+
+# set_target_properties(
+#     mcc
+#     PROPERTIES
+#     INTERFACE_INCLUDE_DIRECTORIES "${CMAKE_BINARY_DIR}/mcc_build/include"
+# )
+# target_link_libraries(mcc INTERFACE mcclib)
+
+# get_target_property(ii mcc INTERFACE_INCLUDE_DIRECTORIES)
+# message(STATUS "$INC: ${ii}")
+
+include(FetchContent)
+
+FetchContent_Declare(
+    mcclib
+    # GIT_REPOSITORY https://git.sao.ru/timur/mcc.git
+    GIT_REPOSITORY ssh://git@95.140.147.151:/home/git/mcc.git
+    GIT_SHALLOW 1
+    GIT_PROGRESS 1
+    SOURCE_DIR
+    ${CMAKE_BINARY_DIR}/mcc
+    # OVERRIDE_FIND_PACKAGE
+)
+set(BUILD_TESTS OFF)
+
+FetchContent_MakeAvailable(mcclib)
+
+# add_subdirectory(${CMAKE_BINARY_DIR}/mcc)
+
+if(USE_BSPLINE_PCM)
+    FetchContent_GetProperties(mcclib BINARY_DIR mcclib_bindir)
+    # to fix libfitpack_project.a target path issue
+    # file(CREATE_LINK ${mcclib_bindir}/fitpack fitpack SYMBOLIC)
+endif()
+
+set(ASIBFM700_LIB_SRC
+    asibfm700_common.h
+    asibfm700_servocontroller.h
+    asibfm700_servocontroller.cpp
+)
+
+set(ASIBFM700_LIB asibfm700mount)
+add_library(
+    ${ASIBFM700_LIB}
+    STATIC
+    ${ASIBFM700_LIB_SRC}
+    asibfm700_mount.h
+    asibfm700_mount.cpp
+    asibfm700_configfile.h
+    asibfm700_netserver.cpp
+    asibfm700_netserver.h
+)
+
+# add_dependencies(${ASIBFM700_LIB} mcc)
+
+# target_include_directories(${ASIBFM700_LIB} PUBLIC mcc spdlog ${ERFA_INCLUDE_DIR})
+# target_link_libraries(${ASIBFM700_LIB} PUBLIC mcc spdlog ${ERFA_LIBFILE})
+# target_link_libraries(${ASIBFM700_LIB} PUBLIC mcclib sidservo)
+target_link_libraries(${ASIBFM700_LIB} PUBLIC mcc sidservo atomic)
+if(USE_BSPLINE_PCM)
+    target_compile_definitions(${ASIBFM700_LIB} PRIVATE USE_BSPLINE_PCM)
+endif()
+
+set(ASIBFM700_NETSERVER_APP asibfm700_netserver)
+add_executable(${ASIBFM700_NETSERVER_APP} asibfm700_netserver_main.cpp)
+target_link_libraries(
+    ${ASIBFM700_NETSERVER_APP}
+    PUBLIC cxxopts::cxxopts ${ASIBFM700_LIB}
+)
+
+# include(CMakePrintHelpers)
+# cmake_print_properties(
+#     TARGETS ${ASIBFM700_LIB}
+#     PROPERTIES
+#         INCLUDE_DIRECTORIES
+#         INTERFACE_INCLUDE_DIRECTORIES
+#         LINK_INTERFACE_LIBRARIES
+# )
+
+# get_target_property(TARGET_INCLUDES ${ASIBFM700_LIB} INCLUDE_DIRECTORIES)
+# message(STATUS "${TARGET_INCLUDES}")
+
+include(GNUInstallDirs)
+install(
+    TARGETS ${ASIBFM700_NETSERVER_APP}
+    LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+    RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+)

LibSidServo/CMakeLists.txt

@@ -0,0 +1,87 @@
+cmake_minimum_required(VERSION 3.30)
+set(PROJ sidservo)
+set(MINOR_VERSION "1")
+set(MID_VERSION "0")
+set(MAJOR_VERSION "0")
+set(VERSION "${MAJOR_VERSION}.${MID_VERSION}.${MINOR_VERSION}")
+
+project(${PROJ} VERSION ${VERSION} LANGUAGES C)
+
+# default flags
+set(CMAKE_C_FLAGS "${CFLAGS} -O2")
+set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS}")
+set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS} -Wextra -Wall -Werror -W")
+set(CMAKE_COLOR_MAKEFILE ON)
+
+option(DEBUG "Compile in debug mode" OFF)
+option(EXAMPLES "Compile also some examples" ON)
+
+# cmake -DDEBUG=on -> debugging
+if(NOT CMAKE_BUILD_TYPE STREQUAL "Debug")
+    if(DEBUG)
+        set(CMAKE_BUILD_TYPE "Debug")
+    else()
+        set(CMAKE_BUILD_TYPE "Release")
+    endif()
+endif()
+
+if(CMAKE_BUILD_TYPE STREQUAL "Debug")
+	add_definitions(-DEBUG)
+	set(CMAKE_VERBOSE_MAKEFILE true)
+	if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
+		message("install to ${CMAKE_CURRENT_SOURCE_DIR}/install ")
+		set(CMAKE_INSTALL_PREFIX ${CMAKE_CURRENT_SOURCE_DIR}/install)
+	endif()
+	set(CMAKE_C_FLAGS ${CMAKE_C_FLAGS_DEBUG})
+else()
+	set(CMAKE_C_FLAGS ${CMAKE_C_FLAGS_RELEASE})
+endif()
+
+message("Build type: ${CMAKE_BUILD_TYPE}, cflags: ${CMAKE_C_FLAGS}")
+
+aux_source_directory(${CMAKE_CURRENT_SOURCE_DIR} SOURCES)
+
+###### pkgconfig ######
+# pkg-config modules (for pkg-check-modules)
+#set(MODULES cfitsio fftw3)
+# find packages:
+#find_package(PkgConfig REQUIRED)
+#pkg_check_modules(${PROJ} REQUIRED ${MODULES})
+
+###### additional flags ######
+#list(APPEND ${PROJ}_LIBRARIES "-lfftw3_threads")
+
+# library
+add_library(${PROJ} SHARED ${SOURCES})
+# library header files
+set(LIBHEADER "sidservo.h")
+# -I
+include_directories(${${PROJ}_INCLUDE_DIRS})
+# -L
+link_directories(${${PROJ}_LIBRARY_DIRS})
+# -D
+add_definitions(
+        -DPACKAGE_VERSION=\"${VERSION}\" -DMINOR_VERSION=\"${MINOR_VERSION}\"
+        -DMID_VERSION=\"${MID_VERSION}\" -DMAJOR_VERSION=\"${MAJOR_VESION}\"
+)
+
+# -l
+target_link_libraries(${PROJ} ${${PROJ}_LIBRARIES})
+
+set(PCFILE "${CMAKE_BINARY_DIR}/${PROJ}.pc")
+configure_file("${PROJ}.pc.in" ${PCFILE} @ONLY)
+
+set_target_properties(${PROJ} PROPERTIES VERSION ${VERSION})
+set_target_properties(${PROJ} PROPERTIES PUBLIC_HEADER ${LIBHEADER})
+
+# Installation of the program
+include(GNUInstallDirs)
+#install(TARGETS ${PROJ} DESTINATION "bin")
+install(TARGETS ${PROJ} LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+install(FILES ${PCFILE} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/pkgconfig)
+
+# EXAMPLES
+if(EXAMPLES)
+    add_subdirectory(examples)
+endif()

LibSidServo/PID.c

@@ -0,0 +1,221 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <math.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <strings.h>
+
+#include "main.h"
+#include "PID.h"
+#include "serial.h"
+
+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));
+    return pid;
+}
+
+// don't clear lastT!
+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;
+}
+
+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 flowing integral
+    double oldi = pid->pidIarray[pid->curIidx], newi = error * dt;
+    //DBG("oldi/new: %g, %g", oldi, newi);
+    pid->pidIarray[pid->curIidx++] = newi;
+    if(pid->curIidx >= pid->pidIarrSize) pid->curIidx = 0;
+    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("P=%g, I=%g, D=%g; sum=%g", 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
+ */
+static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t *axis){
+    double dt = timediff(&tagpos->t, &axis->position.t);
+    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);
+    DBG("error: %g", error);
+    PIDController_t *pid = NULL;
+    switch(axis->state){
+        case AXIS_SLEWING:
+            if(fe < Conf.MaxPointingErr){
+                axis->state = AXIS_POINTING;
+                DBG("--> Pointing");
+                pid = pidpair->PIDC;
+            }else{
+                DBG("Slewing...");
+                return NAN; // max speed for given axis
+            }
+            break;
+        case AXIS_POINTING:
+            if(fe < Conf.MaxFinePointingErr){
+                axis->state = AXIS_GUIDING;
+                DBG("--> Guiding");
+                pid = pidpair->PIDV;
+            }else if(fe > Conf.MaxPointingErr){
+                DBG("--> Slewing");
+                axis->state = AXIS_SLEWING;
+                return NAN;
+            } else pid = pidpair->PIDC;
+            break;
+        case AXIS_GUIDING:
+            pid = pidpair->PIDV;
+            if(fe > Conf.MaxFinePointingErr){
+                DBG("--> Pointing");
+                axis->state = AXIS_POINTING;
+                pid = pidpair->PIDC;
+            }else if(fe < Conf.MaxGuidingErr){
+                DBG("At target");
+                // TODO: we can point somehow that we are at target or introduce new axis state
+            }else DBG("Current error: %g", fe);
+            break;
+        case AXIS_STOPPED: // start pointing to target; will change speed next time
+            DBG("AXIS STOPPED!!!! --> Slewing");
+            axis->state = AXIS_SLEWING;
+            return getspeed(tagpos, pidpair, axis);
+        case AXIS_ERROR:
+            DBG("Can't move from erroneous state");
+            return 0.;
+    }
+    if(!pid){
+        DBG("WTF? Where is a PID?");
+        return axis->speed.val;
+    }
+    double dtpid = timediff(&tagpos->t, &pid->prevT);
+    if(dtpid < 0 || dtpid > Conf.PIDMaxDt){
+        DBG("time diff too big: clear PID");
+        pid_clear(pid);
+    }
+    if(dtpid > Conf.PIDMaxDt) dtpid = Conf.PIDCycleDt;
+    pid->prevT = tagpos->t;
+    DBG("CALC PID (er=%g, dt=%g), state=%d", error, dtpid, axis->state);
+    double tagspeed = pid_calculate(pid, error, dtpid);
+    if(axis->state == AXIS_GUIDING) return axis->speed.val + tagspeed / dtpid; // velocity-based
+    return tagspeed; // coordinate-based
+}
+
+/**
+ * @brief correct2 - recalculate PID and move telescope to new point with new speed
+ * @param target - target position (for error calculations)
+ * @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){
+    static PIDpair_t pidX = {0}, pidY = {0};
+    if(!pidX.PIDC){
+        pidX.PIDC = pid_create(&Conf.XPIDC, Conf.PIDCycleDt / Conf.PIDRefreshDt);
+        if(!pidX.PIDC) return MCC_E_FATAL;
+        pidX.PIDV = pid_create(&Conf.XPIDV, Conf.PIDCycleDt / Conf.PIDRefreshDt);
+        if(!pidX.PIDV) return MCC_E_FATAL;
+    }
+    if(!pidY.PIDC){
+        pidY.PIDC = pid_create(&Conf.YPIDC, Conf.PIDCycleDt / Conf.PIDRefreshDt);
+        if(!pidY.PIDC) return MCC_E_FATAL;
+        pidY.PIDV = pid_create(&Conf.YPIDV, Conf.PIDCycleDt / Conf.PIDRefreshDt);
+        if(!pidY.PIDV) return MCC_E_FATAL;
+    }
+    mountdata_t m;
+    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);
+    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);
+    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);
+    }
+    coordpair_t endpoint;
+    // 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;
+    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);
+}

LibSidServo/PID.h

@@ -0,0 +1,40 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include <stddef.h>
+
+#include "sidservo.h"
+
+typedef struct {
+    PIDpar_t gain;      // PID gains
+    double prev_error;  // Previous error
+    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;
+
+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);

LibSidServo/PID_test.deprecated/Dramp.c

@@ -0,0 +1,141 @@
+/*
+ * This file is part of the moving_model project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <math.h>
+#include <stdio.h>
+#include <usefull_macros.h>
+
+#include "Dramp.h"
+
+static movestate_t state = ST_STOP;
+static moveparam_t target, Min, Max;
+static double T0 = -1., Xlast0; // time when move starts, last stage starting coordinate
+static moveparam_t curparams = {0}; // current coordinate/speed/acceleration
+static double T1 = -1.; // time to switch into minimal speed for best coord tolerance
+
+typedef enum{
+    STAGE_NORMALSPEED,
+    STAGE_MINSPEED,
+    STAGE_STOPPED
+} movingsage_t;
+
+static movingsage_t movingstage = STAGE_STOPPED;
+
+static int initlims(limits_t *lim){
+    if(!lim) return FALSE;
+    Min = lim->min;
+    Max = lim->max;
+    return TRUE;
+}
+
+static int calc(moveparam_t *x, double t){
+    DBG("target: %g, tagspeed: %g (maxspeed: %g, minspeed: %g)", x->coord, x->speed, Max.speed, Min.speed);
+    if(!x || t < 0.) return FALSE;
+    if(x->speed > Max.speed || x->speed < Min.speed || x->coord < Min.coord || x->coord > Max.coord) return FALSE;
+    double adist = fabs(x->coord - curparams.coord);
+    DBG("want dist: %g", adist);
+    if(adist < coord_tolerance) return TRUE; // we are at place
+    if(adist < time_tick * Min.speed) return FALSE; // cannot reach with current parameters
+    target = *x;
+    if(x->speed * time_tick > adist) target.speed = adist / (10. * time_tick); // take at least 10 ticks to reach position
+    if(target.speed < Min.speed) target.speed = Min.speed;
+    DBG("Approximate tag speed: %g", target.speed);
+    T0 = t;
+    // calculate time to switch into minimal speed
+    T1 = -1.; // no min speed phase
+    if(target.speed > Min.speed){
+        double dxpertick = target.speed * time_tick;
+        DBG("dX per one tick: %g", dxpertick);
+        double ticks_need = floor(adist / dxpertick);
+        DBG("ticks need: %g", ticks_need);
+        if(ticks_need < 1.) return FALSE; // cannot reach
+        if(fabs(ticks_need * dxpertick - adist) > coord_tolerance){
+            DBG("Need to calculate slow phase; can't reach for %g ticks at current speed", ticks_need);
+            double dxpersmtick = Min.speed * time_tick;
+            DBG("dX per smallest tick: %g", dxpersmtick);
+            while(--ticks_need > 1.){
+                double part = adist - ticks_need * dxpertick;
+                double smticks = floor(part / dxpersmtick);
+                double least = part - smticks * dxpersmtick;
+                if(least < coord_tolerance) break;
+            }
+            DBG("now BIG ticks: %g, T1=T0+%g", ticks_need, ticks_need*time_tick);
+            T1 = t + ticks_need * time_tick;
+        }
+    }
+    state = ST_MOVE;
+    Xlast0 = curparams.coord;
+    if(target.speed > Min.speed) movingstage = STAGE_NORMALSPEED;
+    else movingstage = STAGE_MINSPEED;
+    if(x->coord < curparams.coord) target.speed *= -1.; // real speed
+    curparams.speed = target.speed;
+    return TRUE;
+}
+
+static void stop(double _U_ t){
+    T0 = -1.;
+    curparams.accel = 0.;
+    curparams.speed = 0.;
+    state = ST_STOP;
+    movingstage = STAGE_STOPPED;
+}
+
+static movestate_t proc(moveparam_t *next, double t){
+    if(T0 < 0.) return ST_STOP;
+    curparams.coord = Xlast0 + (t - T0) * curparams.speed;
+    //DBG("coord: %g (dTmon: %g, speed: %g)", curparams.coord, t-T0, curparams.speed);
+    int ooops = FALSE; // oops - we are over target!
+    if(curparams.speed < 0.){ if(curparams.coord < target.coord) ooops = TRUE;}
+    else{ if(curparams.coord > target.coord) ooops = TRUE; }
+    if(ooops){
+        DBG("OOOps! We are (%g) over target (%g) -> stop", curparams.coord, target.coord);
+        stop(t);
+        if(next) *next = curparams;
+        return state;
+    }
+    if(movingstage == STAGE_NORMALSPEED && T1 > 0.){ // check need of T1
+        if(t >= T1){
+            DBG("T1=%g, t=%g -->", T1, t);
+            curparams.speed = (curparams.speed > 0.) ? Min.speed : -Min.speed;
+            movingstage = STAGE_MINSPEED;
+            Xlast0 = curparams.coord;
+            T0 = T1;
+            DBG("Go further with minimal speed");
+        }
+    }
+    if(fabs(curparams.coord - target.coord) < coord_tolerance){ // we are at place
+        DBG("OK, we are in place");
+        stop(t);
+    }
+    if(next) *next = curparams;
+    return state;
+}
+
+static movestate_t getst(moveparam_t *cur){
+    if(cur) *cur = curparams;
+    return state;
+}
+
+movemodel_t dumb = {
+    .init_limits = initlims,
+    .calculate = calc,
+    .proc_move = proc,
+    .stop = stop,
+    .emergency_stop = stop,
+    .get_state = getst,
+};

LibSidServo/PID_test.deprecated/Dramp.h

@@ -0,0 +1,23 @@
+/*
+ * This file is part of the moving_model project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "moving_private.h"
+
+extern movemodel_t dumb;

LibSidServo/PID_test.deprecated/Sramp.c

@@ -0,0 +1,27 @@
+/*
+ * This file is part of the moving_model project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// quasi non-jerk s-ramp
+
+#include <stdio.h>
+#include <usefull_macros.h>
+
+#include "Sramp.h"
+
+
+movemodel_t s_shaped = { 0 };

LibSidServo/PID_test.deprecated/Sramp.h

@@ -0,0 +1,23 @@
+/*
+ * This file is part of the moving_model project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "moving_private.h"
+
+extern movemodel_t s_shaped;

LibSidServo/PID_test.deprecated/Tramp.c

@@ -0,0 +1,223 @@
+/*
+ * This file is part of the moving_model project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// simplest trapezioidal ramp
+
+#include <math.h>
+#include <stdio.h>
+#include <strings.h>
+#include <usefull_macros.h>
+
+#include "Tramp.h"
+
+#undef DBG
+#define DBG(...)
+
+static movestate_t state = ST_STOP;
+static moveparam_t Min, Max; // `Min` acceleration not used!
+
+typedef enum{
+    STAGE_ACCEL,        // start from zero speed and accelerate to Max speed
+    STAGE_MAXSPEED,     // go with target speed
+    STAGE_DECEL,        // go from target speed to zero
+    STAGE_STOPPED,      // stop
+    STAGE_AMOUNT
+} movingstage_t;
+
+static movingstage_t movingstage = STAGE_STOPPED;
+static double Times[STAGE_AMOUNT] = {0}; // time when each stage starts
+static moveparam_t Params[STAGE_AMOUNT] = {0}; // starting parameters for each stage
+static moveparam_t curparams = {0}; // current coordinate/speed/acceleration
+
+static int initlims(limits_t *lim){
+    if(!lim) return FALSE;
+    Min = lim->min;
+    Max = lim->max;
+    return TRUE;
+}
+
+static void emstop(double _U_ t){
+    curparams.accel = 0.;
+    curparams.speed = 0.;
+    bzero(Times, sizeof(Times));
+    bzero(Params, sizeof(Params));
+    state = ST_STOP;
+    movingstage = STAGE_STOPPED;
+}
+
+static void stop(double t){
+    if(state == ST_STOP || movingstage == STAGE_STOPPED) return;
+    movingstage = STAGE_DECEL;
+    state = ST_MOVE;
+    Times[STAGE_DECEL] = t;
+    Params[STAGE_DECEL].speed = curparams.speed;
+    if(curparams.speed > 0.) Params[STAGE_DECEL].accel = -Max.accel;
+    else Params[STAGE_DECEL].accel = Max.accel;
+    Params[STAGE_DECEL].coord = curparams.coord;
+    // speed: v=v2+a2(t-t2), v2 and a2 have different signs; t3: v3=0 -> t3=t2-v2/a2
+    Times[STAGE_STOPPED] = t - curparams.speed / Params[STAGE_DECEL].accel;
+    // coordinate: x=x2+v2(t-t2)+a2(t-t2)^2/2 -> x3=x2+v2(t3-t2)+a2(t3-t2)^2/2
+    double dt = Times[STAGE_STOPPED] - t;
+    Params[STAGE_STOPPED].coord = curparams.coord + curparams.speed * dt +
+                                  Params[STAGE_DECEL].accel * dt * dt / 2.;
+}
+
+/**
+ * @brief calc - moving calculation
+ * @param x - using max speed (>0!!!) and coordinate
+ * @param t - current time value
+ * @return FALSE if can't move with given parameters
+ */
+static int calc(moveparam_t *x, double t){
+    if(!x) return FALSE;
+    if(x->coord < Min.coord || x->coord > Max.coord) return FALSE;
+    if(x->speed < Min.speed || x->speed > Max.speed) return FALSE;
+    double Dx = fabs(x->coord - curparams.coord); // full distance
+    double sign = (x->coord > curparams.coord) ? 1. : -1.; // sign of target accelerations and speeds
+    // we have two variants: with or without stage with constant speed
+    double dt23 = x->speed / Max.accel; // time of deceleration stage for given speed
+    double dx23 = x->speed * dt23 / 2.; // distance on dec stage (abs)
+    DBG("Dx=%g, sign=%g, dt23=%g, dx23=%g", Dx, sign, dt23, dx23);
+    double setspeed = x->speed; // new max speed (we can change it if need)
+    double dt01, dx01; // we'll fill them depending on starting conditions
+    Times[0] = t;
+    Params[0].speed = curparams.speed;
+    Params[0].coord = curparams.coord;
+
+    double curspeed = fabs(curparams.speed);
+    double dt0s = curspeed / Max.accel; // time of stopping phase
+    double dx0s = curspeed * dt0s / 2.; // distance
+    DBG("dt0s=%g, dx0s=%g", dt0s, dx0s);
+    if(dx0s > Dx){
+        WARNX("distance too short");
+        return FALSE;
+    }
+    if(fabs(Dx - dx0s) < coord_tolerance){ // just stop and we'll be on target
+        DBG("Distance good to just stop");
+        stop(t);
+        return TRUE;
+    }
+    if(curparams.speed * sign < 0. || state == ST_STOP){ // we should change speed sign
+        // after stop we will have full profile
+        double dxs3 = Dx - dx0s;
+        double newspeed = sqrt(Max.accel * dxs3);
+        if(newspeed < setspeed) setspeed = newspeed; // we can't reach user speed
+        DBG("dxs3=%g, setspeed=%g", dxs3, setspeed);
+        dt01 = fabs(sign*setspeed - curparams.speed) / Max.accel;
+        Params[0].accel = sign * Max.accel;
+        if(state == ST_STOP) dx01 = setspeed * dt01 / 2.;
+        else dx01 = dt01 * (dt01 / 2. * Max.accel - curspeed);
+        DBG("dx01=%g, dt01=%g", dx01, dt01);
+    }else{ // increase or decrease speed without stopping phase
+        dt01 = fabs(sign*setspeed - curparams.speed) / Max.accel;
+        double a = sign * Max.accel;
+        if(sign * curparams.speed < 0.){DBG("change direction"); a = -a;}
+        else if(curspeed > setspeed){ DBG("lower speed @ this direction"); a = -a;}
+        //double a = (curspeed > setspeed) ? -Max.accel : Max.accel;
+        dx01 = curspeed * dt01 + a * dt01 * dt01 / 2.;
+        DBG("dt01=%g, a=%g, dx01=%g", dt01, a, dx01);
+        if(dx01 + dx23 > Dx){ // calculate max speed
+            setspeed = sqrt(Max.accel * Dx - curspeed * curspeed / 2.);
+            if(setspeed < curspeed){
+                setspeed = curparams.speed;
+                dt01 = 0.; dx01 = 0.;
+                Params[0].accel = 0.;
+            }else{
+                Params[0].accel = a;
+                dt01 = fabs(setspeed - curspeed) / Max.accel;
+                dx01 = curspeed * dt01 + Max.accel * dt01 * dt01 / 2.;
+            }
+        }else Params[0].accel = a;
+    }
+    if(setspeed < Min.speed){
+        WARNX("New speed should be too small");
+        return FALSE;
+    }
+    moveparam_t *p = &Params[STAGE_MAXSPEED];
+    p->accel = 0.; p->speed = sign * setspeed;
+    p->coord = curparams.coord + dx01 * sign;
+    Times[STAGE_MAXSPEED] = Times[0] + dt01;
+    dt23 = setspeed / Max.accel;
+    dx23 = setspeed * dt23 / 2.;
+    // calculate dx12 and dt12
+    double dx12 = Dx - dx01 - dx23;
+    if(dx12 < -coord_tolerance){
+        WARNX("Oops, WTF dx12=%g?", dx12);
+        return FALSE;
+    }
+    double dt12 = dx12 / setspeed;
+    p = &Params[STAGE_DECEL];
+    p->accel = -sign * Max.accel;
+    p->speed = sign * setspeed;
+    p->coord = Params[STAGE_MAXSPEED].coord + sign * dx12;
+    Times[STAGE_DECEL] = Times[STAGE_MAXSPEED] + dt12;
+    p = &Params[STAGE_STOPPED];
+    p->accel = 0.; p->speed = 0.; p->coord = x->coord;
+    Times[STAGE_STOPPED] = Times[STAGE_DECEL] + dt23;
+    for(int i = 0; i < 4; ++i)
+        DBG("%d: t=%g, coord=%g, speed=%g, accel=%g", i,
+            Times[i], Params[i].coord, Params[i].speed, Params[i].accel);
+    state = ST_MOVE;
+    movingstage = STAGE_ACCEL;
+    return TRUE;
+}
+
+static movestate_t proc(moveparam_t *next, double t){
+    if(state == ST_STOP) goto ret;
+    for(movingstage_t s = STAGE_STOPPED; s >= 0; --s){
+        if(Times[s] <= t){ // check time for current stage
+            movingstage = s;
+            break;
+        }
+    }
+    if(movingstage == STAGE_STOPPED){
+        curparams.coord = Params[STAGE_STOPPED].coord;
+        emstop(t);
+        goto ret;
+    }
+    // calculate current parameters
+    double dt = t - Times[movingstage];
+    double a = Params[movingstage].accel;
+    double v0 = Params[movingstage].speed;
+    double x0 = Params[movingstage].coord;
+    curparams.accel = a;
+    curparams.speed = v0 + a * dt;
+    curparams.coord = x0 + v0 * dt + a * dt * dt / 2.;
+ret:
+    if(next) *next = curparams;
+    return state;
+}
+
+static movestate_t getst(moveparam_t *cur){
+    if(cur) *cur = curparams;
+    return state;
+}
+
+static double gettstop(){
+    return Times[STAGE_STOPPED];
+}
+
+movemodel_t trapez = {
+    .init_limits = initlims,
+    .stop = stop,
+    .emergency_stop = emstop,
+    .get_state = getst,
+    .calculate = calc,
+    .proc_move = proc,
+    .stoppedtime = gettstop,
+};

LibSidServo/PID_test.deprecated/Tramp.h

@@ -0,0 +1,23 @@
+/*
+ * This file is part of the moving_model project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "moving_private.h"
+
+extern movemodel_t trapez;

LibSidServo/PID_test.deprecated/main.c

@@ -0,0 +1,243 @@
+/*
+ * This file is part of the moving_model project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <math.h>
+#include <stdio.h>
+#include <strings.h>
+#include <usefull_macros.h>
+
+#include "moving.h"
+
+// errors for states: slewing/pointing/guiding
+#define MAX_POINTING_ERR    (50.)
+#define MAX_GUIDING_ERR     (5.)
+// timeout to "forget" old data from I sum array; seconds
+#define PID_I_PERIOD        (3.)
+
+static movemodel_t *model = NULL;
+static FILE *coordslog = NULL;
+
+typedef enum{
+    Slewing,
+    Pointing,
+    Guiding
+} state_t;
+
+static state_t state = Slewing;
+
+typedef struct{
+    int help;
+    char *ramptype;
+    char *xlog;
+    double dTmon;
+    double dTcorr;
+    double Tend;
+    double minerr;
+    double P, I, D;
+} pars;
+
+static pars G = {
+    .ramptype = "t",
+    .dTmon = 0.01,
+    .dTcorr = 0.05,
+    .Tend = 100.,
+    .minerr = 0.1,
+    .P = 0.8,
+};
+
+static limits_t limits = {
+    .min = {.coord = -1e6, .speed = 0.01, .accel = 0.1},
+    .max = {.coord = 1e6, .speed = 1e3, .accel = 500.},
+    .jerk = 10.
+};
+
+typedef struct {
+    double kp, ki, kd;  // PID gains
+    double prev_error;  // Previous error
+    double integral;    // Integral term
+    double *pidIarray;  // array for Integral
+    size_t pidIarrSize; // it's size
+    size_t curIidx;     // and index of current element
+} PIDController;
+
+static PIDController pid;
+
+static sl_option_t opts[] = {
+    {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),          "show this help"},
+    {"ramp",    NEED_ARG,   NULL,   'r',    arg_string, APTR(&G.ramptype),      "ramp type: \"d\", \"t\" or \"s\" - dumb, trapezoid, s-type"},
+    {"tmon",    NEED_ARG,   NULL,   'T',    arg_double, APTR(&G.dTmon),         "time interval for monitoring (seconds, default: 0.001)"},
+    {"tcor",    NEED_ARG,   NULL,   't',    arg_double, APTR(&G.dTcorr),        "time interval for corrections (seconds, default: 0.05)"},
+    {"xlog",    NEED_ARG,   NULL,   'l',    arg_string, APTR(&G.xlog),          "log file name for coordinates logging"},
+    {"tend",    NEED_ARG,   NULL,   'e',    arg_double, APTR(&G.Tend),          "end time of monitoring (seconds, default: 100)"},
+    {"minerr",  NEED_ARG,   NULL,   'm',    arg_double, APTR(&G.minerr),        "minimal error for corrections (units, default: 0.1)"},
+    {"prop",    NEED_ARG,   NULL,   'P',    arg_double, APTR(&G.P),             "P-coefficient of PID"},
+    {"integ",   NEED_ARG,   NULL,   'I',    arg_double, APTR(&G.I),             "I-coefficient of PID"},
+    {"diff",    NEED_ARG,   NULL,   'D',    arg_double, APTR(&G.D),             "D-coefficient of PID"},
+    // TODO: add parameters for limits setting
+    end_option
+};
+
+// calculate coordinate target for given time (starting from zero)
+static double target_coord(double t){
+    if(t > 20. && t < 30.) return target_coord(20.);
+    double pos = 150. + 10. * sin(M_2_PI * t / 10.) + 0.02 * (drand48() - 0.5);
+    return pos;
+}
+
+/* P-only == oscillations
+static double getNewSpeed(const moveparam_t *p, double targcoord, double dt){
+    double error = targcoord - p->coord;
+    if(fabs(error) < G.minerr) return p->speed;
+    return p->speed + error / dt / 500.;
+}
+*/
+
+static void pid_init(PIDController *pid, double kp, double ki, double kd) {
+    pid->kp = fabs(kp);
+    pid->ki = fabs(ki);
+    pid->kd = fabs(kd);
+    pid->prev_error = 0.;
+    pid->integral = 0.;
+    pid->curIidx = 0;
+    pid->pidIarrSize = PID_I_PERIOD / G.dTcorr;
+    if(pid->pidIarrSize < 2) ERRX("I-array for PID have less than 2 elements");
+    pid->pidIarray = MALLOC(double, pid->pidIarrSize);
+}
+
+static void pid_clear(PIDController *pid){
+    if(!pid) return;
+    bzero(pid->pidIarray, sizeof(double) * pid->pidIarrSize);
+    pid->integral = 0.;
+    pid->prev_error = 0.;
+    pid->curIidx = 0;
+}
+
+static double getNewSpeed(const moveparam_t *p, double targcoord, double dt){
+    double error = targcoord - p->coord, fe = fabs(error);
+    switch(state){
+        case Slewing:
+            if(fe < MAX_POINTING_ERR){
+                pid_clear(&pid);
+                state = Pointing;
+                green("--> Pointing\n");
+            }else{
+                red("Slewing...\n");
+                return (error > 0.) ? limits.max.speed : -limits.max.speed;
+            }
+            break;
+        case Pointing:
+            if(fe < MAX_GUIDING_ERR){
+                pid_clear(&pid);
+                state = Guiding;
+                green("--> Guiding\n");
+            }else if(fe > MAX_POINTING_ERR){
+                red("--> Slewing\n");
+                state = Slewing;
+                return (error > 0.) ? limits.max.speed : -limits.max.speed;
+            }
+            break;
+        case Guiding:
+            if(fe > MAX_GUIDING_ERR){
+                red("--> Pointing\n");
+                state = Pointing;
+            }else if(fe < G.minerr){
+                    green("At target\n");
+                    //pid_clear(&pid);
+                    //return p->speed;
+            }
+            break;
+    }
+
+    red("Calculate PID\n");
+    double oldi = pid.pidIarray[pid.curIidx], newi = error * dt;
+    pid.pidIarray[pid.curIidx++] = oldi;
+    if(pid.curIidx >= pid.pidIarrSize) pid.curIidx = 0;
+    pid.integral += newi - oldi;
+    double derivative = (error - pid.prev_error) / dt;
+    pid.prev_error = error;
+    DBG("P=%g, I=%g, D=%g", pid.kp * error, pid.integral, derivative);
+    double add = (pid.kp * error + pid.ki * pid.integral + pid.kd * derivative);
+    if(state == Pointing) add /= 3.;
+    else if(state == Guiding) add /= 7.;
+    DBG("ADD = %g; new speed = %g", add, p->speed + add);
+    if(state == Guiding) return p->speed + add  / dt / 10.;
+    return add / dt;
+}
+// ./moving  -l coords -P.5 -I.05 -D1.5
+// ./moving  -l coords -P1.3 -D1.6
+
+static void start_model(double Tend){
+    double T = 0., Tcorr = 0.;//, Tlast = 0.;
+    moveparam_t target;
+    while(T <= Tend){
+        moveparam_t p;
+        movestate_t st = model->get_state(&p);
+        if(st == ST_MOVE) st = model->proc_move(&p, T);
+        double nextcoord = target_coord(T);
+        double error = nextcoord - p.coord;
+        if(T - Tcorr >= G.dTcorr){ // check correction
+            double speed = getNewSpeed(&p, nextcoord, T - Tcorr);
+            target.coord = (speed > 0) ? p.coord + 5e5 : p.coord - 5e5;
+            target.speed = fabs(speed);
+            double res_speed = limits.max.speed / 2.;
+            if(target.speed > limits.max.speed){
+                target.speed = limits.max.speed;
+                res_speed = limits.max.speed / 4.;
+            }else if(target.speed < limits.min.speed){
+                target.speed = limits.min.speed;
+                res_speed = limits.min.speed * 4.;
+            }
+            if(!move_to(&target, T)){
+                target.speed = res_speed;
+                if(!move_to(&target, T))
+                    WARNX("move(): can't move to %g with max speed %g", target.coord, target.speed);
+            }
+            DBG("%g: tag/cur speed= %g / %g; tag/cur pos = %g / %g; err = %g", T, target.speed, p.speed, target.coord, p.coord, error);
+            Tcorr = T;
+        }
+        // make log
+        fprintf(coordslog, "%-9.4f\t%-10.4f\t%-10.4f\t%-10.4f\t%-10.4f\t%-10.4f\n",
+                T, nextcoord, p.coord, p.speed, p.accel, error);
+        T += G.dTmon;
+    }
+}
+
+int main(int argc, char **argv){
+    sl_init();
+    sl_parseargs(&argc, &argv, opts);
+    if(G.help) sl_showhelp(-1, opts);
+    if(G.xlog){
+        coordslog = fopen(G.xlog, "w");
+        if(!coordslog) ERR("Can't open %s", G.xlog);
+    } else coordslog = stdout;
+    if(G.dTmon <= 0.) ERRX("tmon should be > 0.");
+    if(G.dTcorr <= 0. || G.dTcorr > 1.) ERRX("tcor should be > 0. and < 1.");
+    if(G.Tend <= 0.) ERRX("tend should be > 0.");
+    pid_init(&pid, G.P, G.I, G.D);
+    fprintf(coordslog, "%-9s\t%-10s\t%-10s\t%-10s\t%-10s\t%-10s\n", "time", "target", "curpos", "speed", "accel", "error");
+    ramptype_t ramp = RAMP_AMOUNT;
+    if(*G.ramptype == 'd' || *G.ramptype == 'D') ramp = RAMP_DUMB;
+    else if(*G.ramptype == 't' || *G.ramptype == 'T') ramp = RAMP_TRAPEZIUM;
+    else if(*G.ramptype == 's' || *G.ramptype == 'S') ramp = RAMP_S;
+    else ERRX("Point \"d\" (dumb), \"s\" (s-type), or \"t\" (trapez) for ramp type");
+    model = init_moving(ramp, &limits);
+    if(!model) ERRX("Can't init moving model: check parameters");
+    start_model(G.Tend);
+    fclose(coordslog);
+    return 0;
+}

