2003-01-11 00:47:48 +00:00
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/*
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* Hamlib backend library for the DCU rotor command set.
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*
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* rotorez.c - (C) Nate Bargmann 2003 (n0nb at arrl.net)
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*
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* This shared library provides an API for communicating
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* via serial interface to a Hy-Gain or Yaesu rotor using
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* the Idiom Press Rotor-EZ or RotorCard interface. It also
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* supports the Hy-Gain DCU-1.
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*
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*
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2003-01-12 14:59:46 +00:00
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* $Id: rotorez.c,v 1.3 2003-01-12 14:59:46 n0nb Exp $
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2003-01-11 00:47:48 +00:00
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*
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*
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*/
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#ifdef HAVE_CONFIG_H
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#include "config.h"
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#endif
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#include <stdlib.h> /* Standard library definitions */
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#include <stdio.h> /* Standard input/output definitions */
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#include <string.h> /* String function definitions */
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#include <unistd.h> /* UNIX standard function definitions */
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#include <fcntl.h> /* File control definitions */
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#include <errno.h> /* Error number definitions */
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#include <termios.h> /* POSIX terminal control definitions */
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#include <sys/ioctl.h> /* System IO Control definitions */
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#include <hamlib/rotator.h>
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#include <serial.h>
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#include <misc.h>
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#include "rotorez.h"
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/*
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* Private data structure
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*/
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struct rotorez_rot_priv_data {
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azimuth_t az;
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};
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2003-01-12 14:29:15 +00:00
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/*
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* Private helper function prototypes
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*/
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static int rotorez_send_priv_cmd(ROT *rot, const char *cmd);
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/* *************************************
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*
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* Seperate model capabilities
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*
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* *************************************
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*/
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2003-01-11 00:47:48 +00:00
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/*
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* Rotor-EZ enhanced rotor capabilities
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*/
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2003-01-12 14:29:15 +00:00
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2003-01-11 00:47:48 +00:00
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const struct rot_caps rotorez_rot_caps = {
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.rot_model = ROT_MODEL_ROTOREZ,
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.model_name = "Rotor-EZ",
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.mfg_name = "Idiom Press",
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2003-01-12 14:29:15 +00:00
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.version = "0.1.0",
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2003-01-11 00:47:48 +00:00
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.copyright = "LGPL",
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.status = RIG_STATUS_NEW,
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.rot_type = ROT_TYPE_OTHER,
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.port_type = RIG_PORT_SERIAL,
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.serial_rate_min = 4800,
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.serial_rate_max = 4800,
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.serial_data_bits = 8,
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.serial_stop_bits = 1,
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.serial_parity = RIG_PARITY_NONE,
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.serial_handshake = RIG_HANDSHAKE_NONE,
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.write_delay = 0,
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2003-01-12 14:29:15 +00:00
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.post_write_delay = 500,
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.timeout = 5000,
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2003-01-11 00:47:48 +00:00
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.retry = 3,
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.min_az = 0,
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.max_az = 360,
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.min_el = 0,
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.max_el = 0,
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.priv = NULL, /* priv */
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2003-01-12 14:29:15 +00:00
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.rot_init = rotorez_rot_init,
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.rot_cleanup = rotorez_rot_cleanup,
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.set_position = rotorez_rot_set_position,
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.get_position = rotorez_rot_get_position,
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.stop = rotorez_rot_stop,
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2003-01-11 00:47:48 +00:00
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};
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2003-01-12 14:29:15 +00:00
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/*
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* RotorCard enhanced rotor capabilities
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*/
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const struct rot_caps rotorcard_rot_caps = {
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.rot_model = ROT_MODEL_ROTORCARD,
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.model_name = "RotorCard",
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.mfg_name = "Idiom Press",
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.version = "0.1.0",
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.copyright = "LGPL",
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.status = RIG_STATUS_NEW,
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.rot_type = ROT_TYPE_OTHER,
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.port_type = RIG_PORT_SERIAL,
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.serial_rate_min = 4800,
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.serial_rate_max = 4800,
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.serial_data_bits = 8,
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.serial_stop_bits = 1,
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.serial_parity = RIG_PARITY_NONE,
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.serial_handshake = RIG_HANDSHAKE_NONE,
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.write_delay = 0,
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.post_write_delay = 500,
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.timeout = 5000,
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.retry = 3,
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.min_az = 0,
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.max_az = 360,
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.min_el = 0,
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.max_el = 0,
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.priv = NULL, /* priv */
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.rot_init = rotorez_rot_init,
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.rot_cleanup = rotorez_rot_cleanup,
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.set_position = rotorez_rot_set_position,
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.get_position = rotorez_rot_get_position,
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.stop = rotorez_rot_stop,
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};
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/*
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* Hy-Gain DCU-1/DCU-1X rotor capabilities
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*/
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const struct rot_caps dcu_rot_caps = {
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.rot_model = ROT_MODEL_DCU,
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.model_name = "DCU-1/DCU-1X",
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.mfg_name = "Hy-Gain",
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.version = "0.1.0",
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.copyright = "LGPL",
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.status = RIG_STATUS_NEW,
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.rot_type = ROT_TYPE_OTHER,
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.port_type = RIG_PORT_SERIAL,
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.serial_rate_min = 4800,
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.serial_rate_max = 4800,
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.serial_data_bits = 8,
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.serial_stop_bits = 1,
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.serial_parity = RIG_PARITY_NONE,
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.serial_handshake = RIG_HANDSHAKE_NONE,
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.write_delay = 0,
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.post_write_delay = 500,
