kopia lustrzana https://github.com/Hamlib/Hamlib
New iOptron rotator backend
I have an potential initial release of a backend for iOptron alt-az mounts. I have tested it and it appears to work well both from the command line and driven by Gpredict with my iEQ45Pro. I ran the source through astyle and I think that it's OK. Compiling and testing was done under Unbuntu 18. Bob KD8CGHpull/68/head
Robert Benedict
Nate Bargmann
rodzic
451bbfcf1f
commit
3724ce87ee
1
NEWS
1
NEWS
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@ -10,6 +10,7 @@ Version 4.0
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* API/ABI changes, advance ABI to 4 0 0.
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* Add GPIO and GPION options for DCD. Jeroen Vreeken
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* New backend: ELAD FDM DUO. Giovanni, HB9EIK.
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* New rotator backend: iOptron. Bob, KD8CGH
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Version 3.3
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2018-08-12
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@ -50,7 +50,7 @@ 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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BACKEND_LIST="adat alinco aor barrett dorji drake dummy elad flexradio icom icmarine jrc kachina kenwood kit lowe pcr prm80 racal rft rs skanti tapr tentec tuner uniden wj yaesu"
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ROT_BACKEND_LIST="amsat ars celestron cnctrk easycomm ether6 fodtrack gs232a heathkit m2 meade rotorez sartek spid ts7400 prosistel"
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ROT_BACKEND_LIST="amsat ars celestron cnctrk easycomm ether6 fodtrack gs232a heathkit m2 meade rotorez sartek spid ts7400 prosistel ioptron"
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dnl See README.release on setting these values
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# Values given to -version-info when linking. See libtool documentation.
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@ -737,6 +737,7 @@ macros/Makefile
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include/Makefile
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lib/Makefile
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dummy/Makefile
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elad/Makefile
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yaesu/Makefile
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icom/Makefile
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icmarine/Makefile
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@ -788,8 +789,9 @@ prosistel/Makefile
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dorji/Makefile
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barrett/Makefile
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meade/Makefile
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ioptron/Makefile
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hamlib.pc
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elad/Makefile])
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])
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AC_OUTPUT
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@ -361,6 +361,18 @@
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#define ROT_BACKEND_MEADE "meade"
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#define ROT_MODEL_MEADE ROT_MAKE_MODEL(ROT_MEADE, 1)
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/**
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* \def ROT_MODEL_IOPTRON
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* \brief A macro that returns the model number of the IOPTRON backend.
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*
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* The IOPTRON backen can be used with IOPTRON telescope mounts
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*/
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#define ROT_IOPTRON 19
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#define ROT_BACKEND_IOPTRON "ioptron"
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#define ROT_MODEL_IOPTRON ROT_MAKE_MODEL(ROT_IOPTRON, 1)
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/**
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* \typedef typedef int rot_model_t
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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 := rot_ioptron.c
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LOCAL_MODULE := rot_ioptron
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LOCAL_CFLAGS := -DHAVE_CONFIG_H
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LOCAL_C_INCLUDES := android include src
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LOCAL_LDLIBS := -lhamlib -Lobj/local/armeabi
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include $(BUILD_STATIC_LIBRARY)
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@ -0,0 +1,6 @@
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IOPTRONSRC = rot_ioptron.c rot_ioptron.h
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noinst_LTLIBRARIES = libhamlib-ioptron.la
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libhamlib_ioptron_la_SOURCES = $(IOPTRONSRC)
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EXTRA_DIST = Android.mk
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@ -0,0 +1,10 @@
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This is a small backend for iOptron alt-az mounts. It implements get position, goto position, stop and get info. It has been tested from the command line and with Gpredict with an iEQ45 Pro in alt-az mode. It should work for other iOptron alt-az mounts such as the AZ Mount Pro, Cube-II, CubePro and iEQ30 Pro in alt-az mode as iOptron claims that they all use the same command language.
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A warning on iOptron command language. iOptron is in the process of moving from V2 to V3 of the command lamguage and presently (December 2018) uses a mix of the two. This back end should work with mounts with current firmware, but new firmware may change commands and break it.
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Minor annoyance - the mount will automatically start siderial tracking after a slew. Adding a stop tracking command at the end of the goto set did not solve the problem.
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Bigger annoyance - Be careful with the GEM mounts (iEQ30, iEQ45) in alt-az mode. The dec/el motor cord easily catches on the ra/az clutch knobs when slewing in az. I attached a small standoff to keep the cord out of the way.
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Reccomendation - since the hand controller remains plugged, in I suggest that you use it for calibration, manual slews and setting and going to the zero position.
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@ -0,0 +1,350 @@
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/*
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* Hamlib Rotator backend - Celestron
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* Copyright (c) 2011 by Stephane Fillod
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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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#ifdef HAVE_CONFIG_H
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#include "config.h"
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#endif
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <math.h>
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#include <ctype.h>
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#include <stddef.h>
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#include <stdint.h>
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#include "hamlib/rotator.h"
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#include "serial.h"
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#include "misc.h"
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#include "register.h"
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#include "rot_ioptron.h"
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#define ACK "#"
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#define ACK1 '1'
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#define BUFSZ 128
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/**
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* ioptron_transaction
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*
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* cmdstr - Command to be sent to the rig.
