ahp_gt.h

 
#ifndef _AHP_GT_H
#define _AHP_GT_H
 
#ifdef  __cplusplus
extern "C" {
#endif
#ifdef _WIN32
#include <winsock2.h>
#include <windows.h>
#define DLL_EXPORT __declspec(dllexport)
#else
#define DLL_EXPORT extern
#endif
 
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <unistd.h>


 
#ifndef AHP_DEBUG
#define AHP_DEBUG
#define AHP_DEBUG_INFO 0
#define AHP_DEBUG_ERROR 1
#define AHP_DEBUG_WARNING 2
#define AHP_DEBUG_DEBUG 3
DLL_EXPORT void ahp_set_debug_level(int value);
DLL_EXPORT int ahp_get_debug_level(void);
DLL_EXPORT void ahp_set_app_name(char* name);
DLL_EXPORT char* ahp_get_app_name(void);
DLL_EXPORT void ahp_set_stdout(FILE *f);
DLL_EXPORT void ahp_set_stderr(FILE *f);
#endif


typedef enum {
    AABB             = 0,
    ABAB             = 1,
    ABBA             = 2,
} GTSteppingConfiguration;

typedef enum {
Mixed            = 0,
Microstep        = 1,
HalfStep         = 2,
} GTSteppingMode;

typedef enum  {
GpioUnused             = 0x0000,
GpioAsST4              = 0x0001,
GpioAsEncoder          = 0x0002,
GpioAsPulseDrive       = 0x0003,
} GTFeature;

typedef enum {
isForkMount = 0x1,
halfCurrentRA = 0x2,
halfCurrentDec = 0x4,
bauds_115200 = 0x8,
torqueControl = 0x400,
} GTFlags;

typedef enum {
inPPECTraining         = 0x000010,
inPPEC                 = 0x000020,
hasEncoder             = 0x000001,
hasPPEC                = 0x000002,
hasHomeIndexer         = 0x000004,
isAZEQ                 = 0x000008,
hasPolarLed            = 0x001000,
hasCommonSlewStart     = 0x002000,
hasHalfCurrentTracking = 0x004000,
hasWifi                = 0x008000,
} SkywatcherFeature;
 
typedef enum {
    START_PPEC_TRAINING_CMD            = 0x00,
    STOP_PPEC_TRAINING_CMD             = 0x01,
    TURN_PPEC_ON_CMD                   = 0x02,
    TURN_PPEC_OFF_CMD                  = 0x03,
    ENCODER_ON_CMD                     = 0x04,
    ENCODER_OFF_CMD                    = 0x05,
    DISABLE_FULL_CURRENT_LOW_SPEED_CMD = 0x0006,
    ENABLE_FULL_CURRENT_LOW_SPEED_CMD  = 0x0106,
    RESET_HOME_INDEXER_CMD             = 0x08,
} SkywatcherSetFeatureCmd;

typedef enum {
isEQ6 = 0x00,
isHEQ5 = 0x01,
isEQ5 = 0x02,
isEQ3 = 0x03,
isEQ8 = 0x04,
isAZEQ6 = 0x05,
isAZEQ5 = 0x06,
isGT = 0x80,
isMF = 0x81,
is114GT = 0x82,
isDOB = 0x90,
isCustom = 0xF0,
} MountType;
 
typedef enum {
    Null                      = '\0',
    Initialize                = 'F',
    InquireMotorBoardVersion  = 'e',
    InquireGridPerRevolution  = 'a',
    InquireTimerInterruptFreq = 'b',
    InquireHighSpeedRatio     = 'g',
    InquirePECPeriod          = 's',
    InstantAxisStop           = 'L',
    NotInstantAxisStop        = 'K',
    SetAxisPositionCmd        = 'E',
    GetAxisPosition           = 'j',
    GetAxisStatus             = 'f',
    SetSwitch                 = 'O',
    SetMotionMode             = 'G',
    SetGotoTargetIncrement    = 'H',
    SetBreakPointIncrement    = 'M',
    SetGotoTarget             = 'S',
    SetBreakStep              = 'U',
    SetStepPeriod             = 'I',
    StartMotion               = 'J',
    GetStepPeriod             = 'D', // See Merlin protocol http://www.papywizard.org/wiki/DevelopGuide
    ActivateMotor             = 'B', // See eq6direct implementation http://pierre.nerzic.free.fr/INDI/
    SetST4GuideRateCmd        = 'P',
    SetFeatureCmd             = 'W', // EQ8/AZEQ6/AZEQ5 only
    GetFeatureCmd             = 'q', // EQ8/AZEQ6/AZEQ5 only
    InquireAuxEncoder         = 'd', // EQ8/AZEQ6/AZEQ5 only
    SetVars                   = '@',
    GetVars                   = '?',
    ReloadVars                = '$',
    Flash                     = '#',
    FlashEnable               = '!',
    SetAddress                = '=',
    SetAxis                   = '.',
    GetAxis                   = ',',
} SkywatcherCommand;

