kopia lustrzana https://github.com/Hamlib/Hamlib
Implement initial skywatcher rotator
Use GOTO mode when setting position. Use cache for CPR (Counts Per Revolution) because it is hardcoded for the motorpull/1603/head
dernasherbrezon
rodzic
137231cb7b
commit
099cc7fc48
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@ -67,7 +67,7 @@ dnl Beware of duplication should a backend directory include both rig and
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dnl rotor definitions, e.g. "dummy". Optional backends will not be listed
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dnl here but will be added later, e.g. "winradio".
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RIG_BACKEND_LIST="rigs/adat rigs/alinco rigs/aor rigs/barrett rigs/codan rigs/dorji rigs/drake rigs/dummy rigs/elad rigs/flexradio rigs/icom rigs/icmarine rigs/jrc rigs/kachina rigs/kenwood rigs/kit rigs/lowe rigs/pcr rigs/prm80 rigs/racal rigs/rft rigs/rs rigs/skanti rigs/tapr rigs/tentec rigs/tuner rigs/uniden rigs/winradio rigs/wj rigs/yaesu rigs/gomspace rigs/mds rigs/anytone rigs/motorola rigs/commradio"
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ROT_BACKEND_LIST="rotators/amsat rotators/apex rotators/ars rotators/celestron rotators/cnctrk rotators/grbltrk rotators/easycomm rotators/ether6 rotators/flir rotators/fodtrack rotators/gs232a rotators/heathkit rotators/m2 rotators/meade rotators/rotorez rotators/sartek rotators/saebrtrack rotators/spid rotators/ts7400 rotators/prosistel rotators/ioptron rotators/satel rotators/radant"
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ROT_BACKEND_LIST="rotators/amsat rotators/apex rotators/ars rotators/celestron rotators/cnctrk rotators/grbltrk rotators/easycomm rotators/ether6 rotators/flir rotators/fodtrack rotators/gs232a rotators/heathkit rotators/m2 rotators/meade rotators/rotorez rotators/sartek rotators/saebrtrack rotators/spid rotators/ts7400 rotators/prosistel rotators/ioptron rotators/satel rotators/skywatcher rotators/radant"
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# Amplifiers are all in the amplifiers directory
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AMP_BACKEND_LIST="amplifiers/elecraft amplifiers/gemini amplifiers/expert"
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@ -898,6 +898,7 @@ rotators/spid/Makefile
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rotators/ts7400/Makefile
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rotators/indi/Makefile
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rotators/satel/Makefile
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rotators/skywatcher/Makefile
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rotators/radant/Makefile
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rigs/adat/Makefile
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rigs/alinco/Makefile
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@ -702,6 +702,18 @@
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//! @endcond
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#define ROT_MODEL_SAEBRTRACK ROT_MAKE_MODEL(ROT_SAEBRTRACK, 1)
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/**
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* \brief A macro that returns the model number of the SKYWATCHER backend.
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*
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* \def ROT_MODEL_SKYWATCHER
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*
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* The SKYWATCHER backend can be used with SKYWATCHER * rotators.
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*/
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//! @cond Doxygen_Suppress
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#define ROT_SKYWATCHER 28
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#define ROT_BACKEND_SKYWATCHER "SkyWatcher"
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//! @endcond
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#define ROT_MODEL_SKYWATCHER ROT_MAKE_MODEL(ROT_SKYWATCHER, 1)
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/**
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* \brief Convenience type definition for a rotator model.
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@ -0,0 +1,12 @@
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LOCAL_PATH:= $(call my-dir)
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include $(CLEAR_VARS)
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LOCAL_SRC_FILES := skywatcher.c
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LOCAL_MODULE := skywatcher
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LOCAL_CFLAGS :=
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LOCAL_C_INCLUDES := android include src
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LOCAL_LDLIBS := -lhamlib -Lobj/local/$(TARGET_ARCH_ABI)
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include $(BUILD_STATIC_LIBRARY)
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@ -0,0 +1,5 @@
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noinst_LTLIBRARIES = libhamlib-skywatcher.la
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libhamlib_skywatcher_la_SOURCES = skywatcher.c skywatcher.h
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EXTRA_DIST = Android.mk
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@ -0,0 +1,249 @@
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#include <stdlib.h>
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#include "skywatcher.h"
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#include "register.h"
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#include "serial.h"
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#define ERROR_CHECK(x) \
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do { \
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int __err_rc = (x); \
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if (__err_rc != RIG_OK) { \
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return __err_rc; \
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} \
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} while (0)
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static const int skywatcher_error_codes_length = 9;
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static const char *skywatcher_error_codes[skywatcher_error_codes_length] = {
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"Unknown Command",
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"Command Length Error",
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"Motor not Stopped",
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"Invalid Character",
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"Not Initialized",
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"Driver Sleeping",
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"Unknown",
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"PEC Training is running",
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"No Valid PEC data"
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};
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typedef struct {
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uint32_t cpr[2];
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} skywatcher_priv_data;
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static int skywatcher_cmd(ROT *rot, const char *cmd, char *response, size_t response_len) {
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hamlib_port_t *port = ROTPORT(rot);
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rig_flush(port);
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size_t cmd_len = strlen(cmd);
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ERROR_CHECK(write_block(port, (unsigned char *) cmd, cmd_len));
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// echo from the device
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int code = read_string(port, (unsigned char *) response, response_len, "\r", 1, 0, 1);
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if (code < 0) {
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return -code;
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}
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// the actual response
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code = read_string(port, (unsigned char *) response, response_len, "\r", 1, 0, 1);
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if (code < 0) {
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return -code;
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}
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// nullify last \r
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response[strlen(response) - 1] = '\0';
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if (response[0] == '!') {
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code = atoi(&response[1]);
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if (code < skywatcher_error_codes_length) {
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rig_debug(RIG_DEBUG_ERR, "Error code: %d Message: '%s'\n", code, skywatcher_error_codes[code]);
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} else {
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rig_debug(RIG_DEBUG_ERR, "Error response: '%s'\n", response);
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}
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return RIG_EPROTO;