LibSidServo/PID_test.deprecated/moving.c

@@ -0,0 +1,105 @@
+/*
+ * This file is part of the moving_model project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <math.h>
+#include <stdio.h>
+#include <usefull_macros.h>
+#include <pthread.h>
+#include <time.h>
+
+#include "moving.h"
+#include "moving_private.h"
+#include "Dramp.h"
+#include "Sramp.h"
+#include "Tramp.h"
+
+//static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
+static movemodel_t *model = NULL;
+double coord_tolerance = COORD_TOLERANCE_DEFAULT;
+double time_tick = TIME_TICK_DEFAULT;
+
+// difference of time from first call, using nanoseconds
+double nanot(){
+    static struct timespec *start = NULL;
+    struct timespec now;
+    if(!start){
+        start = MALLOC(struct timespec, 1);
+        if(!start) return -1.;
+        if(clock_gettime(CLOCK_REALTIME, start)) return -1.;
+    }
+    if(clock_gettime(CLOCK_REALTIME, &now)) return -1.;
+    //DBG("was: %ld, now: %ld", start->tv_nsec, now.tv_nsec);
+    double nd = ((double)now.tv_nsec - (double)start->tv_nsec) * 1e-9;
+    double sd = (double)now.tv_sec - (double)start->tv_sec;
+    return sd + nd;
+}
+
+static void chkminmax(double *min, double *max){
+    if(*min <= *max) return;
+    double t = *min;
+    *min = *max;
+    *max = t;
+}
+
+movemodel_t *init_moving(ramptype_t type, limits_t *l){
+    if(!l) return FALSE;
+    switch(type){
+        case RAMP_DUMB:
+            model = &dumb;
+        break;
+        case RAMP_TRAPEZIUM:
+            model = &trapez;
+        break;
+        case RAMP_S:
+            model = &s_shaped;
+        break;
+        default:
+            return FALSE;
+    }
+    if(!model->init_limits) return NULL;
+    moveparam_t *max = &l->max, *min = &l->min;
+    if(min->speed < 0.) min->speed = -min->speed;
+    if(max->speed < 0.) max->speed = -max->speed;
+    if(min->accel < 0.) min->accel = -min->accel;
+    if(max->accel < 0.) max->accel = -max->accel;
+    chkminmax(&min->coord, &max->coord);
+    chkminmax(&min->speed, &max->speed);
+    chkminmax(&min->accel, &max->accel);
+    if(!model->init_limits(l)) return NULL;
+    return model;
+}
+
+int move_to(moveparam_t *target, double t){
+    if(!target || !model) return FALSE;
+    DBG("MOVE to %g at speed %g", target->coord, target->speed);
+    // only positive velocity
+    if(target->speed < 0.) target->speed = -target->speed;
+    // don't mind about acceleration - user cannot set it now
+    return model->calculate(target, t);
+}
+
+int init_coordtol(double tolerance){
+    if(tolerance < COORD_TOLERANCE_MIN || tolerance > COORD_TOLERANCE_MAX) return FALSE;
+    coord_tolerance = tolerance;
+    return TRUE;
+}
+int init_timetick(double tick){
+    if(tick < TIME_TICK_MIN || tick > TIME_TICK_MAX) return FALSE;
+    time_tick = tick;
+    return TRUE;
+}

LibSidServo/PID_test.deprecated/moving.h

@@ -0,0 +1,70 @@
+/*
+ * This file is part of the moving_model project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+// tolerance, time ticks
+#define COORD_TOLERANCE_DEFAULT (0.01)
+#define COORD_TOLERANCE_MIN     (0.0001)
+#define COORD_TOLERANCE_MAX     (10.)
+#define TIME_TICK_DEFAULT       (0.0001)
+#define TIME_TICK_MIN           (1e-9)
+#define TIME_TICK_MAX           (10.)
+
+typedef enum{
+    RAMP_DUMB,          // no ramp: infinite acceleration/deceleration
+    RAMP_TRAPEZIUM,     // trapezium ramp
+    RAMP_S,             // s-shaped ramp
+    RAMP_AMOUNT
+} ramptype_t;
+
+typedef enum{
+    ST_STOP,            // stopped
+    ST_MOVE,            // moving
+    ST_AMOUNT
+} movestate_t;
+
+typedef struct{ // all values could be both as positive and negative
+    double coord;
+    double speed;
+    double accel;
+} moveparam_t;
+
+typedef struct{
+    moveparam_t min;
+    moveparam_t max;
+    double jerk;
+} limits_t;
+
+typedef struct{
+    int (*init_limits)(limits_t *lim);                      // init values of limits, jerk
+    int (*calculate)(moveparam_t *target, double t);        // calculate stages of traectory beginning from t
+    movestate_t (*proc_move)(moveparam_t *next, double t);  // calculate next model point for time t
+    movestate_t (*get_state)(moveparam_t *cur);             // get current moving state
+    void (*stop)(double t);                                 // stop by ramp
+    void (*emergency_stop)(double t);                       // stop with highest acceleration
+    double (*stoppedtime)();                                // time when moving will ends
+} movemodel_t;
+
+extern double coord_tolerance;
+
+double nanot();
+movemodel_t *init_moving(ramptype_t type, limits_t *l);
+int init_coordtol(double tolerance);
+int init_timetick(double tick);
+int move_to(moveparam_t *target, double t);

LibSidServo/PID_test.deprecated/moving_model.cflags

@@ -0,0 +1 @@
+-std=c17

LibSidServo/PID_test.deprecated/moving_model.config

@@ -0,0 +1,4 @@
+// Add predefined macros for your project here. For example:
+// #define THE_ANSWER 42
+#define _XOPEN_SOURCE 666
+#define EBUG

LibSidServo/PID_test.deprecated/moving_model.creator

@@ -0,0 +1 @@
+[General]

LibSidServo/PID_test.deprecated/moving_model.creator.user

@@ -0,0 +1,221 @@
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LibSidServo/PID_test.deprecated/moving_model.creator.user.7bd84e3

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LibSidServo/PID_test.deprecated/moving_model.cxxflags

@@ -0,0 +1 @@
+-std=c++17

LibSidServo/PID_test.deprecated/moving_model.files

@@ -0,0 +1,10 @@
+Dramp.c
+Dramp.h
+Sramp.c
+Sramp.h
+Tramp.c
+Tramp.h
+main.c
+moving.c
+moving.h
+moving_private.h

LibSidServo/PID_test.deprecated/moving_private.h

@@ -0,0 +1,26 @@
+/*
+ * This file is part of the moving_model project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "moving.h"
+
+extern double coord_tolerance;
+extern double time_tick;
+
+

LibSidServo/PID_test.deprecated/plot

@@ -0,0 +1,4 @@
+#!/usr/bin/gnuplot
+
+plot for [col in "target curpos speed error"] 'coords' using 1:col with lines title columnheader
+pause mouse

LibSidServo/PID_test.deprecated/plot.cont

@@ -0,0 +1,8 @@
+#!/usr/bin/gnuplot
+
+#set term pdf
+#set output "output.pdf"
+while(1){
+    plot for [col in "target curpos speed error"] 'coords' using 1:col with lines title columnheader
+    pause 1
+}

LibSidServo/PID_test.deprecated/plot_jpg

@@ -0,0 +1,6 @@
+#!/usr/bin/gnuplot
+
+set terminal jpeg size 1000,500
+set output "all.jpg"
+
+plot for [col in "target curpos speed error"] 'coords' using 1:col with lines title columnheader

LibSidServo/PID_test.deprecated/plot_pdf

@@ -0,0 +1,5 @@
+#!/usr/bin/gnuplot
+
+set term pdf
+set output "output.pdf"
+plot for [col=2:4] 'coordlog' using 1:col with lines title columnheader

LibSidServo/PID_test.deprecated/plotacc

@@ -0,0 +1,4 @@
+#!/usr/bin/gnuplot
+
+plot 'coords' using 1:5 with lines title columnheader
+pause mouse

LibSidServo/PID_test.deprecated/ploterr

@@ -0,0 +1,4 @@
+#!/usr/bin/gnuplot
+
+plot 'coords' using 1:6 with lines title columnheader
+pause mouse

LibSidServo/PID_test.deprecated/ploterr.cont

@@ -0,0 +1,6 @@
+#!/usr/bin/gnuplot
+
+while(1){
+    plot 'coords' using 1:6 with lines title columnheader
+    pause 1
+}

LibSidServo/PID_test.deprecated/ploterr_jpg

@@ -0,0 +1,5 @@
+#!/usr/bin/gnuplot
+
+set term jpeg size 1000,500
+set output "error.jpg"
+plot 'coords' using 1:6 with lines title columnheader

LibSidServo/PID_test/PID.c

@@ -0,0 +1,64 @@
+/*
+ * This file is part of the moving_model project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <math.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <strings.h>
+#include <usefull_macros.h>
+
+#include "PID.h"
+
+PIDController_t *pid_create(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;
+    pid->pidIarrSize = Iarrsz;
+    pid->pidIarray = (double*)calloc(Iarrsz, sizeof(double));
+    return pid;
+}
+
+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;
+}
+
+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 flowing integral
+    double oldi = pid->pidIarray[pid->curIidx], newi = error * dt;
+    DBG("oldi/new: %g, %g", oldi, newi);
+    pid->pidIarray[pid->curIidx++] = newi;
+    if(pid->curIidx >= pid->pidIarrSize) pid->curIidx = 0;
+    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("P=%g, I=%g, D=%g; sum=%g", pid->gain.P * error, pid->gain.I * pid->integral, pid->gain.D * derivative, sum);
+    return sum;
+}

LibSidServo/PID_test/PID.h

@@ -0,0 +1,39 @@
+/*
+ * This file is part of the moving_model project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include <stddef.h>
+
+typedef struct{
+    double P, I, D;
+} PIDpar_t;
+
+typedef struct {
+    PIDpar_t gain;      // PID gains
+    double prev_error;  // Previous error
+    double integral;    // Integral term
+    double *pidIarray;  // array for Integral
+    size_t pidIarrSize; // it's size
+    size_t curIidx;     // and index of current element
+} PIDController_t;
+
+PIDController_t *pid_create(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);

LibSidServo/PID_test/Tramp.c

@@ -0,0 +1,223 @@
+/*
+ * This file is part of the moving_model project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// simplest trapezioidal ramp
+
+#include <math.h>
+#include <stdio.h>
+#include <strings.h>
+#include <usefull_macros.h>
+
+#include "Tramp.h"
+
+#undef DBG
+#define DBG(...)
+
+static movestate_t state = ST_STOP;
+static moveparam_t Min, Max; // `Min` acceleration not used!
+
+typedef enum{
+    STAGE_ACCEL,        // start from zero speed and accelerate to Max speed
+    STAGE_MAXSPEED,     // go with target speed
+    STAGE_DECEL,        // go from target speed to zero
+    STAGE_STOPPED,      // stop
+    STAGE_AMOUNT
+} movingstage_t;
+
+static movingstage_t movingstage = STAGE_STOPPED;
+static double Times[STAGE_AMOUNT] = {0}; // time when each stage starts
+static moveparam_t Params[STAGE_AMOUNT] = {0}; // starting parameters for each stage
+static moveparam_t curparams = {0}; // current coordinate/speed/acceleration
+
+static int initlims(limits_t *lim){
+    if(!lim) return FALSE;
+    Min = lim->min;
+    Max = lim->max;
+    return TRUE;
+}
+
+static void emstop(double _U_ t){
+    curparams.accel = 0.;
+    curparams.speed = 0.;
+    bzero(Times, sizeof(Times));
+    bzero(Params, sizeof(Params));
+    state = ST_STOP;
+    movingstage = STAGE_STOPPED;
+}
+
+static void stop(double t){
+    if(state == ST_STOP || movingstage == STAGE_STOPPED) return;
+    movingstage = STAGE_DECEL;
+    state = ST_MOVE;
+    Times[STAGE_DECEL] = t;
+    Params[STAGE_DECEL].speed = curparams.speed;
+    if(curparams.speed > 0.) Params[STAGE_DECEL].accel = -Max.accel;
+    else Params[STAGE_DECEL].accel = Max.accel;
+    Params[STAGE_DECEL].coord = curparams.coord;
+    // speed: v=v2+a2(t-t2), v2 and a2 have different signs; t3: v3=0 -> t3=t2-v2/a2
+    Times[STAGE_STOPPED] = t - curparams.speed / Params[STAGE_DECEL].accel;
+    // coordinate: x=x2+v2(t-t2)+a2(t-t2)^2/2 -> x3=x2+v2(t3-t2)+a2(t3-t2)^2/2
+    double dt = Times[STAGE_STOPPED] - t;
+    Params[STAGE_STOPPED].coord = curparams.coord + curparams.speed * dt +
+                                  Params[STAGE_DECEL].accel * dt * dt / 2.;
+}
+
+/**
+ * @brief calc - moving calculation
+ * @param x - using max speed (>0!!!) and coordinate
+ * @param t - current time value
+ * @return FALSE if can't move with given parameters
+ */
+static int calc(moveparam_t *x, double t){
+    if(!x) return FALSE;
+    if(x->coord < Min.coord || x->coord > Max.coord) return FALSE;
+    if(x->speed < Min.speed || x->speed > Max.speed) return FALSE;
+    double Dx = fabs(x->coord - curparams.coord); // full distance
+    double sign = (x->coord > curparams.coord) ? 1. : -1.; // sign of target accelerations and speeds
+    // we have two variants: with or without stage with constant speed
+    double dt23 = x->speed / Max.accel; // time of deceleration stage for given speed
+    double dx23 = x->speed * dt23 / 2.; // distance on dec stage (abs)
+    DBG("Dx=%g, sign=%g, dt23=%g, dx23=%g", Dx, sign, dt23, dx23);
+    double setspeed = x->speed; // new max speed (we can change it if need)
+    double dt01, dx01; // we'll fill them depending on starting conditions
+    Times[0] = t;
+    Params[0].speed = curparams.speed;
+    Params[0].coord = curparams.coord;
+
+    double curspeed = fabs(curparams.speed);
+    double dt0s = curspeed / Max.accel; // time of stopping phase
+    double dx0s = curspeed * dt0s / 2.; // distance
+    DBG("dt0s=%g, dx0s=%g", dt0s, dx0s);
+    if(dx0s > Dx){
+        WARNX("distance too short");
+        return FALSE;
+    }
+    if(fabs(Dx - dx0s) < coord_tolerance){ // just stop and we'll be on target
+        DBG("Distance good to just stop");
+        stop(t);
+        return TRUE;
+    }
+    if(curparams.speed * sign < 0. || state == ST_STOP){ // we should change speed sign
+        // after stop we will have full profile
+        double dxs3 = Dx - dx0s;
+        double newspeed = sqrt(Max.accel * dxs3);
+        if(newspeed < setspeed) setspeed = newspeed; // we can't reach user speed
+        DBG("dxs3=%g, setspeed=%g", dxs3, setspeed);
+        dt01 = fabs(sign*setspeed - curparams.speed) / Max.accel;
+        Params[0].accel = sign * Max.accel;
+        if(state == ST_STOP) dx01 = setspeed * dt01 / 2.;
+        else dx01 = dt01 * (dt01 / 2. * Max.accel - curspeed);
+        DBG("dx01=%g, dt01=%g", dx01, dt01);
+    }else{ // increase or decrease speed without stopping phase
+        dt01 = fabs(sign*setspeed - curparams.speed) / Max.accel;
+        double a = sign * Max.accel;
+        if(sign * curparams.speed < 0.){DBG("change direction"); a = -a;}
+        else if(curspeed > setspeed){ DBG("lower speed @ this direction"); a = -a;}
+        //double a = (curspeed > setspeed) ? -Max.accel : Max.accel;
+        dx01 = curspeed * dt01 + a * dt01 * dt01 / 2.;
+        DBG("dt01=%g, a=%g, dx01=%g", dt01, a, dx01);
+        if(dx01 + dx23 > Dx){ // calculate max speed
+            setspeed = sqrt(Max.accel * Dx - curspeed * curspeed / 2.);
+            if(setspeed < curspeed){
+                setspeed = curparams.speed;
+                dt01 = 0.; dx01 = 0.;
+                Params[0].accel = 0.;
+            }else{
+                Params[0].accel = a;
+                dt01 = fabs(setspeed - curspeed) / Max.accel;
+                dx01 = curspeed * dt01 + Max.accel * dt01 * dt01 / 2.;
+            }
+        }else Params[0].accel = a;
+    }
+    if(setspeed < Min.speed){
+        WARNX("New speed should be too small");
+        return FALSE;
+    }
+    moveparam_t *p = &Params[STAGE_MAXSPEED];
+    p->accel = 0.; p->speed = sign * setspeed;
+    p->coord = curparams.coord + dx01 * sign;
+    Times[STAGE_MAXSPEED] = Times[0] + dt01;
+    dt23 = setspeed / Max.accel;
+    dx23 = setspeed * dt23 / 2.;
+    // calculate dx12 and dt12
+    double dx12 = Dx - dx01 - dx23;
+    if(dx12 < -coord_tolerance){
+        WARNX("Oops, WTF dx12=%g?", dx12);
+        return FALSE;
+    }
+    double dt12 = dx12 / setspeed;
+    p = &Params[STAGE_DECEL];
+    p->accel = -sign * Max.accel;
+    p->speed = sign * setspeed;
+    p->coord = Params[STAGE_MAXSPEED].coord + sign * dx12;
+    Times[STAGE_DECEL] = Times[STAGE_MAXSPEED] + dt12;
+    p = &Params[STAGE_STOPPED];
+    p->accel = 0.; p->speed = 0.; p->coord = x->coord;
+    Times[STAGE_STOPPED] = Times[STAGE_DECEL] + dt23;
+    for(int i = 0; i < 4; ++i)
+        DBG("%d: t=%g, coord=%g, speed=%g, accel=%g", i,
+            Times[i], Params[i].coord, Params[i].speed, Params[i].accel);
+    state = ST_MOVE;
+    movingstage = STAGE_ACCEL;
+    return TRUE;
+}
+
+static movestate_t proc(moveparam_t *next, double t){
+    if(state == ST_STOP) goto ret;
+    for(movingstage_t s = STAGE_STOPPED; s >= 0; --s){
+        if(Times[s] <= t){ // check time for current stage
+            movingstage = s;
+            break;
+        }
+    }
+    if(movingstage == STAGE_STOPPED){
+        curparams.coord = Params[STAGE_STOPPED].coord;
+        emstop(t);
+        goto ret;
+    }
+    // calculate current parameters
+    double dt = t - Times[movingstage];
+    double a = Params[movingstage].accel;
+    double v0 = Params[movingstage].speed;
+    double x0 = Params[movingstage].coord;
+    curparams.accel = a;
+    curparams.speed = v0 + a * dt;
+    curparams.coord = x0 + v0 * dt + a * dt * dt / 2.;
+ret:
+    if(next) *next = curparams;
+    return state;
+}
+
+static movestate_t getst(moveparam_t *cur){
+    if(cur) *cur = curparams;
+    return state;
+}
+
+static double gettstop(){
+    return Times[STAGE_STOPPED];
+}
+
+movemodel_t trapez = {
+    .init_limits = initlims,
+    .stop = stop,
+    .emergency_stop = emstop,
+    .get_state = getst,
+    .calculate = calc,
+    .proc_move = proc,
+    .stoppedtime = gettstop,
+};

LibSidServo/PID_test/Tramp.h

@@ -0,0 +1,23 @@
+/*
+ * This file is part of the moving_model project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "moving_private.h"
+
+extern movemodel_t trapez;

LibSidServo/PID_test/main.c

@@ -0,0 +1,222 @@
+/*
+ * This file is part of the moving_model project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <math.h>
+#include <stdio.h>
+#include <strings.h>
+#include <usefull_macros.h>
+
+#include "moving.h"
+#include "PID.h"
+
+// errors for states: slewing/pointing/guiding
+// 10-degrees zone - Coordinate-driven PID
+#define MAX_POINTING_ERR    (36000.)
+// 1-arcminute zone - Velocity-dtiven PID
+#define MAX_GUIDING_ERR     (60.)
+// timeout to "forget" old data from I sum array; seconds
+#define PID_I_PERIOD        (3.)
+
+// PID for coordinate-driven and velocity-driven parts
+static PIDController_t *pidC = NULL, *pidV = NULL;
+static movemodel_t *model = NULL;
+static FILE *coordslog = NULL;
+
+typedef enum{
+    Slewing,
+    Pointing,
+    Guiding
+} state_t;
+
+static state_t state = Slewing;
+
+typedef struct{
+    int help;
+    char *ramptype;
+    char *xlog;
+    double dTmon;
+    double dTcorr;
+    double Tend;
+    double minerr;
+    double startcoord;
+    double error;
+    PIDpar_t gainC, gainV;
+} pars;
+
+static pars G = {
+    .dTmon = 0.01,
+    .dTcorr = 0.05,
+    .Tend = 100.,
+    .minerr = 0.1,
+    .gainC.P = 0.1,
+    .gainV.P = 0.1,
+    .startcoord = 100.,
+};
+
+static limits_t limits = {
+    .min = {.coord = -1e6, .speed = 0.01, .accel = 0.1},
+    .max = {.coord = 6648000, .speed = 36000., .accel = 36000.}
+};
+
+
+static sl_option_t opts[] = {
+    {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),          "show this help"},
+    {"tmon",    NEED_ARG,   NULL,   'T',    arg_double, APTR(&G.dTmon),         "time interval for monitoring (seconds, default: 0.001)"},
+    {"tcor",    NEED_ARG,   NULL,   't',    arg_double, APTR(&G.dTcorr),        "time interval for corrections (seconds, default: 0.05)"},
+    {"xlog",    NEED_ARG,   NULL,   'l',    arg_string, APTR(&G.xlog),          "log file name for coordinates logging"},
+    {"tend",    NEED_ARG,   NULL,   'e',    arg_double, APTR(&G.Tend),          "end time of monitoring (seconds, default: 100)"},
+    {"minerr",  NEED_ARG,   NULL,   'm',    arg_double, APTR(&G.minerr),        "minimal error for corrections (units, default: 0.1)"},
+    {"propC",   NEED_ARG,   NULL,   'P',    arg_double, APTR(&G.gainC.P),       "P-coefficient of coordinate-driven PID"},
+    {"integC",  NEED_ARG,   NULL,   'I',    arg_double, APTR(&G.gainC.I),       "I-coefficient of coordinate-driven PID"},
+    {"diffC",   NEED_ARG,   NULL,   'D',    arg_double, APTR(&G.gainC.D),       "D-coefficient of coordinate-driven PID"},
+    {"propV",   NEED_ARG,   NULL,   'p',    arg_double, APTR(&G.gainV.P),       "P-coefficient of velocity-driven PID"},
+    {"integV",  NEED_ARG,   NULL,   'i',    arg_double, APTR(&G.gainV.I),       "I-coefficient of velocity-driven PID"},
+    {"diffV",   NEED_ARG,   NULL,   'd',    arg_double, APTR(&G.gainV.D),       "D-coefficient of velocity-driven PID"},
+    {"xstart",  NEED_ARG,   NULL,   '0',    arg_double, APTR(&G.startcoord),    "starting coordinate of target"},
+    {"error",   NEED_ARG,   NULL,   'E',    arg_double, APTR(&G.error),         "error range"},
+    // TODO: add parameters for limits setting
+    end_option
+};
+
+// calculate coordinate target for given time (starting from zero)
+static double target_coord(double t){
+    if(t > 20. && t < 30.) return 0.;
+    //double pos = G.startcoord + 15. * t + G.error * (drand48() - 0.5);
+    double pos = G.startcoord + 15. * sin(2*M_PI * t / 10.) + G.error * (drand48() - 0.5);
+    return pos;
+}
+
+static double getNewSpeed(const moveparam_t *p, double targcoord, double dt){
+    double error = targcoord - p->coord, fe = fabs(error);
+    PIDController_t *pid = NULL;
+    switch(state){
+        case Slewing:
+            if(fe < MAX_POINTING_ERR){
+                pid_clear(pidC);
+                state = Pointing;
+                green("--> Pointing\n");
+                pid = pidC;
+            }else{
+                red("Slewing...\n");
+                return (error > 0.) ? limits.max.speed : -limits.max.speed;
+            }
+            break;
+        case Pointing:
+            if(fe < MAX_GUIDING_ERR){
+                pid_clear(pidV);
+                state = Guiding;
+                green("--> Guiding\n");
+                pid = pidV;
+            }else if(fe > MAX_POINTING_ERR){
+                red("--> Slewing\n");
+                state = Slewing;
+                return (error > 0.) ? limits.max.speed : -limits.max.speed;
+            } else pid = pidC;
+            break;
+        case Guiding:
+            pid= pidV;
+            if(fe > MAX_GUIDING_ERR){
+                red("--> Pointing\n");
+                state = Pointing;
+                pid_clear(pidC);
+                pid = pidC;
+            }else if(fe < G.minerr){
+                    green("At target\n");
+            }else printf("Current error: %g\n", fe);
+            break;
+    }
+    if(!pid){
+        WARNX("where is PID?"); return p->speed;
+    }
+    double tagspeed = pid_calculate(pid, error, dt);
+    if(state == Guiding) return p->speed + tagspeed;
+    return tagspeed;
+}
+// -P0.8 -D0.1 -I0.02 -p20 -d.5 -i.02
+// another: P0.8 -D0.1 -I0.02 -p5 -d0.9 -i0.1
+
+static void start_model(double Tend){
+    double T = 0., Tcorr = 0.;
+    moveparam_t target;
+    uint64_t N = 0;
+    double errmax = 0., errsum = 0., errsum2 = 0.;
+    while(T <= Tend){
+        moveparam_t p;
+        movestate_t st = model->get_state(&p);
+        if(st == ST_MOVE) st = model->proc_move(&p, T);
+        double nextcoord = target_coord(T);
+        double error = nextcoord - p.coord;
+        if(state == Guiding){
+            double ae = fabs(error);
+            if(ae > errmax) errmax = ae;
+            errsum += error; errsum2 += error * error;
+            ++N;
+        }
+        if(T - Tcorr >= G.dTcorr){ // check correction
+            double speed = getNewSpeed(&p, nextcoord, T - Tcorr);
+            target.coord = (speed > 0) ? p.coord + 5e5 : p.coord - 5e5;
+            target.speed = fabs(speed);
+            double res_speed = limits.max.speed / 2.;
+            if(target.speed > limits.max.speed){
+                target.speed = limits.max.speed;
+                res_speed = limits.max.speed / 4.;
+            }else if(target.speed < limits.min.speed){
+                target.speed = limits.min.speed;
+                res_speed = limits.min.speed * 4.;
+            }
+            if(!move_to(&target, T)){
+                target.speed = res_speed;
+                if(!move_to(&target, T))
+                    WARNX("move(): can't move to %g with max speed %g", target.coord, target.speed);
+            }
+            DBG("%g: tag/cur speed= %g / %g; tag/cur pos = %g / %g; err = %g", T, target.speed, p.speed, target.coord, p.coord, error);
+            Tcorr = T;
+        }
+        // make log
+        fprintf(coordslog, "%-9.4f\t%-10.4f\t%-10.4f\t%-10.4f\t%-10.4f\t%-10.4f\n",
+                T, nextcoord, p.coord, p.speed, p.accel, error);
+        T += G.dTmon;
+    }
+    printf("\n\n\n"); red("Calculated errors in `guiding` mode:\n");
+    double mean = errsum / (double)N;
+    printf("max error: %g, mean error: %g, std: %g\n\n", errmax, mean, sqrt(errsum2/(double)N - mean*mean));
+}
+
+int main(int argc, char **argv){
+    sl_init();
+    sl_parseargs(&argc, &argv, opts);
+    if(G.help) sl_showhelp(-1, opts);
+    if(G.xlog){
+        coordslog = fopen(G.xlog, "w");
+        if(!coordslog) ERR("Can't open %s", G.xlog);
+    } else coordslog = stdout;
+    if(G.dTmon <= 0.) ERRX("tmon should be > 0.");
+    if(G.dTcorr <= 0. || G.dTcorr > 1.) ERRX("tcor should be > 0. and < 1.");
+    if(G.Tend <= 0.) ERRX("tend should be > 0.");
+    pidC = pid_create(&G.gainC, PID_I_PERIOD / G.dTcorr);
+    pidV = pid_create(&G.gainV, PID_I_PERIOD / G.dTcorr);
+    if(!pidC || !pidV) ERRX("Can't init PID regulators");
+    model = init_moving(&limits);
+    if(!model) ERRX("Can't init moving model: check parameters");
+    fprintf(coordslog, "%-9s\t%-10s\t%-10s\t%-10s\t%-10s\t%-10s\n", "time", "target", "curpos", "speed", "accel", "error");
+    start_model(G.Tend);
+    pid_delete(&pidC);
+    pid_delete(&pidV);
+    fclose(coordslog);
+    return 0;
+}

LibSidServo/PID_test/moving.c

@@ -0,0 +1,89 @@
+/*
+ * This file is part of the moving_model project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <math.h>
+#include <stdio.h>
+#include <usefull_macros.h>
+#include <pthread.h>
+#include <time.h>
+
+#include "moving.h"
+#include "moving_private.h"
+#include "Tramp.h"
+
+static movemodel_t *model = &trapez;
+double coord_tolerance = COORD_TOLERANCE_DEFAULT;
+double time_tick = TIME_TICK_DEFAULT;
+
+// difference of time from first call, using nanoseconds
+double nanot(){
+    static struct timespec *start = NULL;
+    struct timespec now;
+    if(!start){
+        start = MALLOC(struct timespec, 1);
+        if(!start) return -1.;
+        if(clock_gettime(CLOCK_REALTIME, start)) return -1.;
+    }
+    if(clock_gettime(CLOCK_REALTIME, &now)) return -1.;
+    //DBG("was: %ld, now: %ld", start->tv_nsec, now.tv_nsec);
+    double nd = ((double)now.tv_nsec - (double)start->tv_nsec) * 1e-9;
+    double sd = (double)now.tv_sec - (double)start->tv_sec;
+    return sd + nd;
+}
+
+static void chkminmax(double *min, double *max){
+    if(*min <= *max) return;
+    double t = *min;
+    *min = *max;
+    *max = t;
+}
+
+movemodel_t *init_moving(limits_t *l){
+    if(!l) return FALSE;
+    if(!model->init_limits) return NULL;
+    moveparam_t *max = &l->max, *min = &l->min;
+    if(min->speed < 0.) min->speed = -min->speed;
+    if(max->speed < 0.) max->speed = -max->speed;
+    if(min->accel < 0.) min->accel = -min->accel;
+    if(max->accel < 0.) max->accel = -max->accel;
+    chkminmax(&min->coord, &max->coord);
+    chkminmax(&min->speed, &max->speed);
+    chkminmax(&min->accel, &max->accel);
+    if(!model->init_limits(l)) return NULL;
+    return model;
+}
+
+int move_to(moveparam_t *target, double t){
+    if(!target || !model) return FALSE;
+    DBG("MOVE to %g at speed %g", target->coord, target->speed);
+    // only positive velocity
+    if(target->speed < 0.) target->speed = -target->speed;
+    // don't mind about acceleration - user cannot set it now
+    return model->calculate(target, t);
+}
+
+int init_coordtol(double tolerance){
+    if(tolerance < COORD_TOLERANCE_MIN || tolerance > COORD_TOLERANCE_MAX) return FALSE;
+    coord_tolerance = tolerance;
+    return TRUE;
+}
+int init_timetick(double tick){
+    if(tick < TIME_TICK_MIN || tick > TIME_TICK_MAX) return FALSE;
+    time_tick = tick;
+    return TRUE;
+}

LibSidServo/PID_test/moving.h

@@ -0,0 +1,62 @@
+/*
+ * This file is part of the moving_model project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+// tolerance, time ticks
+#define COORD_TOLERANCE_DEFAULT (0.01)
+#define COORD_TOLERANCE_MIN     (0.0001)
+#define COORD_TOLERANCE_MAX     (10.)
+#define TIME_TICK_DEFAULT       (0.0001)
+#define TIME_TICK_MIN           (1e-9)
+#define TIME_TICK_MAX           (10.)
+
+typedef enum{
+    ST_STOP,            // stopped
+    ST_MOVE,            // moving
+    ST_AMOUNT
+} movestate_t;
+
+typedef struct{ // all values could be both as positive and negative
+    double coord;
+    double speed;
+    double accel;
+} moveparam_t;
+
+typedef struct{
+    moveparam_t min;
+    moveparam_t max;
+} limits_t;
+
+typedef struct{
+    int (*init_limits)(limits_t *lim);                      // init values of limits, jerk
+    int (*calculate)(moveparam_t *target, double t);        // calculate stages of traectory beginning from t
+    movestate_t (*proc_move)(moveparam_t *next, double t);  // calculate next model point for time t
+    movestate_t (*get_state)(moveparam_t *cur);             // get current moving state
+    void (*stop)(double t);                                 // stop by ramp
+    void (*emergency_stop)(double t);                       // stop with highest acceleration
+    double (*stoppedtime)();                                // time when moving will ends
+} movemodel_t;
+
+extern double coord_tolerance;
+
+double nanot();
+movemodel_t *init_moving(limits_t *l);
+int init_coordtol(double tolerance);
+int init_timetick(double tick);
+int move_to(moveparam_t *target, double t);

