New Prosistel rotor backend from IZ7CRX

This is patch adding prosistel rotator backend.
Simply reading and setting azimuth for now.

73,
Dario Iz7crx

README.developer

@@ -393,7 +393,8 @@ So far, Hamlib has been tested successfully under the following systems:
          Create a new subdir, of the name of the protocol backend.
          NB: the directory MUST be the same as the backend name.
 
-    2.2. Add <mybackend> to the DIST_SUBDIRS variable in the topdir Makefile.am
+    2.2. Add <mybackend> to the DIST_SUBDIRS variable in the topdir
+         Makefile.am (not needed for rotators)
 
     2.3. Add the backend name to the BACKEND_LIST variable (add to
          ROT_BACKEND_LIST for a new rotor backend) in configure.ac.

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 drake dummy 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 rotorez sartek spid ts7400"
+ROT_BACKEND_LIST="amsat ars celestron cnctrk easycomm ether6 fodtrack gs232a heathkit m2 rotorez sartek spid ts7400 prosistel"
 
 dnl See README.release on setting these values
 # Values given to -version-info when linking.  See libtool documentation.
@@ -741,6 +741,7 @@ cnctrk/Makefile
 ether6/Makefile
 scripts/Makefile
 android/Makefile
+prosistel/Makefile
 hamlib.pc])
 
 AC_OUTPUT

include/hamlib/rotlist.h

@@ -291,6 +291,15 @@
 #define ROT_MODEL_CNCTRK ROT_MAKE_MODEL(ROT_CNCTRK, 1)
 
 
+/*! \def ROT_MODEL_PROSISTEL
+ *  \brief A macro that returns the model number of the PROSISTEL backend.
+ *
+ */
+#define ROT_PROSISTEL 17
+#define ROT_BACKEND_PROSISTEL "prosistel"
+#define ROT_MODEL_PROSISTEL ROT_MAKE_MODEL(ROT_PROSISTEL, 1)
+
+
 /*! \typedef typedef int rot_model_t
     \brief Convenience type definition for rotator model.
 */

prosistel/Android.mk

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

prosistel/Makefile.am

@@ -0,0 +1,4 @@
+noinst_LTLIBRARIES = libhamlib-prosistel.la
+libhamlib_prosistel_la_SOURCES = prosistel.c prosistel.h
+
+EXTRA_DIST = Android.mk