typedef enum {
    GetRaDec = 'E', // < '34AB,12CE#'
    GetPreciseRaDec = 'e', // < 34AB0500,12CE0500#
    GetAzAlt = 'Z', // < 12AB,4000#
    GetPreciseAzAlt = 'z', // < 12AB0500,40000500#
    GotoRaDec = 'R', // > 'R34AB,12CE' < #
    GotoPreciseRaDec = 'r', // > r'34AB0500,12CE0500', < #
    GotoAzAlt = 'B', // > 'B12AB,4000', < '#'
    GotoPreciseAzAlt = 'b', // >  'b12AB0500,40000500', < #
    SyncRaDec = 'S', // > 'S34AB,12CE', < '#'
    SyncPreciseRaDec = 's', // > 's34AB0500,12CE0500', < #
    GetTrackingMode = 't', // < chr:mode #
    SetTrackingMode = 'T', // > chr:mode #
    Slew = 'P',
    GetLocation = 'w', // < chr:A & chr:B & chr:C & chr:D & chr:E & chr:F & chr:G & chr:H & '#'
    SetLocation = 'W', // > & chr:A & chr:B & chr:C & chr:D & chr:E & chr:F & chr:G & chr:H '#'
    GetTime = 'h', // < chr:Q & chr:R & chr:S & chr:T & chr:U & chr:V & chr:W & chr:X & '#'
    SetTime = 'H', // > & chr:Q & chr:R & chr:S & chr:T & chr:U & chr:V & chr:W & chr:X
    GetSynScanVersion = 'V', // Replies 6 hexadecimal digits in ASCII and ends with '#', i.e. if the version is 04.37.07, then the hand control will responses '042507#', Hand Control responses its firmware version in 6 hexadecimal digits in ASCII. Each hexadecimal digits will be one of ‘0’~ ‘9’ and ‘A’~ ‘F’.
    GetModel = 'm', // < chr:model & '#' Hand Control responses the model of mount.
    Echo = 'K', // > & chr:x chr:x & '#'
    AlignmentComplete = 'J', // chr:align & #
    GOTOinProgress = 'L',
    CancelGOTO = 'M', // < '#'
    GetMountPointingState = 'p', // < 'E' or 'W' & '#' Hand Control responses the mount current pointing state. For northern 'E' means no flipping (OTA is on the eastern side of meridian), 'W' means flipped (OTA is on the western side). For southern hemisphere, 'E' means flipped, 'W' means not flipped.
} SynscanCommand;

typedef enum {
MODE_GOTO_HISPEED = 0x00,
MODE_SLEW_LOSPEED = 0x10,
MODE_GOTO_LOSPEED = 0x20,
MODE_SLEW_HISPEED = 0x30,
} SkywatcherMotionMode;

typedef enum {
MODE_SLEW = 0x1,
MODE_GOTO = 0x0,
} SkywatcherSlewMode;

typedef enum {
SPEED_LOW = 0x0,
SPEED_HIGH = 0x1,
} SkywatcherSpeedMode;

typedef enum {
DIRECTION_FORWARD = 0x00,
DIRECTION_BACKWARD = 0x01,
} SkywatcherDirection;

typedef enum {
Ra = 0,
Dec,
Focus,
Filter,
Rotator,
Iris,
Shutter,
Dome,
Instrument,
TipX,
TipY,
TipZ,
TiltX,
TiltY,
TiltZ,
InstrumentX,
InstrumentY,
InstrumentZ,
InstrumentRotationX,
InstrumentRotationY,
InstrumentRotationZ,
PhasePrimaryX,
PhasePrimaryY,
PhasePrimaryZ,
PhaseSecondaryX,
PhaseSecondaryY,
PhaseSecondaryZ,
PhaseTertiaryX,
PhaseTertiaryY,
PhaseTertiaryZ,
FrequencyPrimaryX,
FrequencyPrimaryY,
FrequencyPrimaryZ,
FrequencySecondaryX,
FrequencySecondaryY,
FrequencySecondaryZ,
FrequencyTertiaryX,
FrequencyTertiaryY,
FrequencyTertiaryZ,
PCMPrimaryX,
PCMPrimaryY,
PCMPrimaryZ,
PCMSecondaryX,
PCMSecondaryY,
PCMSecondaryZ,
PCMTertiaryX,
PCMTertiaryY,
PCMTertiaryZ,
PlaneX,
PlaneY,
PlaneZ,
RailX,
RailY,
RailZ,
Guide = 64,
NumAxes,
}  SkywatcherAxis;

typedef struct {
    double variable;
    double constant;
} gt_deviator;

typedef struct {
int Initialized;
int Running;
SkywatcherSlewMode Mode;
SkywatcherSpeedMode Speed;
SkywatcherDirection Direction;
//Current position
double position;
//timestamp
double timestamp;
} SkywatcherAxisStatus;

