myfocuserpro2.h

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/*
    ORIGINAL 
        MyFocuserPro2 Focuser
    Copyright (C) 2019 Alan Townshend
 
    Based on Moonlite Focuser
    Copyright (C) 2013-2019 Jasem Mutlaq (mutlaqja@ikarustech.com)
 
    This library 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 2.1 of the License, or (at your option) any later version.
 
    This library 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.
 
    You should have received a copy of the GNU Lesser General Public
    License along with this library; if not, write to the Free Software
    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 
*/
 
#pragma once
 
#include "indifocuser.h"
 
#include <time.h>           // for nsleep() R Brown June 2021
#include <errno.h>          // for nsleep() R Brown June 2021
 
#include <chrono>
 
#define STEPMODE_FULL                   1
#define STEPMODE_HALF                   2
#define STEPMODE_QUARTER                4
#define STEPMODE_EIGHTH                 8
#define STEPMODE_SIXTEENTH              16
#define STEPMODE_THIRTYSECOND           32
#define STEPMODE_SIXTYFOUR              64
#define STEPMODE_ONEHUNDREDTWENTYEIGHT  128
#define STEPMODE_TWOHUNDREDFIFTYSIX     256
 
#define CDRIVER_VERSION_MAJOR           1
#define CDRIVER_VERSION_MINOR           0
 
 
class MyFocuserPro2 : public INDI::Focuser
{
    public:
        MyFocuserPro2();
        virtual ~MyFocuserPro2() override = default;
 
                // add step modes for TMC driver R Brown June 2021
                typedef enum { FULL_STEP, HALF_STEP, QUARTER_STEP, EIGHTH_STEP, SIXTEENTH_STEP, 
            THIRTYSECOND_STEP, SIXTYFOUR_STEP, ONEHUNDREDTWENTYEIGHT_STEP, TWOHUNDREDFIFTYSIX_STEP } FocusStepMode;
 
        typedef enum {COIL_POWER_OFF, COIL_POWER_ON } CoilPower;
 
        typedef enum {DISPLAY_OFF, DISPLAY_ON } DisplayMode;
 
        //typedef enum {TEMP_COMPENSATE_ENABLE, TEMP_COMPENSATE_DISABLE } TemperatureCompensate;
        typedef enum {TEMP_COMPENSATE_DISABLE, TEMP_COMPENSATE_ENABLE } TemperatureCompensate;
 
        const char * getDefaultName() override;
        virtual bool initProperties() override;
        virtual bool updateProperties() override;
        virtual bool ISNewNumber(const char * dev, const char * name, double values[], char * names[], int n) override;
        virtual bool ISNewSwitch(const char * dev, const char * name, ISState * states, char * names[], int n) override;
 
        static void timedMoveHelper(void * context);
 
    protected:
        virtual bool Handshake() override;
 
        virtual IPState MoveFocuser(FocusDirection dir, int speed, uint16_t duration) override;
 
        virtual IPState MoveAbsFocuser(uint32_t targetTicks) override;
 
        virtual IPState MoveRelFocuser(FocusDirection dir, uint32_t ticks) override;
 
        virtual bool SyncFocuser(uint32_t ticks) override;
        virtual bool SetFocuserMaxPosition(uint32_t ticks) override;
        virtual bool SetFocuserSpeed(int speed) override;
        virtual bool ReverseFocuser(bool enabled) override;
        virtual bool AbortFocuser() override;
        virtual void TimerHit() override;
        virtual bool saveConfigItems(FILE * fp) override;
 
    private:
        bool Ack();
        bool sendCommand(const char * cmd, char * res = nullptr);
 
        // Get initial focuser parameter when we first connect
        void getStartupValues();
 
        // Read and update Step Mode
        bool readStepMode();
 
        // Read and update Temperature
        bool readTemperature();
 
        // Read and Update T.Compensate
        bool readTempCompensateEnable();
 
        //Read and Update the Temperature Coefficient
        bool readTemperatureCoefficient();
 
        // Read and update Position
        bool readPosition();
 
        // Read and update speed
        bool readSpeed();
 
