2010-04-25 21:30:17 +00:00
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/*
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* Hamlib Rotator backend - ARS parallel port backend
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* Copyright (c) 2010 by Stephane Fillod
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* This code is inspired by work from Pablo GARCIA - EA4TX
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*
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*
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* This library is free software; you can redistribute it and/or modify
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* it under the terms of the GNU Library General Public License as
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* published by the Free Software Foundation; either version 2 of
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* the License, or (at your option) any later version.
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*
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* This program 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
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* GNU Library General Public License for more details.
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*
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* You should have received a copy of the GNU Library General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, 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>
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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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#ifdef HAVE_SYS_IOCTL_H
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#include <sys/ioctl.h>
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#endif
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2010-05-25 21:02:16 +00:00
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#ifdef HAVE_PTHREAD
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#include <pthread.h>
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#endif
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2010-04-25 21:30:17 +00:00
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#include "hamlib/rotator.h"
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#include "parallel.h"
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#include "misc.h"
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#include "register.h"
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#include "ars.h"
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#define CTL_PIN_CS PARPORT_CONTROL_AUTOFD /* pin14: Control Linefeed */
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#define CTL_PIN_CLK PARPORT_CONTROL_STROBE /* pin01: Control /Strobe */
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#define STA_PIN_D0 PARPORT_STATUS_BUSY /* pin11: Status Busy */
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#define STA_PIN_D1 PARPORT_STATUS_ERROR /* pin15: Status /Error */
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#define DTA_PIN02 0x01 /* Data0 */
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#define DTA_PIN03 0x02 /* Data1 */
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#define DTA_PIN04 0x04 /* Data2 */
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#define DTA_PIN05 0x08 /* Data3 */
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#define DTA_PIN06 0x10 /* Data4 */
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#define DTA_PIN07 0x20 /* Data5 */
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#define DTA_PIN08 0x40 /* Data6 */
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#define DTA_PIN09 0x80 /* Data7 */
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#define CTL_PIN16 PARPORT_CONTROL_INIT
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#define CTL_PIN17 PARPORT_CONTROL_SELECT
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2010-05-08 21:25:29 +00:00
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#define ARS_BRAKE_DELAY (100*1000) /* usecs */
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#define ARS_SETTLE_DELAY (500*1000) /* usecs */
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2010-05-25 06:56:52 +00:00
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#define PP_IO_PERIOD (25) /* usecs */
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2010-04-25 21:30:17 +00:00
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#define NUM_SAMPLES 3
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2010-05-25 21:02:16 +00:00
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/* TODO: take into account ADC res (8 bits -> 1.4 deg at 360 deg)
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* Rem: at 360 deg/mn, that's 6 deg/sec.
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*/
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#define AZ_RANGE 3.
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#define EL_RANGE 2.
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2010-04-25 21:30:17 +00:00
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/* Check return value, with appropriate unlocking upon error.
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* Assumes "rot" variable is current ROT pointer.
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*/
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#define CHKPPRET(a) \
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do { int _retval = a; if (_retval != RIG_OK) \
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{par_unlock (&rot->state.rotport);return _retval; }} while(0)
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static int ars_init(ROT *rot);
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static int ars_cleanup(ROT *rot);
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static int ars_open(ROT *rot);
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static int ars_close(ROT *rot);
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static int ars_stop(ROT *rot);
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static int ars_move(ROT *rot, int direction, int speed);
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2010-05-25 21:02:16 +00:00
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static int ars_set_position_sync(ROT *rot, azimuth_t az, elevation_t el);
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2010-04-25 21:30:17 +00:00
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static int ars_set_position(ROT *rot, azimuth_t az, elevation_t el);
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static int ars_get_position(ROT *rot, azimuth_t *az, elevation_t *el);
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2010-05-25 21:02:16 +00:00