#define AHP_GT_VERSION 0x175
#define AHP_GT_ONE_SECOND 1500000


 DLL_EXPORT inline unsigned int ahp_gt_get_version(void) { return AHP_GT_VERSION; }

DLL_EXPORT int ahp_gt_connect(const char* port);

DLL_EXPORT int ahp_gt_connect_fd(int fd);

DLL_EXPORT int ahp_gt_connect_udp(const char* address, int port);

DLL_EXPORT int ahp_gt_get_fd(void);

DLL_EXPORT void ahp_gt_disconnect(void);

DLL_EXPORT void ahp_gt_set_fd(int fd);

DLL_EXPORT unsigned int ahp_gt_is_connected(void);

DLL_EXPORT unsigned int ahp_gt_is_detected(int index);

DLL_EXPORT int ahp_gt_get_mc_version(int axis);


DLL_EXPORT MountType ahp_gt_get_mount_type(void);

DLL_EXPORT int ahp_gt_get_axis_number(void);

DLL_EXPORT int ahp_gt_get_axes_limit(void);

DLL_EXPORT GTFeature ahp_gt_get_feature(int axis);

DLL_EXPORT SkywatcherFeature ahp_gt_get_features(int axis);

DLL_EXPORT double ahp_gt_get_motor_steps(int axis);

DLL_EXPORT double ahp_gt_get_motor_teeth(int axis);

DLL_EXPORT double ahp_gt_get_worm_teeth(int axis);

DLL_EXPORT double ahp_gt_get_crown_teeth(int axis);

DLL_EXPORT double ahp_gt_get_divider(int axis);

DLL_EXPORT double ahp_gt_get_multiplier(int axis);

DLL_EXPORT int ahp_gt_get_totalsteps(int axis);

DLL_EXPORT int ahp_gt_get_wormsteps(int axis);

DLL_EXPORT double ahp_gt_get_guide_steps(int axis);

DLL_EXPORT double ahp_gt_get_acceleration_steps(int axis);

DLL_EXPORT double ahp_gt_get_acceleration_angle(int axis);

DLL_EXPORT int ahp_gt_get_rs232_polarity(void);

DLL_EXPORT int ahp_gt_get_pwm_frequency(int axis);

DLL_EXPORT int ahp_gt_get_direction_invert(int axis);

DLL_EXPORT GTFlags ahp_gt_get_mount_flags(void);

DLL_EXPORT GTSteppingConfiguration ahp_gt_get_stepping_conf(int axis);

DLL_EXPORT GTSteppingMode ahp_gt_get_stepping_mode(int axis);

DLL_EXPORT double ahp_gt_get_max_speed(int axis);

DLL_EXPORT double ahp_gt_get_speed_limit(int axis);

DLL_EXPORT double ahp_gt_get_timing(int axis);

DLL_EXPORT void ahp_gt_set_timing(int axis, int value);

DLL_EXPORT void ahp_gt_set_mount_type(MountType value);

DLL_EXPORT void ahp_gt_set_axis_number(int axis, int value);

DLL_EXPORT const char* ahp_gt_axis_name(int axis);

DLL_EXPORT void ahp_gt_set_axes_limit(int value);

DLL_EXPORT void ahp_gt_set_features(int axis, SkywatcherFeature value);

DLL_EXPORT void ahp_gt_set_feature(int axis, GTFeature value);

DLL_EXPORT void ahp_gt_set_motor_steps(int axis, double value);

DLL_EXPORT void ahp_gt_set_motor_teeth(int axis, double value);

DLL_EXPORT void ahp_gt_set_worm_teeth(int axis, double value);

DLL_EXPORT void ahp_gt_set_crown_teeth(int axis, double value);

DLL_EXPORT void ahp_gt_set_divider(int axis, int value);

DLL_EXPORT void ahp_gt_set_multiplier(int axis, int value);

DLL_EXPORT void ahp_gt_set_totalsteps(int axis, int value);

DLL_EXPORT void ahp_gt_set_wormsteps(int axis, int value);

DLL_EXPORT void ahp_gt_set_guide_steps(int axis, double value);

DLL_EXPORT void ahp_gt_limit_intensity(int axis, int value);

DLL_EXPORT int ahp_gt_is_intensity_limited(int axis);

