#include <skywatcherAPI.h>

Inheritance diagram for SkywatcherAPI:

Collaboration diagram for SkywatcherAPI:

Public Types
enum	AXISID { AXIS1 = 0, AXIS2 = 1 }

enum	PositiveRotationSense_t { CLOCKWISE, ANTICLOCKWISE }

enum	MountType { EQ6 = 0x00, HEQ5 = 0x01, EQ5 = 0x02, EQ3 = 0x03, GT = 0x80, MF = 0x81, _114GT = 0x82, DOB = 0x90 }

Public Member Functions
	SkywatcherAPI ()

virtual	~SkywatcherAPI ()=default

unsigned long	BCDstr2long (std::string &String)

unsigned long	Highstr2long (std::string &String)

bool	CheckIfDCMotor ()

bool	IsVirtuosoMount () const
	Check if the current mount is a Virtuoso (AltAz) More...

bool	IsMerlinMount () const
	Check if the current mount is a Merlin (AltAz) More...

long	DegreesPerSecondToClocksTicksPerMicrostep (AXISID Axis, double DegreesPerSecond)
	Convert a slewing rate in degrees per second into the required clock ticks per microstep setting. More...

long	DegreesToMicrosteps (AXISID Axis, double AngleInDegrees)
	Convert angle in degrees to microsteps. More...

bool	GetEncoder (AXISID Axis)
	Set the CurrentEncoders status variable to the current encoder value in microsteps for the specified axis. More...

bool	GetHighSpeedRatio (AXISID Axis)
	Set the HighSpeedRatio status variable to the ratio between high and low speed stepping modes. More...

bool	GetMicrostepsPerRevolution (AXISID Axis)
	Set the MicrostepsPerRevolution status variable to the number of microsteps for a 360 degree revolution of the axis. More...

bool	GetMicrostepsPerWormRevolution (AXISID Axis)
	Set the MicrostepsPermWormRevolution status variable to the number of microsteps for a 360 degree revolution of the worm gear. More...

bool	GetMotorBoardVersion (AXISID Axis)

PositiveRotationSense_t	GetPositiveRotationDirection (AXISID Axis)
	Returns the rotation direction for a positive step on the designated axis. More...

bool	GetStatus (AXISID Axis)

bool	GetStepperClockFrequency (AXISID Axis)
	Set the StepperClockFrequency status variable to fixed PIC timer interrupt frequency (ticks per second). More...

bool	InitializeMC ()

bool	InitMount (bool recover)
	Initialize the communication to the mount. More...

bool	InstantStop (AXISID Axis)
	Bring the axis to an immediate halt. More...

void	Long2BCDstr (long Number, std::string &String)

double	MicrostepsToDegrees (AXISID Axis, long Microsteps)
	Convert microsteps to angle in degrees. More...

double	MicrostepsToRadians (AXISID Axis, long Microsteps)
	Convert microsteps to angle in radians. More...

void	PrepareForSlewing (AXISID Axis, double Speed)

long	RadiansPerSecondToClocksTicksPerMicrostep (AXISID Axis, double RadiansPerSecond)
	Convert a slewing rate in radians per second into the required clock ticks per microstep setting. More...

long	RadiansToMicrosteps (AXISID Axis, double AngleInRadians)
	Convert angle in radians to microsteps. More...

bool	SetEncoder (AXISID Axis, long Microsteps)
	Set axis encoder to the specified value. More...

bool	SetGotoTargetOffset (AXISID Axis, long OffsetInMicrosteps)
	Set the goto target offset per the specified axis. More...

bool	SetMotionMode (AXISID Axis, char Func, char Direction)
	Set the motion mode per the specified axis. More...

void	SetSerialPort (int port)
	Set the serail port to be usb for mount communication. More...

bool	SetClockTicksPerMicrostep (AXISID Axis, long ClockTicksPerMicrostep)
	Set the PIC internal divider variable which determines how many clock interrupts have to occur between each microstep. More...

bool	SetSlewModeDeccelerationRampLength (AXISID Axis, long Microsteps)
	Set the length of the deccelaration ramp for Slew mode. More...

bool	SetSlewToModeDeccelerationRampLength (AXISID Axis, long Microsteps)
	Set the length of the deccelaration ramp for SlewTo mode. More...

bool	SetSwitch (bool OnOff)
	Set the camera control switch to the given state. More...

void	Slew (AXISID Axis, double SpeedInRadiansPerSecond, bool IgnoreSilentMode=true)
	Start the axis slewing at the given rate. More...

void	SlewTo (AXISID Axis, long OffsetInMicrosteps, bool verbose=true)
	Slew to the given offset and stop. More...

bool	SlowStop (AXISID Axis)
	Bring the axis to slow stop in the distance specified by SetSlewModeDeccelerationRampLength. More...

bool	StartMotion (AXISID Axis)
	Start the axis slewing in the prevously selected mode. More...

bool	TalkWithAxis (AXISID Axis, char Command, std::string &cmdDataStr, std::string &responseStr)

bool	IsInMotion (AXISID Axis)
	Check if an axis is moving. More...

Public Attributes
unsigned long	MCVersion { 0 }

unsigned long	MountCode { 0 }

bool	IsDCMotor { false }

bool	SilentSlewMode { true }

long	MicrostepsPerRevolution [2]

long	StepperClockFrequency [2]

long	HighSpeedRatio [2]

long	MicrostepsPerWormRevolution [2]

double	RadiansPerMicrostep [2]

double	MicrostepsPerRadian [2]

double	DegreesPerMicrostep [2]

double	MicrostepsPerDegree [2]

long	LowSpeedGotoMargin [2]

long	LastSlewToTarget [2]

long	CurrentEncoders [2]
	Current encoder values (microsteps). More...

long	PolarisPositionEncoders [2]
	Polaris position (initial) encoder values (microsteps). More...

long	ZeroPositionEncoders [2]
	Zero position encoder values (microsteps). More...

AXISSTATUS	AxesStatus [2]

double	SlewingSpeed [2]

INDI::Telescope *	pChildTelescope { nullptr }

Static Public Attributes
static constexpr double	SIDEREALRATE { (2 * M_PI / 86164.09065) }

static constexpr double	MAX_SPEED { 500.0 }

static constexpr double	LOW_SPEED_MARGIN { 128.0 * SIDEREALRATE }

Protected Attributes
unsigned int	DBG_SCOPE { 0 }

Private Types
enum	TTY_ERROR { TTY_OK = 0, TTY_READ_ERROR = -1, TTY_WRITE_ERROR = -2, TTY_SELECT_ERROR = -3, TTY_TIME_OUT = -4, TTY_PORT_FAILURE = -5, TTY_PARAM_ERROR = -6, TTY_ERRNO = -7 }

Private Member Functions
virtual int	skywatcher_tty_read (int fd, char buf, int nbytes, int timeout, int nbytes_read)=0

virtual int	skywatcher_tty_write (int fd, const char buffer, int nbytes, int nbytes_written)=0

Private Attributes
int	MyPortFD { 0 }

Member Enumeration Documentation

◆ AXISID

enum SkywatcherAPI::AXISID

Enumerator
AXIS1
AXIS2

◆ MountType

enum SkywatcherAPI::MountType

Enumerator
EQ6
HEQ5
EQ5
EQ3
GT
MF
_114GT
DOB

◆ PositiveRotationSense_t

enum SkywatcherAPI::PositiveRotationSense_t

Enumerator
CLOCKWISE
ANTICLOCKWISE

◆ TTY_ERROR

enum SkywatcherAPI::TTY_ERROR

private

Enumerator
TTY_OK
TTY_READ_ERROR
TTY_WRITE_ERROR
TTY_SELECT_ERROR
TTY_TIME_OUT
TTY_PORT_FAILURE
TTY_PARAM_ERROR
TTY_ERRNO

Constructor & Destructor Documentation

◆ SkywatcherAPI()

SkywatcherAPI::SkywatcherAPI ( )

◆ ~SkywatcherAPI()

virtual SkywatcherAPI::~SkywatcherAPI ( )

virtualdefault

Member Function Documentation

◆ BCDstr2long()

unsigned long SkywatcherAPI::BCDstr2long ( std::string & String )

◆ CheckIfDCMotor()

bool SkywatcherAPI::CheckIfDCMotor ( )

◆ DegreesPerSecondToClocksTicksPerMicrostep()

long SkywatcherAPI::DegreesPerSecondToClocksTicksPerMicrostep	(	AXISID	Axis,
		double	DegreesPerSecond
	)

Convert a slewing rate in degrees per second into the required clock ticks per microstep setting.

Parameters

[in]	Axis	- The axis to use.
[in]	DegreesPerSecond	- Slewing rate in degrees per second

Returns: Clock ticks per microstep for the requested rate

◆ DegreesToMicrosteps()

long SkywatcherAPI::DegreesToMicrosteps	(	AXISID	Axis,
		double	AngleInDegrees
	)

Convert angle in degrees to microsteps.

Parameters

[in]	Axis	- The axis to use.
[in]	AngleInRadians	- the angle in degrees.

Returns: the number of microsteps

◆ GetEncoder()

bool SkywatcherAPI::GetEncoder ( AXISID Axis )

Set the CurrentEncoders status variable to the current encoder value in microsteps for the specified axis.

Returns: false failure

◆ GetHighSpeedRatio()

bool SkywatcherAPI::GetHighSpeedRatio ( AXISID Axis )

Set the HighSpeedRatio status variable to the ratio between high and low speed stepping modes.

◆ GetMicrostepsPerRevolution()

bool SkywatcherAPI::GetMicrostepsPerRevolution ( AXISID Axis )

Set the MicrostepsPerRevolution status variable to the number of microsteps for a 360 degree revolution of the axis.

Parameters

[in] Axis - The axis to use.

Returns: false failure

◆ GetMicrostepsPerWormRevolution()

bool SkywatcherAPI::GetMicrostepsPerWormRevolution ( AXISID Axis )

Set the MicrostepsPermWormRevolution status variable to the number of microsteps for a 360 degree revolution of the worm gear.

Parameters

[in] Axis - The axis to use.

Returns: false failure

◆ GetMotorBoardVersion()

bool SkywatcherAPI::GetMotorBoardVersion ( AXISID Axis )

◆ GetPositiveRotationDirection()

SkywatcherAPI::PositiveRotationSense_t SkywatcherAPI::GetPositiveRotationDirection ( AXISID Axis )

Returns the rotation direction for a positive step on the designated axis.

Parameters

[in] Axis - The axis to use.

Returns: The rotation sense clockwise or anticlockwise.

Rotation directions are given looking down the axis towards the motorised pier for an altitude or declination axis. Or down the pier towards the mount base for an azimuth or right ascension axis

◆ GetStatus()

bool SkywatcherAPI::GetStatus ( AXISID Axis )

◆ GetStepperClockFrequency()

bool SkywatcherAPI::GetStepperClockFrequency ( AXISID Axis )

Set the StepperClockFrequency status variable to fixed PIC timer interrupt frequency (ticks per second).

Returns: false failure

◆ Highstr2long()

unsigned long SkywatcherAPI::Highstr2long ( std::string & String )

◆ InitializeMC()

bool SkywatcherAPI::InitializeMC ( )

◆ InitMount()

bool SkywatcherAPI::InitMount ( bool recover )

Initialize the communication to the mount.

Parameters

[in] recover - The connection is recovering

Returns: True if successful otherwise false

◆ InstantStop()

bool SkywatcherAPI::InstantStop ( AXISID Axis )

Bring the axis to an immediate halt.

N.B. This command could cause damage to the mount or telescope and should not normally be used except for emergency stops.

Parameters

[in] Axis - The axis to use.

Returns: false failure

◆ IsInMotion()

bool SkywatcherAPI::IsInMotion ( AXISID Axis )

Check if an axis is moving.

Parameters

[in] Axis - The axis to check.

Returns: True if the axis is moving otherwise false.

◆ IsMerlinMount()

bool SkywatcherAPI::IsMerlinMount ( ) const

Check if the current mount is a Merlin (AltAz)

Returns: True if the current mount is Merlin otherwise false.