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}
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// remove leading '='
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memmove(response, response + 1, strlen(response) - 1);
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response[strlen(response) - 1] = '\0';
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return RIG_OK;
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}
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inline uint32_t skywatcher_convert24bit(long input) {
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return ((input & 0x0000FF) << 16) | (input & 0x00FF00) | ((input & 0xFF0000) >> 16);
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}
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static const char *skywatcher_get_info(ROT *rot) {
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static char info[32];
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char str[16];
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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// Read from 1st motor only. In practice both motors have the same version
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if (skywatcher_cmd(rot, ":e1\r", str, sizeof(str)) != RIG_OK) {
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return NULL;
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}
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SNPRINTF(info, sizeof(info), "V%s", str);
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return info;
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}
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int skywatcher_get_spr(ROT *rot, int motor_index, uint32_t *result) {
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skywatcher_priv_data *priv = ROTSTATE(rot)->priv;
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if (priv->cpr[motor_index - 1] != 0) {
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*result = priv->cpr[motor_index - 1];
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return RIG_OK;
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}
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char str[16];
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char req[16];
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SNPRINTF(req, sizeof(req), ":a%d\r", motor_index);
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ERROR_CHECK(skywatcher_cmd(rot, req, str, sizeof(str)));
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priv->cpr[motor_index - 1] = skywatcher_convert24bit(strtol(str, NULL, 16));
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*result = priv->cpr[motor_index - 1];
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return RIG_OK;
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}
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int skywatcher_get_motor_position(ROT *rot, int motor_index, float *result) {
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char str[16];
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char req[16];
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SNPRINTF(req, sizeof(req), ":j%d\r", motor_index);
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ERROR_CHECK(skywatcher_cmd(rot, req, str, sizeof(str)));
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long motor_ticks = skywatcher_convert24bit(strtol(str, NULL, 16)) - 0x800000;
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uint32_t cpr;
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ERROR_CHECK(skywatcher_get_spr(rot, motor_index, &cpr));
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double ticks_per_angle = (double) cpr / 360.0;
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*result = (float) ((double) motor_ticks / ticks_per_angle);
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return RIG_OK;
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}
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static int skywatcher_get_position(ROT *rot, azimuth_t *az, elevation_t *el) {
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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ERROR_CHECK(skywatcher_get_motor_position(rot, 1, (float *) az));
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// normalize to 0 ~ 360
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if (*az < 0.0f) {
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*az = 360.0f + *az;
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}
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ERROR_CHECK(skywatcher_get_motor_position(rot, 2, (float *) el));
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rig_debug(RIG_DEBUG_TRACE, "%s: (az, el) = (%.1f, %.1f)\n", __func__, *az, *el);
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return RIG_OK;
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}
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static int skywatcher_stop(ROT *rot) {
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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char str[16];
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// don't wait for actual stop. Operation can be async
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ERROR_CHECK(skywatcher_cmd(rot, ":K1\r", str, sizeof(str)));
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ERROR_CHECK(skywatcher_cmd(rot, ":K2\r", str, sizeof(str)));
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return RIG_OK;
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}
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int skywatcher_set_motor_position(ROT *rot, int motor_index, float angle) {
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char str[16];
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char req[16];
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hamlib_port_t *rotp = ROTPORT(rot);
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SNPRINTF(req, sizeof(req), ":f%d\r", motor_index);
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int current_retry = 0;
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int stopped = 0;
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while (current_retry < rotp->retry) {
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ERROR_CHECK(skywatcher_cmd(rot, req, str, sizeof(str)));
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int status = str[1] - '0';
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if (status & 0b10) {
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rig_debug(RIG_DEBUG_ERR, "%s: motor is blocked\n", __func__);
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return RIG_EPROTO;
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}
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if (status & 0b1) {
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current_retry++;
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//10ms sleep just to make sure motor is fully stopped
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hl_usleep(10000);
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continue;
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}
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stopped = 1;
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break;
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}
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if (!stopped) {
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return RIG_EPROTO;
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}
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SNPRINTF(req, sizeof(req), ":G%d00\r", motor_index);
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ERROR_CHECK(skywatcher_cmd(rot, req, str, sizeof(str)));
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uint32_t cpr;
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ERROR_CHECK(skywatcher_get_spr(rot, motor_index, &cpr));
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double ticks_per_angle = (double) cpr / 360.0;
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uint32_t value = ((uint32_t) (ticks_per_angle * angle)) & 0xFFFFFF;
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value = value | 0x800000;
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SNPRINTF(req, sizeof(req), ":S%d%02X%02X%02X\r", motor_index, (value & 0xFF), (value & 0xFF00) >> 8, (value & 0xFF0000) >> 16);
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ERROR_CHECK(skywatcher_cmd(rot, req, str, sizeof(str)));
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// start motion, don't wait until it completes
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SNPRINTF(req, sizeof(req), ":J%d\r", motor_index);
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ERROR_CHECK(skywatcher_cmd(rot, req, str, sizeof(str)));
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return RIG_OK;
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}
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static int skywatcher_set_position(ROT *rot, azimuth_t az, elevation_t el) {
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rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el);
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ERROR_CHECK(skywatcher_stop(rot));
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// stop is called for 1 then for 2 motor. do motor position in reverse because it awaits "stop motor" state.