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* data - Buffer for reply string. Can be NULL, indicating that no reply is
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* is needed, but answer will still be read.
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* data_len - in: Size of buffer. It is the caller's responsibily to provide
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* a large enough buffer for all possible replies for a command.
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*
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* COMMANDS note: as of 12/2018 a mixture of V2 and V3
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* | TTTTTTTT(T) .01 arc seconds
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* | alt- sign with 8 digits, az - 9 digits |
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* | Command | Atribute | Return value | Description |
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* -------------------------------------------------------------------|
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* | :GAC# | .01 arcsec | sTTTTTTTTTTTTTTTTT# | gets alt(s8), az(9) |
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* | :SzTTTTTTTTT# | .01 arcsec | '1' == OK | Set Target azimuth |
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* | :SasTTTTTTTT# |.01 arcsec | '1' == OK | Set Target elevation |
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* | :Q# | - | '1' == OK | Halt all slewing |
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* | :ST0# | - | '1' == OK | Halt tracking |
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* | :MS# | - | '1' == OK | GoTo Target |
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* |
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* returns:
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* RIG_OK - if no error occured.
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* RIG_EIO - if an I/O error occured while sending/receiving data.
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* RIG_ETIMEOUT - if timeout expires without any characters received.
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*/
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static int
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ioptron_transaction(ROT *rot, const char *cmdstr,
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char *data, size_t data_len)
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{
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struct rot_state *rs;
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int retval;
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int retry_read = 0;
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char replybuf[BUFSZ];
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rs = &rot->state;
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transaction_write:
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serial_flush(&rs->rotport);
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if (cmdstr)
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{
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retval = write_block(&rs->rotport, cmdstr, strlen(cmdstr));
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if (retval != RIG_OK)
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{
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goto transaction_quit;
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}
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}
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/** Always read the reply to know whether the cmd went OK */
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if (!data)
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{
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data = replybuf;
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}
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if (!data_len)
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{
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data_len = BUFSZ;
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}
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/** the answer */
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memset(data, 0, data_len);
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retval = read_string(&rs->rotport, data, data_len, ACK, strlen(ACK));
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if (retval < 0)
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{
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if (retry_read++ < rot->state.rotport.retry)
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{
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goto transaction_write;
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}
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goto transaction_quit;
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}
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/** check for acknowledge */
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if (retval < 1)
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{
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rig_debug(RIG_DEBUG_ERR, "%s: unexpected response, len %d: '%s'\n", __func__,
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retval, data);
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return -RIG_EPROTO;
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}
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retval = RIG_OK;
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transaction_quit:
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return retval;
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}
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/**
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* Opens the Port and sets all needed parametes for operation
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* as of 12/2018 initiates mount with V3 :MountInfo#
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*/
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static int ioptron_open(ROT *rot)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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return ioptron_transaction(rot, ":Mountinfo#", NULL, 0);
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}
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/** sets mount position, requires 4 steps
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* set azmiuth
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* set altitude
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* goto set
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* stop tracking - mount starts tracking after goto
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*/
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static int
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ioptron_set_position(ROT *rot, azimuth_t az, elevation_t el)
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{
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char cmdstr[32];
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char retbuf[10];
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int retval;
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float faz, fel;
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rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el);
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/* units .01 arc sec */
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faz = az * 360000;
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fel = el * 360000;
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/* set azmiuth, returns '1" if OK */
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sprintf(cmdstr, ":Sz%09.0f#", faz);
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retval = ioptron_transaction(rot, cmdstr, retbuf, sizeof(retbuf));
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if (retval != RIG_OK || retbuf[0] != ACK1)
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{
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return -RIG_EPROTO;
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}
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/* set altitude, returns '1" if OK */
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sprintf(cmdstr, ":Sa+%08.0f#", fel);
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retval = ioptron_transaction(rot, cmdstr, retbuf, sizeof(retbuf));
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if (retval != RIG_OK || retbuf[0] != ACK1)
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{
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return -RIG_EPROTO;
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}
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/* move to set target, V2 command, returns '1" if OK */
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sprintf(cmdstr, ":MS#"); //
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retval = ioptron_transaction(rot, cmdstr, retbuf, sizeof(retbuf));
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if (retval != RIG_OK || retbuf[0] != ACK1)
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{
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return -RIG_EPROTO;
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}
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/* stop tracking, V2 command, returns '1" if OK */
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sprintf(cmdstr, ":ST0#");
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retval = ioptron_transaction(rot, cmdstr, retbuf, sizeof(retbuf));
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if (retval != RIG_OK || retbuf[0] != ACK1)
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{
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return -RIG_EPROTO;
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}
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return retval;
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}
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/** gets current position */
