Hamlib/rotators/heathkit/hd1780.c

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/*
* Hamlib backend library for the HD 1780 Intellirotor command set.
*
* hd1780.c - (C) Nate Bargmann 2003 (n0nb at arrl.net)
* (C) Rob Frohne 2008 (kl7na at arrl.net)
*
* This shared library provides an API for communicating
* via serial interface to a Heathkit HD 1780 Intellirotor.
*
* Heathkit is a trademark of Heath Company
*
*
* 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 <stdio.h>
#include <stdlib.h> /* Standard library definitions */
#include <string.h> /* String function definitions */
#include <unistd.h> /* UNIX standard function definitions */
#include "hamlib/rotator.h"
#include "serial.h"
#include "misc.h"
#include "register.h"
#include "hd1780.h"
/*
* Private data structure
*/
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struct hd1780_rot_priv_data
{
azimuth_t az;
};
/*
* Private helper function prototypes
*/
static int hd1780_send_priv_cmd(ROT *rot, const char *cmd);
/*
* HD 1780 Intellirotor rotor capabilities
*/
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const struct rot_caps hd1780_rot_caps =
{
ROT_MODEL(ROT_MODEL_HD1780),
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.model_name = "HD 1780 Intellirotor",
.mfg_name = "Heathkit",
.version = "20200112.0",
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.copyright = "LGPL",
.status = RIG_STATUS_BETA,
.rot_type = ROT_TYPE_OTHER,
.port_type = RIG_PORT_SERIAL,
.serial_rate_min = 300,
.serial_rate_max = 9600,
.serial_data_bits = 8,
.serial_stop_bits = 1,
.serial_parity = RIG_PARITY_NONE,
.serial_handshake = RIG_HANDSHAKE_NONE,
.write_delay = 10,
.post_write_delay = 500,
.timeout = 60000,
.retry = 0,
.min_az = -180,
.max_az = 180,
.min_el = 0,
.max_el = 0,
.priv = NULL, /* priv */
.rot_init = hd1780_rot_init,
.rot_cleanup = hd1780_rot_cleanup,
.set_position = hd1780_rot_set_position,
.get_position = hd1780_rot_get_position,
};
/* ************************************
*
* API functions
*
* ************************************
*/
/*
* Initialize data structures
*/
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static int hd1780_rot_init(ROT *rot)
{
struct hd1780_rot_priv_data *priv;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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if (!rot)
{
return -RIG_EINVAL;
}
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rot->state.priv = (struct hd1780_rot_priv_data *)
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malloc(sizeof(struct hd1780_rot_priv_data));
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if (!rot->state.priv)
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{
return -RIG_ENOMEM;
}
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priv = rot->state.priv;
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rot->state.rotport.type.rig = RIG_PORT_SERIAL;
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priv->az = 0;
return RIG_OK;
}
/*
* Clean up allocated memory structures
*/
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static int hd1780_rot_cleanup(ROT *rot)
{
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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if (!rot)
{
return -RIG_EINVAL;
}
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if (rot->state.priv)
{
free(rot->state.priv);
}
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rot->state.priv = NULL;
return RIG_OK;
}
/*
* Set position
* HD 1780 protocol supports azimuth only--elevation is ignored
* Range is converted to an integer string, 0 to 360 degrees
*/
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static int hd1780_rot_set_position(ROT *rot, azimuth_t azimuth,
elevation_t elevation)
{
struct rot_state *rs;
char cmdstr[8];
char execstr[5] = "\r", ok[3];
int err;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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if (!rot)
{
return -RIG_EINVAL;
}
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if (azimuth < hd1780_rot_caps.min_az || azimuth > hd1780_rot_caps.max_az)
{
return -RIG_EINVAL;
}
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if (azimuth < 0) { azimuth = azimuth + 360; }
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sprintf(cmdstr, "%03.0f", azimuth); /* Target bearing */
err = hd1780_send_priv_cmd(rot, cmdstr);
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if (err != RIG_OK)
{
return err;
}
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err = hd1780_send_priv_cmd(rot, execstr); /* Execute command */
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if (err != RIG_OK)
{
return err;
}
/* We need to look for the <CR> +<LF> to signify that everything finished. The HD 1780
* sends a <CR> when it is finished rotating.
*/
rs = &rot->state;
err = read_block(&rs->rotport, ok, 2);
if (err != 2)
{
return -RIG_ETRUNC;
}
if ((ok[0] != '\r') || (ok[1] != '\n'))
{
return -RIG_ETRUNC;
}
return RIG_OK;
}
/*
* Get position
* Returns current azimuth position in whole degrees.
* Range returned from Rotor-EZ is an integer, 0 to 359 degrees
* Elevation is set to 0
*/
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static int hd1780_rot_get_position(ROT *rot, azimuth_t *azimuth,
elevation_t *elevation)
{
struct rot_state *rs;
char cmdstr[3] = "b\r";
char az[7]; /* read azimuth string */
char *p;
azimuth_t tmp = 0;
int err;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
if (!rot)
{
return -RIG_EINVAL;
}
err = hd1780_send_priv_cmd(rot, cmdstr);
if (err != RIG_OK)
{
return err;
}
rs = &rot->state;
err = read_block(&rs->rotport, az, AZ_READ_LEN);
if (err != AZ_READ_LEN)
{
return -RIG_ETRUNC;
}
/*
* HD 1780 returns a four octet string consisting of
* three octets containing the rotor's position in degrees followed by a
* space and a <CR> and a <LF>. The
* space is ignored when passing the string to atof().
*/
az[4] = 0x00; /* NULL terminated string */
p = az; /* for hd1780 */
tmp = (azimuth_t)atof(p);
rig_debug(RIG_DEBUG_TRACE, "%s: \"%s\" after conversion = %.1f\n",
__func__, p, tmp);
if (tmp < 0 || tmp > 359)
{
return -RIG_EINVAL;
}
*azimuth = tmp;
*elevation = 0; /* assume aiming at the horizon */
rig_debug(RIG_DEBUG_TRACE,
"%s: azimuth = %.1f deg; elevation = %.1f deg\n",
__func__, *azimuth, *elevation);
return RIG_OK;
}
/*
* Send command string to rotor.
*
* To make sure that the rotor is ready to take a command, we send it a <CR> and
* it will normally reply with a ? <CR> <LF>. If you don't do this, using the
* w: command of rotctl it is possible to get it out of sequence. This kind of
* resets its command buffer before sending the command.
*/
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static int hd1780_send_priv_cmd(ROT *rot, const char *cmdstr)
{
struct rot_state *rs;
int err;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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if (!rot)
{
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)
{
return err;
}
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return RIG_OK;
}
/*
* Initialize backend
*/
DECLARE_INITROT_BACKEND(heathkit)
{
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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rot_register(&hd1780_rot_caps);
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return RIG_OK;
}