Hamlib/ts7400/ts7400.c

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/*
* Hamlib ts7400 backend - main file
* Copyright (c) 2001-2009 by Stephane Fillod
*
*
* 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
*
*/
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
#include <stdlib.h>
#include <string.h> /* String function definitions */
#include <unistd.h> /* UNIX standard function definitions */
#include <math.h>
#include <sys/time.h>
#include <time.h>
#include <hamlib/rotator.h>
#include "serial.h"
#include "misc.h"
#include "register.h"
#include "ts7400.h"
struct ts7400_rot_priv_data {
azimuth_t az;
elevation_t el;
struct timeval tv; /* time last az/el update */
azimuth_t target_az;
elevation_t target_el;
};
static int ts7400_rot_init(ROT *rot)
{
struct ts7400_rot_priv_data *priv;
priv = (struct ts7400_rot_priv_data*)
malloc(sizeof(struct ts7400_rot_priv_data));
if (!priv)
return -RIG_ENOMEM;
rot->state.priv = (void*)priv;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
rot->state.rotport.type.rig = RIG_PORT_NONE;
priv->az = priv->el = 0;
priv->target_az = priv->target_el = 0;
return RIG_OK;
}
static int ts7400_rot_cleanup(ROT *rot)
{
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
if (rot->state.priv)
free(rot->state.priv);
rot->state.priv = NULL;
return RIG_OK;
}
static int ts7400_rot_open(ROT *rot)
{
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
return RIG_OK;
}
static int ts7400_rot_close(ROT *rot)
{
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
return RIG_OK;
}
static int ts7400_rot_set_position(ROT *rot, azimuth_t az, elevation_t el)
{
struct ts7400_rot_priv_data *priv = (struct ts7400_rot_priv_data *)rot->state.priv;
rig_debug(RIG_DEBUG_VERBOSE,"%s called: %.2f %.2f\n", __func__,
az, el);
priv->target_az = az;
priv->target_el = el;
gettimeofday(&priv->tv, NULL);
return RIG_OK;
}
/*
* Get position of rotor, simulating slow rotation
*/
static int ts7400_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
{
struct ts7400_rot_priv_data *priv = (struct ts7400_rot_priv_data *)rot->state.priv;
struct timeval tv;
unsigned elapsed; /* ms */
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
if (priv->az == priv->target_az &&
priv->el == priv->target_el)
{
*az = priv->az;
*el = priv->el;
return RIG_OK;
}
gettimeofday(&tv, NULL);
elapsed = (tv.tv_sec - priv->tv.tv_sec) * 1000 +
(tv.tv_usec - priv->tv.tv_usec) / 1000;
/*
* Simulate rotation speed of 360 deg per minute
*/
#define DEG_PER_MS (360./60/1000)
if (fabs(priv->target_az - priv->az)/DEG_PER_MS <= elapsed)
{
/* target reached */
priv->az = priv->target_az;
}
else
{
if (priv->az < priv->target_az)
priv->az += (azimuth_t)elapsed*DEG_PER_MS;
else
priv->az -= (azimuth_t)elapsed*DEG_PER_MS;
}
if (fabs(priv->target_el - priv->el)/DEG_PER_MS <= elapsed)
{
/* target reached */
priv->el = priv->target_el;
}
else
{
if (priv->el < priv->target_el)
priv->el += (elevation_t)elapsed*DEG_PER_MS;
else
priv->el -= (elevation_t)elapsed*DEG_PER_MS;
}
*az = priv->az;
*el = priv->el;
priv->tv = tv;
return RIG_OK;
}
static int ts7400_rot_stop(ROT *rot)
{
struct ts7400_rot_priv_data *priv = (struct ts7400_rot_priv_data *)rot->state.priv;
azimuth_t az;
elevation_t el;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
ts7400_rot_get_position(rot, &az, &el);
priv->target_az = priv->az = az;
priv->target_el = priv->el = el;
return RIG_OK;
}
static int ts7400_rot_park(ROT *rot)
{
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
/* Assume home is 0,0 */
ts7400_rot_set_position(rot, 0, 0);
return RIG_OK;
}
static int ts7400_rot_reset(ROT *rot, rot_reset_t reset)
{
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
return RIG_OK;
}
static int ts7400_rot_move(ROT *rot, int direction, int speed)
{
struct ts7400_rot_priv_data *priv = (struct ts7400_rot_priv_data *)rot->state.priv;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
rig_debug(RIG_DEBUG_TRACE, "%s: Direction = %d, Speed = %d\n", __func__, direction, speed);
switch(direction) {
case ROT_MOVE_UP:
return ts7400_rot_set_position(rot, priv->target_az, 90);
case ROT_MOVE_DOWN:
return ts7400_rot_set_position(rot, priv->target_az, 0);
case ROT_MOVE_CCW:
return ts7400_rot_set_position(rot, -180, priv->target_el);
case ROT_MOVE_CW:
return ts7400_rot_set_position(rot, 180, priv->target_el);
default:
return -RIG_EINVAL;
}
return RIG_OK;
}
static const char *ts7400_rot_get_info(ROT *rot)
{
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
return "ts7400 rotator";
}
/*
* ts7400 rotator capabilities.
*/
const struct rot_caps ts7400_rot_caps = {
.rot_model = ROT_MODEL_TS7400,
.model_name = "ts7400",
.mfg_name = "LA7LKA",
.version = "0.1",
.copyright = "LGPL",
.status = RIG_STATUS_BETA,
.rot_type = ROT_TYPE_AZEL,
.port_type = RIG_PORT_NONE,
.min_az = -180.,
.max_az = 180.,
.min_el = 0.,
.max_el = 90.,
.priv = NULL, /* priv */
.rot_init = ts7400_rot_init,
.rot_cleanup = ts7400_rot_cleanup,
.rot_open = ts7400_rot_open,
.rot_close = ts7400_rot_close,
.set_position = ts7400_rot_set_position,
.get_position = ts7400_rot_get_position,
.park = ts7400_rot_park,
.stop = ts7400_rot_stop,
.reset = ts7400_rot_reset,
.move = ts7400_rot_move,
.get_info = ts7400_rot_get_info,
};
DECLARE_INITROT_BACKEND(ts7400)
{
rig_debug(RIG_DEBUG_VERBOSE, "ts7400: _init called\n");
rot_register(&ts7400_rot_caps);
return RIG_OK;
}