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static int
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ioptron_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
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{
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char posbuf[32];
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int retval;
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float w;
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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/** Get Az-Alt */
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retval = ioptron_transaction(rot, ":GAC#", posbuf, sizeof(posbuf));
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if (retval != RIG_OK || strlen(posbuf) < 18)
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{
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return retval < 0 ? retval : -RIG_EPROTO;
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}
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if (sscanf(posbuf, "%9f", &w) != 1)
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{
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return -RIG_EPROTO;
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}
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/** convert from .01 arc sec to degrees */
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*el = ((elevation_t)w / 360000.);
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if (sscanf(posbuf + 9, "%9f", &w) != 1)
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{
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return -RIG_EPROTO;
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}
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*az = ((azimuth_t)w / 360000.);
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rig_debug(RIG_DEBUG_TRACE, "%s: (az, el) = (%.1f, %.1f)\n",
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__func__, *az, *el);
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return RIG_OK;
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}
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/** stop everything **/
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static int
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ioptron_stop(ROT *rot)
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{
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int retval;
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char retbuf[10];
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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/** stop slew, returns "1" if OK */
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retval = ioptron_transaction(rot, ":Q#", retbuf, 10);
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if (retval != RIG_OK || retbuf[0] != ACK1)
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{
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return -RIG_EPROTO;
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}
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/** stops tracking returns "1" if OK */
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retval = ioptron_transaction(rot, ":ST0#", retbuf, 10);
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if (retval != RIG_OK || retbuf[0] != ACK1)
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{
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return -RIG_EPROTO;
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}
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return retval;
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}
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/** get mount type code, initializes mount */
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static const char *
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ioptron_get_info(ROT *rot)
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{
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static char info[16];
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char str[6];
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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int retval;
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retval = ioptron_transaction(rot, ":MountInfo#", str, sizeof(str));
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rig_debug(RIG_DEBUG_TRACE, "retval, RIG_OK str %d %d %str\n", retval, RIG_OK,
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str);
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sprintf(info, "MountInfo %s", str);
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return info;
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}
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/** *************************************************************************
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*
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* ioptron mount capabilities.
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*
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* Protocol documentation:
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* from ioptron:
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* RS232-Command_Language pdf
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* note that iOptron is currently (12/2018) using a mix of V2 and V3 commands :(
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*/
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const struct rot_caps ioptron_rot_caps =
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{
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.rot_model = ROT_MODEL_IOPTRON,
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.model_name = "iOptron",
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.mfg_name = "iOptron",
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.version = "0.1",
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.copyright = "LGPL",
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.status = RIG_STATUS_ALPHA,
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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 = 1000, /* worst case scenario 3500 */
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.retry = 1,
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.min_az = 0.0,
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.max_az = 360.0,
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.min_el = 0.0,
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.max_el = 180.0,
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.rot_open = ioptron_open,
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.get_position = ioptron_get_position,
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.set_position = ioptron_set_position,
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.stop = ioptron_stop,
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.get_info = ioptron_get_info,
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};
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/* ****************************************************************** */
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DECLARE_INITROT_BACKEND(ioptron)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __FUNCTION__);
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rot_register(&ioptron_rot_caps);
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return RIG_OK;
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}
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/* ****************************************************************** */
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/* end of file */
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|
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@ -0,0 +1,31 @@
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/*
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* Hamlib Meade telescope rotor backend - main header
|
||||
* Copyright (c) 2018 by Andreas Mueller (DC1MIL)
|
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*
|
||||
*
|
||||
* 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
|
||||
*
|
||||
*/
|
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|
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#ifndef _IOPTRON_H
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#define _IOPTRON_H 1
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|
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#define BUFSIZE 128
|
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#define CR "\r"
|
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#define LF "\x0a"
|
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|
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extern const struct rot_caps ioptron_caps;
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|
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#endif /* _IOPTRON_H */
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@ -82,6 +82,7 @@ DEFINE_INITROT_BACKEND(ether6);
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DEFINE_INITROT_BACKEND(cnctrk);
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DEFINE_INITROT_BACKEND(prosistel);
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||||
DEFINE_INITROT_BACKEND(meade);
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||||
DEFINE_INITROT_BACKEND(ioptron);
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||||
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/**
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* \def ROT_BACKEND_LIST
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@ -119,6 +120,7 @@ static struct
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{ ROT_CNCTRK, ROT_BACKEND_CNCTRK, ROT_FUNCNAMA(cnctrk) },
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{ ROT_PROSISTEL, ROT_BACKEND_PROSISTEL, ROT_FUNCNAMA(prosistel) },
|
||||
{ ROT_MEADE, ROT_BACKEND_MEADE, ROT_FUNCNAMA(meade) },
|
||||
{ ROT_IOPTRON, ROT_BACKEND_IOPTRON, ROT_FUNCNAMA(ioptron) },
|
||||
{ 0, NULL }, /* end */
|
||||
};
|
||||
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue