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 KD8CGH

NEWS

@@ -10,6 +10,7 @@ Version 4.0
         * API/ABI changes, advance ABI to 4 0 0.
         * Add GPIO and GPION options for DCD.  Jeroen Vreeken
         * New backend: ELAD FDM DUO.  Giovanni, HB9EIK.
+	* New rotator backend: iOptron. Bob, KD8CGH
 
 Version 3.3
         2018-08-12

configure.ac

@@ -50,7 +50,7 @@ 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".
 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"
-ROT_BACKEND_LIST="amsat ars celestron cnctrk easycomm ether6 fodtrack gs232a heathkit m2 meade rotorez sartek spid ts7400 prosistel"
+ROT_BACKEND_LIST="amsat ars celestron cnctrk easycomm ether6 fodtrack gs232a heathkit m2 meade rotorez sartek spid ts7400 prosistel ioptron"
 
 dnl See README.release on setting these values
 # Values given to -version-info when linking.  See libtool documentation.
@@ -737,6 +737,7 @@ macros/Makefile
 include/Makefile
 lib/Makefile
 dummy/Makefile
+elad/Makefile
 yaesu/Makefile
 icom/Makefile
 icmarine/Makefile
@@ -788,8 +789,9 @@ prosistel/Makefile
 dorji/Makefile
 barrett/Makefile
 meade/Makefile
+ioptron/Makefile
 hamlib.pc
-elad/Makefile])
+])
 
 AC_OUTPUT
 

include/hamlib/rotlist.h

@@ -361,6 +361,18 @@
 #define ROT_BACKEND_MEADE "meade"
 #define ROT_MODEL_MEADE ROT_MAKE_MODEL(ROT_MEADE, 1)
 
+/**
+ *  \def ROT_MODEL_IOPTRON
+ *  \brief A macro that returns the model number of the IOPTRON backend.
+ *
+ *  The IOPTRON backen can be used with IOPTRON telescope mounts
+ */
+#define ROT_IOPTRON 19
+#define ROT_BACKEND_IOPTRON "ioptron"
+#define ROT_MODEL_IOPTRON ROT_MAKE_MODEL(ROT_IOPTRON, 1)
+
+
+
 
 /**
  *  \typedef typedef int rot_model_t

ioptron/Android.mk

@@ -0,0 +1,12 @@
+LOCAL_PATH:= $(call my-dir)
+
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES := rot_ioptron.c
+LOCAL_MODULE := rot_ioptron
+
+LOCAL_CFLAGS := -DHAVE_CONFIG_H
+LOCAL_C_INCLUDES := android include src
+LOCAL_LDLIBS := -lhamlib -Lobj/local/armeabi
+
+include $(BUILD_STATIC_LIBRARY)

ioptron/Makefile.am

@@ -0,0 +1,6 @@
+IOPTRONSRC =  rot_ioptron.c rot_ioptron.h
+
+noinst_LTLIBRARIES = libhamlib-ioptron.la
+libhamlib_ioptron_la_SOURCES = $(IOPTRONSRC)
+
+EXTRA_DIST = Android.mk

ioptron/README_ioptron

@@ -0,0 +1,10 @@
+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.
+
+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.
+
+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.
+
+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.
+
+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.
+

