Merge pull request #518 from code-posse/master

SatEL rotator support

configure.ac

@@ -52,7 +52,7 @@ dnl Beware of duplication should a backend directory include both rig and
 dnl rotor definitions, e.g. "dummy".  Optional backends will not be listed
 dnl here but will be added later, e.g. "winradio".
 RIG_BACKEND_LIST="rigs/adat rigs/alinco rigs/aor rigs/barrett 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"
-ROT_BACKEND_LIST="rotators/amsat rotators/ars rotators/celestron rotators/cnctrk rotators/easycomm rotators/ether6 rotators/fodtrack rotators/gs232a rotators/heathkit rotators/m2 rotators/meade rotators/rotorez rotators/sartek rotators/spid rotators/ts7400 rotators/prosistel rotators/ioptron"
+ROT_BACKEND_LIST="rotators/amsat rotators/ars rotators/celestron rotators/cnctrk rotators/easycomm rotators/ether6 rotators/fodtrack rotators/gs232a rotators/heathkit rotators/m2 rotators/meade rotators/rotorez rotators/sartek rotators/spid rotators/ts7400 rotators/prosistel rotators/ioptron rotators/satel"
 # Amplifiers are all in the amplifiers directory
 AMP_BACKEND_LIST="amplifiers/elecraft"
 
@@ -842,6 +842,7 @@ rotators/sartek/Makefile
 rotators/spid/Makefile
 rotators/ts7400/Makefile
 rotators/indi/Makefile
+rotators/satel/Makefile
 rigs/adat/Makefile
 rigs/alinco/Makefile
 rigs/aor/Makefile

include/hamlib/rotlist.h

@@ -491,6 +491,20 @@
 #define ROT_MODEL_INDI ROT_MAKE_MODEL(ROT_INDI, 1)
 
 
+/**
+ *  \def ROT_MODEL_SATEL
+ *  \brief A macro that returns the model number of the SatEL backend.
+ *
+ *  The SatEL backend can be used with rotators that support the VE5FP
+ *  interface.
+ */
+//! @cond Doxygen_Suppress
+#define ROT_SATEL 21
+#define ROT_BACKEND_SATEL "satel"
+//! @endcond
+#define ROT_MODEL_SATEL ROT_MAKE_MODEL(ROT_SATEL, 1)
+
+
 
 
 /**

rotators/satel/Makefile.am

@@ -0,0 +1,6 @@
+SATELSRC = satel.c satel.h
+
+noinst_LTLIBRARIES = libhamlib-satel.la
+libhamlib_satel_la_SOURCES = $(SATELSRC)
+
+EXTRA_DIST = Android.mk

rotators/satel/satel.c

@@ -0,0 +1,339 @@
+/*
+ *  Hamlib SatEL backend - main file
+ *  Copyright (c) 2021 Joshua Lynch
+ *
+ *
+ *   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
+ *
+ */
+
+#include "hamlib/rig.h"
+#include <strings.h>
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <math.h>
+#include <ctype.h>
+#include <stddef.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "hamlib/rotator.h"
+#include "serial.h"
+#include "misc.h"
+#include "register.h"
+
+#include "satel.h"
+
+
+/**
+ * Protocol documentation.
+ *
+ * Apparently, the system is modeled after this one:
+ * “An Inexpensive Az-El Rotator System”
+ *   "Dec, 1999, QST article by Jim Koehler, VE5FP
+ *
+ * '?' - returns 'SatEL\r\n'. a good test to see if there's
+ *       connectivity.
+ *
+ * 'g' - enable motion. nothing happens without this enabled.
+ *
+ * 'z' - display rotator status. contains current Az/El among other
+ *       things. here's an example:
+ *
+ *       Motion ENABLED
+ *       Mode 0 - azimuth break at NORTH
+ *       Time: 2001/00/00 00:00:07
+ *       Azimuth = 000     Absolute = 000
+ *       Elevation = 000
+ *
+ *       Number of stored positions: 00
+ *
+ *
+ * '*' - reset the rotator controller.
+ *
+ * 'pAZ EL\r\n' - tell the rotator where to point where AZ is the
+ *                integer azimuth and EL is the integer
+ *                elevation. e.g. 'p010 045\n'. the controller will
+ *                report the current pointing status after the
+ *                operation has completed.
+ *
+ * NOTE: The SatEL system changed a few commands as described in the
+ * user's manual. They are not used here. You can find the manual for
+ * this rotator here:
+ *
+ * http://www.codeposse.com/~jlynch/SatEL%20Az-EL.pdf
+ *
+ */
+
+/**
+ * Idiosyncrasies
+ *
+ * - the controller does zero input checking. you can put it into an
+ *   incredibly bad state very easily.
+ *
+ * - the controller doesn't accept any data whilst moving the
+ *   rotators. In fact, you can put the controller into a bad state on
+ *   occasion if you try and send it commands while its slewing the
+ *   rotators. this means we have a really long read timeout so we can
+ *   wait for the rotators to slew around before accepting any more
+ *   commands.
+ *
+ */
+
+
+
+#define BUF_SIZE 256
+
+
+typedef struct satel_stat satel_stat_t;
+struct satel_stat
+{
+    bool   motion_enabled;
+    int    mode;
+    time_t time;
+    int    absolute;
+    int    az;
+    int    el;
+};
+
+
+static int satel_read_status(ROT *rot, satel_stat_t *stat)
+{
+    char resbuf[BUF_SIZE];
+    char *p;
+    int ret;
+    struct rot_state *rs;
+
+
+    rs = &rot->state;
+
+    
+    // XXX skip for now
+    for (int i = 0; i < 3; i++)
+    {
+        ret = read_string(&rs->rotport, resbuf, BUF_SIZE, "\n", 1);
+        if (ret < 0)
+            return ret;
+    }
+    
+    // read azimuth line
+    ret = read_string(&rs->rotport, resbuf, BUF_SIZE, "\n", 1);
+    if (ret < 0)
+        return ret;
+
+    p = resbuf + 10;
+    p[3] = '\0';
+    stat->az = (int)strtof(p, NULL);
+    
+    // read elevation line
+    ret = read_string(&rs->rotport, resbuf, BUF_SIZE, "\n", 1);
+    if (ret < 0)
+        return ret;
+
+    p = resbuf + 12;
+    p[3] = '\0';
+    stat->el = (int)strtof(p, NULL);
+    
+    // XXX skip for now
+    for (int i = 0; i < 2; i++)
+    {
+        ret = read_string(&rs->rotport, resbuf, BUF_SIZE, "\n", 1);
+        if (ret < 0)
+            return ret;
+    }
+
+    return RIG_OK;
+}
+
+
+static int satel_cmd(ROT *rot, char *cmd, int cmdlen, char *res, int reslen)
+{
+    int ret;
+    struct rot_state *rs;
+
+    
+    rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
+
+
+    rs = &rot->state;
+
+    rig_flush(&rs->rotport);
+
+    ret = write_block(&rs->rotport, cmd, cmdlen);
+    if (ret != RIG_OK)
+        return ret;
+
+    if (reslen > 0 && res != NULL)
+    {
+        ret = read_string(&rs->rotport, res, reslen, "\n", 1);
+        if (ret < 0)
+            return ret;
+    }
+    
+
+    return RIG_OK;
+}
+
+
+static int satel_rot_open(ROT *rot)
+{
+    char resbuf[BUF_SIZE];
+    int ret;
+
+    
+    
+    rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
+
+
+    // are we connected?
+    ret = satel_cmd(rot, "?", 1, resbuf, BUF_SIZE);
+    if (ret != RIG_OK)
+        return ret;
+
+    ret = strncasecmp("SatEL", resbuf, 5); 
+    if (ret != 0)
+        return -RIG_EIO;
+
+    // yep, reset system
+    ret = satel_cmd(rot, "*", 1, NULL, 0);
+    if (ret != RIG_OK)
+        return ret;
+
+    // enable motion
+    ret = satel_cmd(rot, "g", 1, NULL, 0);
+    if (ret != RIG_OK)
+        return ret;
+
+    return RIG_OK;
+}
+
+
+static int satel_rot_set_position(ROT *rot, azimuth_t az, elevation_t el)
+{
+    char cmdbuf[BUF_SIZE];
+    int ret;
+    satel_stat_t stat;
+
+    
+    rig_debug(RIG_DEBUG_VERBOSE, "%s called: %.2f %.2f\n", __func__,
+              az, el);
+
+    
+    snprintf(cmdbuf, BUF_SIZE, "p%d %d\r\n", (int)az, (int)el);
+    ret = satel_cmd(rot, cmdbuf, strlen(cmdbuf), NULL, 0);
+    if (ret != RIG_OK)
+        return ret;
+
+    // wait-for, read and discard the status message
+    ret = satel_read_status(rot, &stat);
+    if (ret < 0)
+        return ret;
+    
+
+    return RIG_OK;
+}
+
+
+static int satel_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
+{
+    int ret;
+    satel_stat_t stat;
+
+    
+    rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
+
+    
+    ret = satel_cmd(rot, "z", 1, NULL, 0);
+    if (ret != RIG_OK)
+        return ret;
+
+    ret = satel_read_status(rot, &stat);
+    if (ret < 0)
+        return ret;
+
+    *az = stat.az;
+    *el = stat.el;
+
+    
+    return RIG_OK;
+}
+
+
+static int satel_rot_stop(ROT *rot)
+{
+    rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
+
+    // send reset command
+    return satel_cmd(rot, "*", 1, NULL, 0);
+}
+
+
+static const char *satel_rot_get_info(ROT *rot)
+{
+    rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
+
+    return "SatEL rotator";
+}
+
+
+/*
+ * Satel rotator capabilities.
+ */
+const struct rot_caps satel_rot_caps =
+{
+    ROT_MODEL(ROT_MODEL_SATEL),
+    .model_name       = "SatEL",
+    .mfg_name         = "SatEL",
+    .version          = "20210123.0",
+    .copyright        = "LGPL",
+    .status           = RIG_STATUS_ALPHA,
+    .rot_type         = ROT_TYPE_AZEL,
+    .port_type        = RIG_PORT_SERIAL,
+    .serial_rate_max  = 9600,
+    .serial_rate_min  = 9600,
+    .serial_data_bits = 8,
+    .serial_stop_bits = 1,
+    .serial_parity    = RIG_PARITY_NONE,
+    .serial_handshake = RIG_HANDSHAKE_NONE,
+    .write_delay      = 0,
+    .post_write_delay = 0,
+    .timeout          = 60000,
+    .retry            = 0,
+    .min_az           = 0.,
+    .max_az           = 360.,
+    .min_el           = 0.,
+    .max_el           = 90.,
+    .rot_open         = satel_rot_open,
+    .get_position     = satel_rot_get_position,
+    .set_position     = satel_rot_set_position,
+    .stop             = satel_rot_stop,
+    .get_info         = satel_rot_get_info,
+    .priv             = NULL,   /* priv */
+};
+
+DECLARE_INITROT_BACKEND(satel)
+{
+    rig_debug(RIG_DEBUG_VERBOSE, "%s: _init called\n", __func__);
+
+    rot_register(&satel_rot_caps);
+
+    return RIG_OK;
+}