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.timeout = 5000,
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.retry = 3,
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.min_az = 0,
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.max_az = 360,
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.min_el = 0,
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.max_el = 0,
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.priv = NULL, /* priv */
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.rot_init = rotorez_rot_init,
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.rot_cleanup = rotorez_rot_cleanup,
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.set_position = rotorez_rot_set_position,
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};
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/* ************************************
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*
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* API functions
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*
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* ************************************
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*/
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/*
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* Initialize data structures
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*/
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static int rotorez_rot_init(ROT *rot) {
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struct rotorez_rot_priv_data *priv;
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rig_debug(RIG_DEBUG_VERBOSE, "rotorez: %s called\n", __func__);
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if (!rot)
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return -RIG_EINVAL;
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priv = (struct rotorez_rot_priv_data*)
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malloc(sizeof(struct rotorez_rot_priv_data));
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if (!priv)
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return -RIG_ENOMEM;
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rot->state.priv = (void*)priv;
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rot->state.rotport.type.rig = RIG_PORT_SERIAL;
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priv->az = 0;
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return RIG_OK;
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}
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/*
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* Clean up allocated memory structures
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*/
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static int rotorez_rot_cleanup(ROT *rot) {
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rig_debug(RIG_DEBUG_VERBOSE, "rotorez: %s called\n", __func__);
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if (!rot)
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return -RIG_EINVAL;
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if (rot->state.priv)
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free(rot->state.priv);
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rot->state.priv = NULL;
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return RIG_OK;
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}
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/*
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* Set position
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* DCU protocol supports azimuth only--elevation is ignored
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2003-01-12 14:59:46 +00:00
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* Range is converted to an integer string, 0 to 360 degrees
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2003-01-12 14:29:15 +00:00
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*/
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static int rotorez_rot_set_position(ROT *rot, azimuth_t azimuth, elevation_t elevation) {
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unsigned char cmdstr[8];
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unsigned char execstr[5] = "AM1;";
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int err;
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rig_debug(RIG_DEBUG_VERBOSE, "rotorez: %s called\n", __func__);
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if (!rot)
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return -RIG_EINVAL;
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if (azimuth < 0 || azimuth > 360)
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return -RIG_EINVAL;
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2003-01-12 14:59:46 +00:00
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if (azimuth > 359.4999) /* DCU-1 compatibility */
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azimuth = 0;
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2003-01-12 14:29:15 +00:00
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sprintf(cmdstr, "AP1%03.0f;", azimuth); /* Target bearing */
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err = rotorez_send_priv_cmd(rot, cmdstr);
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if (err != RIG_OK)
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return err;
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err = rotorez_send_priv_cmd(rot, execstr); /* Execute command */
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if (err != RIG_OK)
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return err;
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return RIG_OK;
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}
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/*
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* Get position
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* Returns current azimuth position in whole degrees.
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* Range is an integer, 0 to 359 degrees
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*/
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static int rotorez_rot_get_position(ROT *rot, azimuth_t *azimuth, elevation_t *elevation) {
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struct rot_state *rs;
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unsigned char cmdstr[5] = "AI1;";
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unsigned char az[4];
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int err;
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rig_debug(RIG_DEBUG_VERBOSE, "rotorez: %s called\n", __func__);
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if (!rot)
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return -RIG_EINVAL;
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err = rotorez_send_priv_cmd(rot, cmdstr);
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if (err != RIG_OK)
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return err;
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rs = &rot->state;
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err = read_block(&rs->rotport, az, AZ_READ_LEN);
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if (err != AZ_READ_LEN)
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return -RIG_ETRUNC;
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*azimuth = (azimuth_t)atof(az);
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if (*azimuth < 0 || *azimuth > 359)
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return -RIG_EINVAL;
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rig_debug(RIG_DEBUG_TRACE, "rotorez: azimuth = %.1f degrees\n", *azimuth);
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return RIG_OK;
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}
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/*
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* Stop rotation
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*/
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static int rotorez_rot_stop(ROT *rot) {
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unsigned char cmdstr[2] = ";";
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int err;
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rig_debug(RIG_DEBUG_VERBOSE, "rotorez: %s called\n", __func__);
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if (!rot)
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return -RIG_EINVAL;
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err = rotorez_send_priv_cmd(rot, cmdstr);
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if (err != RIG_OK)
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return err;
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return RIG_OK;
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}
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/*
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* Send command string to rotor
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*/
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static int rotorez_send_priv_cmd(ROT *rot, const char *cmdstr) {
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struct rot_state *rs;
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int err;
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rig_debug(RIG_DEBUG_VERBOSE, "rotorez: %s called\n", __func__);
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if (!rot)
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return -RIG_EINVAL;
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rs = &rot->state;
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err = write_block(&rs->rotport, cmdstr, strlen(cmdstr));
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if (err != RIG_OK)
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return err;
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return RIG_OK;
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}
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/*
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* Initialize backend
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*/
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2003-01-11 00:47:48 +00:00
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int initrots_rotorez(void *be_handle) {
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2003-01-12 14:29:15 +00:00
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rig_debug(RIG_DEBUG_VERBOSE, "rotorez: %s called\n", __func__);
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2003-01-11 00:47:48 +00:00
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rot_register(&rotorez_rot_caps);
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2003-01-12 14:29:15 +00:00
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rot_register(&rotorcard_rot_caps);
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rot_register(&dcu_rot_caps);
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2003-01-11 00:47:48 +00:00
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return RIG_OK;
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}
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2003-01-12 14:29:15 +00:00
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