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#ifdef HAVE_PTHREAD
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static void *handle_set_position(void*);
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#endif
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2010-04-25 21:30:17 +00:00
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/* ************************************************************************* */
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static int ars_clear_ctrl_pin(ROT *rot, unsigned char pin)
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{
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hamlib_port_t *pport = &rot->state.rotport;
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struct ars_priv_data *priv = (struct ars_priv_data *)rot->state.priv;
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priv->pp_control &= ~pin;
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return par_write_control(pport, priv->pp_control);
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}
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static int ars_set_ctrl_pin(ROT *rot, unsigned char pin)
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{
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hamlib_port_t *pport = &rot->state.rotport;
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struct ars_priv_data *priv = (struct ars_priv_data *)rot->state.priv;
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priv->pp_control |= pin;
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return par_write_control(pport, priv->pp_control);
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}
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static int ars_clear_data_pin(ROT *rot, unsigned char pin)
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{
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hamlib_port_t *pport = &rot->state.rotport;
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struct ars_priv_data *priv = (struct ars_priv_data *)rot->state.priv;
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priv->pp_data &= ~pin;
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return par_write_data(pport, priv->pp_data);
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}
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static int ars_set_data_pin(ROT *rot, unsigned char pin)
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{
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hamlib_port_t *pport = &rot->state.rotport;
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struct ars_priv_data *priv = (struct ars_priv_data *)rot->state.priv;
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priv->pp_data |= pin;
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return par_write_data(pport, priv->pp_data);
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}
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static int ars_has_el(const ROT *rot)
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{
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return (rot->caps->rot_type & ROT_FLAG_ELEVATION);
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}
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/* ************************************************************************* */
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int
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ars_init(ROT *rot)
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{
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struct ars_priv_data *priv;
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if (!rot)
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return -RIG_EINVAL;
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priv = (struct ars_priv_data*)malloc(sizeof(struct ars_priv_data));
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if (!priv) {
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/* whoops! memory shortage! */
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return -RIG_ENOMEM;
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}
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priv->pp_control = 0;
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priv->pp_data = 0;
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2010-05-27 21:16:15 +00:00
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/* Always use 10 bit resolution, which supports also 8 bits
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* at the cost of 2 potentialy wrong lsb */
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priv->adc_res = 10; /* 8 bits vs. 10 bits ADC */
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2010-05-08 21:25:29 +00:00
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priv->brake_off = 0; /* i.e. brake is ON */
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priv->curr_move = 0;
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2010-04-25 21:30:17 +00:00
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rot->state.priv = (void*)priv;
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return RIG_OK;
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}
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int
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ars_cleanup(ROT *rot)
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{
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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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}
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return RIG_OK;
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}
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int
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ars_open(ROT *rot)
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{
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/* make it idle, and known state */
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ars_stop(rot);
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2010-05-25 21:02:16 +00:00
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#ifdef HAVE_PTHREAD
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{
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struct ars_priv_data *priv = (struct ars_priv_data *)rot->state.priv;
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pthread_attr_t attr;
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int retcode;
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pthread_attr_init(&attr);
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pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);
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/* create behind-the-scene thread doing the ars_set_position_sync() */