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// potentially saving 1 call to :f
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ERROR_CHECK(skywatcher_set_motor_position(rot, 2, el));
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ERROR_CHECK(skywatcher_set_motor_position(rot, 1, az));
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return RIG_OK;
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}
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static int skywatcher_init(ROT *rot) {
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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skywatcher_priv_data *result = calloc(1, sizeof(skywatcher_priv_data));
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if (result == NULL) {
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return -RIG_ENOMEM;
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}
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memset(result->cpr, 0, sizeof(result->cpr));
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ROTSTATE(rot)->priv = result;
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return RIG_OK;
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}
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static int skywatcher_cleanup(ROT *rot) {
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skywatcher_priv_data *priv = ROTSTATE(rot)->priv;
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if (priv == NULL) {
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return RIG_OK;
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}
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free(priv);
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return RIG_OK;
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}
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/* ************************************************************************* */
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/*
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* Protocol documentation:
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* https://inter-static.skywatcher.com/downloads/skywatcher_motor_controller_command_set.pdf
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*/
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const struct rot_caps skywatcher_rot_caps =
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{
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ROT_MODEL(ROT_MODEL_SKYWATCHER),
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.model_name = "Sky-Watcher",
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.mfg_name = "Sky-Watcher",
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.version = "20240825.0",
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.copyright = "LGPL",
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.status = RIG_STATUS_STABLE,
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.rot_type = ROT_TYPE_AZEL,
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.port_type = RIG_PORT_SERIAL,
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.serial_rate_min = 9600,
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.serial_rate_max = 9600,
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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 = 0,
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.timeout = 3500, /* worst case scenario */
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.retry = 1,
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.min_az = 0.0f,
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.max_az = 360.0f,
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.min_el = 0.0f,
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.max_el = 180.0f,
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.rot_init = skywatcher_init,
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.rot_cleanup = skywatcher_cleanup,
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.get_position = skywatcher_get_position,
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.set_position = skywatcher_set_position,
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.stop = skywatcher_stop,
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.get_info = skywatcher_get_info,
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};
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DECLARE_INITROT_BACKEND(skywatcher) {
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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rot_register(&skywatcher_rot_caps);
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return RIG_OK;
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}
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@ -0,0 +1,26 @@
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/*
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* Hamlib Rotator backend - Celestron interface protocol
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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 2.1 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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#ifndef HAMLIB_SKYWATCHER_H
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#define HAMLIB_SKYWATCHER_H 1
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#include "rotator.h"
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extern const struct rot_caps skywatcher_rot_caps;
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#endif //HAMLIB_SKYWATCHER_H
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@ -93,6 +93,7 @@ DEFINE_INITROT_BACKEND(grbltrk);
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DEFINE_INITROT_BACKEND(flir);
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DEFINE_INITROT_BACKEND(apex);
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DEFINE_INITROT_BACKEND(saebrtrack);
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DEFINE_INITROT_BACKEND(skywatcher);
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//! @endcond
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@ -145,6 +146,7 @@ static struct
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{ ROT_FLIR, ROT_BACKEND_FLIR, ROT_FUNCNAMA(flir) },
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{ ROT_APEX, ROT_BACKEND_APEX, ROT_FUNCNAMA(apex) },
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{ ROT_SAEBRTRACK, ROT_BACKEND_SAEBRTRACK, ROT_FUNCNAMA(saebrtrack)},
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{ ROT_SKYWATCHER, ROT_BACKEND_SKYWATCHER, ROT_FUNCNAMA(skywatcher)},
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{ 0, NULL }, /* end */
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};
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@ -260,7 +262,7 @@ static int rot_lookup_backend(rot_model_t rot_model)
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{
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int i;
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for (i = 0; i < ROT_BACKEND_MAX && rot_backend_list[i].be_name; i++)
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for (i = 0; i < ROT_BACKEND_MAX && rot_backend_list[i].be_name; i++)
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{
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if (ROT_BACKEND_NUM(rot_model) ==
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rot_backend_list[i].be_num)
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