LibSidServo/PID_test/moving_model.cflags

@@ -0,0 +1 @@
+-std=c17

LibSidServo/PID_test/moving_model.config

@@ -0,0 +1,4 @@
+// Add predefined macros for your project here. For example:
+// #define THE_ANSWER 42
+#define _XOPEN_SOURCE 666
+#define EBUG

LibSidServo/PID_test/moving_model.creator

@@ -0,0 +1 @@
+[General]

LibSidServo/PID_test/moving_model.creator.user

@@ -0,0 +1,221 @@
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LibSidServo/PID_test/moving_model.creator.user.7bd84e3

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+      <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">Clean</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>
+    <value type="bool" key="ProjectExplorer.BuildConfiguration.ClearSystemEnvironment">false</value>
+    <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.CustomParsers"/>
+    <value type="bool" key="ProjectExplorer.BuildConfiguration.ParseStandardOutput">false</value>
+    <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Default</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericBuildConfiguration</value>
+   </valuemap>
+   <value type="qlonglong" key="ProjectExplorer.Target.BuildConfigurationCount">1</value>
+   <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">Deploy</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>
+    <valuemap type="QVariantMap" key="ProjectExplorer.DeployConfiguration.CustomData"/>
+    <value type="bool" key="ProjectExplorer.DeployConfiguration.CustomDataEnabled">false</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
+   </valuemap>
+   <value type="qlonglong" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
+   <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
+    <value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
+    <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
+    <value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
+    <value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
+    <value type="QList&lt;int&gt;" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
+    <valuelist type="QVariantList" key="CustomOutputParsers"/>
+    <value type="int" key="PE.EnvironmentAspect.Base">2</value>
+    <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
+    <value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
+    <value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
+    <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="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
+    <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
+   </valuemap>
+   <value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
+  </valuemap>
+ </data>
+ <data>
+  <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>
+ </data>
+</qtcreator>

LibSidServo/PID_test/moving_model.cxxflags

@@ -0,0 +1 @@
+-std=c++17

LibSidServo/PID_test/moving_model.files

@@ -0,0 +1,12 @@
+Dramp.c
+Dramp.h
+PID.c
+PID.h
+Sramp.c
+Sramp.h
+Tramp.c
+Tramp.h
+main.c
+moving.c
+moving.h
+moving_private.h

LibSidServo/PID_test/moving_private.h

@@ -0,0 +1,26 @@
+/*
+ * This file is part of the moving_model project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "moving.h"
+
+extern double coord_tolerance;
+extern double time_tick;
+
+

LibSidServo/PID_test/plot

@@ -0,0 +1,4 @@
+#!/usr/bin/gnuplot
+
+plot for [col in "target curpos speed error"] 'coords' using 1:col with lines title columnheader
+pause mouse

LibSidServo/PID_test/plot.cont

@@ -0,0 +1,8 @@
+#!/usr/bin/gnuplot
+
+#set term pdf
+#set output "output.pdf"
+while(1){
+    plot for [col in "target curpos speed error"] 'coords' using 1:col with lines title columnheader
+    pause 1
+}

LibSidServo/PID_test/plot_jpg

@@ -0,0 +1,6 @@
+#!/usr/bin/gnuplot
+
+set terminal jpeg size 1000,500
+set output "all.jpg"
+
+plot for [col in "target curpos speed error"] 'coords' using 1:col with lines title columnheader

LibSidServo/PID_test/plot_pdf

@@ -0,0 +1,5 @@
+#!/usr/bin/gnuplot
+
+set term pdf
+set output "output.pdf"
+plot for [col=2:4] 'coordlog' using 1:col with lines title columnheader

LibSidServo/PID_test/plotacc

@@ -0,0 +1,4 @@
+#!/usr/bin/gnuplot
+
+plot 'coords' using 1:5 with lines title columnheader
+pause mouse

LibSidServo/PID_test/ploterr

@@ -0,0 +1,4 @@
+#!/usr/bin/gnuplot
+
+plot 'coords' using 1:6 with lines title columnheader
+pause mouse

LibSidServo/PID_test/ploterr.cont

@@ -0,0 +1,6 @@
+#!/usr/bin/gnuplot
+
+while(1){
+    plot 'coords' using 1:6 with lines title columnheader
+    pause 1
+}

LibSidServo/PID_test/ploterr_jpg

@@ -0,0 +1,5 @@
+#!/usr/bin/gnuplot
+
+set term jpeg size 1000,500
+set output "error.jpg"
+plot 'coords' using 1:6 with lines title columnheader

LibSidServo/TODO

@@ -0,0 +1,3 @@
+fix encoders opening for several tries
+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

LibSidServo/examples/CMakeLists.txt

@@ -0,0 +1,14 @@
+project(examples)
+
+# common includes & library
+include_directories(../)
+link_libraries(sidservo usefull_macros -lm)
+
+# exe list
+add_executable(goto goto.c dump.c conf.c)
+add_executable(dump dumpmoving.c dump.c conf.c)
+add_executable(dump_s dumpmoving_scmd.c dump.c conf.c)
+add_executable(dumpswing dumpswing.c dump.c conf.c)
+add_executable(traectory_s scmd_traectory.c dump.c traectories.c conf.c)
+add_executable(SSIIconf SSIIconf.c conf.c)
+add_executable(slewNtrack dumpmoving_dragNtrack.c dump.c conf.c)

LibSidServo/examples/Readme.md

@@ -0,0 +1,28 @@
+Some examples of usage of libsidservo
+=====================================
+
+## Auxiliary files
+
+*conf.c*, *conf.h* - base configuration - read from file (default: servo.conf) - to simplify examples running when config changes
+
+*dump.c*, *dump.h* - base logging and dumping functions, also some useful functions like get current position and move to zero if current position isn't at zero.
+
+*traectories.c*, *traectories.h* - modeling simple moving object traectories; also some functions like get current position in encoders' angles setting to zero at motors' zero.
+
+*simpleconv.h*
+
+
+## Examples
+
+*dumpmoving.c* (`dump`) - dump moving relative starting point by simplest text commands "X" and "Y".
+
+*dumpmoving_scmd.c* (`dump_s`) - moving relative starting point using "short" binary command.
+
+*dumpswing.c* (`dumpswing`) - shake telescope around starting point by one of axis.
+
+*goto.c* (`goto`) - get current coordinates or go to given (by simplest "X/Y" commands).
+
+*scmd_traectory.c* (`traectory_s`) - try to move around given traectory using "short" binary commands.
+
+*SSIIconf.c* (`SSIIconf`) - read/write hardware configuration of controller
+

LibSidServo/examples/SSIIconf.c

@@ -0,0 +1,163 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <math.h>
+#include <stdio.h>
+#include <usefull_macros.h>
+
+#include "conf.h"
+#include "sidservo.h"
+#include "simpleconv.h"
+
+typedef struct{
+    int help;
+    int helpargs;
+    int writeconf;
+    char *conffile;
+    char *hwconffile;
+} parameters;
+
+static hardware_configuration_t HW = {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"},
+    {"help-opts",   NO_ARGS,    NULL,   'H',    arg_int,    APTR(&G.helpargs),  "configuration help"},
+    {"serconf",     NEED_ARG,   NULL,   'C',    arg_string, APTR(&G.conffile),  "serial configuration file name"},
+    {"hwconf",      NEED_ARG,   NULL,   'i',    arg_string, APTR(&G.hwconffile),"SSII configuration file name"},
+    {"writeconf",   NO_ARGS,    NULL,   0,      arg_int,    APTR(&G.writeconf), "write configuration (BE CAREFUL!)"},
+    end_option
+};
+
+static sl_option_t confopts[] = {
+    {"Xaccel",      NEED_ARG,   NULL,   0,      arg_double, APTR(&HW.Xconf.accel),  "X Default Acceleration, rad/s^2"},
+    {"Yaccel",      NEED_ARG,   NULL,   0,      arg_double, APTR(&HW.Yconf.accel),  "Y Default Acceleration, rad/s^2"},
+    end_option
+};
+
+static void dumpaxis(char axis, axis_config_t *c){
+#define STRUCTPAR(p)    (c)->p
+#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);
+    DUMPD(errlimit);
+    DUMP(propgain);
+    DUMP(intgain);
+    DUMP(derivgain);
+    DUMP(outplimit);
+    DUMP(currlimit);
+    DUMP(intlimit);
+    DUMP(motor_stepsperrev);
+    DUMP(axis_stepsperrev);
+#undef DUMP
+#undef DUMPD
+}
+
+static void dumpxbits(xbits_t *c){
+#define DUMPBIT(f) do{printf("X%s=%d\n", #f, STRUCTPAR(f));}while(0)
+    DUMPBIT(motrev);
+    DUMPBIT(motpolarity);
+    DUMPBIT(encrev);
+    DUMPBIT(dragtrack);
+    DUMPBIT(trackplat);
+    DUMPBIT(handpaden);
+    DUMPBIT(newpad);
+    DUMPBIT(guidemode);
+#undef DUMPBIT
+}
+
+static void dumpybits(ybits_t *c){
+#define DUMPBIT(f) do{printf("Y%s=%d\n", #f, STRUCTPAR(f));}while(0)
+    DUMPBIT(motrev);
+    DUMPBIT(motpolarity);
+    DUMPBIT(encrev);
+    DUMPBIT(slewtrack);
+    DUMPBIT(digin_sens);
+    printf("Ydigin=%d\n", c->digin);
+#undef DUMPBIT
+}
+
+static void dumpHWconf(){
+#undef STRUCTPAR
+#define STRUCTPAR(p)    (HW).p
+#define DUMP(par) do{printf("%s=%g\n", #par, STRUCTPAR(par));}while(0)
+#define DUMPD(par) do{printf("%s=%g\n", #par, RAD2DEG(STRUCTPAR(par)));}while(0)
+#define DUMPU8(par) do{printf("%s=%u\n", #par, (uint8_t)STRUCTPAR(par));}while(0)
+#define DUMPU32(par) do{printf("%s=%u\n", #par, (uint32_t)STRUCTPAR(par));}while(0)
+    green("X axis configuration:\n");
+    dumpaxis('X', &HW.Xconf);
+    green("X bits:\n");
+    dumpxbits(&HW.xbits);
+    green("Y axis configuration:\n");
+    dumpaxis('Y', &HW.Yconf);
+    green("Y bits:\n");
+    dumpybits(&HW.ybits);
+    green("Other:\n");
+    printf("address=%d\n", HW.address);
+    DUMP(eqrate);
+    DUMP(eqadj);
+    DUMP(trackgoal);
+    DUMPD(latitude);
+    DUMPU32(Xsetpr);
+    DUMPU32(Ysetpr);
+    DUMPU32(Xmetpr);
+    DUMPU32(Ymetpr);
+    DUMPD(Xslewrate);
+    DUMPD(Yslewrate);
+    DUMPD(Xpanrate);
+    DUMPD(Ypanrate);
+    DUMPD(Xguiderate);
+    DUMPD(Yguiderate);
+    DUMPU32(baudrate);
+    DUMPD(locsdeg);
+    DUMPD(locsspeed);
+    DUMPD(backlspd);
+}
+
+int main(int argc, char** argv){
+    sl_init();
+    sl_parseargs(&argc, &argv, cmdlnopts);
+    if(G.help)
+        sl_showhelp(-1, cmdlnopts);
+    if(G.helpargs)
+        sl_showhelp(-1, confopts);
+    conf_t *sconf = readServoConf(G.conffile);
+    if(!sconf){
+        dumpConf();
+        return 1;
+    }
+    if(MCC_E_OK != Mount.init(sconf)) ERRX("Can't init mount");
+    if(MCC_E_OK != Mount.getHWconfig(&HW)) ERRX("Can't read configuration");
+    /*
+    char *c = sl_print_opts(confopts, TRUE);
+    green("Got configuration:\n");
+    printf("%s\n", c);
+    FREE(c);
+    */
+    dumpHWconf();
+    /*
+    if(G.hwconffile && G.writeconf){
+        ;
+    }*/
+    Mount.quit();
+    return 0;
+}

LibSidServo/examples/conf.c

@@ -0,0 +1,128 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdio.h>
+#include <usefull_macros.h>
+
+#include "conf.h"
+
+static conf_t Config = {
+    .MountDevPath = "/dev/ttyUSB0",
+    .MountDevSpeed = 19200,
+    .EncoderXDevPath = "/dev/encoder_X0",
+    .EncoderYDevPath = "/dev/encoder_Y0",
+    .EncoderDevSpeed = 153000,
+    .MountReqInterval = 0.1,
+    .EncoderReqInterval = 0.001,
+    .SepEncoder = 2,
+    .EncoderSpeedInterval = 0.05,
+    .EncodersDisagreement = 1e-5, // 2''
+    .PIDMaxDt = 1.,
+    .PIDRefreshDt = 0.1,
+    .PIDCycleDt = 5.,
+    .XPIDC.P = 0.5,
+    .XPIDC.I = 0.1,
+    .XPIDC.D = 0.2,
+    .XPIDV.P = 0.09,
+    .XPIDV.I = 0.0,
+    .XPIDV.D = 0.05,
+    .YPIDC.P = 0.5,
+    .YPIDC.I = 0.1,
+    .YPIDC.D = 0.2,
+    .YPIDV.P = 0.09,
+    .YPIDV.I = 0.0,
+    .YPIDV.D = 0.05,
+    .MaxPointingErr = 0.13962634,
+    .MaxFinePointingErr = 0.026179939,
+    .MaxGuidingErr = 4.8481368e-7,
+};
+
+static sl_option_t opts[] = {
+    {"MountDevPath",    NEED_ARG,   NULL,   0,  arg_string, APTR(&Config.MountDevPath),     "path to mount device"},
+    {"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"},
+    {"SepEncoder",      NEED_ARG,   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)"},
+    {"YPIDCP",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.YPIDC.P),          "P of Y PID (coordinate driven)"},
+    {"YPIDCI",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.YPIDC.I),          "I of Y PID (coordinate driven)"},
+    {"YPIDCD",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.YPIDC.D),          "D of Y PID (coordinate driven)"},
+    {"XPIDVP",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.XPIDV.P),          "P of X PID (velocity driven)"},
+    {"XPIDVI",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.XPIDV.I),          "I of X PID (velocity driven)"},
+    {"XPIDVD",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.XPIDV.D),          "D of X PID (velocity driven)"},
+    {"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
+};
+
+conf_t *readServoConf(const char *filename){
+    if(!filename) filename = DEFCONFFILE;
+    int n = sl_conf_readopts(filename, opts);
+    if(n < 0){
+        WARNX("Can't read file %s", filename);
+        return NULL;
+    }
+    if(n == 0){
+        WARNX("Got ZERO parameters from %s", filename);
+        return NULL;
+    }
+    return &Config;
+}
+
+void dumpConf(){
+    char *c = sl_print_opts(opts, TRUE);
+    printf("Current configuration:\n%s\n", c);
+    FREE(c);
+}
+
+void confHelp(){
+    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];
+}

LibSidServo/examples/conf.h

@@ -0,0 +1,28 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "sidservo.h"
+
+#define DEFCONFFILE "servo.conf"
+
+void confHelp();
+conf_t *readServoConf(const char *filename);
+void dumpConf();
+const char *EcodeStr(mcc_errcodes_t e);

LibSidServo/examples/dump.c

@@ -0,0 +1,197 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// logging of mount position
+
+#include <usefull_macros.h>
+
+#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)
+
+static double filterK[NFILT];
+static double lastvals[2][NFILT] = {0};
+static int need2buildFilter = 1;
+
+static void buildFilter(){
+    filterK[NFILT-1] = 1.;
+    double sum = 1.;
+    for(int i = NFILT-2; i > -1; --i){
+        filterK[i] = (filterK[i+1] + 1.) * 1.1;
+        sum += filterK[i];
+    }
+    for(int i = 0; i < NFILT; ++i) filterK[i] /= sum;
+}
+
+static double filter(double val, int idx){
+    if(need2buildFilter){
+        buildFilter();
+        need2buildFilter = 0;
+    }
+    static int ctr[2] = {0};
+    for(int i = NFILT-1; i > 0; --i) lastvals[idx][i] = lastvals[idx][i-1];
+    lastvals[idx][0] = val;
+    double r = 0.;
+    if(ctr[idx] < NFILT){
+        ++ctr[idx];
+        return val;
+    }
+    for(int i = 0; i < NFILT; ++i) r += filterK[i] * lastvals[idx][i];
+    return r;
+}
+#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
+ * @param m - mount data
+ */
+void logmnt(FILE *fcoords, mountdata_t *m){
+    if(!fcoords) return;
+    //DBG("LOG %s", m ? "data" : "header");
+    if(!m){ // write header
+        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;
+    // write data
+    fprintf(fcoords, "%12.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10u\n",
+            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);
+    fflush(fcoords);
+}
+
+/**
+ * @brief dumpmoving - dump conf while moving
+ * @param fcoords - dump file
+ * @param t - max waiting time
+ * @param N - number of cycles to wait while motors aren't moving
+ */
+void dumpmoving(FILE *fcoords, double t, int N){
+    if(!fcoords) return;
+    mountdata_t mdata;
+    DBG("Start dump");
+    int ntries = 0;
+    for(; ntries < 10; ++ntries){
+        if(MCC_E_OK == Mount.getMountData(&mdata)) break;
+    }
+    if(ntries == 10){
+        WARNX("Can't get mount data");
+        LOGWARN("Can't get mount data");
+    }
+    uint32_t mdmillis = mdata.millis;
+    struct timespec encXt = mdata.encXposition.t;
+    int ctr = -1;
+    double xlast = mdata.motXposition.val, ylast = mdata.motYposition.val;
+    double t0 = Mount.timeFromStart();
+    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.;
+        struct timespec msrt = mdata.encXposition.t;
+        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);
+        mdmillis = mdata.millis;
+        if(mdata.motXposition.val != xlast || mdata.motYposition.val != ylast){
+            xlast = mdata.motXposition.val;
+            ylast = mdata.motYposition.val;
+            ctr = 0;
+        }else ++ctr;
+    }
+    DBG("Exit dumping; tend=%g, tmon=%g", t, Mount.timeFromStart() - t0);
+}
+
+/**
+ * @brief waitmoving - wait until moving by both axiss stops at least for N cycles
+ * @param N - amount of stopped cycles
+ */
+void waitmoving(int N){
+    mountdata_t mdata;
+    int ctr = -1;
+    uint32_t millis = 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.Xstate != AXIS_STOPPED || mdata.Ystate != AXIS_STOPPED) ctr = 0;
+        else ++ctr;
+    }
+}
+
+/**
+ * @brief getPos - get current position
+ * @param mot (o) - motor position (or NULL)
+ * @param Y (o) - encoder position (or NULL)
+ * @return FALSE if failed
+ */
+int getPos(coordval_pair_t *mot, coordval_pair_t *enc){
+    mountdata_t mdata = {0};
+    int errcnt = 0;
+    do{
+        if(MCC_E_OK != Mount.getMountData(&mdata)) ++errcnt;
+        else{
+            errcnt = 0;
+            if(mdata.millis) break;
+        }
+    }while(errcnt < 10);
+    if(errcnt >= 10){
+        WARNX("Can't read mount status");
+        return FALSE;
+    }
+    if(mot){
+        mot->X = mdata.motXposition;
+        mot->Y = mdata.motYposition;
+    }
+    if(enc){
+        enc->X = mdata.encXposition;
+        enc->Y = mdata.encYposition;
+    }
+    return TRUE;
+}
+
+// check current position and go to 0 if non-zero
+void chk0(int ncycles){
+    coordval_pair_t M;
+    if(!getPos(&M, NULL)) signals(2);
+    if(M.X.val || M.Y.val){
+        WARNX("Mount position isn't @ zero; moving");
+        coordpair_t zero = {0., 0.};
+        Mount.moveTo(&zero);
+        waitmoving(ncycles);
+        green("Now mount @ zero\n");
+    }
+}

LibSidServo/examples/dump.h

@@ -0,0 +1,30 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include <stdio.h>
+
+#include "sidservo.h"
+
+void logmnt(FILE *fcoords, mountdata_t *m);
+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);

LibSidServo/examples/dumpmoving.c

@@ -0,0 +1,105 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// dump telescope moving using simplest goto command
+
+#include <math.h>
+#include <signal.h>
+#include <stdio.h>
+#include <time.h>
+#include <usefull_macros.h>
+
+#include "conf.h"
+#include "dump.h"
+#include "sidservo.h"
+#include "simpleconv.h"
+
+typedef struct{
+    int help;
+    int verbose;
+    int Ncycles;
+    char *logfile;
+    char *coordsoutput;
+    char *conffile;
+} parameters;
+
+static parameters G = {
+    .Ncycles = 40,
+};
+static FILE *fcoords = NULL;
+
+static sl_option_t cmdlnopts[] = {
+    {"help",        NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),      "show this help"},
+    {"verbose",     NO_ARGS,    NULL,   'v',    arg_none,   APTR(&G.verbose),   "verbose level (each -v adds 1)"},
+    {"logfile",     NEED_ARG,   NULL,   'l',    arg_string, APTR(&G.logfile),   "log file name"},
+    {"ncycles",     NEED_ARG,   NULL,   'n',    arg_int,    APTR(&G.Ncycles),   "N cycles in stopped state (default: 40)"},
+    {"coordsfile",  NEED_ARG,   NULL,   'o',    arg_string, APTR(&G.coordsoutput),"output file with coordinates log"},
+    {"conffile",    NEED_ARG,   NULL,   'C',    arg_string, APTR(&G.conffile),  "configuration file name"},
+    end_option
+};
+
+void signals(int sig){
+    if(sig){
+        signal(sig, SIG_IGN);
+        DBG("Get signal %d, quit.\n", sig);
+    }
+    LOGERR("Exit with status %d", sig);
+    Mount.quit();
+    exit(sig);
+}
+
+int main(int argc, char **argv){
+    sl_init();
+    sl_parseargs(&argc, &argv, cmdlnopts);
+    if(G.help) sl_showhelp(-1, cmdlnopts);
+    sl_loglevel_e lvl = G.verbose + LOGLEVEL_ERR;
+    if(lvl >= LOGLEVEL_AMOUNT) lvl = LOGLEVEL_AMOUNT - 1;
+    if(G.logfile) OPENLOG(G.logfile, lvl, 1);
+    conf_t *Config = readServoConf(G.conffile);
+    if(!Config){
+        dumpConf();
+        confHelp();
+        return 1;
+    }
+    if(G.coordsoutput){
+        if(!(fcoords = fopen(G.coordsoutput, "w")))
+            ERRX("Can't open %s", G.coordsoutput);
+    }else fcoords = stdout;
+    logmnt(fcoords, NULL);
+    time_t curtime = time(NULL);
+    LOGMSG("Started @ %s", ctime(&curtime));
+    LOGMSG("Mount device %s @ %d", Config->MountDevPath, Config->MountDevSpeed);
+    LOGMSG("Encoder device %s @ %d", Config->EncoderDevPath, Config->EncoderDevSpeed);
+    if(MCC_E_OK != Mount.init(Config)) ERRX("Can't init devices");
+    coordval_pair_t M;
+    if(!getPos(&M, NULL)) ERRX("Can't get current position");
+    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
+    coordpair_t tag = {.X = DEG2RAD(45.) + M.X.val, .Y = DEG2RAD(45.) + M.Y.val};
+    if(MCC_E_OK != Mount.moveTo(&tag))
+        ERRX("Can't move to 45, 45");
+    dumpmoving(fcoords, 30., G.Ncycles);
+    tag.X = M.X.val; tag.Y = M.Y.val;
+    Mount.moveTo(&tag);
+    dumpmoving(fcoords, 30., G.Ncycles);
+    signals(0);
+    return 0;
+}

LibSidServo/examples/dumpmoving_dragNtrack.c

@@ -0,0 +1,228 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// move telescope to target using short command and force it to track mode
+// also do some corrections while moving
+
+#include <math.h>
+#include <pthread.h>
+#include <signal.h>
+#include <stdio.h>
+#include <string.h>
+#include <time.h>
+#include <usefull_macros.h>
+
+#include "conf.h"
+#include "dump.h"
+#include "sidservo.h"
+#include "simpleconv.h"
+
+// Original XXI=6827
+// XXD=136546
+// XXB=4915666
+
+typedef struct{
+    int help;
+    int Ncycles;
+    double reqint;
+    char *coordsoutput;
+    char *conffile;
+} parameters;
+
+static parameters G = {
+    .Ncycles = 40,
+    .reqint = -1.,
+};
+
+static FILE *fcoords = NULL;
+
+static sl_option_t cmdlnopts[] = {
+    {"help",        NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),      "show this help"},
+    {"ncycles",     NEED_ARG,   NULL,   'n',    arg_int,    APTR(&G.Ncycles),   "N cycles in stopped state (default: 40)"},
+    {"coordsfile",  NEED_ARG,   NULL,   'o',    arg_string, APTR(&G.coordsoutput),"output file with coordinates log"},
+    {"reqinterval", NEED_ARG,   NULL,   'i',    arg_double, APTR(&G.reqint),    "mount requests interval (default: 0.1)"},
+    {"conffile",    NEED_ARG,   NULL,   'C',    arg_string, APTR(&G.conffile),  "configuration file name"},
+    end_option
+};
+
+static mcc_errcodes_t return2zero();
+
+void signals(int sig){
+    if(sig){
+        signal(sig, SIG_IGN);
+        DBG("Get signal %d, quit.\n", sig);
+    }
+    return2zero();
+    sleep(5);
+    Mount.quit();
+    exit(sig);
+}
+
+// dump thread
+static void *dumping(void _U_ *u){
+    dumpmoving(fcoords, 3600., G.Ncycles);
+    return NULL;
+}
+
+// return TRUE if motor position is reached +- 0.01 degrees
+#define XYcount (DEG2RAD(0.3))
+// tag in degrees!
+static int Wait(double tag, int isX){
+    mountdata_t mdata;
+    red("Wait for %g degrees\n", tag);
+    tag = DEG2RAD(tag);
+    int errcnt = 0;
+    uint32_t millis = 0;
+    double curpos = 0.;
+    double t0 = sl_dtime();
+    do{
+        if(MCC_E_OK != Mount.getMountData(&mdata)) ++errcnt;
+        else{
+            errcnt = 0;
+            if(mdata.millis == millis) continue;
+            millis = mdata.millis;
+            if(isX) curpos = mdata.motXposition.val;
+            else curpos = mdata.motYposition.val;
+        }
+        double t = sl_dtime();
+        if(t - t0 > 1.){
+            t0 = t;
+            printf("\t\tCurrent MOT X/Y: %g / %g deg\n", RAD2DEG(mdata.motXposition.val),
+                    RAD2DEG(mdata.motYposition.val));
+        }
+    }while(fabs(curpos - tag) > XYcount && errcnt < 10);
+    if(errcnt >= 10){
+        WARNX("Too much errors");
+        return FALSE;
+    }
+    green("%s reached position %g degrees\n", (isX) ? "X" : "Y", RAD2DEG(tag));
+    fflush(stdout);
+    return TRUE;
+}
+
+// previous GOTO coords/speeds for `mkcorr`
+static coordpair_t lastTag = {0}, lastSpeed = {0};
+
+// slew to given position and start tracking
+// pos/speed in deg and deg/s
+static mcc_errcodes_t gotos(const coordpair_t *target, const coordpair_t *speed){
+    short_command_t cmd = {0};
+    DBG("Try to move to (%g, %g) with speed (%g, %g)",
+        target->X, target->Y, speed->X, speed->Y);
+    cmd.Xmot = DEG2RAD(target->X); cmd.Ymot = DEG2RAD(target->Y);
+    cmd.Xspeed = DEG2RAD(speed->X);
+    cmd.Yspeed = DEG2RAD(speed->Y);
+    lastTag = *target;
+    lastSpeed = *speed;
+    /*cmd.xychange = 1;
+    cmd.XBits = 108;
+    cmd.YBits = 28;*/
+    return Mount.shortCmd(&cmd);
+}
+
+static mcc_errcodes_t return2zero(){
+    short_command_t cmd = {0};
+    DBG("Try to move to zero");
+    cmd.Xmot = 0.; cmd.Ymot = 0.;
+    coordpair_t maxspd;
+    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;*/
+    return Mount.shortCmd(&cmd);
+}
+
+static mcc_errcodes_t mkcorr(coordpair_t *adder, coordpair_t *time){
+    long_command_t cmd = {0};
+    cmd.Xspeed = DEG2RAD(lastSpeed.X);
+    cmd.Yspeed = DEG2RAD(lastSpeed.Y);
+    cmd.Xmot = DEG2RAD(lastTag.X);
+    cmd.Ymot = DEG2RAD(lastTag.Y);
+    cmd.Xadder = DEG2RAD(adder->X); cmd.Yadder = DEG2RAD(adder->Y);
+    cmd.Xatime = time->X; cmd.Yatime = time->Y;
+    return Mount.longCmd(&cmd);
+}
+
+int main(int argc, char **argv){
+    sl_init();
+    sl_parseargs(&argc, &argv, cmdlnopts);
+    if(G.help) sl_showhelp(-1, cmdlnopts);
+    if(G.coordsoutput){
+        if(!(fcoords = fopen(G.coordsoutput, "w")))
+            ERRX("Can't open %s", G.coordsoutput);
+    }else fcoords = stdout;
+    conf_t *Config = readServoConf(G.conffile);
+    if(!Config){
+        dumpConf();
+        return 1;
+    }
+    if(G.reqint > 0.) Config->MountReqInterval = G.reqint;
+    if(MCC_E_OK != Mount.init(Config)){
+        WARNX("Can't init devices");
+        return 1;
+    }
+    //if(!getPos(&M, NULL)) ERRX("Can't get current position");
+    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
+    // move to X=40 degr with different speeds
+    pthread_t dthr;
+    logmnt(fcoords, NULL);
+    if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
+    // move to 10/10
+    coordpair_t coords, speeds, adders, tadd;
+    coords = (coordpair_t){.X = 10., .Y = 20.};
+    speeds = (coordpair_t){.X = 1., .Y = 2.};
+    adders = (coordpair_t){.X = 0.01, .Y = 0.01};
+    tadd = (coordpair_t){.X = 1., .Y = 2.};
+    green("Goto\n");
+    if(MCC_E_OK != gotos(&coords, &speeds)) ERRX("Can't go");
+    DBG("c/s: %g %g %g %g", coords.X, coords.Y, speeds.X, speeds.Y);
+    green("Waiting X==4\n");
+    Wait(4., 1);
+    // now we are at point by Y but still moving by X; make small correction by X/Y into '+'
+    green("Mkcorr 1\n");
+    if(MCC_E_OK != mkcorr(&adders, &tadd)) ERRX("Can't make corr");
+    green("Waiting X==6\n");
+    Wait(6., 1);
+    green("Goto more\n");
+    coords = (coordpair_t){.X = 20., .Y = 30.};
+    if(MCC_E_OK != gotos(&coords, &speeds)) ERRX("Can't go");
+    DBG("c/s: %g %g %g %g", coords.X, coords.Y, speeds.X, speeds.Y);
+    green("Waiting Y==14\n");
+    Wait(14., 0);
+    // now we are @ point, make the same small correction again
+    green("Mkcorr 2\n");
+    if(MCC_E_OK != mkcorr(&coords, &speeds)) ERRX("Can't make corr");
+    // wait for 5 seconds
+    green("Wait for 5 seconds\n");
+    sleep(5);
+    // return to zero and wait
+    green("Return 2 zero and wait\n");
+    if(MCC_E_OK != return2zero()) ERRX("Can't return");
+    Wait(0., 0);
+    Wait(0., 1);
+    // wait moving ends
+    pthread_join(dthr, NULL);
+    signals(0);
+    return 0;
+}

LibSidServo/examples/dumpmoving_scmd.c

@@ -0,0 +1,177 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// dump telescope moving using short binary commands
+
+#include <math.h>
+#include <pthread.h>
+#include <signal.h>
+#include <stdio.h>
+#include <string.h>
+#include <time.h>
+#include <usefull_macros.h>
+
+#include "conf.h"
+#include "dump.h"
+#include "sidservo.h"
+#include "simpleconv.h"
+
+typedef struct{
+    int help;
+    int Ncycles;
+    int relative;
+    double reqint;
+    char *coordsoutput;
+    char *conffile;
+    char *axis;
+} parameters;
+
+static parameters G = {
+    .Ncycles = 40,
+    .reqint = -1.,
+    .axis = "X",
+};
+
+static FILE *fcoords = NULL;
+
+static coordval_pair_t M;
+
+static sl_option_t cmdlnopts[] = {
+    {"help",        NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),      "show this help"},
+    {"ncycles",     NEED_ARG,   NULL,   'n',    arg_int,    APTR(&G.Ncycles),   "N cycles in stopped state (default: 40)"},
+    {"coordsfile",  NEED_ARG,   NULL,   'o',    arg_string, APTR(&G.coordsoutput),"output file with coordinates log"},
+    {"reqinterval", NEED_ARG,   NULL,   'i',    arg_double, APTR(&G.reqint),    "mount requests interval (default: 0.1)"},
+    {"axis",        NEED_ARG,   NULL,   'a',    arg_string, APTR(&G.axis),      "axis to move (X, Y or B for both)"},
+    {"conffile",    NEED_ARG,   NULL,   'C',    arg_string, APTR(&G.conffile),  "configuration file name"},
+    {"relative",    NO_ARGS,    NULL,   'r',    arg_int,    APTR(&G.relative),  "relative move"},
+    end_option
+};
+
+void signals(int sig){
+    if(sig){
+        signal(sig, SIG_IGN);
+        DBG("Get signal %d, quit.\n", sig);
+    }
+    Mount.quit();
+    exit(sig);
+}
+
+// dump thread
+static void *dumping(void _U_ *u){
+    dumpmoving(fcoords, 3600., G.Ncycles);
+    return NULL;
+}
+
+// return TRUE if motor position is reached +- 0.01 degrees
+#define XYcount (DEG2RAD(0.01))
+static int Wait(double tag){
+    mountdata_t mdata;
+    red("Wait for %g degrees\n", RAD2DEG(tag));
+    int errcnt = 0;
+    double sign = 0.;
+    uint32_t millis = 0;
+    double curpos = 0.;
+    do{
+        if(MCC_E_OK != Mount.getMountData(&mdata)) ++errcnt;
+        else{
+            errcnt = 0;
+            if(mdata.millis == millis) continue;
+            millis = mdata.millis;
+            if(*G.axis == 'X') curpos = mdata.motXposition.val;
+            else curpos = mdata.motYposition.val;
+            if(sign == 0.) sign = (curpos > tag) ? 1. : -1.;
+            //printf("%s=%g deg, need %g deg; delta=%g arcmin\n", G.axis, RAD2DEG(curpos),
+            //       RAD2DEG(tag), RAD2DEG(sign*(curpos - tag))*60.);
+        }
+    }while(sign*(curpos - tag) > XYcount && errcnt < 10);
+    if(errcnt >= 10){
+        WARNX("Too much errors");
+        return FALSE;
+    }
+    green("%s reached position %g degrees\n", G.axis, RAD2DEG(tag));
+    fflush(stdout);
+    return TRUE;
+}
+
+// move X/Y to 40 degr with given speed until given coord
+static void move(double target, double limit, double speed){
+    green("Move %s to %g until %g with %gdeg/s\n", G.axis, target, limit, speed);
+    short_command_t cmd = {0};
+    if(*G.axis == 'X' || *G.axis == 'B'){
+        cmd.Xmot = DEG2RAD(target) + M.X.val;
+        cmd.Xspeed = DEG2RAD(speed);
+        limit = DEG2RAD(limit) + M.X.val;
+    }
+    if(*G.axis == 'Y' || *G.axis == 'B'){
+        cmd.Ymot = DEG2RAD(target) + M.Y.val;
+        cmd.Yspeed = DEG2RAD(speed);
+        if(*G.axis != 'B') limit = DEG2RAD(limit) + M.Y.val;
+    }
+    if(MCC_E_OK != Mount.shortCmd(&cmd)) ERRX("Can't run command");
+    if(!Wait(limit)) signals(9);
+}
+
+
+int main(int argc, char **argv){
+    sl_init();
+    sl_parseargs(&argc, &argv, cmdlnopts);
+    if(G.help) sl_showhelp(-1, cmdlnopts);
+    if(strcmp(G.axis, "X") && strcmp(G.axis, "Y") && strcmp(G.axis, "B")){
+        WARNX("\"Axis\" should be X, Y or B");
+        return 1;
+    }
+    if(G.coordsoutput){
+        if(!(fcoords = fopen(G.coordsoutput, "w")))
+            ERRX("Can't open %s", G.coordsoutput);
+    }else fcoords = stdout;
+    conf_t *Config = readServoConf(G.conffile);
+    if(!Config){
+        dumpConf();
+        return 1;
+    }
+    if(G.reqint > 0.) Config->MountReqInterval = G.reqint;
+    if(MCC_E_OK != Mount.init(Config)){
+        WARNX("Can't init devices");
+        return 1;
+    }
+    if(!getPos(&M, NULL)) ERRX("Can't get current position");
+    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
+    // move to X=40 degr with different speeds
+    pthread_t dthr;
+    logmnt(fcoords, NULL);
+    if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
+    // goto 30' with 5'/s
+    move(10., 30./60., 5./60.);
+    // goto 1' with 10'/s
+    move(10., 1., 10./60.);
+    // goto 3degr with 15'/s
+    move(10., 3., 15./60.);
+    // and go back with 7deg/s
+    move(0., 0., 7.);
+    // be sure to move @ starting position
+    coordpair_t tag = {.X = M.X.val, .Y = M.Y.val};
+    Mount.moveTo(&tag);
+    // wait moving ends
+    pthread_join(dthr, NULL);
+    signals(0);
+    return 0;
+}