prosistel/prosistel.c

@@ -0,0 +1,228 @@
+/*
+ *  Hamlib Prosistel backend
+ *  Copyright (c) 2015 by Dario Ventura IZ7CRX
+ *
+ *
+ *   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>  /* String function definitions */
+#include <unistd.h>  /* UNIX standard function definitions */
+#include <math.h>
+#include <sys/time.h>
+#include <time.h>
+
+#include "hamlib/rotator.h"
+#include "serial.h"
+#include "misc.h"
+#include "register.h"
+#include "num_stdio.h"
+
+#include "prosistel.h"
+
+#define BUFSZ 128
+#define CR "\r"
+#define STX "\x02"
+
+
+struct prosistel_rot_priv_data {
+	azimuth_t az;
+	elevation_t el;
+
+	struct timeval tv;	/* time last az/el update */
+	azimuth_t target_az;
+	elevation_t target_el;
+};
+
+
+
+/**
+ * prosistel_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.
+ *
+ * returns:
+ *   RIG_OK  -  if no error occurred.
+ *   RIG_EIO  -  if an I/O error occurred while sending/receiving data.
+ *   RIG_ETIMEOUT  -  if timeout expires without any characters received.
+ */
+static int prosistel_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;
+
+
+
+    memset(data,0,data_len);
+    //remember check for STXA,G,R or STXA,?,XXX,R 10 bytes
+    retval = read_string(&rs->rotport, data, 20, CR, strlen(CR));
+    if (retval < 0) {
+        if (retry_read++ < rot->state.rotport.retry)
+            goto transaction_write;
+        goto transaction_quit;
+    }
+
+    //check if reply match issued command
+    if(data[0]==0x02 && data[3]==cmdstr[2]) {
+	rig_debug(RIG_DEBUG_VERBOSE, "%s Command %c reply received\n", __func__, data[3]);
+	retval = RIG_OK;
+	} else {
+	rig_debug(RIG_DEBUG_VERBOSE, "%s Error Command issued: %c doesn't match reply %c\n", __func__, cmdstr[2], data[3]);
+	retval = RIG_EIO;
+	}
+transaction_quit:
+    return retval;
+}
+
+
+
+
+
+
+static int prosistel_rot_open(ROT *rot)
+{
+	char cmdstr[64];
+	 int retval;
+  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
+  rot_open(rot);
+  //disable CPM mode - CPM stands for Continuous Position Monitor operating mode
+  //MCU continuously sends position data when CPM enabled
+  num_sprintf(cmdstr, STX"AS"CR);
+  retval = prosistel_transaction(rot, cmdstr, NULL, 0);
+  return RIG_OK;
+}
+
+
+
+static int prosistel_rot_set_position(ROT *rot, azimuth_t az, elevation_t el) {
+
+	char cmdstr[64];
+	int retval1, retval2;
+
+  rig_debug(RIG_DEBUG_VERBOSE,"%s called: %.2f %.2f\n", __func__,
+			az, el);
+
+  num_sprintf(cmdstr, STX"AG%03.0f"CR, az);
+  retval1 = prosistel_transaction(rot, cmdstr, NULL, 0);
+
+  return retval1;
+}
+
+
+/*
+ * Get position of rotor
+ */
+static int prosistel_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
+{
+	char cmdstr[64];
+	char data[20];
+	char posstr[3];
+	int posval;
+	int retval;
+
+	num_sprintf(cmdstr, STX"A?"CR);
+	retval = prosistel_transaction(rot, cmdstr, data, 20);
+
+	posstr[0]=data[5];
+	posstr[1]=data[6];
+	posstr[2]=data[7];
+	posval=atoi(posstr);
+	rig_debug(RIG_DEBUG_VERBOSE, "%s got position %s converted to %d\n", __func__,posstr,posval);
+	*az = (azimuth_t) posval;
+
+  return RIG_OK;
+}
+
+
+
+
+
+/*
+ * Prosistel rotator capabilities.
+ */
+
+const struct rot_caps prosistel_rot_caps = {
+  .rot_model =      ROT_MODEL_PROSISTEL,
+  .model_name =     "Prosistel",
+  .mfg_name =       "Prosistel",
+  .version =        "0.2",
+  .copyright = 	    "LGPL",
+  .status =         RIG_STATUS_BETA,
+  .rot_type =       ROT_TYPE_AZIMUTH,
+  .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          = 3000,
+  .retry            = 3,
+
+
+  .min_az =  	0.0,
+  .max_az =  	360.0,
+  .min_el =  	0.0,
+  .max_el =  	90.0,
+
+  .rot_open =     prosistel_rot_open,
+  .set_position =     prosistel_rot_set_position,
+  .get_position =     prosistel_rot_get_position,
+
+};
+
+DECLARE_INITROT_BACKEND(prosistel)
+{
+	rig_debug(RIG_DEBUG_VERBOSE, "prosistel: _init called\n");
+
+	rot_register(&prosistel_rot_caps);
+
+
+	return RIG_OK;
+}

prosistel/prosistel.h

@@ -0,0 +1,28 @@
+/*
+ *  Hamlib Dummy backend - main header
+ *  Copyright (c) 2001-2008 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
+ *
+ */
+
+#ifndef _ROT_PROSISTEL_H
+#define _ROT_PROSISTEL_H 1
+
+
+extern const struct rot_caps prosistel_rot_caps;
+
+#endif /* _ROT_PROSISTEL_H */

src/rot_reg.c

@@ -75,6 +75,7 @@ DEFINE_INITROT_BACKEND(ts7400);
 DEFINE_INITROT_BACKEND(celestron);
 DEFINE_INITROT_BACKEND(ether6);
 DEFINE_INITROT_BACKEND(cnctrk);
+DEFINE_INITROT_BACKEND(prosistel);
 
 /*! \def ROT_BACKEND_LIST
  *  \brief Static list of rotator models.
@@ -108,6 +109,7 @@ static struct {
         { ROT_CELESTRON, ROT_BACKEND_CELESTRON, ROT_FUNCNAMA(celestron) },
         { ROT_ETHER6, ROT_BACKEND_ETHER6, ROT_FUNCNAMA(ether6) },
         { ROT_CNCTRK, ROT_BACKEND_CNCTRK, ROT_FUNCNAMA(cnctrk) },
+        { ROT_PROSISTEL, ROT_BACKEND_PROSISTEL, ROT_FUNCNAMA(prosistel) },
         { 0, NULL }, /* end */
 };