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retcode = pthread_create(&priv->thread, &attr, handle_set_position, rot);
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if (retcode != RIG_OK) {
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rig_debug(RIG_DEBUG_ERR, "%s: pthread_create: %s\n", __func__, strerror(retcode));
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return -RIG_ENOMEM;
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}
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}
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#endif
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2010-04-25 21:30:17 +00:00
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return RIG_OK;
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}
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int
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ars_close(ROT *rot)
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{
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2010-05-25 21:02:16 +00:00
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#ifdef HAVE_PTHREAD
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struct ars_priv_data *priv = (struct ars_priv_data *)rot->state.priv;
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pthread_cancel(priv->thread);
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#endif
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2010-04-25 21:30:17 +00:00
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/* leave it in safe state */
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ars_stop(rot);
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return RIG_OK;
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}
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int
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ars_stop(ROT *rot)
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{
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struct ars_priv_data *priv = (struct ars_priv_data *)rot->state.priv;
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hamlib_port_t *pport = &rot->state.rotport;
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rig_debug(RIG_DEBUG_TRACE, "%s called, brake was %s\n", __func__,
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priv->brake_off ? "OFF" : "ON");
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2010-05-26 20:09:31 +00:00
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#ifdef HAVE_PTHREAD
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priv->set_pos_active = 0;
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#endif
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2010-04-25 21:30:17 +00:00
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par_lock (pport);
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2010-05-08 21:25:29 +00:00
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priv->brake_off = 0;
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priv->curr_move = 0;
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2010-04-25 21:30:17 +00:00
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// Relay AUX -> Off
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CHKPPRET(ars_clear_data_pin(rot, DTA_PIN02 | DTA_PIN04 | DTA_PIN08));
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CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN17 | CTL_PIN16));
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// Elevation Relays -> Off
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CHKPPRET(ars_clear_data_pin(rot, DTA_PIN03 | DTA_PIN07));
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par_unlock (pport);
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return RIG_OK;
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}
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int
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ars_move(ROT *rot, int direction, int speed)
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{
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struct ars_priv_data *priv = (struct ars_priv_data *)rot->state.priv;
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hamlib_port_t *pport = &rot->state.rotport;
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2010-05-08 21:25:29 +00:00
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int need_settle_delay = 0;
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2010-04-25 21:30:17 +00:00
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2010-05-08 21:25:29 +00:00
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rig_debug(RIG_DEBUG_TRACE, "%s called%s%s%s%s%s\n", __func__,
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direction & ROT_MOVE_LEFT ? " LEFT" : "",
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direction & ROT_MOVE_RIGHT ? " RIGHT" : "",
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direction & ROT_MOVE_UP ? " UP" : "",
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direction & ROT_MOVE_DOWN ? " DOWN" : "",
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direction == 0 ? " STOP" : "");
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2010-04-25 21:30:17 +00:00
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par_lock (pport);
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2010-05-08 21:25:29 +00:00
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/* Allow the rotator to settle down when changing direction */
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if (((priv->curr_move & ROT_MOVE_LEFT) && (direction & ROT_MOVE_RIGHT)) ||
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((priv->curr_move & ROT_MOVE_RIGHT) && (direction & ROT_MOVE_LEFT))) {
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// Relay AUX -> Off
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CHKPPRET(ars_clear_data_pin(rot, DTA_PIN02 | DTA_PIN04 | DTA_PIN08));
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CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN17 | CTL_PIN16));
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need_settle_delay = 1;
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priv->brake_off = 0;
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}
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if (ars_has_el(rot) &&
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(((priv->curr_move & ROT_MOVE_UP) && (direction & ROT_MOVE_DOWN)) ||
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((priv->curr_move & ROT_MOVE_DOWN) && (direction & ROT_MOVE_UP)))) {
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// Elevation Relays -> Off
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CHKPPRET(ars_clear_data_pin(rot, DTA_PIN03 | DTA_PIN07));
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need_settle_delay = 1;