LibSidServo/examples/dumpswing.c

@@ -0,0 +1,190 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <pthread.h>
+#include <signal.h>
+#include <stdio.h>
+#include <string.h>
+#include <usefull_macros.h>
+
+#include "conf.h"
+#include "dump.h"
+#include "sidservo.h"
+#include "simpleconv.h"
+
+// swing telescope by given axis with given period and max amplitude, reqinterval=0.05 (min)
+
+typedef struct{
+    int help;
+    int Ncycles;
+    int Nswings;
+    double period;
+    double amplitude;
+    char *coordsoutput;
+    char *conffile;
+    char *axis;
+} parameters;
+
+static parameters G = {
+    .Ncycles = 20,
+    .axis = "X",
+    .Nswings = 10,
+    .period = 1.,
+    .amplitude = 5.,
+};
+static FILE *fcoords = NULL;
+
+static sl_option_t cmdlnopts[] = {
+    {"help",        NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),      "show this help"},
+    {"ncycles",     NEED_ARG,   NULL,   'n',    arg_int,    APTR(&G.Ncycles),   "N cycles in stopped state (default: 20)"},
+    {"coordsfile",  NEED_ARG,   NULL,   'o',    arg_string, APTR(&G.coordsoutput),"output file with coordinates log"},
+    {"axis",        NEED_ARG,   NULL,   'a',    arg_string, APTR(&G.axis),      "axis to move (X or Y)"},
+    {"period",      NEED_ARG,   NULL,   'p',    arg_double, APTR(&G.period),    "swinging period (could be not reached if amplitude is too small) - not more than 900s (default: 1)"},
+    {"amplitude",   NEED_ARG,   NULL,   'A',    arg_double, APTR(&G.amplitude), "max amplitude (could be not reached if period is too small): [-45:45]deg (default: 5)"},
+    {"nswings",     NEED_ARG,   NULL,   'N',    arg_int,    APTR(&G.Nswings),   "amount of swing periods (default: 10)"},
+    {"conffile",    NEED_ARG,   NULL,   'C',    arg_int,    APTR(&G.conffile),  "configuration file name"},
+    end_option
+};
+
+void signals(int sig){
+    if(sig){
+        signal(sig, SIG_IGN);
+        DBG("Get signal %d, quit.\n", sig);
+    }
+    Mount.quit();
+    exit(sig);
+}
+
+// dump thread
+static void *dumping(void _U_ *u){
+    dumpmoving(fcoords, 3600., G.Ncycles);
+    return NULL;
+}
+
+// wait until mount is stopped within 5 cycles or until time reached t
+void waithalf(double t){
+    mountdata_t mdata;
+    int ctr = -1;
+    uint32_t millis = 0;
+    double xlast = 0., ylast = 0.;
+    while(ctr < 5){
+        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;
+        millis = mdata.millis;
+        if(mdata.motXposition.val != xlast || mdata.motYposition.val != ylast){
+            //DBG("NEQ: old=%g, now=%g", RAD2DEG(ylast), RAD2DEG(mdata.motYposition.val));
+            xlast = mdata.motXposition.val;
+            ylast = mdata.motYposition.val;
+            ctr = 0;
+        }else{
+            //DBG("EQ: old=%g, now=%g", RAD2DEG(ylast), RAD2DEG(mdata.motYposition.val));
+            ++ctr;
+        }
+    }
+}
+
+
+int main(int argc, char **argv){
+    sl_init();
+    sl_parseargs(&argc, &argv, cmdlnopts);
+    if(G.help) sl_showhelp(-1, cmdlnopts);
+    if(strcmp(G.axis, "X") && strcmp(G.axis, "Y")){
+        WARNX("\"Axis\" should be X or Y");
+        return 1;
+    }
+    if(G.coordsoutput){
+        if(!(fcoords = fopen(G.coordsoutput, "w"))){
+            WARNX("Can't open %s", G.coordsoutput);
+            return 1;
+        }
+    }else fcoords = stdout;
+    if(G.Ncycles < 2){
+        WARNX("Ncycles should be >2");
+        return 1;
+    }
+    double absamp = fabs(G.amplitude);
+    if(absamp < 0.01 || absamp > 45.){
+        WARNX("Amplitude should be from 0.01 to 45 degrees");
+        return 1;
+    }
+    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();
+        return 1;
+    }
+    mcc_errcodes_t e = Mount.init(Config);
+    if(e != MCC_E_OK){
+        WARNX("Can't init devices");
+        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
+    pthread_t dthr;
+    chk0(G.Ncycles);
+    logmnt(fcoords, NULL);
+    if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
+    G.period /= 2.; // pause between commands
+    double tagX, tagY;
+    if(*G.axis == 'X'){
+        tagX = DEG2RAD(G.amplitude); tagY = 0.;
+    }else{
+        tagX = 0.; tagY = DEG2RAD(G.amplitude);
+    }
+    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.timeFromStart()-t0);
+        t += G.period / divide;
+        divide = 1.;
+        waithalf(t);
+        DBG("Moved to +, t=%g", t-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.timeFromStart()-t0);
+    }
+    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)){
+        Mount.emergStop();
+        Mount.moveTo(&tag);
+    }
+    // wait moving ends
+    pthread_join(dthr, NULL);
+#undef SCMD
+    signals(0);
+    return 0;
+}

LibSidServo/examples/goto.c

@@ -0,0 +1,145 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// move telescope to given MOTOR position in degrees
+
+#include <signal.h>
+#include <stdio.h>
+#include <time.h>
+#include <usefull_macros.h>
+
+#include "conf.h"
+#include "dump.h"
+#include "sidservo.h"
+#include "simpleconv.h"
+
+typedef struct{
+    int help;
+    int Ncycles;
+    int wait;
+    int relative;
+    char *coordsoutput;
+    char *conffile;
+    double X;
+    double Y;
+} parameters;
+
+static parameters G = {
+    .Ncycles = 10,
+    .X = NAN,
+    .Y = NAN,
+};
+
+static sl_option_t cmdlnopts[] = {
+    {"help",        NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),      "show this help"},
+    {"ncycles",     NEED_ARG,   NULL,   'n',    arg_int,    APTR(&G.Ncycles),   "N cycles of waiting in stopped state (default: 40)"},
+    {"newx",        NEED_ARG,   NULL,   'X',    arg_double, APTR(&G.X),         "new X coordinate"},
+    {"newy",        NEED_ARG,   NULL,   'Y',    arg_double, APTR(&G.Y),         "new Y coordinate"},
+    {"output",      NEED_ARG,   NULL,   'o',    arg_string, APTR(&G.coordsoutput),"file to log coordinates"},
+    {"wait",        NO_ARGS,    NULL,   'w',    arg_int,    APTR(&G.wait),      "wait until mowing stopped"},
+    {"relative",    NO_ARGS,    NULL,   'r',    arg_int,    APTR(&G.relative),  "relative move"},
+    {"conffile",    NEED_ARG,   NULL,   'C',    arg_string, APTR(&G.conffile),  "configuration file name"},
+    end_option
+};
+
+static FILE* fcoords = NULL;
+static pthread_t dthr;
+
+void signals(int sig){
+    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);
+}
+
+// dump thread
+static void *dumping(void _U_ *u){
+    dumpmoving(fcoords, 3600., G.Ncycles);
+    return NULL;
+}
+
+int main(int _U_ argc, char _U_ **argv){
+    sl_init();
+    sl_parseargs(&argc, &argv, cmdlnopts);
+    if(G.help)
+        sl_showhelp(-1, cmdlnopts);
+    conf_t *Config = readServoConf(G.conffile);
+    if(!Config){
+        dumpConf();
+        return 1;
+    }
+    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'\n");
+        G.wait = 1;
+        if(!(fcoords = fopen(G.coordsoutput, "w")))
+            ERRX("Can't open %s", G.coordsoutput);
+        logmnt(fcoords, NULL);
+        if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
+    }
+    M.X.val = RAD2DEG(M.X.val);
+    M.Y.val = RAD2DEG(M.Y.val);
+    printf("Mount position: X=%g, Y=%g; encoders: X=%g, Y=%g\n", M.X.val, M.Y.val,
+           RAD2DEG(E.X.val), RAD2DEG(E.Y.val));
+    if(isnan(G.X) && isnan(G.Y)) goto out;
+    coordpair_t tag;
+    if(isnan(G.X)){
+        if(G.relative) G.X = 0.;
+        else G.X = M.X.val;
+    }
+    if(isnan(G.Y)){
+        if(G.relative) G.Y = 0.;
+        else G.Y = M.Y.val;
+    }
+    if(G.relative){
+        G.X += M.X.val;
+        G.Y += M.Y.val;
+    }
+    printf("Moving to X=%gdeg, Y=%gdeg\n", G.X, G.Y);
+    tag.X = DEG2RAD(G.X); tag.Y = DEG2RAD(G.Y);
+    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);
+        if(!getPos(&M, NULL)) WARNX("Can't get current position");
+        else printf("New mount position: X=%g, Y=%g\n", RAD2DEG(M.X.val), RAD2DEG(M.Y.val));
+    }
+out:
+    DBG("JOIN");
+    if(G.coordsoutput) pthread_join(dthr, NULL);
+    DBG("QUIT");
+    if(G.wait){
+        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;
+}

LibSidServo/examples/scmd_traectory.c

@@ -0,0 +1,188 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <pthread.h>
+#include <signal.h>
+#include <usefull_macros.h>
+
+#include "conf.h"
+#include "dump.h"
+#include "sidservo.h"
+#include "simpleconv.h"
+#include "traectories.h"
+
+// calculate some traectory and try to run over it
+
+typedef struct{
+    int help;
+    int dumpconf;
+    int Ncycles;        // n cycles to wait stop
+    double reqint;      // requests interval (seconds)
+    double Xmax;        // maximal X to stop
+    double Ymax;        // maximal Y to stop
+    double tmax;        // maximal time of emulation
+    double X0;          // starting point of traectory (-30..30 degr)
+    double Y0;          // -//-
+    char *coordsoutput; // dump file
+    char *errlog;       // log with position errors
+    char *tfn;          // traectory function name
+    char *conffile;
+} parameters;
+
+static conf_t *Config = NULL;
+static FILE *fcoords = NULL, *errlog = NULL;
+static pthread_t dthr;
+static parameters G = {
+    .Ncycles = 40,
+    .reqint = 0.1,
+    .tfn = "sincos",
+    .Xmax = 45.,
+    .Ymax = 45.,
+    .tmax = 300., // 5 minutes
+    .X0 = 10.,
+    .Y0 = 10.,
+};
+
+static sl_option_t cmdlnopts[] = {
+    {"help",        NO_ARGS,    NULL,   'h',    arg_int,    APTR(&G.help),      "show this help"},
+    {"ncycles",     NEED_ARG,   NULL,   'n',    arg_int,    APTR(&G.Ncycles),   "N cycles in stopped state (default: 40)"},
+    {"coordsfile",  NEED_ARG,   NULL,   'o',    arg_string, APTR(&G.coordsoutput),"output file with coordinates log"},
+    {"reqinterval", NEED_ARG,   NULL,   'i',    arg_double, APTR(&G.reqint),    "mount requests interval (default: 0.1 second)"},
+    {"traectory",   NEED_ARG,   NULL,   't',    arg_string, APTR(&G.tfn),       "used traectory function (default: sincos)"},
+    {"xmax",        NEED_ARG,   NULL,   'X',    arg_double, APTR(&G.Xmax),      "maximal abs X coordinate for traectory (default: 45 degrees)"},
+    {"ymax",        NEED_ARG,   NULL,   'Y',    arg_double, APTR(&G.Ymax),      "maximal abs Y coordinate for traectory (default: 45 degrees)"},
+    {"tmax",        NEED_ARG,   NULL,   'T',    arg_double, APTR(&G.tmax),      "maximal duration time of emulation (default: 300 seconds)"},
+    {"x0",          NEED_ARG,   NULL,   '0',    arg_double, APTR(&G.X0),        "starting X-coordinate of traectory (default: 10 degrees)"},
+    {"y0",          NEED_ARG,   NULL,   '1',    arg_double, APTR(&G.Y0),        "starting Y-coordinate of traectory (default: 10 degrees)"},
+    {"conffile",    NEED_ARG,   NULL,   'C',    arg_string, APTR(&G.conffile),  "configuration file name"},
+    {"errlog",      NEED_ARG,   NULL,   'e',    arg_string, APTR(&G.errlog),    "file with errors log"},
+    {"dumpconf",    NO_ARGS,    NULL,   'D',    arg_int,    APTR(&G.dumpconf),  "dump current configuration"},
+    end_option
+};
+
+void signals(int sig){
+    if(sig){
+        signal(sig, SIG_IGN);
+        DBG("Get signal %d, quit.\n", sig);
+    }
+    Mount.stop();
+    sleep(1);
+    Mount.quit();
+    if(fcoords) fclose(fcoords);
+    exit(sig);
+}
+
+static void *dumping(void _U_ *u){
+    dumpmoving(fcoords, 3600., G.Ncycles);
+    return NULL;
+}
+
+// calculate
+static void runtraectory(traectory_fn tfn){
+    if(!tfn) return;
+    coordval_pair_t telXY;
+    coordval_pair_t target;
+    coordpair_t traectXY;
+    double tlast = 0., tstart = Mount.timeFromStart();
+    long tlastXnsec = 0, tlastYnsec = 0;
+    struct timespec tcur, t0 = {0};
+    dumpt0(&t0);
+    while(1){
+        if(!telpos(&telXY)){
+            WARNX("No next telescope position");
+            return;
+        }
+        if(!Mount.currentT(&tcur)) continue;
+        if(telXY.X.t.tv_nsec == tlastXnsec && telXY.Y.t.tv_nsec == tlastYnsec) continue; // last measure - don't mind
+        DBG("\n\nTELPOS: %g'/%g' (%.6f/%.6f)", RAD2AMIN(telXY.X.val), RAD2AMIN(telXY.Y.val), RAD2DEG(telXY.X.val), RAD2DEG(telXY.Y.val));
+        tlastXnsec = telXY.X.t.tv_nsec; tlastYnsec = telXY.Y.t.tv_nsec;
+        double t = Mount.timeFromStart();
+        if(fabs(telXY.X.val) > G.Xmax || fabs(telXY.Y.val) > G.Ymax || t - tstart > G.tmax) break;
+        if(!traectory_point(&traectXY, t)) break;
+        target.X.val = traectXY.X; target.Y.val = traectXY.Y;
+        target.X.t = target.Y.t = tcur;
+        if(t0.tv_nsec == 0 && t0.tv_sec == 0) dumpt0(&t0);
+        else{
+            //DBG("target: %g'/%g'", RAD2AMIN(traectXY.X), RAD2AMIN(traectXY.Y));
+            DBG("%g: dX=%.4f'', dY=%.4f''", t-tstart, 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, "%10.4f  %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)) WARNX("Error of correction!");
+        while((t = Mount.timeFromStart()) - tlast < Config->PIDRefreshDt) usleep(500);
+        tlast = t;
+    }
+    WARNX("No next traectory point or emulation ends");
+}
+
+int main(int argc, char **argv){
+    sl_init();
+    sl_parseargs(&argc, &argv, cmdlnopts);
+    if(G.help) sl_showhelp(-1, cmdlnopts);
+    if(G.Xmax < 1. || G.Xmax > 90.) ERRX("Xmax should be 1..90 degrees");
+    if(G.Ymax < 1. || G.Ymax > 90.) ERRX("Ymax should be 1..90 degrees");
+    // convert to radians
+    G.Xmax = DEG2RAD(G.Xmax); G.Ymax = DEG2RAD(G.Ymax);
+    if(G.X0 < -30. || G.X0 > 30. || G.Y0 < -30. || G.Y0 > 30.)
+        ERRX("X0 and Y0 should be -30..30 degrees");
+    if(G.errlog){
+        if(!(errlog = fopen(G.errlog, "w")))
+            ERRX("Can't open error log %s", G.errlog);
+        else
+            fprintf(errlog, "#    time      Xerr''      Yerr''   // target - real\n");
+    }
+    if(G.coordsoutput){
+        if(!(fcoords = fopen(G.coordsoutput, "w")))
+            ERRX("Can't open %s", G.coordsoutput);
+    }else fcoords = stdout;
+    Config = readServoConf(G.conffile);
+    if(!Config || G.dumpconf){
+        dumpConf();
+        return 1;
+    }
+    Config->MountReqInterval = G.reqint;
+    traectory_fn tfn = traectory_by_name(G.tfn);
+    if(!tfn){
+        WARNX("Bad traectory name %s, should be one of", G.tfn);
+        print_tr_names();
+        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;
+    }
+    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);
+    logmnt(fcoords, NULL);
+    if(pthread_create(&dthr, NULL, dumping, NULL)) ERRX("Can't run dump thread");
+    ;
+    runtraectory(tfn);
+    signals(0);
+    return 0;
+}

LibSidServo/examples/servo.conf

@@ -0,0 +1,25 @@
+# Current configuration
+MountDevPath=/dev/ttyUSB0
+MountDevSpeed=19200
+EncoderDevPath=(null)
+EncoderDevSpeed=1000000
+MountReqInterval=0.1
+EncoderReqInterval=0.001
+SepEncoder=2
+EncoderXDevPath=/dev/encoder_X0
+EncoderYDevPath=/dev/encoder_Y0
+EncoderSpeedInterval=0.05
+RunModel=1
+XPIDCP=0.8
+XPIDCI=0.0
+XPIDCD=0.0
+YPIDCP=0.5
+YPIDCI=0.0
+YPIDCD=0.0
+XPIDVP=0.2
+XPIDVI=0.1
+XPIDVD=0.0
+YPIDVP=0.2
+YPIDVI=0.1
+YPIDVD=0.0
+

LibSidServo/examples/simpleconv.h

@@ -0,0 +1,29 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// simple conversion macros
+
+#include <math.h>
+
+#define DEG2RAD(d)  ((d)/180.*M_PI)
+#define ASEC2RAD(d) ((d)/180.*M_PI/3600.)
+#define AMIN2RAD(d) ((d)/180.*M_PI/60.)
+#define RAD2DEG(r)  ((r)/M_PI*180.)
+#define RAD2ASEC(r) ((r)/M_PI*180.*3600.)
+#define RAD2AMIN(r) ((r)/M_PI*180.*60.)
+

LibSidServo/examples/traectories.c

@@ -0,0 +1,136 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// some simplest traectories
+// all traectories runs increasing X and Y from starting point
+
+#include <stdio.h>
+#include <string.h>
+#include <usefull_macros.h>
+
+#include "simpleconv.h"
+#include "traectories.h"
+
+static traectory_fn cur_traectory = NULL;
+// starting point of traectory
+static coordpair_t XYstart = {0};
+static double tstart = 0.;
+
+/**
+ * @brief init_traectory - init traectory fn, sync starting positions of motor & encoders
+ * @param f - function calculating next point
+ * @param XY0 - starting point
+ * @return FALSE if failed
+ */
+int init_traectory(traectory_fn f, coordpair_t *XY0){
+    if(!f || !XY0) return FALSE;
+    cur_traectory = f;
+    XYstart = *XY0;
+    tstart = Mount.timeFromStart();
+    mountdata_t mdata;
+    int ntries = 0;
+    for(; ntries < 10; ++ntries){
+        if(MCC_E_OK == Mount.getMountData(&mdata)) break;
+    }
+    if(ntries == 10) return FALSE;
+    return TRUE;
+}
+
+/**
+ * @brief traectory_point - get traectory point for given time
+ * @param nextpt (o) - next point coordinates
+ * @param t - UNIX-time of event
+ * @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;
+    coordpair_t pt;
+    if(!cur_traectory(&pt, t)) 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;
+    return TRUE;
+}
+
+// current telescope position according to starting motor coordinates
+// @return FALSE if failed to get current coordinates
+int telpos(coordval_pair_t *curpos){
+    mountdata_t mdata;
+    int ntries = 0;
+    for(; ntries < 10; ++ntries){
+        if(MCC_E_OK == Mount.getMountData(&mdata)) break;
+    }
+    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;
+    pt.Y.t = mdata.encYposition.t;
+    if(curpos) *curpos = pt;
+    return TRUE;
+}
+
+// X=X0+1'/s, Y=Y0+15''/s
+int Linear(coordpair_t *nextpt, double t){
+    coordpair_t pt;
+    pt.X = XYstart.X + ASEC2RAD(0.1) * (t - tstart);
+    pt.Y = XYstart.Y + ASEC2RAD(15.)* (t - tstart);
+    if(nextpt) *nextpt = pt;
+    return TRUE;
+}
+
+// X=X0+5'*sin(t/30*2pi), Y=Y0+10'*cos(t/200*2pi)
+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);
+    if(nextpt) *nextpt = pt;
+    return TRUE;
+}
+
+typedef struct{
+    traectory_fn f;
+    const char *name;
+    const char *help;
+} tr_names;
+
+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)"},
+    {NULL, NULL, NULL}
+};
+
+traectory_fn traectory_by_name(const char *name){
+    traectory_fn f = NULL;
+    for(int i = 0; ; ++i){
+        if(!names[i].f) break;
+        if(strcmp(names[i].name, name) == 0){
+            f = names[i].f;
+            break;
+        }
+    }
+    return f;
+}
+
+// print all acceptable traectories names with help
+void print_tr_names(){
+    for(int i = 0; ; ++i){
+        if(!names[i].f) break;
+        printf("%s: %s\n", names[i].name, names[i].help);
+    }
+}

LibSidServo/examples/traectories.h

@@ -0,0 +1,32 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "sidservo.h"
+
+// traectory
+typedef int (*traectory_fn)(coordpair_t *, double);
+
+int init_traectory(traectory_fn f, coordpair_t *XY0);
+traectory_fn traectory_by_name(const char *name);
+void print_tr_names();
+int traectory_point(coordpair_t *nextpt, double t);
+int telpos(coordval_pair_t *curpos);
+int Linear(coordpair_t *nextpt, double t);
+int SinCos(coordpair_t *nextpt, double t);

LibSidServo/libsidservo.cflags

@@ -0,0 +1 @@
+-std=c17

LibSidServo/libsidservo.config

@@ -0,0 +1,7 @@
+// Add predefined macros for your project here. For example:
+// #define THE_ANSWER 42
+#define EBUG
+#define _POSIX_C_SOURCE  11111111
+#define PACKAGE_VERSION  "0.0.1"
+#define _XOPEN_SOURCE    666
+#define _DEFAULT_SOURCE

LibSidServo/libsidservo.creator

@@ -0,0 +1 @@
+[General]

LibSidServo/libsidservo.creator.user

@@ -0,0 +1,220 @@
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+<!DOCTYPE QtCreatorProject>
+<!-- Written by QtCreator 18.0.1, 2026-01-26T22:24:32. -->
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+ <data>
+  <variable>EnvironmentId</variable>
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+   <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
+    <value type="QString" key="language">Cpp</value>
+    <valuemap type="QVariantMap" key="value">
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+    </valuemap>
+   </valuemap>
+   <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.1">
+    <value type="QString" key="language">QmlJS</value>
+    <valuemap type="QVariantMap" key="value">
+     <value type="QByteArray" key="CurrentPreferences">QmlJSGlobal</value>
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+    <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
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+     <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
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+     <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>
+     <value type="QString" key="RunConfiguration.WorkingDirectory.default">%{RunConfig:Executable:Path}</value>
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+   <valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
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+    <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
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+  <value type="qlonglong">1</value>
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+</qtcreator>

LibSidServo/libsidservo.creator.user.7bd84e3

@@ -0,0 +1,165 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE QtCreatorProject>
+<!-- Written by QtCreator 4.10.1, 2020-05-19T00:12:06. -->
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+  <valuemap type="QVariantMap">
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+   <value type="bool" key="EditorConfiguration.AutoSpacesForTabs">false</value>
+   <value type="bool" key="EditorConfiguration.CamelCaseNavigation">true</value>
+   <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
+    <value type="QString" key="language">Cpp</value>
+    <valuemap type="QVariantMap" key="value">
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+   <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.1">
+    <value type="QString" key="language">QmlJS</value>
+    <valuemap type="QVariantMap" key="value">
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+    <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">По умолчанию</value>
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+</qtcreator>

LibSidServo/libsidservo.creator.user.cf63021

@@ -0,0 +1,184 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE QtCreatorProject>
+<!-- Written by QtCreator 15.0.0, 2025-01-27T14:56:12. -->
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+    <value type="QString" key="language">QmlJS</value>
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LibSidServo/libsidservo.cxxflags

@@ -0,0 +1 @@
+-std=c++17

LibSidServo/libsidservo.files

@@ -0,0 +1,30 @@
+CMakeLists.txt
+PID.c
+PID.h
+examples/SSIIconf.c
+examples/conf.c
+examples/conf.h
+examples/dump.c
+examples/dump.h
+examples/dumpmoving.c
+examples/dumpmoving_dragNtrack.c
+examples/dumpmoving_scmd.c
+examples/dumpswing.c
+examples/goto.c
+examples/scmd_traectory.c
+examples/simpleconv.h
+main.c
+sidservo.h
+serial.c
+examples/CMakeLists.txt
+examples/traectories.c
+examples/traectories.h
+main.h
+movingmodel.c
+movingmodel.h
+polltest/main.c
+ramp.c
+ramp.h
+serial.h
+ssii.c
+ssii.h

LibSidServo/libsidservo.includes

@@ -0,0 +1,2 @@
+.
+..