ioptron/rot_ioptron.c

@@ -0,0 +1,350 @@
+/*
+ *  Hamlib Rotator backend - Celestron
+ *  Copyright (c) 2011 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 <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <math.h>
+#include <ctype.h>
+#include <stddef.h>
+#include <stdint.h>
+
+#include "hamlib/rotator.h"
+#include "serial.h"
+#include "misc.h"
+#include "register.h"
+
+#include "rot_ioptron.h"
+
+#define ACK "#"
+#define ACK1 '1'
+
+#define BUFSZ 128
+
+/**
+ * ioptron_transaction
+ *
+ * cmdstr - Command to be sent to the rig.
+ * data - Buffer for reply string.  Can be NULL, indicating that no reply is
+ *        is needed, but answer will still be read.
+ * data_len - in: Size of buffer. It is the caller's responsibily to provide
+ *            a large enough buffer for all possible replies for a command.
+ *
+ *  COMMANDS  note: as of 12/2018 a mixture of V2 and V3
+ * | TTTTTTTT(T) .01 arc seconds
+ * | alt- sign with 8 digits, az - 9 digits                           |
+ * | Command     | Atribute | Return value | Description              |
+ * -------------------------------------------------------------------|
+ * | :GAC# | .01 arcsec | sTTTTTTTTTTTTTTTTT# | gets alt(s8), az(9)   |
+ * | :SzTTTTTTTTT# | .01 arcsec | '1' == OK | Set Target azimuth      |
+ * | :SasTTTTTTTT# |.01 arcsec | '1' == OK | Set Target elevation     |
+ * | :Q#         | -        | '1' == OK    | Halt all slewing         |
+ * | :ST0#       | -        | '1' == OK    | Halt tracking            |
+ * | :MS#        | -        | '1' == OK    | GoTo Target              |
+ * |
+ * returns:
+ *   RIG_OK  -  if no error occured.
+ *   RIG_EIO  -  if an I/O error occured while sending/receiving data.
+ *   RIG_ETIMEOUT  -  if timeout expires without any characters received.
+ */
+
+static int
+ioptron_transaction(ROT *rot, const char *cmdstr,
+                    char *data, size_t data_len)
+{
+    struct rot_state *rs;
+    int retval;
+    int retry_read = 0;
+    char replybuf[BUFSZ];
+
+    rs = &rot->state;
+
+transaction_write:
+
+    serial_flush(&rs->rotport);
+
+    if (cmdstr)
+    {
+        retval = write_block(&rs->rotport, cmdstr, strlen(cmdstr));
+
+        if (retval != RIG_OK)
+        {
+            goto transaction_quit;
+        }
+    }
+
+    /** Always read the reply to know whether the cmd went OK */
+    if (!data)
+    {
+        data = replybuf;
+    }
+
+    if (!data_len)
+    {
+        data_len = BUFSZ;
+    }
+
+    /** the answer */
+    memset(data, 0, data_len);
+    retval = read_string(&rs->rotport, data, data_len, ACK, strlen(ACK));
+
+    if (retval < 0)
+    {
+        if (retry_read++ < rot->state.rotport.retry)
+        {
+            goto transaction_write;
+        }
+
+        goto transaction_quit;
+    }
+
+    /** check for acknowledge */
+    if (retval < 1)
+    {
+        rig_debug(RIG_DEBUG_ERR, "%s: unexpected response, len %d: '%s'\n", __func__,
+                  retval, data);
+        return -RIG_EPROTO;
+    }
+
+    retval = RIG_OK;
+transaction_quit:
+    return retval;
+}
+
+/**
+ * Opens the Port and sets all needed parametes for operation
+ * as of 12/2018 initiates mount with V3 :MountInfo#
+ */
+static int ioptron_open(ROT *rot)
+{
+    rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
+
+    return ioptron_transaction(rot, ":Mountinfo#", NULL, 0);
+}
+
+/** sets mount position, requires 4 steps
+ * set azmiuth
+ * set altitude
+ * goto set
+ * stop tracking - mount starts tracking after goto
+ */
+static int
+ioptron_set_position(ROT *rot, azimuth_t az, elevation_t el)
+{
+    char cmdstr[32];
+    char retbuf[10];
+    int retval;
+    float faz, fel;
+
+    rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el);
+
+/* units .01 arc sec */
+    faz = az * 360000;  
+    fel = el * 360000;
+/* set azmiuth, returns '1" if OK */
+    sprintf(cmdstr, ":Sz%09.0f#", faz); 
+    retval = ioptron_transaction(rot, cmdstr, retbuf, sizeof(retbuf));
+
+    if (retval != RIG_OK || retbuf[0] != ACK1)
+    {
+        return  -RIG_EPROTO;
+    }
+
+/* set altitude, returns '1" if OK */
+    sprintf(cmdstr, ":Sa+%08.0f#", fel); 
+    retval = ioptron_transaction(rot, cmdstr, retbuf, sizeof(retbuf));
+
+    if (retval != RIG_OK || retbuf[0] != ACK1)
+    {
+        return  -RIG_EPROTO;
+    }
+
+/* move to set target, V2 command, returns '1" if OK */
+    sprintf(cmdstr, ":MS#"); // 
+    retval = ioptron_transaction(rot, cmdstr, retbuf, sizeof(retbuf));
+
+    if (retval != RIG_OK || retbuf[0] != ACK1)