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}
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if (need_settle_delay) {
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rig_debug(RIG_DEBUG_TRACE, "%s need settling delay\n", __func__);
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usleep(ARS_SETTLE_DELAY);
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}
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priv->curr_move = direction;
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/* Brake handling, only for AZ */
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2010-04-25 21:30:17 +00:00
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if (!priv->brake_off && (direction & (ROT_MOVE_LEFT|ROT_MOVE_RIGHT))) {
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/* release the brake */
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if (ars_has_el(rot)) {
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// RCI Model Azim & Elev
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// Desactivated CCW/CW relays
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CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN17 | CTL_PIN16));
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// Relay Aux
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CHKPPRET(ars_set_data_pin(rot, DTA_PIN02 | DTA_PIN04 | DTA_PIN06 | DTA_PIN08));
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CHKPPRET(ars_clear_data_pin (rot, DTA_PIN09));
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} else {
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// RCI Model Azimuth only
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// Desactivated CCW/CW relays
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CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN17 | CTL_PIN16));
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// Relay Aux
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CHKPPRET(ars_set_data_pin(rot, DTA_PIN02 | DTA_PIN04 | DTA_PIN06 | DTA_PIN07 | DTA_PIN08 | DTA_PIN09));
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CHKPPRET(ars_clear_data_pin(rot, DTA_PIN03 | DTA_PIN05));
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}
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priv->brake_off = 1;
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usleep(ARS_BRAKE_DELAY);
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}
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if (ars_has_el(rot)) {
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if (direction & ROT_MOVE_UP) {
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/* UP */
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CHKPPRET(ars_set_data_pin(rot, DTA_PIN03 | DTA_PIN06 | DTA_PIN07));
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CHKPPRET(ars_clear_data_pin(rot, DTA_PIN05 | DTA_PIN09));
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} else
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if (direction & ROT_MOVE_DOWN) {
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CHKPPRET(ars_set_data_pin(rot, DTA_PIN03 | DTA_PIN05 | DTA_PIN06 | DTA_PIN07));
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CHKPPRET(ars_clear_data_pin(rot, DTA_PIN09));
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}
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else {
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// Elevation Relays -> Off
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CHKPPRET(ars_clear_data_pin(rot, DTA_PIN03 | DTA_PIN07));
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}
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}
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|
if (direction & ROT_MOVE_LEFT) {
|
|
|
|
// Relay Left
|
|
|
|
if (ars_has_el(rot)) {
|
|
|
|
// RCI Model Azim & Elev
|
|
|
|
CHKPPRET(ars_set_data_pin(rot, DTA_PIN02 | DTA_PIN04 | DTA_PIN06));
|
|
|
|
CHKPPRET(ars_set_ctrl_pin(rot, CTL_PIN16));
|
|
|
|
CHKPPRET(ars_clear_data_pin(rot, DTA_PIN09));
|
|
|
|
CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN17));
|
|
|
|
} else {
|
|
|
|
// RCI Model Azimuth only
|
|
|
|
CHKPPRET(ars_set_data_pin(rot, DTA_PIN02 | DTA_PIN04 | DTA_PIN06 | DTA_PIN07 | DTA_PIN08));
|
|
|
|
CHKPPRET(ars_set_ctrl_pin(rot, CTL_PIN16));
|
|
|
|
CHKPPRET(ars_clear_data_pin(rot, DTA_PIN03 | DTA_PIN05));
|
|
|
|
CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN17));
|
|
|
|
}
|
|
|
|
} else
|
|
|
|
if (direction & ROT_MOVE_RIGHT) {
|
|
|
|
// Relay Right
|
|
|
|
if (ars_has_el(rot)) {
|
|
|
|
// RCI Model Azim & Elev
|
|
|
|
CHKPPRET(ars_set_data_pin (rot, DTA_PIN02 | DTA_PIN04 | DTA_PIN06));
|
|
|
|
CHKPPRET(ars_set_ctrl_pin (rot, CTL_PIN17));
|
|
|
|
CHKPPRET(ars_clear_data_pin(rot, DTA_PIN09));
|
|
|
|
CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN16));
|
|
|
|
} else {
|
|
|
|
// RCI Model Azimuth only
|
|
|
|
CHKPPRET(ars_set_data_pin(rot, DTA_PIN02 | DTA_PIN04 | DTA_PIN06 | DTA_PIN07 | DTA_PIN08));
|
|
|
|
CHKPPRET(ars_set_ctrl_pin(rot, CTL_PIN17));
|
|
|
|
CHKPPRET(ars_clear_data_pin(rot, DTA_PIN03 | DTA_PIN05));
|
|
|
|
CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN16));
|
|
|
|
}
|
|
|
|
} else {
|
|
|
|
// Relay AUX -> Off
|
|
|
|
CHKPPRET(ars_clear_data_pin(rot, DTA_PIN02 | DTA_PIN04 | DTA_PIN08));
|
|
|
|
CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN17 | CTL_PIN16));
|
|
|
|
// AZ stop
|
|
|
|
}
|
|
|
|
|
|
|
|
par_unlock (pport);
|
|
|
|
|
|
|
|
return RIG_OK;
|
|
|
|
}
|
|
|
|
|
|
|
|
static int angle_in_range(float angle, float angle_base, float range)
|
|
|
|
{
|
|
|
|
return (angle >= angle_base-range && angle <= angle_base+range);
|
|
|
|
}
|
|
|
|
|
|
|
|
/*
|
2010-05-25 21:02:16 +00:00
|
|
|
* Thread handler
|
|
|
|
*/
|
|
|
|
#ifdef HAVE_PTHREAD
|
|
|
|
static void *handle_set_position(void *arg)
|
|
|
|
{
|
|
|
|
ROT *rot = (ROT*) arg;
|
|
|
|
struct ars_priv_data *priv = (struct ars_priv_data *)rot->state.priv;
|
|
|
|
int retcode;
|
|
|
|
|
|
|
|
while (1) {
|
|
|
|
|
2010-05-26 20:09:31 +00:00
|
|
|
if (!priv->set_pos_active)
|
2010-05-25 21:02:16 +00:00
|
|
|
{
|
2010-05-26 20:09:31 +00:00
|
|
|
/* TODO: replace polling period by cond var */
|
2010-05-25 21:02:16 +00:00
|
|
|
usleep(100*1000);
|
|
|
|
continue;
|
|
|
|
}
|
|
|
|
|
|
|
|
retcode = ars_set_position_sync(rot, priv->target_az, priv->target_el);
|
2010-05-26 20:09:31 +00:00
|
|
|
priv->set_pos_active = 0;
|
2010-05-25 21:02:16 +00:00
|
|
|
if (retcode != RIG_OK) {
|
|
|
|
rig_debug(RIG_DEBUG_WARN, "%s: ars_set_position_sync() failed: %s\n",
|
|
|
|
__func__, rigerror(retcode));
|
|
|
|
usleep(1000*1000);
|
|
|
|
continue;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
return NULL;
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
|
|
/*
|
|
|
|
* ars_set_position_sync() is synchronous.