LibSidServo/main.c

@@ -0,0 +1,619 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/*
+ * main functions to fill struct `mount_t`
+ */
+
+#include <inttypes.h>
+#include <strings.h>
+#include <time.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+
+#include "main.h"
+#include "movingmodel.h"
+#include "serial.h"
+#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
+// 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 = 0.174533, .accel = 0.219911}},
+    Ylimits = {
+        .min = {.coord = -3.1241, .speed = 1e-10, .accel = 1e-6},
+        .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 curtime - monotonic time from first run
+ * @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
+ */
+int curtime(struct timespec *t){
+    struct timespec now;
+    if(clock_gettime(CLOCK_MONOTONIC, &now)) return FALSE;
+    now.tv_sec += timeadder.tv_sec;
+    now.tv_nsec += timeadder.tv_nsec;
+    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.;
+    return (now.tv_sec - starttime.tv_sec) + (now.tv_nsec - starttime.tv_nsec) / 1e9;
+}
+
+/**
+ * @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;
+    for(int i = 0; i < 10; ++i) if(SSstop(TRUE)) break;
+    DBG("Close all serial devices");
+    closeSerial();
+    DBG("Exit");
+}
+
+void getModData(coordpair_t *c, movestate_t *xst, movestate_t *yst){
+    if(!c || !Xmodel || !Ymodel) return;
+    double tnow = timefromstart();
+    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);
+    c->X = Xp.coord;
+    c->Y = Yp.coord;
+    if(xst) *xst = Xst;
+    if(yst) *yst = Yst;
+}
+
+/**
+ * less square calculations of speed
+ */
+less_square_t *LS_init(size_t Ndata){
+    if(Ndata < 5){
+        DBG("Ndata=%zd - TOO SMALL", Ndata);
+        return NULL;
+    }
+    DBG("Init less squares: %zd", Ndata);
+    less_square_t *l = calloc(1, sizeof(less_square_t));
+    l->x = calloc(Ndata, sizeof(double));
+    l->t2 = calloc(Ndata, sizeof(double));
+    l->t = calloc(Ndata, sizeof(double));
+    l->xt = calloc(Ndata, sizeof(double));
+    l->arraysz = Ndata;
+    return l;
+}
+void LS_delete(less_square_t **l){
+    if(!l || !*l) return;
+    free((*l)->x); free((*l)->t2); free((*l)->t); free((*l)->xt);
+    free(*l);
+    *l = NULL;
+}
+// add next data portion and calculate current slope
+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];
+    double t2 = t * t, xt = x * t;
+    l->x[idx] = x; l->t2[idx] = t2;
+    l->t[idx] = t; l->xt[idx] = xt;
+    ++idx;
+    l->idx = (idx >= l->arraysz) ? 0 : idx;
+    l->xsum += x - oldx;
+    l->t2sum += t2 - oldt2;
+    l->tsum += t - oldt;
+    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;
+    // point: (sum_x  - slope * sum_t) / n;
+    return (numerator / denominator);
+}
+
+/**
+ * @brief init - open serial devices and do other job
+ * @param c - initial configuration
+ * @return error code
+ */
+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 < 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){
+        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;
+        }
+    }
+    // TODO: read hardware configuration on init
+    if(Conf.EncoderSpeedInterval < Conf.EncoderReqInterval * MCC_CONF_MIN_SPEEDC || Conf.EncoderSpeedInterval > MCC_CONF_MAX_SPEEDINT){
+        DBG("Wrong speed interval");
+        ret = MCC_E_BADFORMAT;
+    }
+    if(!SSrawcmd(CMD_EXITACM, NULL)) ret = MCC_E_FAILED;
+    if(ret != MCC_E_OK) return ret;
+    // read HW config to update constants
+    hardware_configuration_t HW;
+    if(MCC_E_OK != get_hwconf(&HW)) return MCC_E_FAILED;
+    // make a pause for actual encoder's values
+    double t0 = timefromstart();
+    while(timefromstart() - t0 < Conf.EncoderReqInterval) usleep(1000);
+    mcc_errcodes_t e = updateMotorPos();
+    // and refresh data after updating
+    DBG("Wait for next mount reading");
+    t0 = timefromstart();
+    while(timefromstart() - t0 < Conf.MountReqInterval * 3.) usleep(1000);
+    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 > Xlimits.max.coord || X < Xlimits.min.coord) return FALSE;
+    return TRUE;
+}
+static int chkY(double Y){
+    if(Y > Ylimits.max.coord || Y < Ylimits.min.coord) return FALSE;
+    return TRUE;
+}
+static int chkXs(double s){
+    if(s < Xlimits.min.speed || s > Xlimits.max.speed) return FALSE;
+    return TRUE;
+}
+static int chkYs(double s){
+    if(s < Ylimits.min.speed || s > Ylimits.max.speed) return FALSE;
+    return TRUE;
+}
+
+// set SLEWING state if axis was stopped
+static void setslewingstate(){
+    //FNAME();
+    mountdata_t d;
+    if(MCC_E_OK == getMD(&d)){
+        axis_status_t newx = d.Xstate, newy = d.Ystate;
+        //DBG("old state: %d/%d", d.Xstate, d.Ystate);
+        if(d.Xstate == AXIS_STOPPED) newx = AXIS_SLEWING;
+        if(d.Ystate == AXIS_STOPPED) newy = AXIS_SLEWING;
+        if(newx != d.Xstate || newy != d.Ystate){
+            DBG("Started moving -> slew");
+            setStat(newx, newy);
+        }
+    }else DBG("CAN't GET MOUNT DATA!");
+}
+
+/**
+ * @brief move2 - simple move to given point and stop
+ * @param X - new X coordinate (radians: -pi..pi) or NULL
+ * @param Y - new Y coordinate (radians: -pi..pi) or NULL
+ * @return error code
+ */
+static mcc_errcodes_t move2(const coordpair_t *target){
+    if(!target) return MCC_E_BADFORMAT;
+    if(!chkX(target->X) || !chkY(target->Y)) return MCC_E_BADFORMAT;
+    if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
+    short_command_t cmd = {0};
+    DBG("x,y: %g, %g", target->X, target->Y);
+    cmd.Xmot = target->X;
+    cmd.Ymot = target->Y;
+    cmd.Xspeed = Xlimits.max.speed;
+    cmd.Yspeed = Ylimits.max.speed;
+    /*mcc_errcodes_t r = shortcmd(&cmd);
+    if(r != MCC_E_OK) return r;
+    setslewingstate();
+    return MCC_E_OK;*/
+    return shortcmd(&cmd);
+}
+
+/**
+ * @brief setspeed - set maximal speed over axis by text command
+ * @param X (i) - max speed or NULL
+ * @param Y (i) - -//-
+ * @return errcode
+ */
+static mcc_errcodes_t setspeed(const coordpair_t *tagspeed){
+    if(!tagspeed || !chkXs(tagspeed->X) || !chkYs(tagspeed->Y)) return MCC_E_BADFORMAT;
+    if(Conf.RunModel) return MCC_E_FAILED;
+    int32_t spd = X_RS2MOTSPD(tagspeed->X);
+    if(!SSsetterI(CMD_SPEEDX, spd)) return MCC_E_FAILED;
+    spd = Y_RS2MOTSPD(tagspeed->Y);
+    if(!SSsetterI(CMD_SPEEDY, spd)) return MCC_E_FAILED;
+    return MCC_E_OK;
+}
+
+/**
+ * @brief move2s - move to target with given max speed
+ * @param target (i) - target or NULL
+ * @param speed (i) - speed or NULL
+ * @return
+ */
+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);
+    if(r != MCC_E_OK) return r;
+    setslewingstate();
+    return MCC_E_OK;
+}
+
+/**
+ * @brief emstop - emergency stop
+ * @return errcode
+ */
+static mcc_errcodes_t emstop(){
+    FNAME();
+    if(Conf.RunModel){
+        double curt = timefromstart();
+        Xmodel->emergency_stop(Xmodel, curt);
+        Ymodel->emergency_stop(Ymodel, curt);
+        return MCC_E_OK;
+    }
+    if(!SSstop(TRUE)) return MCC_E_FAILED;
+    return MCC_E_OK;
+}
+// normal stop
+static mcc_errcodes_t stop(){
+    FNAME();
+    if(Conf.RunModel){
+        double curt = timefromstart();
+        Xmodel->stop(Xmodel, curt);
+        Ymodel->stop(Ymodel,curt);
+        return MCC_E_OK;
+    }
+    if(!SSstop(FALSE)) return MCC_E_FAILED;
+    return MCC_E_OK;
+}
+
+/**
+ * @brief shortcmd - send and receive short binary command
+ * @param cmd (io) - command
+ * @return errcode
+ */
+static mcc_errcodes_t shortcmd(short_command_t *cmd){
+    if(!cmd) return MCC_E_BADFORMAT;
+    if(Conf.RunModel){
+        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;
+        param.coord = cmd->Ymot; param.speed = cmd->Yspeed;
+        if(!model_move2(Ymodel, &param, curt)) return MCC_E_FAILED;
+        setslewingstate();
+        return MCC_E_OK;
+    }
+    SSscmd s = {0};
+    DBG("tag: xmot=%g rad, ymot=%g rad", cmd->Xmot, cmd->Ymot);
+    s.Xmot = X_RAD2MOT(cmd->Xmot);
+    s.Ymot = Y_RAD2MOT(cmd->Ymot);
+    s.Xspeed = X_RS2MOTSPD(cmd->Xspeed);
+    s.Yspeed = Y_RS2MOTSPD(cmd->Yspeed);
+    s.xychange = cmd->xychange;
+    s.XBits = cmd->XBits;
+    s.YBits = cmd->YBits;
+    DBG("X->%d, Y->%d, Xs->%d, Ys->%d", s.Xmot, s.Ymot, s.Xspeed, s.Yspeed);
+    if(!cmdS(&s)) return MCC_E_FAILED;
+    setslewingstate();
+    return MCC_E_OK;
+}
+
+/**
+ * @brief longcmd - send and receive long binary command
+ * @param cmd (io) - command
+ * @return errcode
+ */
+static mcc_errcodes_t longcmd(long_command_t *cmd){
+    if(!cmd) return MCC_E_BADFORMAT;
+    if(Conf.RunModel){
+        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;
+        param.coord = cmd->Ymot; param.speed = cmd->Yspeed;
+        if(!model_move2(Ymodel, &param, curt)) return MCC_E_FAILED;
+        setslewingstate();
+        return MCC_E_OK;
+    }
+    SSlcmd l = {0};
+    l.Xmot = X_RAD2MOT(cmd->Xmot);
+    l.Ymot = Y_RAD2MOT(cmd->Ymot);
+    l.Xspeed = X_RS2MOTSPD(cmd->Xspeed);
+    l.Yspeed = Y_RS2MOTSPD(cmd->Yspeed);
+    l.Xadder = X_RS2MOTSPD(cmd->Xadder);
+    l.Yadder = Y_RS2MOTSPD(cmd->Yadder);
+    l.Xatime = S2ADDER(cmd->Xatime);
+    l.Yatime = S2ADDER(cmd->Yatime);
+    if(!cmdL(&l)) return MCC_E_FAILED;
+    setslewingstate();
+    return MCC_E_OK;
+}
+
+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);
+    hwConfig->Yconf.accel = Y_MOTACC2RS(config.Yconf.accel);
+    // Convert backlash (ticks to radians)
+    hwConfig->Xconf.backlash = X_MOT2RAD(config.Xconf.backlash);
+    hwConfig->Yconf.backlash = Y_MOT2RAD(config.Yconf.backlash);
+    // Convert error limit (ticks to radians)
+    hwConfig->Xconf.errlimit = X_MOT2RAD(config.Xconf.errlimit);
+    hwConfig->Yconf.errlimit = Y_MOT2RAD(config.Yconf.errlimit);
+    // Proportional, integral, and derivative gains are unitless, so no conversion needed
+    hwConfig->Xconf.propgain = (double)config.Xconf.propgain;
+    hwConfig->Yconf.propgain = (double)config.Yconf.propgain;
+    hwConfig->Xconf.intgain = (double)config.Xconf.intgain;
+    hwConfig->Yconf.intgain = (double)config.Yconf.intgain;
+    hwConfig->Xconf.derivgain = (double)config.Xconf.derivgain;
+    hwConfig->Yconf.derivgain = (double)config.Yconf.derivgain;
+    // Output limit is a percentage (0-100)
+    hwConfig->Xconf.outplimit = (double)config.Xconf.outplimit / 255.0 * 100.0;
+    hwConfig->Yconf.outplimit = (double)config.Yconf.outplimit / 255.0 * 100.0;
+    // Current limit in amps
+    hwConfig->Xconf.currlimit = (double)config.Xconf.currlimit / 100.0;
+    hwConfig->Yconf.currlimit = (double)config.Yconf.currlimit / 100.0;
+    // Integral limit is unitless
+    hwConfig->Xconf.intlimit = (double)config.Xconf.intlimit;
+    hwConfig->Yconf.intlimit = (double)config.Yconf.intlimit;
+    // Copy XBits and YBits (no conversion needed)
+    hwConfig->xbits = config.xbits;
+    hwConfig->ybits = config.ybits;
+    // Copy address
+    hwConfig->address = config.address;
+
+    // TODO: What to do with eqrate, eqadj and trackgoal?
+    config.latitude = __bswap_16(config.latitude);
+    // Convert latitude (degrees * 100 to radians)
+    hwConfig->latitude = ((double)config.latitude) / 100.0 * M_PI / 180.0;
+    // Copy ticks per revolution
+    hwConfig->Xsetpr = __bswap_32(config.Xsetpr);
+    hwConfig->Ysetpr = __bswap_32(config.Ysetpr);
+    hwConfig->Xmetpr = __bswap_32(config.Xmetpr); // as documentation said, real ticks are 4 times less
+    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);
+    // Convert pan rates (ticks per loop to rad/s)
+    hwConfig->Xpanrate = X_MOTSPD2RS(config.Xpanrate);
+    hwConfig->Ypanrate = Y_MOTSPD2RS(config.Ypanrate);
+    // Convert guide rates (ticks per loop to rad/s)
+    hwConfig->Xguiderate = X_MOTSPD2RS(config.Xguiderate);
+    hwConfig->Yguiderate = Y_MOTSPD2RS(config.Yguiderate);
+    // copy baudrate
+    hwConfig->baudrate = (uint32_t) config.baudrate;
+    // Convert local search degrees (degrees * 100 to radians)
+    hwConfig->locsdeg = (double)config.locsdeg / 100.0 * M_PI / 180.0;
+    // Convert local search speed (arcsec per second to rad/s)
+    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;
+}
+
+static mcc_errcodes_t write_hwconf(hardware_configuration_t *hwConfig){
+    SSconfig config;
+    if(Conf.RunModel) return MCC_E_FAILED;
+    // Convert acceleration (rad/s^2 to ticks per loop^2)
+    config.Xconf.accel = X_RS2MOTACC(hwConfig->Xconf.accel);
+    config.Yconf.accel = Y_RS2MOTACC(hwConfig->Yconf.accel);
+    // Convert backlash (radians to ticks)
+    config.Xconf.backlash = X_RAD2MOT(hwConfig->Xconf.backlash);
+    config.Yconf.backlash = Y_RAD2MOT(hwConfig->Yconf.backlash);
+    // Convert error limit (radians to ticks)
+    config.Xconf.errlimit = X_RAD2MOT(hwConfig->Xconf.errlimit);
+    config.Yconf.errlimit = Y_RAD2MOT(hwConfig->Yconf.errlimit);
+    // Proportional, integral, and derivative gains are unitless, so no conversion needed
+    config.Xconf.propgain = (uint16_t)hwConfig->Xconf.propgain;
+    config.Yconf.propgain = (uint16_t)hwConfig->Yconf.propgain;
+    config.Xconf.intgain = (uint16_t)hwConfig->Xconf.intgain;
+    config.Yconf.intgain = (uint16_t)hwConfig->Yconf.intgain;
+    config.Xconf.derivgain = (uint16_t)hwConfig->Xconf.derivgain;
+    config.Yconf.derivgain = (uint16_t)hwConfig->Yconf.derivgain;
+    // Output limit is a percentage (0-100), so convert back to 0-255
+    config.Xconf.outplimit = (uint8_t)(hwConfig->Xconf.outplimit / 100.0 * 255.0);
+    config.Yconf.outplimit = (uint8_t)(hwConfig->Yconf.outplimit / 100.0 * 255.0);
+    // Current limit is in amps (convert back to *100)
+    config.Xconf.currlimit = (uint16_t)(hwConfig->Xconf.currlimit * 100.0);
+    config.Yconf.currlimit = (uint16_t)(hwConfig->Yconf.currlimit * 100.0);
+    // Integral limit is unitless, so no conversion needed
+    config.Xconf.intlimit = (uint16_t)hwConfig->Xconf.intlimit;
+    config.Yconf.intlimit = (uint16_t)hwConfig->Yconf.intlimit;
+    // Copy XBits and YBits (no conversion needed)
+    config.xbits = hwConfig->xbits;
+    config.ybits = hwConfig->ybits;
+    // Convert latitude (radians to degrees * 100)
+    config.latitude = __bswap_16((uint16_t)(hwConfig->latitude * 180.0 / M_PI * 100.0));
+    // Convert slew rates (rad/s to ticks per loop)
+    config.Xslewrate = X_RS2MOTSPD(hwConfig->Xslewrate);
+    config.Yslewrate = Y_RS2MOTSPD(hwConfig->Yslewrate);
+    // Convert pan rates (rad/s to ticks per loop)
+    config.Xpanrate = X_RS2MOTSPD(hwConfig->Xpanrate);
+    config.Ypanrate = Y_RS2MOTSPD(hwConfig->Ypanrate);
+    // Convert guide rates (rad/s to ticks per loop)
+    config.Xguiderate = X_RS2MOTSPD(hwConfig->Xguiderate);
+    config.Yguiderate = Y_RS2MOTSPD(hwConfig->Yguiderate);
+    // Convert local search degrees (radians to degrees * 100)
+    config.locsdeg = (uint32_t)(hwConfig->locsdeg * 180.0 / M_PI * 100.0);
+    // Convert local search speed (rad/s to arcsec per second)
+    config.locsspeed = (uint32_t)(hwConfig->locsspeed * 180.0 * 3600.0 / M_PI);
+    // Convert backlash speed (rad/s to ticks per loop)
+    config.backlspd = X_RS2MOTSPD(hwConfig->backlspd);
+    config.Xsetpr = __bswap_32(hwConfig->Xsetpr);
+    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,
+    .moveTo = move2,
+    .moveWspeed = move2s,
+    .setSpeed = setspeed,
+    .emergStop = emstop,
+    .stop = stop,
+    .shortCmd = shortcmd,
+    .longCmd = longcmd,
+    .getHWconfig = get_hwconf,
+    .saveHWconfig = write_hwconf,
+    .currentT = curtime,
+    .timeFromStart = timefromstart,
+    .timeDiff = timediff,
+    .timeDiff0 = timediff0,
+    .correctTo = correct2,
+    .getMaxSpeed = maxspeed,
+    .getMinSpeed = minspeed,
+    .getAcceleration = acceleration,
+};
+

LibSidServo/main.h

@@ -0,0 +1,81 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/*
+ * Almost all here used for debug purposes
+ */
+
+#pragma once
+
+#include <stdlib.h>
+
+#include "movingmodel.h"
+#include "sidservo.h"
+
+extern conf_t Conf;
+extern limits_t Xlimits, Ylimits;
+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
+    size_t idx; // index of current data in array
+    size_t arraysz; // size of arrays
+} less_square_t;
+
+less_square_t *LS_init(size_t Ndata);
+void LS_delete(less_square_t **ls);
+double LS_calc_slope(less_square_t *l, double x, double t);
+
+// unused arguments of functions
+#define _U_         __attribute__((__unused__))
+// weak functions
+#define WEAK        __attribute__ ((weak))
+
+#ifndef DBL_EPSILON
+#define DBL_EPSILON        (2.2204460492503131e-16)
+#endif
+
+#ifndef FALSE
+#define FALSE (0)
+#endif
+
+#ifndef TRUE
+#define TRUE (1)
+#endif
+
+
+#ifdef EBUG
+#include <stdio.h>
+    #define COLOR_RED           "\033[1;31;40m"
+    #define COLOR_GREEN         "\033[1;32;40m"
+    #define COLOR_OLD           "\033[0;0;0m"
+    #define FNAME() do{ fprintf(stderr, COLOR_GREEN "\n%s " COLOR_OLD, __func__); \
+    fprintf(stderr, "(%s, line %d)\n", __FILE__, __LINE__);} while(0)
+    #define DBG(...) do{ fprintf(stderr, COLOR_RED "%s " COLOR_OLD, __func__); \
+        fprintf(stderr, "(%s, line %d): ", __FILE__, __LINE__); \
+        fprintf(stderr, __VA_ARGS__);           \
+        fprintf(stderr, "\n");} while(0)
+
+#else  // EBUG
+    #define FNAME()
+    #define DBG(...)
+#endif // EBUG

LibSidServo/movingfilter.c-

@@ -0,0 +1,46 @@
+#include <math.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#define NFILT	(5)
+
+static double filterK[NFILT];
+
+static void buildFilter(){
+	filterK[NFILT-1] = 1.;
+	double sum = 1.;
+	for(int i = NFILT-2; i > -1; --i){
+		filterK[i] = (filterK[i+1] + 1.) * 1.1;
+		sum += filterK[i];
+	}
+	for(int i = 0; i < NFILT; ++i){
+		filterK[i] /= sum;
+		fprintf(stderr, "%d: %g\n", i, filterK[i]);
+	}
+}
+
+static double filter(double val){
+	static int ctr = 0;
+	static double lastvals[NFILT] = {0.};
+	for(int i = NFILT-1; i > 0; --i) lastvals[i] = lastvals[i-1];
+	lastvals[0] = val;
+	double r = 0.;
+	if(ctr < NFILT){
+		++ctr;
+		return val;
+	}
+	for(int i = 0; i < NFILT; ++i) r += filterK[i] * lastvals[i];
+	return r;
+}
+
+int main(int argc, char **argv){
+	buildFilter();
+	printf("Signal\tNoiced\tFiltered\n");
+	for(int i = 0; i < 100; ++i){
+		double di = (double)i;
+		double sig = di * di / 1e5 + sin(i * M_PI / 1500.);
+		double noiced = sig + 0.1 * (drand48() - 0.5);
+		printf("%.3f\t%.3f\t%.3f\n", sig, noiced, filter(noiced));
+	}
+	return 0;
+}

LibSidServo/movingmodel.c

@@ -0,0 +1,73 @@
+/*
+ * This file is part of the moving_model project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <math.h>
+#include <stdio.h>
+#include <string.h>
+#include <pthread.h>
+
+#include "main.h"
+#include "movingmodel.h"
+#include "ramp.h"
+
+extern movemodel_t trapez;
+
+static void chkminmax(double *min, double *max){
+    if(*min <= *max) return;
+    double t = *min;
+    *min = *max;
+    *max = t;
+}
+
+movemodel_t *model_init(limits_t *l){
+    if(!l) return FALSE;
+    movemodel_t *m = calloc(1, sizeof(movemodel_t));
+    // we can't use memcpy or assign as Times/Params would be common for all
+    *m = trapez;
+    m->Times = calloc(STAGE_AMOUNT, sizeof(double));
+    m->Params = calloc(STAGE_AMOUNT, sizeof(moveparam_t));
+    moveparam_t *max = &l->max, *min = &l->min;
+    if(min->speed < 0.) min->speed = -min->speed;
+    if(max->speed < 0.) max->speed = -max->speed;
+    if(min->accel < 0.) min->accel = -min->accel;
+    if(max->accel < 0.) max->accel = -max->accel;
+    chkminmax(&min->coord, &max->coord);
+    chkminmax(&min->speed, &max->speed);
+    chkminmax(&min->accel, &max->accel);
+    m->Min = l->min;
+    m->Max = l->max;
+    m->movingstage = STAGE_STOPPED;
+    m->state = ST_STOP;
+    pthread_mutex_init(&m->mutex, NULL);
+    DBG("model inited");
+    return m;
+}
+
+int model_move2(movemodel_t *model, moveparam_t *target, double t){
+    if(!target || !model) return FALSE;
+    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);
+}

LibSidServo/movingmodel.h

@@ -0,0 +1,76 @@
+/*
+ * This file is part of the moving_model project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+#include <pthread.h>
+
+#include "sidservo.h"
+
+// tolerance, time ticks
+#define COORD_TOLERANCE_DEFAULT (1e-8)
+#define COORD_TOLERANCE_MIN     (1e-12)
+#define COORD_TOLERANCE_MAX     (10.)
+#define TIME_TICK_DEFAULT       (0.0001)
+#define TIME_TICK_MIN           (1e-9)
+#define TIME_TICK_MAX           (10.)
+
+typedef enum{
+    ST_STOP,            // stopped
+    ST_MOVE,            // moving
+    ST_AMOUNT
+} movestate_t;
+
+typedef struct{
+    double coord;
+    double speed;
+    double accel;
+} moveparam_t;
+
+typedef struct{
+    moveparam_t min;
+    moveparam_t max;
+    //double acceleration;
+} limits_t;
+
+typedef enum{
+    STAGE_ACCEL,        // start from last speed and accelerate/decelerate to target speed
+    STAGE_MAXSPEED,     // go with target speed
+    STAGE_DECEL,        // go from target speed to zero
+    STAGE_STOPPED,      // stop
+    STAGE_AMOUNT
+} movingstage_t;
+
+typedef struct movemodel{
+    moveparam_t Min;
+    moveparam_t Max;
+    movingstage_t movingstage;
+    movestate_t state;
+    double *Times;
+    moveparam_t *Params;
+    moveparam_t curparams;                    // init values of limits, jerk
+    int (*calculate)(struct movemodel *m, moveparam_t *target, double t);        // calculate stages of traectory beginning from t
+    movestate_t (*proc_move)(struct movemodel *m, moveparam_t *next, double t);  // calculate next model point for time t
+    movestate_t (*get_state)(struct movemodel *m, moveparam_t *cur);             // get current moving state
+    void (*stop)(struct movemodel *m, double t);                                 // stop by ramp
+    void (*emergency_stop)(struct movemodel *m, double t);                       // stop with highest acceleration
+    double (*stoppedtime)(struct movemodel *m);                                  // time when moving will ends
+    pthread_mutex_t mutex;
+} movemodel_t;
+
+movemodel_t *model_init(limits_t *l);
+int model_move2(movemodel_t *model, moveparam_t *target, double t);

LibSidServo/polltest/main.c

@@ -0,0 +1,197 @@
+/*
+ * 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>
+
+// suppose that we ONLY poll data
+#define XYBUFSZ     (128)
+
+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;
+}
+
+// write to buffer next data portion; return FALSE in case of error
+static int readstrings(buf_t *buf, int fd){
+    FNAME();
+    if(!buf){WARNX("Empty buffer"); return FALSE;}
+    int L = XYBUFSZ - buf->len;
+    if(L == 0){
+        DBG("buffer  overfull!", 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;
+    }
+    int got = read(fd, &buf->buf[buf->len], L);
+    if(got < 0){
+        WARN("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) return FALSE;
+    // 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;
+}
+
+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, 0) < 0){
+            WARN("poll()");
+            break;
+        }
+        if(pfds[0].revents && POLLIN){
+            DBG("got X");
+            if(!readstrings(&xbuf, Xfd)) break;
+        }
+        if(pfds[1].revents && POLLIN){
+            DBG("got Y");
+            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;
+}

LibSidServo/ramp.c

@@ -0,0 +1,259 @@
+/*
+ * This file is part of the moving_model project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// simplest trapezioidal ramp
+
+#include <math.h>
+#include <strings.h>
+
+#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){
+    FNAME();
+    pthread_mutex_lock(&m->mutex);
+    m->curparams.accel = 0.;
+    m->curparams.speed = 0.;
+    bzero(m->Times, sizeof(double) * STAGE_AMOUNT);
+    bzero(m->Params, sizeof(moveparam_t) * STAGE_AMOUNT);
+    m->state = ST_STOP;
+    m->movingstage = STAGE_STOPPED;
+    pthread_mutex_unlock(&m->mutex);
+}
+
+static void stop(movemodel_t *m, double t){
+    FNAME();
+    pthread_mutex_lock(&m->mutex);
+    if(m->state == ST_STOP || m->movingstage == STAGE_STOPPED) goto ret;
+    m->movingstage = STAGE_DECEL;
+    m->state = ST_MOVE;
+    m->Times[STAGE_DECEL] = t;
+    m->Params[STAGE_DECEL].speed = m->curparams.speed;
+    if(m->curparams.speed > 0.) m->Params[STAGE_DECEL].accel = -m->Max.accel;
+    else m->Params[STAGE_DECEL].accel = m->Max.accel;
+    m->Params[STAGE_DECEL].coord = m->curparams.coord;
+    // speed: v=v2+a2(t-t2), v2 and a2 have different signs; t3: v3=0 -> t3=t2-v2/a2
+    m->Times[STAGE_STOPPED] = t - m->curparams.speed / m->Params[STAGE_DECEL].accel;
+    // coordinate: x=x2+v2(t-t2)+a2(t-t2)^2/2 -> x3=x2+v2(t3-t2)+a2(t3-t2)^2/2
+    double dt = m->Times[STAGE_STOPPED] - t;
+    m->Params[STAGE_STOPPED].coord = m->curparams.coord + m->curparams.speed * dt +
+                                  m->Params[STAGE_DECEL].accel * dt * dt / 2.;
+ret:
+    pthread_mutex_unlock(&m->mutex);
+}
+
+// inner part of `calc`, could be called recoursively for hard case
+static void unlockedcalc(movemodel_t *m, moveparam_t *x, double t){
+    // signs
+    double sign_a01 = 0., sign_a23 = 0., sign_vset = 0.; // accelerations on stages ACCEL and DECEL, speed on maxspeed stage
+    // times
+    double dt01 = 0., dt12 = 0., dt23 = 0.;
+    // absolute speed at stage 23 (or in that point); absolute max acceleration
+    double abs_vset = x->speed, abs_a = m->Max.accel;
+    // absolute target movement
+    double abs_Dx = fabs(x->coord - m->curparams.coord);
+    if(m->state == ST_STOP && abs_Dx < coord_tolerance){
+        DBG("Movement too small -> stay at place");
+        return;
+    }
+    // signs of Dx and current speed
+    double sign_Dx = (x->coord > m->curparams.coord) ? 1. : -1.;
+    double v0 = m->curparams.speed;
+    double sign_v0 = v0 < 0. ? -1 : 1., abs_v0 = fabs(v0);
+    if(v0 == 0.) sign_v0 = 0.;
+    // preliminary calculations (vset and dependent values could be changed)
+    dt01 = fabs(abs_v0 - abs_vset) / abs_a;
+    double abs_dx23 = abs_vset * abs_vset / 2. / abs_a;
+    dt23 = abs_vset / abs_a;
+    double abs_dx_stop = abs_v0 * abs_v0 / 2. / abs_a;
+    if(sign_Dx * sign_v0 >= 0. && abs_dx_stop < abs_Dx){ // we shouldn't change speed direction
+        if(fabs(abs_dx_stop - abs_Dx) <= coord_tolerance){ // simplest case: just stop
+            //DBG("Simplest case: stop");
+            dt01 = dt12 = 0.;
+            sign_a23 = -sign_v0;
+            dt23 = abs_v0 / abs_a;
+        }else if(abs_vset < abs_v0){ // move with smaller speed than now: very simple case
+            //DBG("Move with smaller speed");
+            sign_a01 = sign_a23 = -sign_v0;
+            sign_vset = sign_v0;
+            double abs_dx01 = abs_v0 * dt01 - abs_a * dt01 * dt01 / 2.;
+            double abs_dx12 = abs_Dx - abs_dx01 - abs_dx23;
+            dt12 = abs_dx12 / abs_vset;
+        }else{// move with larget speed
+            //DBG("Move with larger speed");
+            double abs_dx01 = abs_v0 * dt01 + abs_a * dt01 * dt01 / 2.;
+            if(abs_Dx < abs_dx01 + abs_dx23){ // recalculate target speed and other
+                abs_vset = sqrt(abs_a * abs_Dx + abs_v0 * abs_v0 / 2.);
+                dt01 = fabs(abs_v0 - abs_vset) / abs_a;
+                abs_dx01 = abs_v0 * dt01 + abs_a * dt01 * dt01 / 2.;
+                dt23 = abs_vset / abs_a;
+                abs_dx23 = abs_vset * abs_vset / 2. / abs_a;
+                DBG("Can't reach target speed %g, take %g instead", x->speed, abs_vset);
+            }
+            sign_a01 = sign_Dx; // sign_v0 could be ZERO!!!
+            sign_a23 = -sign_Dx;
+            sign_vset = sign_Dx;
+            double abs_dx12 = abs_Dx - abs_dx01 - abs_dx23;
+            dt12 = abs_dx12 / abs_vset;
+        }
+    }else{
+        // if we are here, we have the worst 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;
+        m->state = ST_STOP;
+        m->curparams.accel = 0.; m->curparams.coord = xstop; m->curparams.speed = 0.;
+        unlockedcalc(m, x, tstop); // calculate new ramp
+        // and change started conditions
+        m->curparams.coord = x0; m->curparams.speed = v0;
+        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);
+        return;
+    }
+    m->state = ST_MOVE;
+    m->movingstage = STAGE_ACCEL;
+    // some knot parameters
+    double a01 = sign_a01 * abs_a, a23 = sign_a23 * abs_a;
+    double v1, v2, x0, x1, x2;
+    v2 = v1 = sign_vset * abs_vset;
+    x0 = m->curparams.coord;
+    x1 = x0 + v0 * dt01 + a01 * dt01 * dt01 / 2.;
+    x2 = x1 + v1 * dt12;
+    // fill knot parameters
+    moveparam_t *p = &m->Params[STAGE_ACCEL]; // 0-1 - change started speed
+    p->accel = a01;
+    p->speed = m->curparams.speed;
+    p->coord = x0;
+    m->Times[STAGE_ACCEL] = t;
+    p = &m->Params[STAGE_MAXSPEED]; // 1-2 - constant speed
+    p->accel = 0.;
+    p->speed = v1;
+    p->coord = x1;
+    m->Times[STAGE_MAXSPEED] = m->Times[STAGE_ACCEL] + dt01;
+    p = &m->Params[STAGE_DECEL]; // 2-3 - decrease speed
+    p->accel = a23;
+    p->speed = v2;
+    p->coord = x2;
+    m->Times[STAGE_DECEL] = m->Times[STAGE_MAXSPEED] + dt12;
+    p = &m->Params[STAGE_STOPPED]; // 3 - stop at target
+    p->accel = p->speed = 0.;
+    p->coord = x->coord;
+    m->Times[STAGE_STOPPED] = m->Times[STAGE_DECEL] + dt23;
+}
+
+/**
+ * @brief calc - moving calculation
+ * @param x - using max speed (>0!!!) and coordinate
+ * @param t - current time value
+ * @return FALSE if can't move with given parameters
+ */
+static int calc(movemodel_t *m, moveparam_t *x, double t) {
+    //DBG("target coord/speed: %g/%g; current: %g/%g", x->coord, x->speed, m->curparams.coord, m->curparams.speed);
+    if (!x || !m) return FALSE;
+    pthread_mutex_lock(&m->mutex);
+    int ret = FALSE;
+    // Validate input parameters
+    if(x->coord < m->Min.coord || x->coord > m->Max.coord){
+        DBG("Wrong coordinate [%g, %g]", m->Min.coord, m->Max.coord);
+        goto ret;
+    }
+    if(x->speed < m->Min.speed || x->speed > m->Max.speed){
+        DBG("Wrong speed [%g, %g]", m->Min.speed, m->Max.speed);
+        goto ret;
+    }
+    ret = TRUE; // now there's no chanses to make error
+    unlockedcalc(m, x, t);
+    // Debug output
+    /*for(int i = 0; i < STAGE_AMOUNT; i++){
+        DBG("Stage %d: t=%.6f, coord=%.6f, speed=%.6f, accel=%.6f",
+            i, m->Times[i], m->Params[i].coord, m->Params[i].speed, m->Params[i].accel);
+    }*/
+ret:
+    pthread_mutex_unlock(&m->mutex);
+    return ret;
+}
+
+static movestate_t proc(movemodel_t *m, moveparam_t *next, double t){
+    pthread_mutex_lock(&m->mutex);
+    if(m->state == ST_STOP) goto ret;
+    for(movingstage_t s = STAGE_STOPPED; s >= 0; --s){
+        if(m->Times[s] <= t){ // check time for current stage
+            m->movingstage = s;
+            break;
+        }
+    }
+    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);
+        for(int s = STAGE_STOPPED; s >= 0; --s){
+            DBG("T[%d]=%g, ", s, m->Times[s]);
+        }*/
+        emstop(m, t);
+        goto ret;
+    }
+    // calculate current parameters
+    double dt = t - m->Times[m->movingstage];
+    double a = m->Params[m->movingstage].accel;
+    double v0 = m->Params[m->movingstage].speed;
+    double x0 = m->Params[m->movingstage].coord;
+    m->curparams.accel = a;
+    m->curparams.speed = v0 + a * dt;
+    m->curparams.coord = x0 + v0 * dt + a * dt * dt / 2.;
+ret:
+    if(next) *next = m->curparams;
+    movestate_t st = m->state;
+    pthread_mutex_unlock(&m->mutex);
+    return st;
+}
+
+static movestate_t getst(movemodel_t *m, moveparam_t *cur){
+    pthread_mutex_lock(&m->mutex);
+    if(cur) *cur = m->curparams;
+    movestate_t st = m->state;
+    pthread_mutex_unlock(&m->mutex);
+    return st;
+}
+
+static double gettstop(movemodel_t *m){
+    pthread_mutex_lock(&m->mutex);
+    double r = m->Times[STAGE_STOPPED];
+    pthread_mutex_unlock(&m->mutex);
+    return r;
+}
+
+movemodel_t trapez = {
+    .stop = stop,
+    .emergency_stop = emstop,
+    .get_state = getst,
+    .calculate = calc,
+    .proc_move = proc,
+    .stoppedtime = gettstop,
+};

LibSidServo/ramp.h

@@ -0,0 +1,23 @@
+/*
+ * This file is part of the moving_model project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "movingmodel.h"
+
+extern movemodel_t trapez;

LibSidServo/serial.c

@@ -0,0 +1,815 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <asm-generic/termbits.h>
+#include <errno.h>
+#include <fcntl.h>
+#include <math.h>
+#include <pthread.h>
+#include <signal.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <sys/stat.h>
+#include <unistd.h>
+
+#include "main.h"
+#include "movingmodel.h"
+#include "serial.h"
+#include "ssii.h"
+
+// serial devices FD
+static int encfd[2] = {-1, -1}, mntfd = -1;
+// main mount data
+static mountdata_t mountdata = {0};
+// last encoders time and last encoders data - for speed measurement
+//static coordval_t lastXenc = {0}, lastYenc = {0};
+
+// mutexes for RW operations with mount device and data
+static pthread_mutex_t  mntmutex = PTHREAD_MUTEX_INITIALIZER,
+                        datamutex = 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 = 100}, mntRtmout = {.tv_sec = 0, .tv_usec = 50000};
+// encoders raw data
+typedef struct __attribute__((packed)){
+    uint8_t magick;
+    int32_t encY;
+    int32_t encX;
+    uint8_t CRC[4];
+} enc_t;
+
+// calculate current X/Y speeds
+void getXspeed(){
+    static less_square_t *ls = NULL;
+    if(!ls){
+        ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
+        if(!ls) return;
+    }
+    pthread_mutex_lock(&datamutex);
+    double dt = timediff0(&mountdata.encXposition.t);
+    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;
+    }
+    pthread_mutex_unlock(&datamutex);
+    //DBG("Xspeed=%g", mountdata.encXspeed.val);
+}
+void getYspeed(){
+    static less_square_t *ls = NULL;
+    if(!ls){
+        ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
+        if(!ls) return;
+    }
+    pthread_mutex_lock(&datamutex);
+    double dt = timediff0(&mountdata.encYposition.t);
+    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;
+    }
+    pthread_mutex_unlock(&datamutex);
+}
+
+/**
+ * @brief parse_encbuf - check encoder buffer (for encoder data based on SSII proto) and fill fresh data
+ * @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], struct timespec *t){
+    if(!t) return;
+    enc_t *edata = (enc_t*) databuf;
+/*
+#ifdef EBUG
+    DBG("ENCBUF:");
+    for(int i = 0; i < ENC_DATALEN; ++i) printf("%02X ", databuf[i]);
+    printf("\n");
+#endif
+*/
+    if(edata->magick != ENC_MAGICK){
+        DBG("No magick");
+        return;
+    }
+    if(edata->CRC[3]){
+        DBG("No 0 @ end: 0x%02x", edata->CRC[3]);
+        return;
+    }
+    uint32_t POS_SUM = 0;
+    for(int i = 1; i < 9; ++i) POS_SUM += databuf[i];
+    uint8_t x = POS_SUM >> 8;
+    if(edata->CRC[0] != x){
+        DBG("CRC[0] = 0x%02x, need 0x%02x", edata->CRC[0], x);
+        return;
+    }
+    uint8_t y = ((0xFFFF - POS_SUM) & 0xFF) - x;
+    if(edata->CRC[1] != y){
+        DBG("CRC[1] = 0x%02x, need 0x%02x", edata->CRC[1], y);
+        return;
+    }
+    y = (0xFFFF - POS_SUM) >> 8;
+    if(edata->CRC[2] != y){
+        DBG("CRC[2] = 0x%02x, need 0x%02x", edata->CRC[2], y);
+        return;
+    }
+    pthread_mutex_lock(&datamutex);
+    mountdata.encXposition.val = Xenc2rad(edata->encX);
+    mountdata.encYposition.val = Yenc2rad(edata->encY);
+    DBG("Got positions X/Y= %.6g / %.6g", mountdata.encXposition.val, mountdata.encYposition.val);
+    mountdata.encXposition.t = *t;
+    mountdata.encYposition.t = *t;
+    pthread_mutex_unlock(&datamutex);
+    //if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed();
+    //if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed();
+    getXspeed(); getYspeed();
+    //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, struct timespec *t){
+    if(fd < 0){
+        DBG("Encoder fd < 0!");
+        return FALSE;
+    }
+    char buf[128];
+    int got = 0, Lmax = 127;
+    double t0 = timefromstart();
+    //DBG("start: %.6g", t0);
+    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){
+            //DBG("select()==0 - timeout, %.6g", timefromstart());
+            break;
+        }
+        if(retval < 0){
+            if(errno == EINTR){
+                DBG("EINTR");
+                continue;
+            }
+            DBG("select() < 0");
+            return 0;
+        }
+        if(FD_ISSET(fd, &rfds)){
+            ssize_t l = read(fd, &buf[got], Lmax);
+            if(l < 1){
+                DBG("read() < 0");
+                return 0; // disconnected ??
+            }
+            got += l; Lmax -= l;
+            buf[got] = 0;
+        } else continue;
+        if(buf[got-1] == '\n') break; // got EOL as last symbol
+    }while(Lmax && timefromstart() - t0 < Conf.EncoderReqInterval / 5.);
+    if(got == 0){
+        //DBG("No data from encoder, tfs=%.6g", timefromstart());
+        return 0;
+    }
+    char *estr = strrchr(buf, '\n');
+    if(!estr){
+        DBG("No EOL");
+        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){ if(!curtime(t)){ DBG("Can't get time"); return 0; }}
+    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;
+    uint8_t byte = 0;
+    fd_set rfds;
+    do{
+        FD_ZERO(&rfds);
+        FD_SET(encfd[0], &rfds);
+        struct timeval tv = encRtmout;
+        int retval = select(encfd[0] + 1, &rfds, NULL, NULL, &tv);
+        if(!retval) break;
+        if(retval < 0){
+            if(errno == EINTR) continue;
+            return -1;
+        }
+        if(FD_ISSET(encfd[0], &rfds)){
+            ssize_t l = read(encfd[0], &byte, 1);
+            if(l != 1) return -2; // disconnected ??
+            break;
+        } else return -1;
+    }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;
+    uint8_t byte;
+    fd_set rfds;
+   /* ssize_t l = read(mntfd, &byte, 1);
+    //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;
+        int retval = select(mntfd + 1, &rfds, NULL, NULL, &tv);
+        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);
+            //DBG("MNT read=%zd byte=0x%X", l, byte);
+            if(l != 1){
+                DBG("Mount disconnected?");
+                return -2; // disconnected ??
+            }
+            break;
+        } else return -1;
+    }while(1);
+    return (int)byte;
+}
+// clear data from input buffer
+static void clrmntbuf(){
+    if(mntfd < 0) return;
+    uint8_t byte;
+    fd_set rfds;
+    do{
+        FD_ZERO(&rfds);
+        FD_SET(mntfd, &rfds);
+        struct timeval tv = {.tv_sec=0, .tv_usec=10};
+        int retval = select(mntfd + 1, &rfds, NULL, NULL, &tv);
+        if(retval < 0){
+            if(errno == EINTR) continue;
+            DBG("Error in select()");
+            break;
+        }
+        if(FD_ISSET(mntfd, &rfds)){
+            ssize_t l = read(mntfd, &byte, 1);
+            if(l != 1) break;
+        } else break;
+    }while(1);
+}
+
+// main encoder thread (for separate encoder): read next data and make parsing
+static void *encoderthread1(void _U_ *u){
+    if(Conf.SepEncoder != 1) return NULL;
+    uint8_t databuf[ENC_DATALEN];
+    int wridx = 0, errctr = 0;
+    struct timespec tcur;
+    while(encfd[0] > -1 && errctr < MAX_ERR_CTR){
+        int b = getencbyte();
+        if(b == -2) ++errctr;
+        if(b < 0) continue;
+        errctr = 0;
+//        DBG("Got byte from Encoder: 0x%02X", b);
+        if(wridx == 0){
+            if((uint8_t)b == ENC_MAGICK){
+//                DBG("Got magic -> start filling packet");
+                databuf[wridx++] = (uint8_t) b;
+            }
+            continue;
+        }else databuf[wridx++] = (uint8_t) b;
+        if(wridx == ENC_DATALEN){
+            if(curtime(&tcur)){
+                parse_encbuf(databuf, &tcur);
+                wridx = 0;
+            }
+        }
+    }
+    if(encfd[0] > -1){
+        close(encfd[0]);
+        encfd[0] = -1;
+    }
+    return NULL;
+}
+
+// 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");
+    int errctr = 0;
+    double t0 = timefromstart();
+    const char *req = "\n";
+    int need2ask = 0; // need or not to ask encoder for new data
+    while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR){
+        struct timespec t;
+        if(need2ask){
+            //DBG("ASK for new data, tfs=%.6g", timefromstart());
+            if(1 != write(encfd[0], req, 1)) { ++errctr; continue; }
+            else if(1 != write(encfd[1], req, 1)) { ++errctr; continue; }
+            //DBG("OK");
+            need2ask = 0;
+            usleep(100);
+        }
+        if(!curtime(&t)){
+            DBG("Where is time?");
+            continue;
+        }
+        double v;
+        if(getencval(encfd[0], &v, &t)){
+            pthread_mutex_lock(&datamutex);
+            mountdata.encXposition.val = Xenc2rad(v);
+            mountdata.encXposition.t = t;
+            pthread_mutex_unlock(&datamutex);
+            //DBG("MDXpos: %.10g/%g (xez=%d, xesr=%.10g), tfs=%.6g", v, mountdata.encXposition.val, X_ENC_ZERO, X_ENC_STEPSPERREV, timefromstart());
+            getXspeed();
+            if(getencval(encfd[1], &v, &t)){
+                pthread_mutex_lock(&datamutex);
+                mountdata.encYposition.val = Yenc2rad(v);
+                mountdata.encYposition.t = t;
+                pthread_mutex_unlock(&datamutex);
+                //DBG("MDYpos: %.10g/%g (yez=%d, yesr=%.10g)", v, mountdata.encYposition.val, Y_ENC_ZERO, Y_ENC_STEPSPERREV);
+                getYspeed();
+                errctr = 0;
+                need2ask = 0;
+                //DBG("tgot=%.6g", timefromstart());
+                while(timefromstart() - t0 < Conf.EncoderReqInterval){ usleep(50); }
+                t0 = timefromstart();
+            }else{
+                DBG("NO Y DATA!!!");
+                /*if(need2ask) ++errctr;
+                else need2ask = 1;
+                continue;*/
+                ++errctr;
+                need2ask = 1;
+            }
+        }else{ // no data - ask for new
+            //DBG("Need new, tfs=%.6g", timefromstart());
+            /*if(need2ask) ++errctr;
+            else need2ask = 1;
+            continue;*/
+            ++errctr;
+            need2ask = 1;
+        }
+    }
+    DBG("\n\nEXIT: ERRCTR=%d", errctr);
+    for(int i = 0; i < 2; ++i){
+        if(encfd[i] > -1){
+            close(encfd[i]);
+            encfd[i] = -1;
+        }
+    }
+    return NULL;
+}
+
+data_t *cmd2dat(const char *cmd){
+    if(!cmd) return  NULL;
+    data_t *d = calloc(1, sizeof(data_t));
+    if(!d) return NULL;
+    d->buf = (uint8_t*)strdup(cmd);
+    d->len = strlen(cmd);
+    d->maxlen = d->len + 1;
+    return d;
+}
+void data_free(data_t **x){
+    if(!x || !*x) return;
+    free((*x)->buf);
+    free(*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)];
+    SSstat *status = (SSstat*) buf;
+    bzero(&mountdata, sizeof(mountdata));
+    double t0 = timefromstart(), tstart = t0, tcur = t0;
+    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(1){
+            coordpair_t c;
+            movestate_t xst, yst;
+            // now change data
+            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;
+            mountdata.encYposition.val = c.Y;
+            //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);
+            pthread_mutex_unlock(&datamutex);
+            getXspeed(); getYspeed();
+            while(timefromstart() - t0 < Conf.EncoderReqInterval) usleep(50);
+            t0 = timefromstart();
+        }
+    }
+    // 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){
+        // read data to status
+        struct timespec tcur;
+        if(!curtime(&tcur)) continue;
+        // 80 milliseconds to get answer on GETSTAT
+        if(!MountWriteRead(cmd_getstat, &d) || d.len != sizeof(SSstat)){
+#ifdef EBUG
+            DBG("Can't read SSstat, need %zd got %zd bytes", sizeof(SSstat), d.len);
+            for(size_t i = 0; i < d.len; ++i) printf("%02X ", d.buf[i]);
+            printf("\n");
+#endif
+            ++errctr; continue;
+        }
+        if(SScalcChecksum(buf, sizeof(SSstat)-2) != status->checksum){
+            DBG("BAD checksum of SSstat, need %d", status->checksum);
+            ++errctr; continue;
+        }
+        errctr = 0;
+        pthread_mutex_lock(&datamutex);
+        // now change data
+        SSconvstat(status, &mountdata, &tcur);
+        pthread_mutex_unlock(&datamutex);
+        // allow writing & getters
+        do{
+            usleep(500);
+        }while(timefromstart() - t0 < Conf.MountReqInterval);
+        t0 = timefromstart();
+    }
+    data_free(&cmd_getstat);
+failed:
+    if(mntfd > -1){
+        close(mntfd);
+        mntfd = -1;
+    }
+    return NULL;
+}
+
+// open device and return its FD or -1
+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){
+        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[VTIME] = 5;
+    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
+    if(ioctl(fd, TIOCEXCL)){DBG("Can't make exclusive");}
+    return fd;
+}
+
+// return FALSE if failed
+int openEncoder(){
+    if(Conf.RunModel) return TRUE;
+    if(!Conf.SepEncoder) return FALSE; // try to open separate encoder when it's absent
+    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;
+            return FALSE;
+        }
+    }else if(Conf.SepEncoder == 2){
+        DBG("Two devices!");
+        const char* paths[2] = {Conf.EncoderXDevPath, Conf.EncoderYDevPath};
+        for(int i = 0; i < 2; ++i){
+            if(encfd[i] > -1) close(encfd[i]);
+            encfd[i] = ttyopen(paths[i], (speed_t) Conf.EncoderDevSpeed);
+            if(encfd[i] < 0) return FALSE;
+        }
+        encRtmout.tv_sec = 0;
+        encRtmout.tv_usec = 100000000 / Conf.EncoderDevSpeed;
+        if(pthread_create(&encthread, NULL, encoderthread2, NULL)){
+            for(int i = 0; i < 2; ++i){
+                close(encfd[i]);
+                encfd[i] = -1;
+            }
+            return FALSE;
+        }
+    }else return FALSE;
+    DBG("Encoder opened, thread started");
+    return TRUE;
+}
+
+// return FALSE if failed
+int openMount(){
+    if(Conf.RunModel) goto create_thread;
+    if(mntfd > -1) close(mntfd);
+    DBG("Open mount %s @ %d", Conf.MountDevPath, Conf.MountDevSpeed);
+    mntfd = ttyopen(Conf.MountDevPath, (speed_t) Conf.MountDevSpeed);
+    if(mntfd < 0) return FALSE;
+    DBG("mntfd=%d", mntfd);
+    // clear buffer
+    while(getmntbyte() > -1);
+    /*int g = write(mntfd, "XXS\r", 4);
+    DBG("Written %d", g);
+    uint8_t buf[100];
+    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
+create_thread:
+    if(pthread_create(&mntthread, NULL, mountthread, NULL)){
+        DBG("Can't create mount thread");
+        if(!Conf.RunModel){
+            close(mntfd);
+            mntfd = -1;
+        }
+        return FALSE;
+    }
+    DBG("Mount opened, thread started");
+    return TRUE;
+}
+
+// close all opened serial devices and quit threads
+void closeSerial(){
+    // TODO: close devices in "model" mode too!
+    if(Conf.RunModel) return;
+    if(mntfd > -1){
+        DBG("Cancel mount thread");
+        pthread_cancel(mntthread);
+        DBG("join mount thread");
+        pthread_join(mntthread, NULL);
+        DBG("close mount fd");
+        close(mntfd);
+        mntfd = -1;
+    }
+    if(encfd[0] > -1){
+        DBG("Cancel encoder thread");
+        pthread_cancel(encthread);
+        DBG("join encoder thread");
+        pthread_join(encthread, NULL);
+        DBG("close encoder's fd");
+        close(encfd[0]);
+        encfd[0] = -1;
+        if(Conf.SepEncoder == 2 && encfd[1] > -1){
+            close(encfd[1]);
+            encfd[1] = -1;
+        }
+    }
+}
+
+// get fresh encoder information
+mcc_errcodes_t getMD(mountdata_t  *d){
+    if(!d) return MCC_E_BADFORMAT;
+    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;
+}
+
+void setStat(axis_status_t Xstate, axis_status_t Ystate){
+    DBG("set x/y state to %d/%d", Xstate, Ystate);
+    pthread_mutex_lock(&datamutex);
+    mountdata.Xstate = Xstate;
+    mountdata.Ystate = Ystate;
+    pthread_mutex_unlock(&datamutex);
+}
+
+// write-read without locking mutex (to be used inside other functions)
+static int wr(const data_t *out, data_t *in, int needeol){
+    if((!out && !in) || mntfd < 0){
+        DBG("Wrong arguments or no mount fd");
+        return FALSE;
+    }
+    clrmntbuf();
+    if(out){
+        if(out->len != (size_t)write(mntfd, out->buf, out->len)){
+            DBG("written bytes not equal to need");
+            return FALSE;
+        }
+        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
+    }
+    if(!in) return TRUE;
+    in->len = 0;
+    for(size_t i = 0; i < in->maxlen; ++i){
+        int b = getmntbyte();
+        if(b < 0) break; // nothing to read -> go out
+        in->buf[in->len++] = (uint8_t) b;
+    }
+    while(getmntbyte() > -1);
+    return TRUE;
+}
+
+/**
+ * @brief MountWriteRead - write and read @ once (or only read/write)
+ * @param out (o) - data to write or NULL if not need
+ * @param in  (i) - data to read or NULL if not need
+ * @return FALSE if failed
+ */
+int MountWriteRead(const data_t *out, data_t *in){
+    if(Conf.RunModel) return -1;
+    pthread_mutex_lock(&mntmutex);
+    int ret = wr(out, in, 1);
+    pthread_mutex_unlock(&mntmutex);
+    return ret;
+}
+// send binary data - without EOL
+int MountWriteReadRaw(const data_t *out, data_t *in){
+    if(Conf.RunModel) return -1;
+    pthread_mutex_lock(&mntmutex);
+    int ret = wr(out, in, 0);
+    pthread_mutex_unlock(&mntmutex);
+    return ret;
+}
+
+#ifdef EBUG
+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);
+    if(c->checksum != SScalcChecksum((uint8_t*)c, sizeof(SSscmd)-2)) printf("Checksum failed\n");
+    else printf("Checksum OK\n");
+}
+static void loglcmd(SSlcmd *c){
+    printf("Xmot=%d, Ymot=%d, Xspeed=%d, Yspeed=%d\n", c->Xmot, c->Ymot, c->Xspeed, c->Yspeed);
+    printf("Xadder=%d, Yadder=%d, Xatime=%d, Yatime=%d\n", c->Xadder, c->Yadder, c->Xatime, c->Yatime);
+    if(c->checksum != SScalcChecksum((uint8_t*)c, sizeof(SSlcmd)-2)) printf("Checksum failed\n");
+    else printf("Checksum OK\n");
+}
+#endif
+
+// send short/long binary command; return FALSE if failed
+static int bincmd(uint8_t *cmd, int len){
+    if(Conf.RunModel) return FALSE;
+    static data_t *dscmd = NULL, *dlcmd = NULL;
+    if(!dscmd) dscmd = cmd2dat(CMD_SHORTCMD);
+    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");
+#ifdef EBUG
+        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");
+#ifdef EBUG
+        loglcmd((SSlcmd*)cmd);
+#endif
+        if(!wr(dlcmd, NULL, 1)) goto rtn;
+    }else{
+        goto rtn;
+    }
+    data_t d;
+    d.buf = cmd;
+    d.len = d.maxlen = len;
+    ret = wr(&d, NULL, 0);
+    DBG("%s", ret ? "SUCCESS" : "FAIL");
+rtn:
+    pthread_mutex_unlock(&mntmutex);
+    return ret;
+}
+
+// short, long and config text-binary commands
+// return TRUE if OK
+int cmdS(SSscmd *cmd){
+    return bincmd((uint8_t *)cmd, sizeof(SSscmd));
+}
+int cmdL(SSlcmd *cmd){
+    return bincmd((uint8_t *)cmd, sizeof(SSlcmd));
+}
+// rw == 1 to write, 0 to read
+int cmdC(SSconfig *conf, int rw){
+    if(Conf.RunModel) return FALSE;
+    static data_t *wcmd = NULL, *rcmd = NULL;
+    int ret = FALSE;
+    // dummy buffer to clear trash in input
+    char ans[300];
+    data_t a = {.buf = (uint8_t*)ans, .maxlen=299};
+    if(!wcmd) wcmd = cmd2dat(CMD_PROGFLASH);
+    if(!rcmd) rcmd = cmd2dat(CMD_DUMPFLASH);
+    pthread_mutex_lock(&mntmutex);
+    if(rw){ // write
+        if(!wr(wcmd, &a, 1)) goto rtn;
+    }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){ 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);
+            ret = FALSE;
+            goto rtn;
+        }
+    }
+rtn:
+    pthread_mutex_unlock(&mntmutex);
+    return ret;
+}

LibSidServo/serial.h

@@ -0,0 +1,44 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "sidservo.h"
+#include "ssii.h"
+
+// magick starting sequence
+#define ENC_MAGICK  (204)
+// encoder data sequence length
+#define ENC_DATALEN (13)
+// max error counter (when read() returns -1)
+#define MAX_ERR_CTR (100)
+
+data_t *cmd2dat(const char *cmd);
+void data_free(data_t **x);
+int openEncoder();
+int openMount();
+void closeSerial();
+mcc_errcodes_t getMD(mountdata_t  *d);
+void setStat(axis_status_t Xstate, axis_status_t Ystate);
+int MountWriteRead(const data_t *out, data_t *in);
+int MountWriteReadRaw(const data_t *out, data_t *in);
+int cmdS(SSscmd *cmd);
+int cmdL(SSlcmd *cmd);
+int cmdC(SSconfig *conf, int rw);
+void getXspeed();
+void getYspeed();

LibSidServo/sidservo.h

@@ -0,0 +1,261 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/*
+ * This file contains all need for external usage
+ */
+
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include <stddef.h>
+#include <stdint.h>
+#include <sys/time.h>
+
+// minimal serial speed of mount device
+#define MOUNT_BAUDRATE_MIN      (1200)
+// max speed interval, seconds
+#define MCC_CONF_MAX_SPEEDINT   (2.)
+// minimal speed interval in parts of EncoderReqInterval
+#define MCC_CONF_MIN_SPEEDC     (3.)
+
+
+// error codes
+typedef enum{
+    MCC_E_OK = 0,       // all OK
+    MCC_E_FATAL,        // some fatal error
+    MCC_E_BADFORMAT,    // wrong arguments of function
+    MCC_E_ENCODERDEV,   // encoder device error or can't open
+    MCC_E_MOUNTDEV,     // mount device error or can't open
+    MCC_E_FAILED,       // failed to run command - protocol error
+    MCC_E_AMOUNT        // Just amount of errors
+} mcc_errcodes_t;
+
+typedef struct{
+    double P, I, D;
+} PIDpar_t;
+
+typedef struct{
+    char*   MountDevPath;           // path to mount device
+    int     MountDevSpeed;          // serial speed
+    char*   EncoderDevPath;         // path to encoder device
+    int     EncoderDevSpeed;        // serial speed
+    int     SepEncoder;             // ==1 if encoder works as separate serial device, ==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
+typedef struct{
+    double X; double Y;
+} coordpair_t;
+
+// coordinate/speed and time of last measurement
+typedef struct{
+    double val;
+    struct timespec t;
+} coordval_t;
+
+typedef struct{
+    coordval_t X;
+    coordval_t Y;
+} coordval_pair_t;
+
+// data to read/write
+typedef struct{
+    uint8_t *buf;   // data buffer
+    size_t len;     // its length
+    size_t maxlen;  // maximal buffer size
+} data_t;
+
+typedef struct{
+    uint8_t motrev :1;      // If 1, the motor encoder is incremented in the opposite direction
+    uint8_t motpolarity :1; // If 1, the motor polarity is reversed
+    uint8_t encrev :1;      // If 1, the axis encoder is reversed
+    uint8_t dragtrack :1;   // If 1, we are in computerless Drag and Track mode
+    uint8_t trackplat :1;   // If 1, we are in the tracking platform mode
+    uint8_t handpaden :1;   // If 1, hand paddle is enabled
+    uint8_t newpad :1;      // If 1, hand paddle is compatible with New hand paddle, which allows slewing in two directions and guiding
+    uint8_t guidemode :1;   // If 1, we are in guide mode. The pan rate is added or subtracted from the current tracking rate
+} xbits_t;
+
+typedef struct{
+    uint8_t motrev :1;      // If 1, the motor encoder is incremented in the opposite direction
+    uint8_t motpolarity :1; // If 1, the motor polarity is reversed
+    uint8_t encrev :1;      // If 1, the axis encoder is reversed
+    /* If 1, we are in computerless Slew and Track mode
+       (no clutches; use handpad to slew; must be in Drag and Track mode too) */
+    uint8_t slewtrack :1;
+    uint8_t digin_sens :1;  // Digital input from radio handpad receiver, or RA PEC Sensor sync
+    uint8_t digin :3;       // Digital input from radio handpad receiver
+} ybits_t;
+
+typedef struct{
+    xbits_t XBits;
+    ybits_t YBits;
+    uint8_t ExtraBits;
+    uint16_t ain0;
+    uint16_t ain1;
+} extradata_t;
+
+typedef enum{
+    AXIS_STOPPED,
+    AXIS_SLEWING,
+    AXIS_POINTING,
+    AXIS_GUIDING,
+    AXIS_ERROR,
+} axis_status_t;
+
+typedef struct{
+    axis_status_t Xstate;
+    axis_status_t Ystate;
+    coordval_t motXposition;
+    coordval_t motYposition;
+    coordval_t encXposition;
+    coordval_t encYposition;
+    coordval_t encXspeed; // once per <config> s
+    coordval_t encYspeed;
+    uint8_t keypad;
+    extradata_t extradata;
+    uint32_t millis;
+    double temperature;
+    double voltage;
+} mountdata_t;
+
+typedef struct{
+    double Xmot;        // 0  X motor position (rad)
+    double Xspeed;      // 4  X speed (rad/s)
+    double Ymot;        // 8
+    double Yspeed;      // 12
+    uint8_t xychange;   // 16 change Xbits/Ybits value
+    uint8_t XBits;      // 17
+    uint8_t YBits;      // 18
+} short_command_t; // short command
+
+typedef struct{
+    double Xmot;        // 0  X motor position (rad)
+    double Xspeed;      // 4  X speed (rad/s)
+    double Ymot;        // 8
+    double Yspeed;      // 12
+    double Xadder;      // 16 - X adder (rad/s)
+    double Yadder;      // 20
+    double Xatime;      // 24 X adder time, sec
+    double Yatime;      // 28
+} long_command_t; // long command
+
+// hardware axis configuration
+typedef struct{
+    double accel;       // Default Acceleration, rad/s^2
+    double backlash;    // Backlash (???)
+    double errlimit;    // Error Limit, rad
+    double propgain;    // Proportional Gain (???)
+    double intgain;     // Integral Gain (???)
+    double derivgain;   // Derivative Gain (???)
+    double outplimit;   // Output Limit, percent (0..100)
+    double currlimit;   // Current Limit (A)
+    double intlimit;    // Integral Limit (???)
+    // 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
+typedef struct{
+    axis_config_t Xconf;
+    xbits_t xbits;
+    axis_config_t Yconf;
+    ybits_t ybits;
+    uint8_t address;
+    double eqrate;      // Equatorial Rate (???)
+    double eqadj;       // Equatorial UpDown adjust (???)
+    double trackgoal;   // Tracking Platform Goal (???)
+    double latitude;    // Latitude, rad
+    uint32_t Ysetpr;    // Azm Scope Encoder Ticks Per Rev
+    uint32_t Xsetpr;    // Alt Scope Encoder Ticks Per Rev
+    uint32_t Ymetpr;    // Azm Motor Ticks Per Rev
+    uint32_t Xmetpr;    // Alt Motor Ticks Per Rev
+    double Xslewrate;   // Alt/Dec Slew Rate (rad/s)
+    double Yslewrate;   // Azm/RA Slew Rate (rad/s)
+    double Xpanrate;    // Alt/Dec Pan Rate (rad/s)
+    double Ypanrate;    // Azm/RA Pan Rate (rad/s)
+    double Xguiderate;  // Alt/Dec Guide Rate (rad/s)
+    double Yguiderate;  // Azm/RA Guide Rate (rad/s)
+    uint32_t baudrate;  // Baud Rate (baud)
+    double locsdeg;     // Local Search Degrees (rad)
+    double locsspeed;   // Local Search Speed (rad/s)
+    double backlspd;    // Backlash speed (rad/s)
+} hardware_configuration_t;
+
+/* flags for slew function
+typedef struct{
+    uint32_t slewNguide : 1; // ==1 to guide after slewing
+} slewflags_t;
+*/
+// mount class
+typedef struct{
+    // TODO: on init/quit clear all XY-bits to default`
+    mcc_errcodes_t  (*init)(conf_t *c); // init device
+    void            (*quit)(); // deinit
+    mcc_errcodes_t  (*getMountData)(mountdata_t *d); // get last data
+//    mcc_errcodes_t  (*slewTo)(const coordpair_t *target, slewflags_t flags);
+    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
+    mcc_errcodes_t  (*stop)(); // stop
+    mcc_errcodes_t  (*emergStop)(); // emergency stop
+    mcc_errcodes_t  (*shortCmd)(short_command_t *cmd); // send/get short command
+    mcc_errcodes_t  (*longCmd)(long_command_t *cmd); // send/get long command
+    mcc_errcodes_t  (*getHWconfig)(hardware_configuration_t *c); // get hardware configuration
+    mcc_errcodes_t  (*saveHWconfig)(hardware_configuration_t *c); // save hardware configuration
+    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;
+
+#ifdef __cplusplus
+}
+#endif

LibSidServo/sidservo.pc.in

@@ -0,0 +1,10 @@
+prefix=@CMAKE_INSTALL_PREFIX@
+exec_prefix=${prefix}
+libdir=${exec_prefix}/lib
+includedir=${prefix}/include
+
+Name: @PROJ@
+Description: library for managing SiderealServo II based equatorial mount
+Version: @VERSION@
+Libs: -L${libdir} -l@PROJ@
+Cflags: -I${includedir}

LibSidServo/ssii.c

@@ -0,0 +1,225 @@
+/*
+ * This file is part of the libsidservo project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <ctype.h>
+#include <inttypes.h>
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+
+#include "main.h"
+#include "serial.h"
+#include "ssii.h"
+
+int X_ENC_ZERO, Y_ENC_ZERO;
+double X_MOT_STEPSPERREV = 1., Y_MOT_STEPSPERREV = 1., X_ENC_STEPSPERREV = 1., Y_ENC_STEPSPERREV = 1.;
+
+uint16_t SScalcChecksum(uint8_t *buf, int len){
+    uint16_t checksum = 0;
+    for(int i = 0; i < len; i++){
+        //DBG("data[%d]=0x%X", i, *buf);
+        checksum += *buf++;
+    }
+    checksum ^= 0xFF00; // invert high byte
+    //DBG("Checksum of %d bytes: 0x%04x", len, checksum);
+    return checksum;
+}
+
+// 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){
+    if(*prev == INT32_MAX){
+        *stat = AXIS_STOPPED;
+        DBG("START");
+    }else if(*stat != AXIS_STOPPED){
+        if(*prev == cur && ++(*nstopped) > MOTOR_STOPPED_CNT){
+            *stat = AXIS_STOPPED;
+            DBG("AXIS stopped");
+        }
+    }else if(*prev != cur){
+        DBG("AXIS moving");
+        *nstopped = 0;
+    }
+    *prev = cur;
+}
+// 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);
+    chkstopstat(&Ymot_prev, s->Ymot, &Ynstopped, &m->Ystate);
+}
+
+/**
+ * @brief SSconvstat - convert stat from SSII format to human
+ * @param s (i) - just read data
+ * @param m (o) - output
+ * @param t - measurement time
+ */
+void SSconvstat(const SSstat *s, mountdata_t *m, struct timespec *t){
+    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;
+    // fill encoder data from here, as there's no separate enc thread
+    if(!Conf.SepEncoder){
+        m->encXposition.val = Xenc2rad(s->Xenc);
+        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;
+    m->extradata.ExtraBits = s->ExtraBits;
+    m->extradata.ain0 = s->ain0;
+    m->extradata.ain1 = s->ain1;
+    m->extradata.XBits = s->XBits;
+    m->extradata.YBits = s->YBits;
+    m->millis = s->millis;
+    m->voltage = (double)s->voltage / 10.;
+    m->temperature = ((double)s->tF - 32.) * 5. / 9.;
+}
+
+/**
+ * @brief SStextcmd - send simple text command to mount and return answer
+ * @param cmd (i) - command to send
+ * @param answer (o) - answer (or NULL)
+ * @return
+ */
+int SStextcmd(const char *cmd, data_t *answer){
+    if(!cmd){
+        DBG("try to send empty command");
+        return FALSE;
+    }
+    data_t d;
+    d.buf = (uint8_t*) cmd;
+    d.len = d.maxlen = strlen(cmd);
+    //DBG("send %zd bytes: %s", d.len, d.buf);
+    return MountWriteRead(&d, answer);
+}
+
+// the same as SStextcmd, but not adding EOL - send raw 'cmd'
+int SSrawcmd(const char *cmd, data_t *answer){
+    if(!cmd){
+        DBG("try to send empty command");
+        return FALSE;
+    }
+    data_t d;
+    d.buf = (uint8_t*) cmd;
+    d.len = d.maxlen = strlen(cmd);
+    //DBG("send %zd bytes: %s", d.len, d.buf);
+    return MountWriteReadRaw(&d, answer);
+}
+
+/**
+ * @brief SSgetint - send text command and return integer answer
+ * @param cmd (i) - command to send
+ * @param ans (o) - intval (INT64_MAX if error)
+ * @return FALSE if failed
+ */
+int SSgetint(const char *cmd, int64_t *ans){
+    if(!cmd || !ans) return FALSE;
+    uint8_t buf[64];
+    data_t d = {.buf = buf, .len = 0, .maxlen = 64};
+    if(!SStextcmd(cmd, &d)) return FALSE;
+    int64_t retval = INT64_MAX;
+    if(d.len > 1){
+        char *ptr = (char*) buf;
+        size_t i = 0;
+        for(; i < d.len; ++i){
+            if(isdigit(*ptr)) break;
+            ++ptr;
+        }
+        if(i < d.len) retval = atol(ptr);
+    }
+    DBG("read int: %" PRIi64, retval);
+    *ans = retval;
+    return TRUE;
+}
+
+/**
+ * @brief SSsetterI - integer setter
+ * @param cmd - command to send
+ * @param ival - value
+ * @return false if failed
+ */
+int SSsetterI(const char *cmd, int32_t ival){
+    char buf[128];
+    snprintf(buf, 127, "%s%" PRIi32, cmd, ival);
+    return SStextcmd(buf, NULL);
+}
+
+int SSstop(int emerg){
+    int i = 0;
+    const char *cmdx = (emerg) ? CMD_EMSTOPX : CMD_STOPX;
+    const char *cmdy = (emerg) ? CMD_EMSTOPY : CMD_STOPY;
+    for(; i < 10; ++i){
+        if(!SStextcmd(cmdx, NULL)) continue;
+        if(SStextcmd(cmdy, NULL)) break;
+    }
+    if(i == 10) return FALSE;
+    return TRUE;
+}
+
+// update motors' positions due to encoders'
+mcc_errcodes_t updateMotorPos(){
+    mountdata_t md = {0};
+    if(Conf.RunModel) return MCC_E_OK;
+    double t0 = timefromstart(), t = 0.;
+    struct timespec curt;
+    DBG("start @ %g", t0);
+    do{
+        t = timefromstart();
+        if(!curtime(&curt)){
+            usleep(10000);
+            continue;
+        }
+        //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) > Conf.EncodersDisagreement && md.Xstate == AXIS_STOPPED){
+                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", t - t0);
+            }
+            if(fabs(md.motYposition.val - md.encYposition.val) > Conf.EncodersDisagreement && md.Ystate == AXIS_STOPPED){
+                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", t - t0);
+            }
+            if(MCC_E_OK == OK){
+                DBG("Encoders synced");
+                return OK;
+            }
+        }
+        DBG("NO DATA; dt = %g", t - t0);
+    }while(t - t0 < 2.);
+    return MCC_E_FATAL;
+}

LibSidServo/ssii.h

@@ -0,0 +1,348 @@
+/*
+ * This file is part of the SSII project.
+ * Copyright 2022 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/>.
+ */
+
+/*
+ * This file contains stuff for sidereal-servo specific protocol
+ */
+
+#pragma once
+
+#include <math.h>
+#include <stdint.h>
+
+#include "sidservo.h"
+
+/*********** base commands ***********/
+// get/set X/Y in motsteps
+#define CMD_MOTX        "X"
+#define CMD_MOTY        "Y"
+// set X/Y position with speed "sprintf(buf, "%s%d%s%d", CMD_MOTx, tagx, CMD_MOTxS, tags)
+#define CMD_MOTXYS      "S"
+// reset current motor position to given value  (and stop, if moving)
+#define CMD_MOTXSET     "XF"
+#define CMD_MOTYSET     "YF"
+// acceleration (per each loop, max: 3900)
+#define CMD_MOTXACCEL   "XR"
+#define CMD_MOTYACCEL   "YR"
+// PID regulator:
+// P: 0..32767
+#define CMD_PIDPX       "XP"
+#define CMD_PIDPY       "YP"
+// I: 0..32767
+#define CMD_PIDIX       "XI"
+#define CMD_PIDIY       "YI"
+// limit of I (doesn't work): 0:24000 (WTF???)
+#define CMD_PIDILX      "XL"
+#define CMD_PIDILY      "YL"
+// D: 0..32767
+#define CMD_PIDDX       "XD"
+#define CMD_PIDDY       "YD"
+// current position error
+#define CMD_POSERRX     "XE"
+#define CMD_POSERRY     "YE"
+// max position error limit (X: E#, Y: e#)
+#define CMD_POSERRLIMX  "XEL"
+#define CMD_POSERRLIMY  "YEL"
+// current PWM output: 0..255 (or set max PWM out)
+#define CMD_PWMOUTX     "XO"
+#define CMD_PWMOUTY     "YO"
+// motor current *100 (or set current limit): 0..240
+#define CMD_MOTCURNTX   "XC"
+#define CMD_MOTCURNTY   "YC"
+// change axis to Manual mode and set the PWM output: -255:255
+#define CMD_MANUALPWMX  "XM"
+#define CMD_MANUALPWMY  "YM"
+// change axis to Auto mode
+#define CMD_AUTOX       "XA"
+#define CMD_AUTOY       "YA"
+// get positioin in encoders' ticks or reset it to given value
+#define CMD_ENCX        "XZ"
+#define CMD_ENCY        "YZ"
+// get/set speed (geter x: S#, getter y: s#)
+#define CMD_SPEEDX      "XS"
+#define CMD_SPEEDY      "YS"
+// normal stop X/Y
+#define CMD_STOPX       "XN"
+#define CMD_STOPY       "YN"
+// lower speed -> drag&track or slew&track
+#define CMD_STOPTRACKX  "XNT"
+#define CMD_STOPTRACKY  "YNT"
+// emergency stop
+#define CMD_EMSTOPX     "XG"
+#define CMD_EMSTOPY     "YG"
+// get/set X/Ybits
+#define CMD_BITSX       "XB"
+#define CMD_BITSY       "YB"
+
+/*********** getters/setters without "Y" variant ***********/
+// get handpad status (decimal)
+#define CMD_HANDPAD     "XK"
+// get TCPU (deg F)
+#define CMD_TCPU        "XH"
+// get firmware version *10
+#define CMD_FIRMVER     "XV"
+// get motor voltage *10
+#define CMD_MOTVOLTAGE  "XJ"
+// get/set current CPU clock (milliseconds)
+#define CMD_MILLIS      "XY"
+// reset servo
+#define CMD_RESET       "XQ"
+// clear to factory defaults
+#define CMD_CLRDEFAULTS "XU"
+// save configuration to flash ROM
+#define CMD_WRITEFLASH  "XW"
+// read config from flash to RAM
+#define CMD_READFLASH   "XT"
+// write to flash following full config (128 bytes + 2 bytes of checksum)
+#define CMD_PROGFLASH   "FC"
+// read configuration (-//-)
+#define CMD_DUMPFLASH   "SC"
+// get serial number
+#define CMD_SERIAL      "YV"
+
+/*********** extended commands ***********/
+// get/set latitute
+#define CMD_LATITUDE    "XXL"
+// getters/setters of motor's encoders per rev
+#define CMD_MEPRX       "XXU"
+#define CMD_MEPRY       "XXV"
+// -//- axis encoders
+#define CMD_AEPRX       "XXT"
+#define CMD_AEPRY       "XXZ"
+// get/set slew rate
+#define CMD_SLEWRATEX   "XXA"
+#define CMD_SLEWRATEY   "XXB"
+// get/set pan rate
+#define CMD_PANRATEX    "XXC"
+#define CMD_PANRATEY    "XXD"
+// get/set platform tracking rate
+#define CMD_PLATRATE    "XXE"
+// get/set platform up/down adjuster
+#define CMD_PLATADJ     "XXF"
+// get/set platform goal
+#define CMD_PLATGOAL    "XXG"
+// get/set guide rate
+#define CMD_GUIDERATEX  "XXH"
+#define CMD_GUIDERATEY  "XXI"
+// get/set picservo timeout (seconds)
+#define CMD_PICTMOUT    "XXJ"
+// get/set digital outputs of radio handpad
+#define CMD_RADIODIGOUT "XXQ"
+// get/set argo navis mode
+#define CMD_ARGONAVIS   "XXN"
+// get/set local search distance
+#define CMD_LOSCRCHDISTX    "XXM"
+#define CMD_LOSCRCHDISTY    "XXO"
+// get/set backlash
+#define CMD_BACKLASHX   "XXO"
+#define CMD_BACKLASHY   "XXP"
+
+
+// get binary data of all statistics
+#define CMD_GETSTAT     "XXS"
+// send short command
+#define CMD_SHORTCMD    "XXR"
+// send long command
+#define CMD_LONGCMD     "YXR"
+
+
+/*********** special ***********/
+// exit ASCII checksum mode
+#define CMD_EXITACM     "YXY0\r\xb8"
+// controller status:
+// X# Y# XZ# YZ# XC# YC# V# T# X[AM] Y[AM] K#
+// X,Y - motor, XZ,YZ - encoder, XC,YC - current*100, V - voltage*10, T - temp (F), XA,YA - mode (A[uto]/M[anual]), K - handpad status bits
+#define CMD_GETSTATTEXT "\r"
+
+// Loop freq
+#define SITECH_LOOP_FREQUENCY   (1953.)
+
+// amount of consequent same coordinates to detect stop
+#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)
+// -> hwconf.Xconf.mot/enc_stepsperrev
+//#define X_MOT_STEPSPERREV_SSI   (13312000.)
+// 13312000 / 4 = 3328000
+//#define X_MOT_STEPSPERREV   (3328000.)
+//#define Y_MOT_STEPSPERREV_SSI (17578668.)
+// 17578668 / 4 = 4394667
+//#define Y_MOT_STEPSPERREV   (4394667.)
+
+// encoder per revolution
+//#define X_ENC_STEPSPERREV   (67108864.)
+//#define Y_ENC_STEPSPERREV   (67108864.)
+// encoder zero position
+// -> conf.XEncZero/YEncZero
+//#define X_ENC_ZERO          (61245239)
+//#define Y_ENC_ZERO          (36999830)
+// encoder reversed (no: +1) -> sign of ...stepsperrev
+//#define X_ENC_SIGN          (-1.)
+//#define Y_ENC_SIGN          (-1.)
+
+
+// encoder position to radians and back
+#define Xenc2rad(n)    ang2half(2.*M_PI * ((double)((n)-(X_ENC_ZERO))) / (X_ENC_STEPSPERREV))
+#define Yenc2rad(n)    ang2half(2.*M_PI * ((double)((n)-(Y_ENC_ZERO))) / (Y_ENC_STEPSPERREV))
+#define Xrad2enc(r)    ((uint32_t)((r) / 2./M_PI * (X_ENC_STEPSPERREV)))
+#define Yrad2enc(r)    ((uint32_t)((r) / 2./M_PI * (Y_ENC_STEPSPERREV)))
+
+// convert angle in radians to +-pi
+static inline __attribute__((always_inline)) double ang2half(double ang){
+    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 __attribute__((always_inline)) double ang2full(double ang){
+    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 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 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 Y_MOTSPD2RS(n)  (Y_MOT2RAD(n) / 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)))
+// motor acceleration -//-
+#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 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)))
+
+// adder time to seconds vice versa
+#define ADDER2S(a)  ((a) / (SITECH_LOOP_FREQUENCY))
+#define S2ADDER(s)  ((s) * (SITECH_LOOP_FREQUENCY))
+
+// encoder's tolerance (ticks)
+#define YencTOL    (25.)
+#define XencTOL    (25.)
+
+
+// all need data in one
+typedef struct{ // 41 bytes
+    uint8_t ctrlAddr;   // 0  a8 + controller address
+    int32_t Xmot;       // 1  Dec/HA motor position
+    int32_t Ymot;       // 5
+    int32_t Xenc;       // 9  Dec/HA encoder position
+    int32_t Yenc;       // 13
+    uint8_t keypad;     // 17 keypad status
+    xbits_t XBits;      // 18
+    ybits_t YBits;      // 19
+    uint8_t ExtraBits;  // 20
+    uint16_t ain0;      // 21 analog inputs
+    uint16_t ain1;      // 23
+    uint32_t millis;    // 25 milliseconds clock
+    int8_t tF;          // 29 temperature (degF)
+    uint8_t voltage;    // 30 input voltage *10 (RA worm phase?)
+    uint32_t XLast;     // 31 Alt/Dec motor location at last Alt/Dec scope encoder location change
+    uint32_t YLast;     // 35 Az/RA motor location at last Az/RA scope encoder location change
+    uint16_t checksum;  // 39 checksum, H inverted
+}__attribute__((packed)) SSstat;
+
+typedef struct{
+    int32_t Xmot;       // 0  X motor position
+    int32_t Xspeed;     // 4  X speed
+    int32_t Ymot;       // 8
+    int32_t Yspeed;     // 12
+    uint8_t xychange;   // 16 change Xbits/Ybits value
+    uint8_t XBits;      // 17
+    uint8_t YBits;      // 18
+    uint16_t checksum;  // 19
+} __attribute__((packed)) SSscmd; // short command
+
+typedef struct{
+    int32_t Xmot;       // 0  X motor position
+    int32_t Xspeed;     // 4  X speed
+    int32_t Ymot;       // 8
+    int32_t Yspeed;     // 12
+    int32_t Xadder;     // 16 - X adder
+    int32_t Yadder;     // 20
+    int32_t Xatime;     // 24 X adder time (1953 == 1s)
+    int32_t Yatime;     // 28
+    uint16_t checksum;  // 32
+} __attribute__((packed)) SSlcmd; // long command
+
+typedef struct{
+    uint32_t accel;     // Default Acceleration (0..3900)
+    uint32_t backlash;  // Backlash (???)
+    uint16_t errlimit;  // Error Limit (0..32767)
+    uint16_t propgain;  // Proportional Gain (0..32767)
+    uint16_t intgain;   // Integral Gain (0..32767)
+    uint16_t derivgain; // Derivative Gain (0..32767)
+    uint16_t outplimit; // Output Limit, 0xFF = 100.0 (0..255)
+    uint16_t currlimit; // Current Limit * 100 (0..240)
+    uint16_t intlimit;  // Integral Limit (0..24000)
+} __attribute__((packed)) AxeConfig;
+
+typedef struct{
+    AxeConfig Xconf;
+    xbits_t xbits;
+    uint8_t unused0;
+    AxeConfig Yconf;
+    ybits_t ybits;
+    uint8_t unused1;
+    uint8_t address;
+    uint8_t unused2;
+    uint32_t eqrate;    // Equatorial Rate (platform?) (???)
+    int32_t eqadj;      // Equatorial UpDown adjust (???)
+    uint32_t trackgoal; // Tracking Platform Goal (???)
+    uint16_t latitude;  // Latitude * 100, MSB FIRST!!
+    uint32_t Ysetpr;    // Azm Scope Encoder Ticks Per Rev, MSB FIRST!!
+    uint32_t Xsetpr;    // Alt Scope Encoder Ticks Per Rev, MSB FIRST!!
+    uint32_t Ymetpr;    // Azm Motor Ticks Per Rev, MSB FIRST!!
+    uint32_t Xmetpr;    // Alt Motor Ticks Per Rev, MSB FIRST!!
+    int32_t Xslewrate;  // Alt/Dec Slew Rate (rates are negative in "through the pole" mode!!!)
+    int32_t Yslewrate;  // Azm/RA Slew Rate
+    int32_t Xpanrate;   // Alt/Dec Pan Rate
+    int32_t Ypanrate;   // Azm/RA Pan Rate
+    int32_t Xguiderate; // Alt/Dec Guide Rate
+    int32_t Yguiderate; // Azm/RA Guide Rate
+    uint8_t unknown0;   // R/A PEC Auto Sync Enable (if low bit = 1), or PicServo Comm Timeout??
+    uint8_t unused3;
+    uint8_t baudrate;   // Baud Rate??
+    uint8_t unused4;
+    uint8_t specmode;   // 1 = Enable Argo Navis, 2 = Enable Sky Commander
+    uint8_t unused5;
+    uint32_t locsdeg;   // Local Search Degrees * 100
+    uint32_t locsspeed; // Local Search Speed, arcsec per sec (???)
+    uint32_t backlspd;  // Backlash speed
+    uint32_t pecticks;  // RA/Azm PEC Ticks
+    uint16_t unused6;
+    uint16_t checksum;
+} __attribute__((packed)) SSconfig;
+
+uint16_t SScalcChecksum(uint8_t *buf, int len);
+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);
+int SSsetterI(const char *cmd, int32_t ival);
+int SSstop(int emerg);
+mcc_errcodes_t updateMotorPos();

asibfm700_common.h

@@ -0,0 +1,26 @@
+#pragma once
+
+/*                          AstroSib FORK MOUNT FM-700 CONTROL LIBRARY                          */
+
+
+/*                          COMMON LIBRARY DEFINITIONS                      */
+
+
+#include <mcc/mcc_concepts.h>
+#include <mcc/mcc_pcm.h>
+#include <mcc/mcc_pzone_container.h>
+#include <mcc/mcc_spdlog.h>
+
+
+namespace asibfm700
+{
+
+static constexpr mcc::MccMountType asibfm700MountType = mcc::MccMountType::FORK_TYPE;
+
+
+typedef mcc::ccte::erfa::MccCCTE_ERFA Asibfm700CCTE;
+typedef mcc::impl::MccDefaultPCM<asibfm700MountType> Asibfm700PCM;
+typedef mcc::impl::MccPZoneContainer Asibfm700PZoneContainer;
+typedef mcc::utils::MccSpdlogLogger Asibfm700Logger;
+
+}  // namespace asibfm700

asibfm700_configfile.h

@@ -0,0 +1,870 @@
+#pragma once
+
+/**/
+
+#include <expected>
+#include <filesystem>
+#include <fstream>
+
+#include <mcc/mcc_angle.h>
+#include <mcc/mcc_movement_controls.h>
+#include <mcc/mcc_pcm.h>
+#include <mcc/mcc_utils.h>
+
+#include "asibfm700_common.h"
+#include "asibfm700_servocontroller.h"
+
+namespace asibfm700
+{
+
+
+/*    A SIMPLE "KEYWORD - VALUE" HOLDER CLASS SUITABLE TO STORE SOME APPLICATION CONFIGURATION    */
+
+
+// to follow std::variant requirements (not references, not array, not void)
+template <typename T>
+concept config_record_valid_type_c = requires { !std::is_array_v<T> && !std::is_void_v<T> && !std::is_reference_v<T>; };
+
+// simple minimal-requirement configuration record class
+template <config_record_valid_type_c T>
+struct simple_config_record_t {
+    std::string_view key;
+    T value;
+    std::vector<std::string_view> comment;
+};
+
+
+/*    ASTOROSIB FM700 MOUNT CONFIGURATION CLASS    */
+
+// configuration description and its defaults
+static auto Asibfm700MountConfigDefaults = std::make_tuple(
+    // main cycle period in millisecs
+    simple_config_record_t{"hardwarePollingPeriod", std::chrono::milliseconds{100}, {"main cycle period in millisecs"}},
+
+    /*    geographic coordinates of the observation site    */
+
+    // site latitude in degrees
+    simple_config_record_t{"siteLatitude", mcc::impl::MccAngle(43.646711_degs), {"site latitude in degrees"}},
+
+    // site longitude  in degrees
+    simple_config_record_t{"siteLongitude", mcc::impl::MccAngle(41.440732_degs), {"site longitude  in degrees"}},
+
+    // site elevation in meters
+    simple_config_record_t{"siteElevation", 2070.0, {"site elevation in meters"}},
+
+    /*    celestial coordinate transformation    */
+
+    // wavelength at which refraction is calculated (in mkm)
+    simple_config_record_t{"refractWavelength", 0.55, {"wavelength at which refraction is calculated (in mkm)"}},
+
+    // an empty filename means default precompiled string
+    simple_config_record_t{"leapSecondFilename", std::string(), {"an empty filename means default precompiled string"}},
+
+    // an empty filename means default precompiled string
+    simple_config_record_t{"bulletinAFilename", std::string(), {"an empty filename means default precompiled string"}},
+
+    /*    pointing correction model    */
+
+    // PCM default type
+    simple_config_record_t{"pcmType",
+                           mcc::impl::MccDefaultPCMType::PCM_TYPE_GEOMETRY,
+                           {"PCM type:", "GEOMETRY - 'classic' geometry-based correction coefficients",
+                            "GEOMETRY-BSPLINE - previous one and additional 2D B-spline corrections",
+                            "BSPLINE - pure 2D B-spline corrections"}},
+
+    // PCM geometrical coefficients
+    simple_config_record_t{"pcmGeomCoeffs",
+                           std::vector<double>{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+                           {"PCM geometrical coefficients"}},
+
+    // PCM B-spline degrees
+    simple_config_record_t{"pcmBsplineDegree", std::vector<size_t>{3, 3}, {"PCM B-spline degrees"}},
+
+    // PCM B-spline knots along X-axis (HA-angle or azimuth). By default from 0 to 2*PI radians
+    // NOTE: The first and last values are interpretated as border knots!!!
+    //       Thus the array length must be equal to or greater than 2!
+    simple_config_record_t{"pcmBsplineXknots",
+                           std::vector<double>{0.0, 0.6981317, 1.3962634, 2.0943951, 2.7925268, 3.4906585, 4.1887902,
+                                               4.88692191, 5.58505361, 6.28318531},
+                           {"PCM B-spline knots along X-axis (HA-angle or azimuth). By default from 0 to 2*PI radians",
+                            "NOTE: The first and last values are interpretated as border knots!!!",
+                            "      Thus the array length must be equal to or greater than 2!"}},
+
+    // PCM B-spline knots along Y-axis (declination or zenithal distance). By default from -PI/6 to PI/2 radians
+    // NOTE: The first and last values are interpretated as border knots!!!
+    //       Thus the array length must be equal to or greater than 2!
+    simple_config_record_t{
+        "pcmBsplineYknots",
+        std::vector<double>{-0.52359878, -0.29088821, -0.05817764, 0.17453293, 0.40724349, 0.63995406, 0.87266463,
+                            1.10537519, 1.33808576, 1.57079633},
+        {"PCM B-spline knots along Y-axis (declination or zenithal distance). By default from -PI/6 to PI/2 radians",
+         "NOTE: The first and last values are interpretated as border knots!!!",
+         "      Thus the array length must be equal to or greater than 2!"}},
+
+    // PCM B-spline coeffs for along X-axis (HA-angle or azimuth)
+    simple_config_record_t{"pcmBsplineXcoeffs",
+                           std::vector<double>{},
+                           {"PCM B-spline coeffs for along X-axis (HA-angle)"}},
+
+    // PCM B-spline coeffs for along Y-axis (declination or zenithal distance)
+    simple_config_record_t{"pcmBsplineYcoeffs",
+                           std::vector<double>{},
+                           {"PCM B-spline coeffs for along Y-axis (declination angle)"}},
+
+
+    /*    slewing and tracking parameters    */
+
+    // // arcseconds per second
+    // simple_config_record_t{"sideralRate", 15.0410686},
+
+    // timeout for telemetry updating in milliseconds
+    simple_config_record_t{"telemetryTimeout",
+                           std::chrono::milliseconds(3000),
+                           {"timeout for telemetry updating in milliseconds"}},
+
+    // minimal allowed time in seconds to prohibited zone
+    simple_config_record_t{"minTimeToPZone",
+                           std::chrono::seconds(10),
+                           {"minimal allowed time in seconds to prohibited zone"}},
+
+    // a time interval to update prohibited zones related quantities (millisecs)
+    simple_config_record_t{"updatingPZoneInterval",
+                           std::chrono::milliseconds(5000),
+                           {"a time interval to update prohibited zones related quantities (millisecs)"}},
+
+    // coordinates difference in arcsecs to stop slewing
+    simple_config_record_t{"slewToleranceRadius", 5.0, {"coordinates difference in arcsecs to stop slewing"}},
+
+    simple_config_record_t{"slewingTelemetryInterval",
+                           std::chrono::milliseconds(100),
+                           {"telemetry request interval (in millisecs) in slewing mode"}},
+
+    simple_config_record_t{"slewingPathFilename",
+                           std::string(),
+                           {"slewing trajectory filename", "if it is an empty - just skip saving"}},
+
+    // target-mount coordinate difference in arcsecs to start adjusting of slewing
+    simple_config_record_t{"adjustCoordDiff",
+                           50.0,
+                           {"target-mount coordinate difference in arcsecs to start adjusting of slewing"}},
+
+    // minimum time in millisecs between two successive adjustments
+    simple_config_record_t{"adjustCycleInterval",
+                           std::chrono::milliseconds(300),
+                           {"minimum time in millisecs between two successive adjustments"}},
+
+    // slew process timeout in seconds
+    simple_config_record_t{"slewTimeout", std::chrono::seconds(3600), {"slew process timeout in seconds"}},
+
+    // a time shift into future to compute target position in future (UT1-scale time duration, millisecs)
+    simple_config_record_t{
+        "timeShiftToTargetPoint",
+        std::chrono::milliseconds(10000),
+        {"a time shift into future to compute target position in future (UT1-scale time duration, millisecs)"}},
+
+
+    simple_config_record_t{"trackingTelemetryInterval",
+                           std::chrono::milliseconds(100),
+                           {"telemetry request interval (in millisecs) in tracking mode"}},
+
+
+    // minimum time in millisecs between two successive tracking corrections
+    simple_config_record_t{"trackingCycleInterval",
+                           std::chrono::milliseconds(300),
+                           {"minimum time in millisecs between two successive tracking corrections"}},
+
+    // maximal valid target-to-mount distance for tracking process (arcsecs)
+    // if current distance is greater than assume current mount coordinate as target point
+    simple_config_record_t{"trackingMaxCoordDiff",
+                           20.0,
+                           {"maximal valid target-to-mount distance for tracking process (arcsecs)",
+                            "if current distance is greater than assume current mount coordinate as target point"}},
+
+    simple_config_record_t{"trackingPathFilename",
+                           std::string(),
+                           {"tracking trajectory filename", "if it is an empty - just skip saving"}},
+
+
+    /*    prohibited zones    */
+
+    // minimal altitude
+    simple_config_record_t{"pzMinAltitude", mcc::impl::MccAngle(10.0_degs), {"minimal altitude"}},
+
+    // HA-axis limit switch minimal value
+    simple_config_record_t{"pzLimitSwitchHAMin",
+                           mcc::impl::MccAngle(-270.0_degs),
+                           {"HA-axis limit switch minimal value"}},
+
+    // HA-axis limit switch maximal value
+    simple_config_record_t{"pzLimitSwitchHAMax",
+                           mcc::impl::MccAngle(270.0_degs),
+                           {"HA-axis limit switch maximal value"}},
+
+    // DEC-axis limit switch minimal value
+    simple_config_record_t{"pzLimitSwitchDecMin",
+                           mcc::impl::MccAngle(-90.0_degs),
+                           {"DEC-axis limit switch minimal value"}},
+
+    // DEC-axis limit switch maximal value
+    simple_config_record_t{"pzLimitSwitchDecMax",
+                           mcc::impl::MccAngle(90.0_degs),
+                           {"DEC-axis limit switch maximal value"}},
+
+
+    /*    hardware-related    */
+
+    // hardware mode: 1 - model mode, otherwise real mode
+    simple_config_record_t{"RunModel", 0, {"hardware mode: 1 - model mode, otherwise real mode"}},
+
+    // mount serial device paths
+    simple_config_record_t{"MountDevPath", std::string("/dev/ttyUSB0"), {"mount serial device paths"}},
+
+    // mount serial device speed
+    simple_config_record_t{"MountDevSpeed", 19200, {"mount serial device speed"}},
+
+    // motor encoders serial device path
+    simple_config_record_t{"EncoderDevPath", std::string(""), {"motor encoders serial device path"}},
+
+    //  X-axis encoder serial device path
+    simple_config_record_t{"EncoderXDevPath", std::string("/dev/encoderX0"), {"X-axis encoder serial device path"}},
+
+    //  Y-axis encoder serial device path
+    simple_config_record_t{"EncoderYDevPath", std::string("/dev/encoderY0"), {"Y-axis encoder serial device path"}},
+
+    // encoders serial device speed
+    simple_config_record_t{"EncoderDevSpeed", 153000, {"encoders serial device speed"}},
+
+    // ==1 if encoder works as separate serial device, ==2 if there's new version with two devices
+    simple_config_record_t{
+        "SepEncoder",
+        2,
+        {"==1 if encoder works as separate serial device, ==2 if there's new version with two devices"}},
+
+
+    // mount polling interval in millisecs
+    simple_config_record_t{"MountReqInterval", std::chrono::milliseconds(100), {"mount polling interval in millisecs"}},
+
+    // encoders polling interval in millisecs
+    simple_config_record_t{"EncoderReqInterval",
+                           std::chrono::milliseconds(1),
+                           {"encoders polling interval in millisecs"}},
+
+    // mount axes rate calculation interval in millisecs
+    simple_config_record_t{"EncoderSpeedInterval",
+                           std::chrono::milliseconds(50),
+                           {"mount axes rate calculation interval in millisecs"}},
+
+    simple_config_record_t{"PIDMaxDt",
+                           std::chrono::milliseconds(1000),
+                           {"maximal PID refresh time interval in millisecs",
+                            "NOTE: if PID data will be refreshed with interval longer than this value (e.g. user polls "
+                            "encoder data too rarely)",
+                            "then the PID 'expired' data will be cleared and new computing loop is started"}},
+
+    simple_config_record_t{"PIDRefreshDt", std::chrono::milliseconds(100), {"PID refresh interval"}},
+
+    simple_config_record_t{"PIDCycleDt",
+                           std::chrono::milliseconds(5000),
+                           {"PID I cycle time (analog of 'RC' for PID on opamps)"}},
+
+
+
+    // X-axis coordinate PID P,I,D-params
+    simple_config_record_t{"XPIDC", std::vector<double>{0.5, 0.1, 0.2}, {"X-axis coordinate PID P,I,D-params"}},
+
+    // X-axis rate PID P,I,D-params
+    simple_config_record_t{"XPIDV", std::vector<double>{0.09, 0.0, 0.05}, {"X-axis rate PID P,I,D-params"}},
+
+    // Y-axis coordinate PID P, I, D-params
+    simple_config_record_t{"YPIDC", std::vector<double>{0.5, 0.1, 0.2}, {"Y-axis coordinate PID P, I, D-params"}},
+
+    // Y-axis rate PID P,I,D-params
+    simple_config_record_t{"YPIDV", std::vector<double>{0.09, 0.0, 0.05}, {"Y-axis rate PID P,I,D-params"}},
+
+
+    // maximal moving rate (degrees per second) along HA-axis  (Y-axis of Sidereal servo microcontroller)
+    simple_config_record_t{
+        "hwMaxRateHA",
+        mcc::impl::MccAngle(8.0_degs),
+        {"maximal moving rate (degrees per second) along HA-axis  (Y-axis of Sidereal servo microcontroller)"}},
+
+    // maximal moving rate (degrees per second) along DEC-axis (X-axis of Sidereal servo microcontroller)
+    simple_config_record_t{
+        "hwMaxRateDEC",
+        mcc::impl::MccAngle(10.0_degs),
+        {"maximal moving rate (degrees per second) along DEC-axis (X-axis of Sidereal servo microcontroller)"}},
+
+    simple_config_record_t{"MaxPointingErr",
+                           mcc::impl::MccAngle(8.0_degs),
+                           {"slewing-to-pointing mode angular limit in degrees"}},
+
+    simple_config_record_t{"MaxFinePointingErr",
+                           mcc::impl::MccAngle(1.5_degs),
+                           {"pointing-to-guiding mode angular limit in degrees"}},
+
+    simple_config_record_t{"MaxGuidingErr",
+                           mcc::impl::MccAngle(0.5_arcsecs),
+                           {"guiding 'good'-flag error cirle radius (mount-to-target distance) in degrees"}},
+
+    simple_config_record_t{"XEncZero", mcc::impl::MccAngle(0.0_degs), {"X-axis encoder zero-point in degrees"}},
+
+    simple_config_record_t{"YEncZero", mcc::impl::MccAngle(0.0_degs), {"Y-axis encoder zero-point in degrees"}}
+
+);
+
+
+class Asibfm700MountConfig : public mcc::utils::KeyValueHolder<decltype(Asibfm700MountConfigDefaults)>
+{
+    using base_t = mcc::utils::KeyValueHolder<decltype(Asibfm700MountConfigDefaults)>;
+
+protected:
+    inline static auto deserializer = []<typename VT>(std::string_view str, VT& value) {
+        std::error_code ec{};
+
+        mcc::utils::MccSimpleDeserializer deser;
+        deser.setRangeDelim(base_t::VALUE_ARRAY_DELIM);
+
+        if constexpr (std::is_arithmetic_v<VT> || mcc::traits::mcc_output_char_range<VT> || std::ranges::range<VT> ||
+                      mcc::traits::mcc_time_duration_c<VT>) {
+            // ec = base_t::defaultDeserializeFunc(str, value);
+            ec = deser(str, value);
+        } else if constexpr (std::same_as<VT, mcc::impl::MccAngle>) {  // assume here all angles are in degrees
+            double vd;
+            // ec = base_t::defaultDeserializeFunc(str, vd);
+            ec = deser(str, vd);
+            if (!ec) {
+                value = mcc::impl::MccAngle(vd, mcc::impl::MccDegreeTag{});
+            }
+        } else if constexpr (std::same_as<VT, mcc::impl::MccDefaultPCMType>) {
+            std::string vstr;
+            // ec = base_t::defaultDeserializeFunc(str, vstr);
+            ec = deser(str, vstr);
+
+            if (!ec) {
+                auto s = mcc::utils::trimSpaces(vstr);
+
+                if (s == mcc::impl::MccDefaultPCMTypeString<mcc::impl::MccDefaultPCMType::PCM_TYPE_GEOMETRY>) {
+                    value = mcc::impl::MccDefaultPCMType::PCM_TYPE_GEOMETRY;
+                } else if (s == mcc::impl::MccDefaultPCMTypeString<
+                                    mcc::impl::MccDefaultPCMType::PCM_TYPE_GEOMETRY_BSPLINE>) {
+                    value = mcc::impl::MccDefaultPCMType::PCM_TYPE_GEOMETRY;
+                } else if (s == mcc::impl::MccDefaultPCMTypeString<mcc::impl::MccDefaultPCMType::PCM_TYPE_BSPLINE>) {
+                    value = mcc::impl::MccDefaultPCMType::PCM_TYPE_BSPLINE;
+                } else {
+                    ec = std::make_error_code(std::errc::invalid_argument);
+                }
+            }
+        } else {
+            ec = std::make_error_code(std::errc::invalid_argument);
+        }
+
+        return ec;
+    };
+
+
+public:
+    /*  the most usefull config fields  */
+
+    template <mcc::traits::mcc_time_duration_c DT>
+    DT hardwarePollingPeriod() const
+    {
+        return std::chrono::duration_cast<DT>(
+            getValue<std::chrono::milliseconds>("hardwarePollingPeriod").value_or(std::chrono::milliseconds{}));
+    };
+
+    std::chrono::milliseconds hardwarePollingPeriod() const
+    {
+        return hardwarePollingPeriod<std::chrono::milliseconds>();
+    };
+
+    template <mcc::mcc_angle_c T>
+    T siteLatitude() const
+    {
+        return static_cast<double>(getValue<mcc::impl::MccAngle>("siteLatitude").value_or(mcc::impl::MccAngle{}));
+    };
+
+    mcc::impl::MccAngle siteLatitude() const
+    {
+        return siteLatitude<mcc::impl::MccAngle>();
+    };
+
+    template <mcc::mcc_angle_c T>
+    T siteLongitude() const
+    {
+        return static_cast<double>(getValue<mcc::impl::MccAngle>("siteLongitude").value_or(mcc::impl::MccAngle{}));
+    };
+
+    mcc::impl::MccAngle siteLongitude() const
+    {
+        return siteLongitude<mcc::impl::MccAngle>();
+    };
+
+    template <typename T>
+    T siteElevation() const
+        requires std::is_arithmetic_v<T>
+    {
+        return getValue<double>("siteElevation").value_or(0.0);
+    }
+
+    double siteElevation() const
+    {
+        return getValue<double>("siteElevation").value_or(0.0);
+    };
+
+    template <typename T>
+    T refractWavelength() const
+        requires std::is_arithmetic_v<T>
+    {
+        return getValue<double>("refractWavelength").value_or(0.0);
+    }
+
+    double refractWavelength() const
+    {
+        return getValue<double>("refractWavelength").value_or(0.0);
+    };
+
+    template <mcc::traits::mcc_output_char_range R>
+    R leapSecondFilename() const
+    {
+        R r;
+
+        std::string val = getValue<std::string>("leapSecondFilename").value_or("");
+        std::ranges::copy(val, std::back_inserter(r));
+
+        return r;
+    }
+
+    std::string leapSecondFilename() const
+    {
+        return leapSecondFilename<std::string>();
+    };
+
+    template <mcc::traits::mcc_output_char_range R>
+    R bulletinAFilename() const
+    {
+        R r;
+        std::string val = getValue<std::string>("bulletinAFilename").value_or("");
+        std::ranges::copy(val, std::back_inserter(r));
+
+        return r;
+    }
+
+    std::string bulletinAFilename() const
+    {
+        return bulletinAFilename<std::string>();
+    };
+
+
+    template <mcc::mcc_angle_c T>
+    T pzMinAltitude() const
+    {
+        return static_cast<double>(getValue<mcc::impl::MccAngle>("pzMinAltitude").value_or(mcc::impl::MccAngle{}));
+    };
+
+    mcc::impl::MccAngle pzMinAltitude() const
+    {
+        return pzMinAltitude<mcc::impl::MccAngle>();
+    };
+
+    template <mcc::mcc_angle_c T>
+    T pzLimitSwitchHAMin() const
+    {
+        return static_cast<double>(getValue<mcc::impl::MccAngle>("pzLimitSwitchHAMin").value_or(mcc::impl::MccAngle{}));
+    };
+
+    mcc::impl::MccAngle pzLimitSwitchHAMin() const
+    {
+        return pzLimitSwitchHAMin<mcc::impl::MccAngle>();
+    };
+
+    template <mcc::mcc_angle_c T>
+    T pzLimitSwitchHAMax() const
+    {
+        return static_cast<double>(getValue<mcc::impl::MccAngle>("pzLimitSwitchHAMax").value_or(mcc::impl::MccAngle{}));
+    };
+
+    mcc::impl::MccAngle pzLimitSwitchHAMax() const
+    {
+        return pzLimitSwitchHAMax<mcc::impl::MccAngle>();
+    };
+
+
+    AsibFM700ServoController::hardware_config_t servoControllerConfig() const
+    {
+        AsibFM700ServoController::hardware_config_t hw_cfg;
+
+        hw_cfg.hwConfig = {};
+
+        hw_cfg.MountDevPath = getValue<std::string>("MountDevPath").value_or(std::string{});
+        hw_cfg.EncoderDevPath = getValue<std::string>("EncoderDevPath").value_or(std::string{});
+        hw_cfg.EncoderXDevPath = getValue<std::string>("EncoderXDevPath").value_or(std::string{});
+        hw_cfg.EncoderYDevPath = getValue<std::string>("EncoderYDevPath").value_or(std::string{});
+
+        hw_cfg.devConfig.MountDevPath = hw_cfg.MountDevPath.data();
+        hw_cfg.devConfig.EncoderDevPath = hw_cfg.EncoderDevPath.data();
+        hw_cfg.devConfig.EncoderXDevPath = hw_cfg.EncoderXDevPath.data();
+        hw_cfg.devConfig.EncoderYDevPath = hw_cfg.EncoderYDevPath.data();
+
+        hw_cfg.devConfig.RunModel = getValue<int>("RunModel").value_or(int{});
+        hw_cfg.devConfig.MountDevSpeed = getValue<int>("MountDevSpeed").value_or(int{});
+        hw_cfg.devConfig.EncoderDevSpeed = getValue<int>("EncoderDevSpeed").value_or(int{});
+        hw_cfg.devConfig.SepEncoder = getValue<int>("SepEncoder").value_or(int{});
+
+        std::chrono::duration<double> secs;  // seconds as floating-point
+
+        secs = getValue<std::chrono::milliseconds>("MountReqInterval").value_or(std::chrono::milliseconds{});
+        hw_cfg.devConfig.MountReqInterval = secs.count();
+
+        secs = getValue<std::chrono::milliseconds>("EncoderReqInterval").value_or(std::chrono::milliseconds{});
+        hw_cfg.devConfig.EncoderReqInterval = secs.count();
+
+        secs = getValue<std::chrono::milliseconds>("EncoderSpeedInterval").value_or(std::chrono::milliseconds{});
+        hw_cfg.devConfig.EncoderSpeedInterval = secs.count();
+
+        secs = getValue<std::chrono::milliseconds>("PIDMaxDt").value_or(std::chrono::milliseconds{1000});
+        hw_cfg.devConfig.PIDMaxDt = secs.count();
+
+        secs = getValue<std::chrono::milliseconds>("PIDRefreshDt").value_or(std::chrono::milliseconds{100});
+        hw_cfg.devConfig.PIDRefreshDt = secs.count();
+
+        secs = getValue<std::chrono::milliseconds>("PIDCycleDt").value_or(std::chrono::milliseconds{5000});
+        hw_cfg.devConfig.PIDCycleDt = secs.count();
+
+
+        std::vector<double> pid = getValue<std::vector<double>>("XPIDC").value_or(std::vector<double>{});
+        if (pid.size() > 2) {
+            hw_cfg.devConfig.XPIDC.P = pid[0];
+            hw_cfg.devConfig.XPIDC.I = pid[1];
+            hw_cfg.devConfig.XPIDC.D = pid[2];
+        }
+
+        pid = getValue<std::vector<double>>("XPIDV").value_or(std::vector<double>{});
+        if (pid.size() > 2) {
+            hw_cfg.devConfig.XPIDV.P = pid[0];
+            hw_cfg.devConfig.XPIDV.I = pid[1];
+            hw_cfg.devConfig.XPIDV.D = pid[2];
+        }
+
+        pid = getValue<std::vector<double>>("YPIDC").value_or(std::vector<double>{});
+        if (pid.size() > 2) {
+            hw_cfg.devConfig.YPIDC.P = pid[0];
+            hw_cfg.devConfig.YPIDC.I = pid[1];
+            hw_cfg.devConfig.YPIDC.D = pid[2];
+        }
+
+        pid = getValue<std::vector<double>>("YPIDV").value_or(std::vector<double>{});
+        if (pid.size() > 2) {
+            hw_cfg.devConfig.YPIDV.P = pid[0];
+            hw_cfg.devConfig.YPIDV.I = pid[1];
+            hw_cfg.devConfig.YPIDV.D = pid[2];
+        }
+
+        double ang = getValue<mcc::impl::MccAngle>("MaxPointingErr").value_or(mcc::impl::MccAngle(8.0_degs));
+        hw_cfg.devConfig.MaxPointingErr = ang;
+
+        ang = getValue<mcc::impl::MccAngle>("MaxFinePointingErr").value_or(mcc::impl::MccAngle(1.5_degs));
+        hw_cfg.devConfig.MaxFinePointingErr = ang;
+
+        ang = getValue<mcc::impl::MccAngle>("MaxGuidingErr").value_or(mcc::impl::MccAngle(0.5_arcsecs));
+        hw_cfg.devConfig.MaxGuidingErr = ang;
+
+        ang = getValue<mcc::impl::MccAngle>("XEncZero").value_or(mcc::impl::MccAngle(0.0_degs));
+        hw_cfg.devConfig.XEncZero = ang;
+
+
+        ang = getValue<mcc::impl::MccAngle>("YEncZero").value_or(mcc::impl::MccAngle(0.0_degs));
+        hw_cfg.devConfig.YEncZero = ang;
+
+
+
+        return hw_cfg;
+    }
+
+
+    mcc::impl::MccSimpleMovementControlsParameters movingModelParams() const
+    {
+        static constexpr double arcsecs2rad = std::numbers::pi / 180.0 / 3600.0;  // arcseconds to radians
+
+        mcc::impl::MccSimpleMovementControlsParameters pars;
+
+        auto get_value = [this]<typename VT>(std::string_view name, VT& val) {
+            val = getValue<VT>(name).value_or(val);
+        };
+
+        pars.telemetryTimeout =
+            getValue<decltype(pars.telemetryTimeout)>("telemetryTimeout").value_or(pars.telemetryTimeout);
+
+        pars.minTimeToPZone = getValue<decltype(pars.minTimeToPZone)>("minTimeToPZone").value_or(pars.minTimeToPZone);
+
+        pars.updatingPZoneInterval = getValue<decltype(pars.updatingPZoneInterval)>("updatingPZoneInterval")
+                                         .value_or(pars.updatingPZoneInterval);
+
+        pars.slewToleranceRadius =
+            getValue<decltype(pars.slewToleranceRadius)>("slewToleranceRadius").value_or(pars.slewToleranceRadius) *
+            arcsecs2rad;
+
+        get_value("slewingTelemetryInterval", pars.slewingTelemetryInterval);
+
+        pars.slewRateX = getValue<decltype(pars.slewRateX)>("hwMaxRateHA").value_or(pars.slewRateX);
+        pars.slewRateY = getValue<decltype(pars.slewRateY)>("hwMaxRateDEC").value_or(pars.slewRateY);
+
+        pars.adjustCoordDiff =
+            getValue<decltype(pars.adjustCoordDiff)>("adjustCoordDiff").value_or(pars.adjustCoordDiff) * arcsecs2rad;
+
+        pars.adjustCycleInterval =
+            getValue<decltype(pars.adjustCycleInterval)>("adjustCycleInterval").value_or(pars.adjustCycleInterval);
+
+        pars.slewTimeout = getValue<decltype(pars.slewTimeout)>("slewTimeout").value_or(pars.slewTimeout);
+
+        pars.slewingPathFilename =
+            getValue<decltype(pars.slewingPathFilename)>("slewingPathFilename").value_or(std::string());
+
+        get_value("trackingTelemetryInterval", pars.trackingTelemetryInterval);
+
+        pars.timeShiftToTargetPoint = getValue<decltype(pars.timeShiftToTargetPoint)>("timeShiftToTargetPoint")
+                                          .value_or(pars.timeShiftToTargetPoint);
+
+        pars.trackingCycleInterval = getValue<decltype(pars.trackingCycleInterval)>("trackingCycleInterval")
+                                         .value_or(pars.trackingCycleInterval);
+
+        pars.trackingMaxCoordDiff =
+            getValue<decltype(pars.trackingMaxCoordDiff)>("trackingMaxCoordDiff").value_or(pars.trackingMaxCoordDiff) *
+            arcsecs2rad;
+
+        pars.trackingPathFilename =
+            getValue<decltype(pars.trackingPathFilename)>("trackingPathFilename").value_or(std::string());
+
+        return pars;
+    }
+
+    Asibfm700PCM::pcm_data_t pcmData() const
+    {
+        Asibfm700PCM::pcm_data_t pcm_data;
+
+        std::vector<double> empty_vec;
+
+        pcm_data.type = getValue<decltype(pcm_data.type)>("pcmType").value_or(pcm_data.type);
+
+        pcm_data.siteLatitude = getValue<mcc::impl::MccAngle>("siteLatitude").value_or(pcm_data.siteLatitude);
+
+        std::vector<double> vec = getValue<std::vector<double>>("pcmGeomCoeffs").value_or(empty_vec);
+        if (vec.size() >= 9) {  // must be 9 coefficients
+            pcm_data.geomCoefficients = {.zeroPointX = vec[0],
+                                         .zeroPointY = vec[1],
+                                         .collimationErr = vec[2],
+                                         .nonperpendErr = vec[3],
+                                         .misalignErr1 = vec[4],
+                                         .misalignErr2 = vec[5],
+                                         .tubeFlexure = vec[6],
+                                         .forkFlexure = vec[7],
+                                         .DECaxisFlexure = vec[8]};
+        }
+
+#ifdef USE_BSPLINE_PCM
+        std::vector<size_t> dd = getValue<decltype(dd)>("pcmBsplineDegree").value_or(dd);
+        if (dd.size() >= 2) {
+            pcm_data.bspline.bsplDegreeX = dd[0] > 0 ? dd[0] : 3;
+            pcm_data.bspline.bsplDegreeY = dd[1] > 0 ? dd[1] : 3;
+        }
+
+        vec = getValue<std::vector<double>>("pcmBsplineXknots").value_or(empty_vec);
+        // pid must contains interior and border (single point for each border) knots so minimal length must be 2
+        if (vec.size() >= 2) {
+            // generate full knots array (with border knots)
+            size_t Nknots = vec.size() + pcm_data.bspline.bsplDegreeX * 2 - 2;
+            pcm_data.bspline.knotsX.resize(Nknots);
+
+            for (size_t i = 0; i <= pcm_data.bspline.bsplDegreeX; ++i) {  // border knots
+                pcm_data.bspline.knotsX[i] = vec[0];
+                pcm_data.bspline.knotsX[Nknots - i - 1] = vec.back();
+            }
+            for (size_t i = 0; i < (vec.size() - 2); ++i) {  // interior knots
+                pcm_data.bspline.knotsX[i + pcm_data.bspline.bsplDegreeX] = vec[1 + i];
+            }
+        }
+
+        vec = getValue<std::vector<double>>("pcmBsplineYknots").value_or(empty_vec);
+        // pid must contains interior and border (single point for each border) knots so minimal length must be 2
+        if (vec.size() >= 2) {
+            // generate full knots array (with border knots)
+            size_t Nknots = vec.size() + pcm_data.bspline.bsplDegreeY * 2 - 2;
+            pcm_data.bspline.knotsY.resize(Nknots);
+
+            for (size_t i = 0; i <= pcm_data.bspline.bsplDegreeY; ++i) {  // border knots
+                pcm_data.bspline.knotsY[i] = vec[0];
+                pcm_data.bspline.knotsY[Nknots - i - 1] = vec.back();
+            }
+            for (size_t i = 0; i < (vec.size() - 2); ++i) {  // interior knots
+                pcm_data.bspline.knotsY[i + pcm_data.bspline.bsplDegreeY] = vec[1 + i];
+            }
+        }
+
+        // minimal allowed number of B-spline coefficients
+        size_t Ncoeffs = pcm_data.type == mcc::impl::MccDefaultPCMType::PCM_TYPE_GEOMETRY
+                             ? 0
+                             : (pcm_data.bspline.knotsX.size() - pcm_data.bspline.bsplDegreeX - 1) *
+                                   (pcm_data.bspline.knotsY.size() - pcm_data.bspline.bsplDegreeY - 1);
+
+        vec = getValue<std::vector<double>>("pcmBsplineXcoeffs").value_or(empty_vec);
+
+        if (vec.size() >= Ncoeffs) {
+            pcm_data.bspline.coeffsX.resize(Ncoeffs);
+            for (size_t i = 0; i < Ncoeffs; ++i) {
+                pcm_data.bspline.coeffsX[i] = vec[i];
+            }
+        }
+
+        vec = getValue<std::vector<double>>("pcmBsplineYcoeffs").value_or(empty_vec);
+
+        if (vec.size() >= Ncoeffs) {
+            pcm_data.bspline.coeffsY.resize(Ncoeffs);
+            for (size_t i = 0; i < Ncoeffs; ++i) {
+                pcm_data.bspline.coeffsY[i] = vec[i];
+            }
+        }
+#endif
+        return pcm_data;
+    }
+
+
+    Asibfm700MountConfig() : base_t(Asibfm700MountConfigDefaults) {}
+
+    ~Asibfm700MountConfig() = default;
+
+    std::error_code load(const std::filesystem::path& path)
+    {
+        std::string buffer;
+
+        std::error_code ec;
+        auto sz = std::filesystem::file_size(path, ec);
+
+        if (!ec && sz) {
+            std::ifstream fst(path);
+
+            try {
+                buffer.resize(sz);
+
+                fst.read(buffer.data(), sz);
+
+                fst.close();
+
+                ec = base_t::fromCharRange(buffer, deserializer);
+                if (!ec) {
+                    // remove possible spaces in filenames
+
+                    std::string val = getValue<std::string>("leapSecondFilename").value_or("");
+                    auto fname = mcc::utils::trimSpaces(val);
+                    setValue("leapSecondFilename", fname);
+
+
+                    val = getValue<std::string>("bulletinAFilename").value_or("");
+                    fname = mcc::utils::trimSpaces(val);
+                    setValue("bulletinAFilename", fname);
+
+                    val = getValue<std::string>("MountDevPath").value_or(std::string{});
+                    fname = mcc::utils::trimSpaces(val);
+                    setValue("MountDevPath", fname);
+
+                    val = getValue<std::string>("EncoderDevPath").value_or(std::string{});
+                    fname = mcc::utils::trimSpaces(val);
+                    setValue("EncoderDevPath", fname);
+
+                    val = getValue<std::string>("EncoderXDevPath").value_or(std::string{});
+                    fname = mcc::utils::trimSpaces(val);
+                    setValue("EncoderXDevPath", fname);
+
+                    val = getValue<std::string>("EncoderYDevPath").value_or(std::string{});
+                    fname = mcc::utils::trimSpaces(val);
+                    setValue("EncoderYDevPath", fname);
+
+                    val = getValue<std::string>("slewingPathFilename").value_or(std::string{});
+                    fname = mcc::utils::trimSpaces(val);
+                    setValue("slewingPathFilename", fname);
+
+                    val = getValue<std::string>("trackingPathFilename").value_or(std::string{});
+                    fname = mcc::utils::trimSpaces(val);
+                    setValue("trackingPathFilename", fname);
+                }
+            } catch (std::ios_base::failure const& ex) {
+                ec = ex.code();
+            } catch (std::length_error const& ex) {
+                ec = std::make_error_code(std::errc::no_buffer_space);
+            } catch (std::bad_alloc const& ex) {
+                ec = std::make_error_code(std::errc::not_enough_memory);
+            } catch (...) {
+                ec = std::make_error_code(std::errc::operation_canceled);
+            }
+        }
+
+        return ec;
+    }
+
+    bool dumpDefaultsToFile(const std::filesystem::path& path)
+    {
+        std::ofstream fst(path);
+        if (!fst.is_open()) {
+            return false;
+        }
+
+        fst << "#\n";
+        fst << "# ASTROSIB FM-700 MOUNT CONFIGURATION\n" << "#\n";
+        fst << "#        (created at " << std::format("{:%FT%T UTC}", std::chrono::system_clock::now()) << ")\n";
+        fst << "#\n";
+
+        auto wrec = [&fst, this]<size_t I>() {
+            fst << "\n";
+            for (size_t i = 0; i < std::get<I>(_keyValue).comment.size(); ++i) {
+                fst << "# " << std::get<I>(_keyValue).comment[i] << "\n";
+            }
+            fst << std::get<I>(_keyValue).key << " = ";
+            auto v = std::get<I>(_keyValue).value;
+            using v_t = std::remove_cvref_t<decltype(v)>;
+
+            if constexpr (std::is_arithmetic_v<v_t> || mcc::traits::mcc_char_range<v_t>) {
+                fst << std::format("{}", v);
+            } else if constexpr (mcc::traits::mcc_time_duration_c<v_t>) {
+                fst << std::format("{}", v.count());
+            } else if constexpr (mcc::mcc_angle_c<v_t>) {
+                fst << std::format("{}", mcc::impl::MccAngle(static_cast<double>(v)).degrees());
+            } else if constexpr (std::same_as<v_t, mcc::impl::MccDefaultPCMType>) {
+                if (v == mcc::impl::MccDefaultPCMType::PCM_TYPE_GEOMETRY) {
+                    fst << mcc::impl::MccDefaultPCMTypeString<mcc::impl::MccDefaultPCMType::PCM_TYPE_GEOMETRY>;
+                } else if (v == mcc::impl::MccDefaultPCMType::PCM_TYPE_GEOMETRY_BSPLINE) {
+                    fst << mcc::impl::MccDefaultPCMTypeString<mcc::impl::MccDefaultPCMType::PCM_TYPE_GEOMETRY_BSPLINE>;
+                } else if (v == mcc::impl::MccDefaultPCMType::PCM_TYPE_BSPLINE) {
+                    fst << mcc::impl::MccDefaultPCMTypeString<mcc::impl::MccDefaultPCMType::PCM_TYPE_BSPLINE>;
+                }
+            } else if constexpr (std::ranges::range<v_t> && std::formattable<std::ranges::range_value_t<v_t>, char>) {
+                size_t sz = std::ranges::size(v);
+                if (!sz) {
+                    return;
+                }
+                --sz;
+
+                auto it = v.begin();
+                for (size_t j = 0; j < sz; ++j, ++it) {
+                    fst << std::format("{}", *it) << base_t::VALUE_ARRAY_DELIM;
+                }
+                fst << std::format("{}", *it);
+            } else if constexpr (std::formattable<v_t, char>) {
+                fst << std::format("{}", v);
+            } else {
+                static_assert(false, "INVALID TYPE!");
+            }
+
+            fst << "\n";
+        };
+
+        [&wrec]<size_t... Is>(std::index_sequence<Is...>) {
+            (wrec.operator()<Is>(), ...);
+        }(std::make_index_sequence<std::tuple_size_v<decltype(Asibfm700MountConfigDefaults)>>());
+
+        fst.close();
+
+        return true;
+    };
+};
+
+
+
+}  // namespace asibfm700