+    {
+        return  -RIG_EPROTO;
+    }
+
+/* stop tracking, V2 command, returns '1" if OK */
+    sprintf(cmdstr, ":ST0#"); 
+    retval = ioptron_transaction(rot, cmdstr, retbuf, sizeof(retbuf));
+
+    if (retval != RIG_OK || retbuf[0] != ACK1)
+    {
+        return  -RIG_EPROTO;
+    }
+
+    return retval;
+}
+
+/**  gets current position  */
+static int
+ioptron_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
+{
+    char posbuf[32];
+    int retval;
+    float w;
+
+    rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
+
+    /** Get Az-Alt */
+    retval = ioptron_transaction(rot, ":GAC#", posbuf, sizeof(posbuf));
+
+    if (retval != RIG_OK || strlen(posbuf) < 18)
+    {
+        return retval < 0 ? retval : -RIG_EPROTO;
+    }
+
+    if (sscanf(posbuf, "%9f", &w) != 1)
+    {
+        return -RIG_EPROTO;
+    }
+
+    /** convert from .01 arc sec to degrees  */
+    *el = ((elevation_t)w / 360000.);
+
+    if (sscanf(posbuf + 9, "%9f", &w) != 1)
+    {
+        return -RIG_EPROTO;
+    }
+
+    *az = ((azimuth_t)w / 360000.);
+
+    rig_debug(RIG_DEBUG_TRACE, "%s: (az, el) = (%.1f, %.1f)\n",
+              __func__, *az, *el);
+
+    return RIG_OK;
+}
+
+/** stop everything  **/
+static int
+ioptron_stop(ROT *rot)
+{
+    int retval;
+    char retbuf[10];
+
+    rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
+
+    /** stop slew, returns "1" if OK */
+    retval = ioptron_transaction(rot, ":Q#", retbuf, 10);
+
+    if (retval != RIG_OK || retbuf[0] != ACK1)     
+    {
+        return  -RIG_EPROTO;
+    }
+
+    /** stops tracking returns "1" if OK */
+    retval = ioptron_transaction(rot, ":ST0#", retbuf, 10);
+
+    if (retval != RIG_OK || retbuf[0] != ACK1)    
+    {
+        return  -RIG_EPROTO;
+    }
+
+    return retval;
+}
+
+/** get mount type code, initializes mount */
+static const char *
+ioptron_get_info(ROT *rot)
+{
+    static char info[16];
+    char str[6];
+
+    rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
+    int retval;
+
+    retval = ioptron_transaction(rot, ":MountInfo#", str, sizeof(str));
+
+    rig_debug(RIG_DEBUG_TRACE, "retval, RIG_OK str %d  %d  %str\n", retval, RIG_OK,
+              str);
+
+    sprintf(info, "MountInfo %s", str);
+
+    return info;
+}
+
+
+
+/** *************************************************************************
+ *
+ * ioptron mount capabilities.
+ *
+ * Protocol documentation:
+ *  from ioptron:
+ *    RS232-Command_Language  pdf
+ * note that iOptron is currently (12/2018) using a mix of V2 and V3 commands :(
+ */
+
+const struct rot_caps ioptron_rot_caps =
+{
+    .rot_model =      ROT_MODEL_IOPTRON,
+    .model_name =     "iOptron",
+    .mfg_name =       "iOptron",
+    .version =        "0.1",
+    .copyright =      "LGPL",
+    .status =         RIG_STATUS_ALPHA,
+    .rot_type =       ROT_TYPE_AZEL,
+    .port_type =      RIG_PORT_SERIAL,
+    .serial_rate_min  = 9600,
+    .serial_rate_max  = 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          = 1000, /* worst case scenario 3500 */
+    .retry            = 1,
+
+    .min_az =     0.0,
+    .max_az =     360.0,
+    .min_el =     0.0,
+    .max_el =     180.0,
+
+    .rot_open     = ioptron_open,
+    .get_position = ioptron_get_position,
+    .set_position = ioptron_set_position,
+    .stop         = ioptron_stop,
+    .get_info     = ioptron_get_info,
+};
+
+/* ****************************************************************** */
+
+DECLARE_INITROT_BACKEND(ioptron)
+{
+    rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __FUNCTION__);
+
+    rot_register(&ioptron_rot_caps);
+
+    return RIG_OK;
+}
+
+/* ****************************************************************** */
+/* end of file */
+

ioptron/rot_ioptron.h

@@ -0,0 +1,31 @@
+/*
+ *  Hamlib Meade telescope rotor backend - main header
+ *  Copyright (c) 2018 by Andreas Mueller (DC1MIL)
+ *
+ *
+ *   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 _IOPTRON_H
+#define _IOPTRON_H 1
+
+#define BUFSIZE 128
+#define CR "\r"
+#define LF "\x0a"
+
+extern const struct rot_caps ioptron_caps;
+
+#endif /* _IOPTRON_H */

src/rot_reg.c

@@ -82,6 +82,7 @@ DEFINE_INITROT_BACKEND(ether6);
 DEFINE_INITROT_BACKEND(cnctrk);
 DEFINE_INITROT_BACKEND(prosistel);
 DEFINE_INITROT_BACKEND(meade);
+DEFINE_INITROT_BACKEND(ioptron);
 
 /**
  *  \def ROT_BACKEND_LIST
@@ -119,6 +120,7 @@ static struct
     { ROT_CNCTRK, ROT_BACKEND_CNCTRK, ROT_FUNCNAMA(cnctrk) },
     { 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 */
 };