|
|
|
|
* See handle_set_position_async() for asynchronous thread handler,
|
|
|
|
* with wait loop in background
|
2010-04-25 21:30:17 +00:00
|
|
|
*/
|
|
|
|
int
|
2010-05-25 21:02:16 +00:00
|
|
|
ars_set_position_sync(ROT *rot, azimuth_t az, elevation_t el)
|
2010-04-25 21:30:17 +00:00
|
|
|
{
|
2010-05-08 21:25:29 +00:00
|
|
|
azimuth_t curr_az, prev_az;
|
|
|
|
elevation_t curr_el, prev_el;
|
2010-04-25 21:30:17 +00:00
|
|
|
int retval;
|
|
|
|
int az_move, el_move;
|
2010-05-08 21:25:29 +00:00
|
|
|
struct timeval last_pos_az_tv, last_pos_el_tv;
|
2010-04-25 21:30:17 +00:00
|
|
|
|
2010-05-25 21:02:16 +00:00
|
|
|
rig_debug(RIG_DEBUG_TRACE, "%s called: %.1f %.1f\n", __func__, az, el);
|
2010-04-25 21:30:17 +00:00
|
|
|
|
|
|
|
ars_stop(rot);
|
|
|
|
|
|
|
|
retval = ars_get_position(rot, &curr_az, &curr_el);
|
|
|
|
if (retval != RIG_OK)
|
|
|
|
return retval;
|
|
|
|
|
2010-05-08 21:25:29 +00:00
|
|
|
/* watchdog init */
|
|
|
|
prev_az = curr_az;
|
|
|
|
prev_el = curr_el;
|
|
|
|
gettimeofday(&last_pos_az_tv, NULL);
|
|
|
|
last_pos_el_tv = last_pos_az_tv;
|
|
|
|
|
2010-04-25 21:30:17 +00:00
|
|
|
while (!angle_in_range(curr_az, az, AZ_RANGE) ||
|
|
|
|
(ars_has_el(rot) && !angle_in_range(curr_el, el, EL_RANGE))
|
|
|
|
) {
|
|
|
|
|
|
|
|
if (curr_az < (az-AZ_RANGE))
|
|
|
|
az_move = ROT_MOVE_RIGHT;
|
|
|
|
else if (curr_az > (az+AZ_RANGE))
|
2010-05-04 21:42:13 +00:00
|
|
|
az_move = ROT_MOVE_LEFT;
|
2010-04-25 21:30:17 +00:00
|
|
|
else
|
|
|
|
az_move = 0;
|
|
|
|
|
|
|
|
if (ars_has_el(rot)) {
|
|
|
|
if (curr_el < (el-EL_RANGE))
|
|
|
|
el_move = ROT_MOVE_UP;
|
|
|
|
else if (curr_el > (el+EL_RANGE))
|
|
|
|
el_move = ROT_MOVE_DOWN;
|
|
|
|
else
|
|
|
|
el_move = 0;
|
|
|
|
} else {
|
|
|
|
el_move = 0;
|
|
|
|
}
|
|
|
|
|
|
|
|
retval = ars_move(rot, az_move|el_move, 0);
|
2010-05-08 21:25:29 +00:00
|
|
|
if (retval != RIG_OK) {
|
|
|
|
ars_stop(rot);
|
2010-04-25 21:30:17 +00:00
|
|
|
return retval;
|
2010-05-08 21:25:29 +00:00
|
|
|
}
|
2010-04-25 21:30:17 +00:00
|
|
|
|
2010-05-25 06:56:52 +00:00
|
|
|
/* wait a little */
|
|
|
|
usleep(10*1000);
|
|
|
|
|
2010-04-25 21:30:17 +00:00
|
|
|
retval = ars_get_position(rot, &curr_az, &curr_el);
|
2010-05-08 21:25:29 +00:00
|
|
|
if (retval != RIG_OK) {
|
|
|
|
ars_stop(rot);
|
2010-04-25 21:30:17 +00:00
|
|
|
return retval;
|
2010-05-08 21:25:29 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
/* Watchdog detecting when rotor is blocked unexpectedly */
|
|
|
|
#define AZ_WATCHDOG 5000 /* ms */
|
|
|
|
#define EL_WATCHDOG 5000 /* ms */
|
|
|
|
if (az_move != 0 && angle_in_range(curr_az, prev_az, AZ_RANGE)) {