◆ IsVirtuosoMount()

bool SkywatcherAPI::IsVirtuosoMount ( ) const

Check if the current mount is a Virtuoso (AltAz)

Returns: True if the current mount is Virtuoso otherwise false.

◆ Long2BCDstr()

void SkywatcherAPI::Long2BCDstr	(	long	Number,
		std::string &	String
	)

◆ MicrostepsToDegrees()

double SkywatcherAPI::MicrostepsToDegrees	(	AXISID	Axis,
		long	Microsteps
	)

Convert microsteps to angle in degrees.

Parameters

[in]	Axis	- The axis to use.
[in]	Microsteps

Returns: the angle in degrees

◆ MicrostepsToRadians()

double SkywatcherAPI::MicrostepsToRadians	(	AXISID	Axis,
		long	Microsteps
	)

Convert microsteps to angle in radians.

Parameters

[in]	Axis	- The axis to use.
[in]	Microsteps

Returns: the angle in radians

◆ PrepareForSlewing()

void SkywatcherAPI::PrepareForSlewing	(	AXISID	Axis,
		double	Speed
	)

◆ RadiansPerSecondToClocksTicksPerMicrostep()

long SkywatcherAPI::RadiansPerSecondToClocksTicksPerMicrostep	(	AXISID	Axis,
		double	RadiansPerSecond
	)

Convert a slewing rate in radians per second into the required clock ticks per microstep setting.

Parameters

[in]	Axis	- The axis to use.
[in]	DegreesPerSecond	- Slewing rate in degrees per second

Returns: Clock ticks per microstep for the requested rate

◆ RadiansToMicrosteps()

long SkywatcherAPI::RadiansToMicrosteps	(	AXISID	Axis,
		double	AngleInRadians
	)

Convert angle in radians to microsteps.

Parameters

[in]	Axis	- The axis to use.
[in]	AngleInRadians	- the angle in radians.

Returns: the number of microsteps

◆ SetClockTicksPerMicrostep()

bool SkywatcherAPI::SetClockTicksPerMicrostep	(	AXISID	Axis,
		long	ClockTicksPerMicrostep
	)

Set the PIC internal divider variable which determines how many clock interrupts have to occur between each microstep.

◆ SetEncoder()

bool SkywatcherAPI::SetEncoder	(	AXISID	Axis,
		long	Microsteps
	)

Set axis encoder to the specified value.

Parameters

[in]	Axis	- The axis to use.
[in]	Microsteps	- the value in microsteps.

Returns: false failure

◆ SetGotoTargetOffset()

bool SkywatcherAPI::SetGotoTargetOffset	(	AXISID	Axis,
		long	OffsetInMicrosteps
	)

Set the goto target offset per the specified axis.

Parameters

[in]	Axis	- The axis to use.
[in]	OffsetInMicrosteps	- the value to use

Returns: false failure

◆ SetMotionMode()

bool SkywatcherAPI::SetMotionMode	(	AXISID	Axis,
		char	Func,
		char	Direction
	)

Set the motion mode per the specified axis.

Func - 0 High speed slew to mode (goto) Func - 1 Low speed slew mode Func - 2 Low speed slew to mode (goto) Func - 3 High speed slew mode.

Parameters

[in]	Axis	- The axis to use.
[in]	Func	- the slewing mode 0 = High speed SlewTo mode 1 = Low speed Slew mode 2 = Low speed SlewTo mode 3 = High Speed Slew mode
[in]	Direction	- the direction to slew in 0 = Forward 1 = Reverse

Returns: false failure

◆ SetSerialPort()

void SkywatcherAPI::SetSerialPort ( int port )

inline

Set the serail port to be usb for mount communication.

Parameters

[in] port - an open file descriptor for the port to use.

◆ SetSlewModeDeccelerationRampLength()

bool SkywatcherAPI::SetSlewModeDeccelerationRampLength	(	AXISID	Axis,
		long	Microsteps
	)

Set the length of the deccelaration ramp for Slew mode.

Parameters

[in]	Axis	- The axis to use.
[in]	Microsteps	- the length of the decceleration ramp in microsteps.

