prkx2su_lib.h

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/********************************************************************
* Copyright (C) 2015 by Interstel Technologies, Inc.
*   and Hawaii Space Flight Laboratory.
*
* This file is part of the COSMOS/core that is the central
* module for COSMOS. For more information on COSMOS go to
* <http://cosmos-project.com>
*
* The COSMOS/core software is licenced under the
* GNU Lesser General Public License (LGPL) version 3 licence.
*
* You should have received a copy of the
* GNU Lesser General Public License
* If not, go to <http://www.gnu.org/licenses/>
*
* COSMOS/core is free software: you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* as published by the Free Software Foundation, either version 3 of
* the License, or (at your option) any later version.
*
* COSMOS/core 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
* Lesser General Public License for more details.
*
* Refer to the "licences" folder for further information on the
* condititons and terms to use this software.
********************************************************************/

#ifndef _prkx2suLIB_H
#define _prkx2suLIB_H 1

#include "support/configCosmos.h"

#include "math/mathlib.h"
#include "support/cosmos-errno.h"
#include "device/serial/serialclass.h"

#include <stdio.h>

#define PRKX2SU_ID 1
#define PRKX2SU_BAUD 9600
#define PRKX2SU_BITS 8
#define PRKX2SU_PARITY 0
#define PRKX2SU_STOPBITS 1

#define PRKX2SU_AXIS_AZ 0
#define PRKX2SU_AXIS_EL 1

struct prkx2su_state
    {
    uint8_t azid;
    uint8_t azstatus;
    int32_t az_center;
    int32_t az_mode;
    int32_t az_offset_waiting;
    float az_offset;
    float minaz;
    float maxaz;
    float currentaz;
    float targetaz;
    uint8_t elid;
    uint8_t elstatus;
    int32_t el_offset_waiting;
    float el_offset;
    float minel;
    float maxel;
    float currentel;
    float targetel;
    float minimumel;
    float sensitivity;
    int32_t in_command;
    int32_t data_received;
    } ;

int32_t prkx2su_init(string device);
int32_t prkx2su_connect();
int32_t prkx2su_disconnect();
int32_t prkx2su_calibrate_offset(int32_t axis);
float prkx2su_get_az();
float prkx2su_get_el();
int32_t prkx2su_get_az_el(float &az, float &el);
float prkx2su_get_az_offset();
float prkx2su_get_el_offset();
void prkx2su_get_state(prkx2su_state &state);
int32_t prkx2su_goto(float az, float el);
int32_t prkx2su_stop(uint8_t axis);
int32_t prkx2su_ramp(uint8_t axis, uint8_t speed);
int32_t prkx2su_minimum_speed(uint8_t axis, uint8_t speed);
int32_t prkx2su_maximum_speed(uint8_t axis, uint8_t speed);
int32_t prkx2su_getdata(uint8_t axis, string buf, uint16_t buflen);
int32_t prkx2su_send(uint8_t axis, string buf, bool force);
int32_t prkx2su_test(uint8_t axis);
int32_t prkx2su_set_sensitivity(float sensitivity);
int32_t prkx2su_get_limits(uint8_t axis);

#endif