|
|
|
|
if (rig_check_cache_timeout(&last_pos_az_tv, AZ_WATCHDOG)) {
|
|
|
|
ars_stop(rot);
|
|
|
|
return -RIG_ETIMEOUT;
|
|
|
|
}
|
|
|
|
} else {
|
|
|
|
prev_az = curr_az;
|
|
|
|
gettimeofday(&last_pos_az_tv, NULL);
|
|
|
|
}
|
|
|
|
|
|
|
|
if (el_move != 0 && ars_has_el(rot) &&
|
|
|
|
angle_in_range(curr_el, prev_el, EL_RANGE)) {
|
2010-05-27 21:16:15 +00:00
|
|
|
if (rig_check_cache_timeout(&last_pos_el_tv, EL_WATCHDOG)) {
|
2010-05-08 21:25:29 +00:00
|
|
|
ars_stop(rot);
|
|
|
|
return -RIG_ETIMEOUT;
|
|
|
|
}
|
|
|
|
} else {
|
|
|
|
prev_el = curr_el;
|
|
|
|
gettimeofday(&last_pos_el_tv, NULL);
|
|
|
|
}
|
2010-04-25 21:30:17 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
return ars_stop(rot);
|
|
|
|
}
|
|
|
|
|
2010-05-25 21:02:16 +00:00
|
|
|
int
|
|
|
|
ars_set_position(ROT *rot, azimuth_t az, elevation_t el)
|
|
|
|
{
|
|
|
|
#ifdef HAVE_PTHREAD
|
|
|
|
struct ars_priv_data *priv = (struct ars_priv_data *)rot->state.priv;
|
|
|
|
|
|
|
|
/* will be picked by handle_set_position() next polling tick */
|
|
|
|
priv->target_az = az;
|
|
|
|
priv->target_el = el;
|
2010-05-26 20:09:31 +00:00
|
|
|
priv->set_pos_active = 1;
|
2010-05-25 21:02:16 +00:00
|
|
|
|
|
|
|
return RIG_OK;
|
|
|
|
#else
|
|
|
|
return ars_set_position_sync(rot, az, el);
|
|
|
|
#endif
|
|
|
|
}
|
2010-04-25 21:30:17 +00:00
|
|
|
|
|
|
|
static int comparunsigned(const void *a, const void *b)
|
|
|
|
{
|
|
|
|
const unsigned ua=*(const unsigned*)a, ub = *(const unsigned*)b;
|
|
|
|
|
|
|
|
return ua==ub ? 0 : ua<ub ? -1 : 1;
|
|
|
|
}
|
|
|
|
|
|
|
|
int
|
|
|
|
ars_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
|
|
|
|
{
|
|
|
|
struct ars_priv_data *priv = (struct ars_priv_data *)rot->state.priv;
|
|
|
|
struct rot_state *rs = &rot->state;
|
|
|
|
hamlib_port_t *pport = &rs->rotport;
|
|
|
|
int i, num_sample;
|
|
|
|
unsigned az_samples[NUM_SAMPLES], az_value;
|
|
|
|
unsigned el_samples[NUM_SAMPLES], el_value;
|
|
|
|
unsigned char status;
|
|
|
|
|
|
|
|
par_lock (pport);
|
|
|
|
|
2010-05-08 21:25:29 +00:00
|
|
|
/* flush last sampled value, with a dummy read */
|
2010-05-04 21:42:13 +00:00
|
|
|
CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN_CLK));
|
|
|
|
usleep (PP_IO_PERIOD);
|
|
|
|
|
|
|
|
CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN_CS));
|
|
|
|
usleep (PP_IO_PERIOD);
|
|
|
|
|
2010-05-25 21:02:16 +00:00
|
|
|
for (i = 0; i < priv->adc_res; i++) {
|
2010-05-08 21:25:29 +00:00
|
|
|
CHKPPRET(ars_set_ctrl_pin(rot, CTL_PIN_CLK));
|
|
|
|
usleep (PP_IO_PERIOD);
|
|
|
|
|
|
|
|
CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN_CLK));