Returns: false failure

◆ SetSlewToModeDeccelerationRampLength()

bool SkywatcherAPI::SetSlewToModeDeccelerationRampLength	(	AXISID	Axis,
		long	Microsteps
	)

Set the length of the deccelaration ramp for SlewTo mode.

Parameters

[in]	Axis	- The axis to use.
[in]	Microsteps	- the length of the decceleration ramp in microsteps.

Returns: false failure

◆ SetSwitch()

bool SkywatcherAPI::SetSwitch ( bool OnOff )

Set the camera control switch to the given state.

Parameters

[in] OnOff - the state requested.

◆ skywatcher_tty_read()

virtual int SkywatcherAPI::skywatcher_tty_read	(	int	fd,
		char *	buf,
		int	nbytes,
		int	timeout,
		int *	nbytes_read
	)

privatepure virtual

Implemented in SkywatcherAPIMount, and SkywatcherAltAzSimple.

◆ skywatcher_tty_write()

virtual int SkywatcherAPI::skywatcher_tty_write	(	int	fd,
		const char *	buffer,
		int	nbytes,
		int *	nbytes_written
	)

privatepure virtual

Implemented in SkywatcherAPIMount, and SkywatcherAltAzSimple.

◆ Slew()

void SkywatcherAPI::Slew	(	AXISID	Axis,
		double	SpeedInRadiansPerSecond,
		bool	IgnoreSilentMode = `true`
	)

Start the axis slewing at the given rate.

Parameters

[in]	Axis	- The axis to use.
[in]	SpeedInRadiansPerSecond	- the slewing speed
[in]	IgnoreSilentMode	- ignore the silent mode even if set

◆ SlewTo()

void SkywatcherAPI::SlewTo	(	AXISID	Axis,
		long	OffsetInMicrosteps,
		bool	verbose = `true`
	)

Slew to the given offset and stop.

Parameters

[in]	Axis	- The axis to use.
[in]	OffsetInMicrosteps	- The number of microsteps to
[in]	verbose	- Verbose mode slew from the current axis position.

◆ SlowStop()

bool SkywatcherAPI::SlowStop ( AXISID Axis )

Bring the axis to slow stop in the distance specified by SetSlewModeDeccelerationRampLength.

Parameters

[in] Axis - The axis to use.

Returns: false failure

◆ StartMotion()

bool SkywatcherAPI::StartMotion ( AXISID Axis )

Start the axis slewing in the prevously selected mode.

Parameters

[in] Axis - The axis to use.

Returns: false failure

◆ TalkWithAxis()

bool SkywatcherAPI::TalkWithAxis	(	AXISID	Axis,
		char	Command,
		std::string &	cmdDataStr,
		std::string &	responseStr
	)

Member Data Documentation

◆ AxesStatus

AXISSTATUS SkywatcherAPI::AxesStatus[2]

◆ CurrentEncoders

long SkywatcherAPI::CurrentEncoders[2]

Current encoder values (microsteps).

◆ DBG_SCOPE

unsigned int SkywatcherAPI::DBG_SCOPE { 0 }

protected

◆ DegreesPerMicrostep

double SkywatcherAPI::DegreesPerMicrostep[2]

◆ HighSpeedRatio

long SkywatcherAPI::HighSpeedRatio[2]

◆ IsDCMotor

bool SkywatcherAPI::IsDCMotor { false }

◆ LastSlewToTarget

long SkywatcherAPI::LastSlewToTarget[2]

◆ LOW_SPEED_MARGIN

constexpr double SkywatcherAPI::LOW_SPEED_MARGIN { 128.0 * SIDEREALRATE }

static

◆ LowSpeedGotoMargin

long SkywatcherAPI::LowSpeedGotoMargin[2]

◆ MAX_SPEED

constexpr double SkywatcherAPI::MAX_SPEED { 500.0 }

static

◆ MCVersion

unsigned long SkywatcherAPI::MCVersion { 0 }

◆ MicrostepsPerDegree

double SkywatcherAPI::MicrostepsPerDegree[2]

◆ MicrostepsPerRadian

double SkywatcherAPI::MicrostepsPerRadian[2]