DLL_EXPORT void ahp_gt_set_intensity_limit(int axis, double value);

DLL_EXPORT double ahp_gt_get_intensity_limit(int axis);

void ahp_gt_set_voltage(int axis, double value);

void ahp_gt_add_intensity_deviator(int axis, gt_deviator deviator);

double ahp_gt_get_intensity_deviation(int axis, double freq);

DLL_EXPORT void ahp_gt_set_acceleration_angle(int axis, double value);

DLL_EXPORT void ahp_gt_set_rs232_polarity(int value);

DLL_EXPORT void ahp_gt_set_pwm_frequency(int axis, int value);

DLL_EXPORT void ahp_gt_set_direction_invert(int axis, int value);

DLL_EXPORT void ahp_gt_set_mount_flags(GTFlags value);

DLL_EXPORT void ahp_gt_set_stepping_conf(int axis, GTSteppingConfiguration value);

DLL_EXPORT void ahp_gt_set_stepping_mode(int axis, GTSteppingMode value);

DLL_EXPORT void ahp_gt_set_max_speed(int axis, double value);


DLL_EXPORT int ahp_gt_detect_device(void);

DLL_EXPORT int ahp_gt_select_device(int address);

DLL_EXPORT int ahp_gt_get_current_device(void);

DLL_EXPORT void ahp_gt_set_address(int address);

DLL_EXPORT int ahp_gt_get_address(void);


DLL_EXPORT void ahp_gt_write_values(int axis, int *percent, int *finished);

DLL_EXPORT void ahp_gt_read_values(int axis);


DLL_EXPORT SkywatcherAxisStatus ahp_gt_get_status(int axis);

DLL_EXPORT double ahp_gt_get_position(int axis, double *timestamp);

DLL_EXPORT void ahp_gt_set_position(int axis, double value);

DLL_EXPORT int ahp_gt_is_axis_moving(int axis);

DLL_EXPORT void ahp_gt_stop_motion(int axis, int wait);

DLL_EXPORT void ahp_gt_start_motion(int axis, double speed);

DLL_EXPORT void ahp_gt_goto_relative(int axis, double increment, double speed);

DLL_EXPORT void ahp_gt_goto_absolute(int axis, double target, double speed);


DLL_EXPORT int ahp_gt_start_synscan_server(int port, int *interrupt);

DLL_EXPORT void ahp_gt_set_aligned(int aligned);

DLL_EXPORT int ahp_gt_is_aligned(void);

DLL_EXPORT void ahp_gt_set_time(double seconds);

DLL_EXPORT double ahp_gt_get_time(void);
 

DLL_EXPORT void ahp_gt_set_time_offset(double offset);

DLL_EXPORT double ahp_gt_get_time_offset(void);

DLL_EXPORT void ahp_gt_set_location(double latitude, double longitude, double elevation);

DLL_EXPORT void ahp_gt_get_location(double *latitude, double *longitude, double *elevation);

DLL_EXPORT void ahp_gt_goto_altaz(double alt, double az);

DLL_EXPORT double ahp_gt_tracking_sine(double Alt, double Az, double Lat);

DLL_EXPORT double ahp_gt_tracking_cosine(double Alt, double Az, double Lat);

DLL_EXPORT void ahp_gt_goto_radec(double ra, double dec);

DLL_EXPORT void ahp_gt_sync_radec(double ra, double dec);

DLL_EXPORT void ahp_gt_correct_tracking(int axis, double target_period, int *interrupt);

DLL_EXPORT void ahp_gt_start_tracking_thread(void);

DLL_EXPORT void ahp_gt_stop_tracking_thread(void);

DLL_EXPORT void ahp_gt_set_tracking_mode(int mode);

DLL_EXPORT int ahp_gt_get_tracking_mode(void);

DLL_EXPORT void ahp_gt_start_tracking(int axis);

DLL_EXPORT void ahp_gt_get_ra_dec_coordinates(double Alt, double Az, double *Ra, double *Dec);

DLL_EXPORT void ahp_gt_get_alt_az_coordinates(double Ra, double Dec, double* Alt, double *Az);

DLL_EXPORT double ahp_gt_get_ha(void);

DLL_EXPORT double ahp_gt_get_ra(void);

DLL_EXPORT double ahp_gt_get_dec(void);

 
#if (AHP_GT_VERSION < 0x173)
#define GT GT1
#define ahp_gt_connect(a, b) ahp_gt_connect(a)
#define ahp_gt_set_pwm_frequency(a, b) ahp_gt_set_pwm_frequency(b)
#define ahp_gt_get_pwm_frequency(a) ahp_gt_get_pwm_frequency()
#endif
 
#ifdef __cplusplus
} // extern "C"
#endif
 
#endif //_AHP_GT_H