|
|
|
|
usleep (PP_IO_PERIOD);
|
|
|
|
}
|
2010-05-04 21:42:13 +00:00
|
|
|
|
|
|
|
CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN_CLK));
|
|
|
|
usleep (PP_IO_PERIOD);
|
|
|
|
|
|
|
|
CHKPPRET(ars_set_ctrl_pin(rot, CTL_PIN_CS));
|
2010-05-08 21:25:29 +00:00
|
|
|
/* end of dummy read */
|
2010-05-04 21:42:13 +00:00
|
|
|
|
2010-04-25 21:30:17 +00:00
|
|
|
for (num_sample=0; num_sample < NUM_SAMPLES; num_sample++) {
|
|
|
|
|
|
|
|
/* read ADC value TLC(1)549 (8/10 bits), by SPI bitbanging */
|
|
|
|
|
|
|
|
usleep (PP_IO_PERIOD);
|
|
|
|
CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN_CLK));
|
|
|
|
usleep (PP_IO_PERIOD);
|
|
|
|
|
|
|
|
CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN_CS));
|
|
|
|
usleep (PP_IO_PERIOD);
|
|
|
|
|
|
|
|
az_samples[num_sample] = 0;
|
|
|
|
el_samples[num_sample] = 0;
|
|
|
|
|
2010-05-25 21:02:16 +00:00
|
|
|
for (i = 0; i < priv->adc_res; i++) {
|
2010-04-25 21:30:17 +00:00
|
|
|
CHKPPRET(ars_set_ctrl_pin(rot, CTL_PIN_CLK));
|
|
|
|
usleep (PP_IO_PERIOD);
|
|
|
|
|
|
|
|
CHKPPRET(par_read_status(pport, &status));
|
|
|
|
|
|
|
|
az_samples[num_sample] <<= 1;
|
|
|
|
az_samples[num_sample] |= (status & STA_PIN_D0) ? 1 : 0;
|
|
|
|
|
|
|
|
el_samples[num_sample] <<= 1;
|
|
|
|
el_samples[num_sample] |= (status & STA_PIN_D1) ? 1 : 0;
|
|
|
|
|
|
|
|
CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN_CLK));
|
|
|
|
usleep (PP_IO_PERIOD);
|
|
|
|
}
|
|
|
|
|
|
|
|
CHKPPRET(ars_set_ctrl_pin(rot, CTL_PIN_CS));
|
|
|
|
|
|
|
|
rig_debug(RIG_DEBUG_TRACE, "%s: raw samples: az %u, el %u\n",
|
|
|
|
__func__, az_samples[num_sample], el_samples[num_sample]);
|
|
|
|
|
|
|
|
usleep (PP_IO_PERIOD);
|
|
|
|
}
|
|
|
|
|
|
|
|
par_unlock (pport);
|
|
|
|
|
|
|
|
qsort (az_samples, NUM_SAMPLES, sizeof(unsigned), comparunsigned);
|
|
|
|
qsort (el_samples, NUM_SAMPLES, sizeof(unsigned), comparunsigned);
|
|
|
|
|
|
|
|
/* select median value in order to rule out glitches */
|
|
|
|
az_value = az_samples[NUM_SAMPLES/2];
|
|
|
|
el_value = el_samples[NUM_SAMPLES/2];
|
|
|
|
|
2010-05-25 21:02:16 +00:00
|
|
|
*az = rs->min_az + ((float)az_value * (rs->max_az - rs->min_az)) / ((1 << priv->adc_res)-1);
|
|
|
|
*el = rs->min_el + ((float)el_value * (rs->max_el - rs->min_el)) / ((1 << priv->adc_res)-1);
|
2010-04-25 21:30:17 +00:00
|
|
|
|
|
|
|
rig_debug(RIG_DEBUG_TRACE, "%s: az=%.1f el=%.1f\n", __func__, *az, *el);
|
|
|
|
|
|
|
|
return RIG_OK;
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/* ************************************************************************* */
|
|
|
|
/*
|
|
|
|
* ARS rotator capabilities.