        //Read and Update Maximum step position
        bool readMaxPos();
 
        // Are we moving?
        bool isMoving();
 
        bool readCoilPowerState();
 
        bool readReverseDirection();
 
        bool readDisplayVisible();
 
        bool readBacklashInEnabled();
        bool readBacklashOutEnabled();
 
        bool readBacklashInSteps();
        bool readBacklashOutSteps();
 
        bool setBacklashInSteps(int16_t steps);
        bool setBacklashOutSteps(int16_t steps);
 
        bool setBacklashInEnabled(bool enabled);
        bool setBacklashOutEnabled(bool enabled);
 
        bool MoveFocuser(uint32_t position);
 
        bool setStepMode(FocusStepMode mode);
 
        bool setSpeed(uint16_t speed);
 
        bool setDisplayVisible(DisplayMode enable);
 
        bool setGotoHome();
 
        bool setCoilPowerState(CoilPower enable);
 
        bool setTemperatureCelsius();
 
        bool setTemperatureCalibration(double calibration);
 
        bool setTemperatureCoefficient(double coefficient);
 
        bool setTemperatureCompensation(bool enable);
 
        void timedMoveCallback();
 
        double targetPos { 0 }, lastPos { 0 }, lastTemperature { 0 };
 
                int msleep(long milliseconds);
 
                void clearbufferonerror();
 
        // Read Only Temperature Reporting
        INumber TemperatureN[1];
        INumberVectorProperty TemperatureNP;
 
                // Full/Half...256th Step modes
                ISwitch StepModeS[9];
        ISwitchVectorProperty StepModeSP;
 
        // Backlash In settings
        INumber BacklashInStepsN[1];
        INumberVectorProperty BacklashInStepsNP;
 
        // Backlash Out Setting
        INumber BacklashOutStepsN[1];
        INumberVectorProperty BacklashOutStepsNP;
 
        // Temperature Settings
        INumber TemperatureSettingN[1];
        INumberVectorProperty TemperatureSettingNP;
 
        // Temperature Compensation Enable/Disable
        ISwitch TemperatureCompensateS[2];
        ISwitchVectorProperty TemperatureCompensateSP;
 
        //Display On Off
        ISwitch DisplayS[2];
        ISwitchVectorProperty DisplaySP;
 
        //Goto Home Position
        ISwitch GotoHomeS[1];
        ISwitchVectorProperty GotoHomeSP;
 
        //CoilPower On Off
        ISwitch CoilPowerS[2];
        ISwitchVectorProperty CoilPowerSP;
 
        ISwitch BacklashInS[2];
        ISwitchVectorProperty BacklashInSP;
 
        //Backlash Out Enable
        ISwitch BacklashOutS[2];
        ISwitchVectorProperty BacklashOutSP;
 
        //Focus Speed
        ISwitch FocusSpeedS[3];
        ISwitchVectorProperty FocusSpeedSP;
 
        // MyFocuserPro2 Buffer
        static const uint8_t ML_RES { 32 };
 
        // MyFocuserPro2 Delimeter
        static const char ML_DEL { '#' };
 
                // mutex controls access to serial port
                pthread_mutex_t cmdlock;
 
                // MyFocuserPro2 Timeouts
                static const uint8_t MYFOCUSERPRO2_SERIAL_TIMEOUT { 5 };
                static const uint8_t MYFOCUSERPRO2_TCPIP_TIMEOUT  { 10 };
                static const long    MYFOCUSERPRO2_SMALL_DELAY    { 50 };   // 50ms delay from send command to read response
                static const long    MYFOCUSERPRO2_RECOVER_DELAY  { 200 };
 
                // update the temperature one every 5 seconds.
                static constexpr const uint8_t GET_TEMPERATURE_FREQ{ 10 };
                uint16_t Temperature_Counter { 0 };
 
                // Update position every second
                static constexpr const uint8_t GET_POSITION_FREQ{ 1 };
                uint16_t Position_Counter { 0 };
 
        static constexpr const char *SETTINGS_TAB {"Settings"};
};