◆ MicrostepsPerRevolution

long SkywatcherAPI::MicrostepsPerRevolution[2]

◆ MicrostepsPerWormRevolution

long SkywatcherAPI::MicrostepsPerWormRevolution[2]

◆ MountCode

unsigned long SkywatcherAPI::MountCode { 0 }

◆ MyPortFD

int SkywatcherAPI::MyPortFD { 0 }

private

◆ pChildTelescope

INDI::Telescope* SkywatcherAPI::pChildTelescope { nullptr }

◆ PolarisPositionEncoders

long SkywatcherAPI::PolarisPositionEncoders[2]

Polaris position (initial) encoder values (microsteps).

◆ RadiansPerMicrostep

double SkywatcherAPI::RadiansPerMicrostep[2]

◆ SIDEREALRATE

constexpr double SkywatcherAPI::SIDEREALRATE { (2 * M_PI / 86164.09065) }

static

◆ SilentSlewMode

bool SkywatcherAPI::SilentSlewMode { true }

◆ SlewingSpeed

double SkywatcherAPI::SlewingSpeed[2]

◆ StepperClockFrequency

long SkywatcherAPI::StepperClockFrequency[2]

◆ ZeroPositionEncoders

long SkywatcherAPI::ZeroPositionEncoders[2]

Zero position encoder values (microsteps).

The documentation for this class was generated from the following files:

ln/3rdparty/src/indilib/indi-1.7.4/libindi/drivers/telescope/skywatcherAPI.h
ln/3rdparty/src/indilib/indi-1.7.4/libindi/drivers/telescope/skywatcherAPI.cpp

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Private Types

Private Member Functions

Private Attributes

Member Enumeration Documentation

◆ AXISID

◆ MountType

◆ PositiveRotationSense_t

◆ TTY_ERROR

Constructor & Destructor Documentation

◆ SkywatcherAPI()

◆ ~SkywatcherAPI()

Member Function Documentation

◆ BCDstr2long()

◆ CheckIfDCMotor()

◆ DegreesPerSecondToClocksTicksPerMicrostep()

◆ DegreesToMicrosteps()

◆ GetEncoder()

◆ GetHighSpeedRatio()

◆ GetMicrostepsPerRevolution()

◆ GetMicrostepsPerWormRevolution()

◆ GetMotorBoardVersion()

◆ GetPositiveRotationDirection()

◆ GetStatus()

◆ GetStepperClockFrequency()

◆ Highstr2long()

◆ InitializeMC()

◆ InitMount()

◆ InstantStop()

◆ IsInMotion()

◆ IsMerlinMount()

◆ IsVirtuosoMount()

◆ Long2BCDstr()

◆ MicrostepsToDegrees()

◆ MicrostepsToRadians()

◆ PrepareForSlewing()

◆ RadiansPerSecondToClocksTicksPerMicrostep()

◆ RadiansToMicrosteps()

◆ SetClockTicksPerMicrostep()

◆ SetEncoder()

◆ SetGotoTargetOffset()

◆ SetMotionMode()

◆ SetSerialPort()

◆ SetSlewModeDeccelerationRampLength()

◆ SetSlewToModeDeccelerationRampLength()

◆ SetSwitch()

◆ skywatcher_tty_read()

◆ skywatcher_tty_write()

◆ Slew()

◆ SlewTo()

◆ SlowStop()

◆ StartMotion()

◆ TalkWithAxis()

Member Data Documentation

◆ AxesStatus

◆ CurrentEncoders

◆ DBG_SCOPE

◆ DegreesPerMicrostep

◆ HighSpeedRatio

◆ IsDCMotor

◆ LastSlewToTarget

◆ LOW_SPEED_MARGIN

◆ LowSpeedGotoMargin

◆ MAX_SPEED

◆ MCVersion

◆ MicrostepsPerDegree

◆ MicrostepsPerRadian

◆ MicrostepsPerRevolution

◆ MicrostepsPerWormRevolution

◆ MountCode

◆ MyPortFD

◆ pChildTelescope

◆ PolarisPositionEncoders

◆ RadiansPerMicrostep

◆ SIDEREALRATE

◆ SilentSlewMode