|
|
|
|
*/
|
|
|
|
|
2010-05-31 21:15:58 +00:00
|
|
|
/*
|
|
|
|
* RCI/RCI-SE, with Elevation daugtherboard/unit.
|
|
|
|
*/
|
|
|
|
const struct rot_caps rci_azel_rot_caps = {
|
|
|
|
.rot_model = ROT_MODEL_RCI_AZEL,
|
|
|
|
.model_name = "ARS RCI AZ&EL",
|
2010-04-25 21:30:17 +00:00
|
|
|
.mfg_name = "EA4TX",
|
|
|
|
.version = "0.1",
|
|
|
|
.copyright = "LGPL",
|
2010-05-08 21:25:29 +00:00
|
|
|
.status = RIG_STATUS_BETA,
|
2010-05-31 21:15:58 +00:00
|
|
|
.rot_type = ROT_TYPE_AZEL, /* AZ&EL units */
|
2010-04-25 21:30:17 +00:00
|
|
|
.port_type = RIG_PORT_PARALLEL,
|
|
|
|
.write_delay = 0,
|
|
|
|
.post_write_delay = 10,
|
|
|
|
.timeout = 0,
|
|
|
|
.retry = 3,
|
|
|
|
|
|
|
|
.min_az = 0,
|
|
|
|
.max_az = 360,
|
|
|
|
.min_el = 0,
|
|
|
|
.max_el = 180, /* TBC */
|
|
|
|
|
|
|
|
.rot_init = ars_init,
|
|
|
|
.rot_cleanup = ars_cleanup,
|
|
|
|
.rot_open = ars_open,
|
|
|
|
.rot_close = ars_close,
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|
|
|
.set_position = ars_set_position,
|
|
|
|
.get_position = ars_get_position,
|
|
|
|
.stop = ars_stop,
|
|
|
|
.move = ars_move,
|
2010-05-31 21:15:58 +00:00
|
|
|
};
|
|
|
|
|
|
|
|
/*
|
|
|
|
* RCI/RCI-SE, without Elevation daugtherboard/unit.
|
|
|
|
* Azimuth only
|
|
|
|
*/
|
|
|
|
const struct rot_caps rci_az_rot_caps = {
|
|
|
|
.rot_model = ROT_MODEL_RCI_AZ,
|
|
|
|
.model_name = "ARS RCI AZ",
|
|
|
|
.mfg_name = "EA4TX",
|
|
|
|
.version = "0.1",
|
|
|
|
.copyright = "LGPL",
|
|
|
|
.status = RIG_STATUS_BETA,
|
|
|
|
.rot_type = ROT_TYPE_AZIMUTH, /* AZ-only unit */
|
|
|
|
.port_type = RIG_PORT_PARALLEL,
|
|
|
|
.write_delay = 0,
|
|
|
|
.post_write_delay = 10,
|
|
|
|
.timeout = 0,
|
|
|
|
.retry = 3,
|
2010-04-25 21:30:17 +00:00
|
|
|
|
2010-05-31 21:15:58 +00:00
|
|
|
.min_az = 0,
|
|
|
|
.max_az = 360,
|
|
|
|
.min_el = 0,
|
|
|
|
.max_el = 180, /* TBC */
|
|
|
|
|
|
|
|
.rot_init = ars_init,
|
|
|
|
.rot_cleanup = ars_cleanup,
|
|
|
|
.rot_open = ars_open,
|
|
|
|
.rot_close = ars_close,
|
|
|
|
.set_position = ars_set_position,
|
|
|
|
.get_position = ars_get_position,
|
|
|
|
.stop = ars_stop,
|
|
|
|
.move = ars_move,
|
2010-04-25 21:30:17 +00:00
|
|
|
};
|
|
|
|
|
|
|
|
|
|
|
|
/* ************************************************************************* */
|
|
|
|
|
|
|
|
DECLARE_INITROT_BACKEND(ars)
|
|
|
|
{
|
|
|
|
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
|
|
|
|
|
2010-05-31 21:15:58 +00:00
|
|
|
rot_register(&rci_az_rot_caps);
|
|
|
|
rot_register(&rci_azel_rot_caps);
|
2010-04-25 21:30:17 +00:00
|
|
|
|
|
|
|
return RIG_OK;
|
|
|
|
}
|
|
|
|
|
|
|
|
/* ************************************************************************* */
|
|
|
|
/* end of file */
|