asibfm700_mount.cpp

@@ -0,0 +1,337 @@
+#include "asibfm700_mount.h"
+
+#include <mcc/mcc_coordinate.h>
+#include <mcc/mcc_pzone.h>
+
+namespace asibfm700
+{
+
+
+/*    CONSTRUCTOR AND DESTRUCTOR    */
+
+Asibfm700Mount::Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_ptr<spdlog::logger> logger)
+    : _servolController(config.servoControllerConfig()),
+      _pcm(config.pcmData()),
+      gm_class_t(std::make_tuple(&_servolController, &_pcm),
+                 std::make_tuple(),
+                 std::make_tuple(&_servolController,
+                                 this,
+                                 [this](Asibfm700Mount::mount_status_t const& status) { *_mountStatus = status; }),
+                 std::make_tuple(logger, Asibfm700Logger::LOGGER_DEFAULT_FORMAT)),
+      _mountConfig(config),
+      _mountConfigMutex(new std::mutex)
+{
+    gm_class_t::addMarkToPatternIdx("[ASIB-MOUNT]");
+
+    logDebug("Create Asibfm700Mount class instance ({})", this->getThreadId());
+
+    initMount();
+}
+
+Asibfm700Mount::~Asibfm700Mount()
+{
+    logDebug("Delete Asibfm700Mount class instance ({})", this->getThreadId());
+}
+
+
+
+/*    PUBIC METHODS    */
+
+Asibfm700Mount::error_t Asibfm700Mount::initMount()
+{
+    std::lock_guard lock{*_mountConfigMutex};
+
+    logInfo("Init AstroSib FM-700 mount with configuration:");
+    logInfo("    site latitude: {}", _mountConfig.siteLatitude().sexagesimal());
+    logInfo("    site longitude: {}", _mountConfig.siteLongitude().sexagesimal());
+    logInfo("    site elevation: {} meters", _mountConfig.siteElevation());
+    logInfo("    refraction wavelength: {} mkm", _mountConfig.refractWavelength());
+    logInfo("    leap seconds filename: {}", _mountConfig.leapSecondFilename());
+    logInfo("    IERS Bulletin A filename: {}", _mountConfig.bulletinAFilename());
+
+    logInfo("");
+    logDebug("Delete previously defined prohobited zones");
+    clearPZones();
+    logInfo("Add prohibited zones ...");
+
+    logInfo("    Add MccAltLimitPZ zone: min alt = {}, lat = {} (pzone type: '{}')",
+            _mountConfig.pzMinAltitude().degrees(), _mountConfig.siteLatitude().degrees(),
+            "Minimal altitude prohibited zone");
+    addPZone(mcc::impl::MccAltLimitPZ<mcc::impl::MccAltLimitKind::MIN_ALT_LIMIT>{_mountConfig.pzMinAltitude(),
+                                                                                 _mountConfig.siteLatitude()});
+
+    logInfo("    Add MccAxisLimitSwitchPZ zone: min value = {}, max value = {} (pzone type: '{}')",
+            _mountConfig.pzLimitSwitchHAMin().degrees(), _mountConfig.pzLimitSwitchHAMax().degrees(),
+            "HA-axis limit switch");
+    size_t pz_num = addPZone(mcc::impl::MccAxisLimitSwitchPZ<mcc::impl::MccCoordKind::COORDS_KIND_HA_OBS>{
+        _mountConfig.pzLimitSwitchHAMin(), _mountConfig.pzLimitSwitchHAMax(), &_pcm});
+
+    logInfo("{} prohibited zones were added successfully", pz_num);
+
+    auto mpars = _mountConfig.movingModelParams();
+
+    using secs_t = std::chrono::duration<double>;
+    auto to_msecs = [](double secs) {
+        auto s = secs_t{secs};
+        return std::chrono::duration_cast<std::chrono::milliseconds>(s);
+    };
+
+    auto hw_cfg = _mountConfig.servoControllerConfig();
+    logInfo("");
+    logInfo("Hardware initialization ...");
+    logInfo("     set hardware configuration:");
+    logInfo("         RunModel: {}", hw_cfg.devConfig.RunModel == 1 ? "MODEL-MODE" : "REAL-MODE");
+    logInfo("         mount dev path: {}", hw_cfg.MountDevPath);
+    logInfo("         encoder dev path: {}", hw_cfg.EncoderDevPath);
+    logInfo("         encoder X-dev path: {}", hw_cfg.EncoderXDevPath);
+    logInfo("         encoder Y-dev path: {}", hw_cfg.EncoderYDevPath);
+
+    logInfo("         EncoderDevSpeed: {}", hw_cfg.devConfig.EncoderDevSpeed);
+    logInfo("         SepEncoder: {}", hw_cfg.devConfig.SepEncoder);
+    logInfo("         MountReqInterval: {}", to_msecs(hw_cfg.devConfig.MountReqInterval));
+    logInfo("         EncoderReqInterval: {}", to_msecs(hw_cfg.devConfig.EncoderReqInterval));
+    logInfo("         EncoderSpeedInterval: {}", to_msecs(hw_cfg.devConfig.EncoderSpeedInterval));
+    logInfo("         PIDMaxDt: {}", to_msecs(hw_cfg.devConfig.PIDMaxDt));
+    logInfo("         PIDRefreshDt: {}", to_msecs(hw_cfg.devConfig.PIDRefreshDt));
+    logInfo("         PIDCycleDt: {}", to_msecs(hw_cfg.devConfig.PIDCycleDt));
+
+    logInfo("         XPIDC: [P: {}, I: {}, D: {}]", hw_cfg.devConfig.XPIDC.P, hw_cfg.devConfig.XPIDC.I,
+            hw_cfg.devConfig.XPIDC.D);
+    logInfo("         XPIDV: [P: {}, I: {}, D: {}]", hw_cfg.devConfig.XPIDV.P, hw_cfg.devConfig.XPIDV.I,
+            hw_cfg.devConfig.XPIDV.D);
+    logInfo("         YPIDC: [P: {}, I: {}, D: {}]", hw_cfg.devConfig.YPIDC.P, hw_cfg.devConfig.YPIDC.I,
+            hw_cfg.devConfig.YPIDC.D);
+    logInfo("         YPIDV: [P: {}, I: {}, D: {}]", hw_cfg.devConfig.YPIDV.P, hw_cfg.devConfig.YPIDV.I,
+            hw_cfg.devConfig.YPIDV.D);
+    logInfo("         XEncZero: {}", hw_cfg.devConfig.XEncZero);
+    logInfo("         YEncZero: {}", hw_cfg.devConfig.YEncZero);
+
+    // actually, only set this->_hardwareConfig.devConfig part and paths!!!
+    // this->_hardwareConfig = hw_cfg;
+    _servolController.hardwareUpdateConfig(hw_cfg.devConfig);
+
+    logInfo("");
+    logInfo("     EEPROM data:");
+
+    if (hw_cfg.devConfig.RunModel != 1) {  // load EEPROM only in REAL HARDWARE mode
+        // load EEPROM part
+        auto cfg_err = _servolController.hardwareUpdateConfig();
+        if (cfg_err) {
+            errorLogging("Cannot load EEPROM data:", cfg_err);
+            return cfg_err;
+        }
+
+        hw_cfg = _servolController.getHardwareConfig();
+
+        mcc::impl::MccAngle ang{hw_cfg.hwConfig.Yconf.accel};  // Sidereal defines HA-axis as Y-axis
+
+        logInfo("         HA-axis accel: {} degs/s^2", ang.degrees());
+        ang = hw_cfg.hwConfig.Xconf.accel;  // Sidereal defines DEC-axis as X-axis
+        logInfo("         DEC-axis accel: {} degs/s^2", ang.degrees());
+        logInfo("         HA-axis backlash: {}", (double)hw_cfg.hwConfig.Yconf.backlash);
+        logInfo("         DEC-axis backlash: {}", (double)hw_cfg.hwConfig.Xconf.backlash);
+
+        logInfo("         HA-axis encoder ticks per revolution: {}",
+                hw_cfg.hwConfig.Ysetpr);  // Sidereal defines HA-axis as Y-axis
+        logInfo("         DEC-axis encoder ticks per revolution: {}",
+                hw_cfg.hwConfig.Xsetpr);  // Sidereal defines DEC-axis as X-axis
+        logInfo("         HA-motor encoder ticks per revolution: {}",
+                hw_cfg.hwConfig.Ymetpr);  // Sidereal defines HA-axis as Y-axis
+        logInfo("         DEC-motor encoder ticks per revolution: {}",
+                hw_cfg.hwConfig.Xmetpr);  // Sidereal defines DEC-axis as X-axis
+
+        ang = hw_cfg.hwConfig.Yslewrate;  // Sidereal defines HA-axis as Y-axis
+        logInfo("         HA-axis slew rate: {} degs/s", ang.degrees());
+        ang = hw_cfg.hwConfig.Xslewrate;  // Sidereal defines DEC-axis as X-axis
+        logInfo("         DEC-axis slew rate: {} degs/s", ang.degrees());
+    } else {
+        logWarn("         MODEL-MODE, no EEPROM data!");
+    }
+
+    logInfo("");
+    logInfo("Setup slewing and tracking parameters ...");
+    mpars.slewRateX = _mountConfig.getValue<mcc::impl::MccAngle>("hwMaxRateHA").value_or(0.0);
+    mpars.slewRateY = _mountConfig.getValue<mcc::impl::MccAngle>("hwMaxRateDEC").value_or(0.0);
+    if (hw_cfg.devConfig.RunModel != 1) {
+        mpars.brakingAccelX = hw_cfg.hwConfig.Yconf.accel;  // Sidereal defines HA-axis as Y-axis
+        mpars.brakingAccelY = hw_cfg.hwConfig.Xconf.accel;  // Sidereal defines DEC-axis as X-axis
+        //
+    } else {                             // set model's default values
+        mpars.brakingAccelX = 0.165806;  // Sidereal defines HA-axis as Y-axis
+        mpars.brakingAccelY = 0.219911;  // Sidereal defines DEC-axis as X-axis
+
+        hw_cfg.hwConfig.Xslewrate = mpars.slewRateY;
+        hw_cfg.hwConfig.Yslewrate = mpars.slewRateX;
+        hw_cfg.hwConfig.Xconf.accel = mpars.brakingAccelY;
+        hw_cfg.hwConfig.Yconf.accel = mpars.brakingAccelX;
+    }
+
+    auto max_dt_intvl = _mountConfig.getValue<std::chrono::milliseconds>("PIDMaxDt").value_or({});
+    auto min_dt_intvl = _mountConfig.getValue<std::chrono::milliseconds>("PIDRefreshDt").value_or({});
+
+    // check for polling interval consistency
+    auto intvl = mpars.slewingTelemetryInterval;
+    if (intvl > max_dt_intvl) {
+        mpars.slewingTelemetryInterval = max_dt_intvl;
+        logWarn(
+            "        slewingTelemetryInterval user value ({} ms) is greater than allowed! Set it to maximal "
+            "allowed one: {} ms",
+            intvl.count(), max_dt_intvl.count());
+    }
+    if (intvl < min_dt_intvl) {
+        mpars.slewingTelemetryInterval = min_dt_intvl;
+        logWarn(
+            "        slewingTelemetryInterval user value ({} ms) is lesser than allowed! Set it to minimal allowed "
+            "one: {} ms",
+            intvl.count(), min_dt_intvl.count());
+    }
+
+    intvl = mpars.trackingTelemetryInterval;
+    if (intvl > max_dt_intvl) {
+        mpars.trackingTelemetryInterval = max_dt_intvl;
+        logWarn(
+            "        trackingTelemetryInterval user value ({} ms) is greater than allowed! Set it to maximal "
+            "allowed one: {} ms",
+            intvl.count(), max_dt_intvl.count());
+    }
+    if (intvl < min_dt_intvl) {
+        mpars.trackingTelemetryInterval = min_dt_intvl;
+        logWarn(
+            "        trackingTelemetryInterval user value ({} ms) is lesser than allowed! Set it to minimal "
+            "allowed one: {} ms",
+            intvl.count(), min_dt_intvl.count());
+    }
+
+
+    auto st_err = setMovementParams(mpars);
+    if (st_err) {
+        errorLogging("    An error occured while setting slewing parameters: ", st_err);
+    } else {
+        logInfo("    Max HA-axis speed: {} degs/s", mcc::impl::MccAngle(mpars.slewRateX).degrees());
+        logInfo("    Max DEC-axis speed: {} degs/s", mcc::impl::MccAngle(mpars.slewRateY).degrees());
+        logInfo("    HA-axis stop acceleration braking: {} degs/s^2",
+                mcc::impl::MccAngle(mpars.brakingAccelX).degrees());
+        logInfo("    DEC-axis stop acceleration braking: {} degs/s^2",
+                mcc::impl::MccAngle(mpars.brakingAccelY).degrees());
+
+        logInfo("    Slewing telemetry polling interval: {} millisecs", mpars.slewingTelemetryInterval.count());
+    }
+    // st_err = setMovementParams(_mountConfig.movingModelParams());
+    // if (st_err) {
+    //     errorLogging("    An error occured while setting tracking parameters: ", st_err);
+    // } else {
+    //     logInfo("    Tracking telemetry polling interval: {} millisecs", mpars.trackingTelemetryInterval.count());
+    // }
+    logInfo("Slewing and tracking parameters have been set successfully");
+
+
+    // update Eddy's LibSidServo internal config
+    _servolController.hardwareUpdateConfig(hw_cfg.hwConfig);
+
+    coordpair_t cp;
+    Mount.getMaxSpeed(&cp);
+    logInfo("Check mount max speed: {} {}", cp.Y, cp.X);
+
+    _servolController.hardwareInit();
+
+    // call base class initMount method
+    auto hw_err = gm_class_t::initMount();
+    // auto hw_err = base_gm_class_t::initMount();
+    if (hw_err) {
+        errorLogging("", hw_err);
+        return hw_err;
+    } else {
+        logInfo("Hardware initialization was performed sucessfully!");
+    }
+
+    logInfo("ERFA engine initialization ...");
+
+
+    auto ccte_state = mcc::impl::MccSkyPoint::cctEngine.getStateERFA();
+    mcc::impl::MccSkyPoint::cctEngine.setStateERFA({.meteo = ccte_state.meteo,  // just use of previous values
+                                                    .wavelength = _mountConfig.refractWavelength(),
+                                                    .lat = _mountConfig.siteLatitude(),
+                                                    .lon = _mountConfig.siteLongitude(),
+                                                    .elev = _mountConfig.siteElevation()});
+
+    // set ERFA state
+    // Asibfm700CCTE::engine_state_t ccte_state{
+    //     .meteo = Asibfm700CCTE::_currentState.meteo,  // just use of previous values
+    //     .wavelength = _mountConfig.refractWavelength(),
+    //     .lat = _mountConfig.siteLatitude(),
+    //     .lon = _mountConfig.siteLongitude(),
+    //     .elev = _mountConfig.siteElevation()};
+
+
+    if (_mountConfig.leapSecondFilename().size()) {  // load leap seconds file
+        logInfo("Loading leap second file: '{}' ...", _mountConfig.leapSecondFilename());
+        bool ok = ccte_state._leapSeconds.load(_mountConfig.leapSecondFilename());
+        if (ok) {
+            logInfo("Leap second file was loaded successfully (expire date: {})", ccte_state._leapSeconds.expireDate());
+        } else {
+            logError("Leap second file loading failed! Using hardcoded defauls (expire date: {})",
+                     ccte_state._leapSeconds.expireDate());
+        }
+    } else {
+        logInfo("Using hardcoded leap seconds defauls (expire date: {})", ccte_state._leapSeconds.expireDate());
+    }
+
+    if (_mountConfig.bulletinAFilename().size()) {  // load IERS Bulletin A file
+        logInfo("Loading IERS Bulletin A file: '{}' ...", _mountConfig.bulletinAFilename());
+        bool ok = ccte_state._bulletinA.load(_mountConfig.bulletinAFilename());
+        if (ok) {
+            logInfo("IERS Bulletin A file was loaded successfully (date range: {} - {})",
+                    ccte_state._bulletinA.dateRange().begin, ccte_state._bulletinA.dateRange().end);
+        } else {
+            logError("IERS Bulletin A file loading failed! Using hardcoded defauls (date range: {} - {})",
+                     ccte_state._bulletinA.dateRange().begin, ccte_state._bulletinA.dateRange().end);
+        }
+    } else {
+        logInfo("Using hardcoded IERS Bulletin A defauls (date range: {} - {})",
+                ccte_state._bulletinA.dateRange().begin, ccte_state._bulletinA.dateRange().end);
+    }
+
+
+    // setTelemetryDataUpdateInterval(_mountConfig.hardwarePollingPeriod());
+    setTelemetryDataTimeout(_mountConfig.movingModelParams().telemetryTimeout);
+
+    // std::this_thread::sleep_for(std::chrono::milliseconds(100));
+
+    telemetry_data_t tdata;
+    auto t_err = telemetryData(&tdata);
+    if (t_err) {
+        logError(gm_class_t::formatError(t_err, "Cannot update telemetry data: "));
+
+        return t_err;
+    }
+
+    return mcc::impl::MccGenericMountErrorCode::ERROR_OK;
+}
+
+
+Asibfm700Mount::error_t Asibfm700Mount::updateMountConfig(const Asibfm700MountConfig& cfg)
+{
+    std::lock_guard lock{*_mountConfigMutex};
+
+    _mountConfig = cfg;
+
+    auto hw_cfg = _mountConfig.servoControllerConfig();
+    _servolController.hardwareUpdateConfig(hw_cfg.devConfig);
+    _servolController.hardwareUpdateConfig(hw_cfg.hwConfig);
+
+    return AsibFM700ServoControllerErrorCode::ERROR_OK;
+}
+
+
+/*    PROTECTED METHODS    */
+
+void Asibfm700Mount::errorLogging(const std::string& msg, const std::error_code& err)
+{
+    if (msg.empty()) {
+        logError("{}::{} ({})", err.category().name(), err.value(), err.message());
+    } else {
+        logError("{}: {}::{} ({})", msg, err.category().name(), err.value(), err.message());
+    }
+}
+
+}  // namespace asibfm700