rotators/satel/satel.h

@@ -0,0 +1,28 @@
+/*
+ *  Hamlib SatEL backend - main header
+ *  Copyright (c) 2021 Joshua Lynch
+ *
+ *
+ *   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
+ *
+ */
+
+#ifndef _ROT_SATEL_H
+#define _ROT_SATEL_H 1
+
+extern const struct rot_caps satel_rot_caps;
+
+
+#endif /* _ROT_SATEL_H */

src/rot_reg.c

@@ -84,6 +84,7 @@ DEFINE_INITROT_BACKEND(cnctrk);
 DEFINE_INITROT_BACKEND(prosistel);
 DEFINE_INITROT_BACKEND(meade);
 DEFINE_INITROT_BACKEND(ioptron);
+DEFINE_INITROT_BACKEND(satel);
 #if HAVE_LIBINDI
 DEFINE_INITROT_BACKEND(indi);
 #endif
@@ -126,6 +127,7 @@ static struct
     { ROT_PROSISTEL, ROT_BACKEND_PROSISTEL, ROT_FUNCNAMA(prosistel) },
     { ROT_MEADE, ROT_BACKEND_MEADE, ROT_FUNCNAMA(meade) },
     { ROT_IOPTRON, ROT_BACKEND_IOPTRON, ROT_FUNCNAMA(ioptron) },
+    { ROT_SATEL, ROT_BACKEND_SATEL, ROT_FUNCNAMA(satel) },
 #if HAVE_LIBINDI
     { ROT_INDI, ROT_BACKEND_INDI, ROT_FUNCNAMA(indi) },
 #endif