kopia lustrzana https://github.com/Hamlib/Hamlib
Support for the SPID Rot2Prog rotator controller, by Norvald H. Ryeng, LA6YKA
git-svn-id: https://hamlib.svn.sourceforge.net/svnroot/hamlib/trunk@2699 7ae35d74-ebe9-4afe-98af-79ac388436b8Hamlib-1.2.10
Stéphane Fillod, F8CFE
rodzic
38b3425646
commit
4776b181f6
4
AUTHORS
4
AUTHORS
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@ -192,6 +192,9 @@ M: Rob Frohne, KL7NA
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[rotorez]
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M: Nate Bargmann, N0NB
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[spid]
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M: Norvald H. Ryeng, LA6YKA
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[Frontend]
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M: Stephane Fillod, F8CFE
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@ -260,3 +263,4 @@ Steve Conklin, AI4QR, <steve (at) conklinhouse.com>
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Martin Ewing, AA6E, <aa6e (at) arrl.net>
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Terry Embry, KJ4EED, <mrtembry (at) users.sourceforge.net>
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Alessandro Zummo, IZ1PRB <alessandro.zummo (at) towertech.it>
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Norvald H. Ryeng, LA6YKA <norvald (at) ryeng.name>
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@ -18,7 +18,7 @@ DIST_SUBDIRS = macros include lib libltdl src c++ bindings tests doc \
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icom kenwood aor yaesu dummy pcr alinco uniden tentec kachina jrc \
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rpcrig winradio easycomm fodtrack rpcrot drake rotorez \
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flexradio sartek lowe rft rs tapr kit skanti wj racal tuner \
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gs232a heathkit
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gs232a heathkit spid
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rpm: Makefile
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make dist
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@ -229,7 +229,7 @@ AC_SUBST(RIGMATRIX)
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BACKEND_LIST="icom kenwood aor yaesu dummy pcr alinco uniden tentec kachina jrc drake lowe rft rs kit skanti tapr flexradio wj racal tuner"
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ROT_BACKEND_LIST="dummy easycomm fodtrack gs232a heathkit kit rotorez sartek"
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ROT_BACKEND_LIST="dummy easycomm fodtrack gs232a heathkit kit rotorez sartek spid"
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BINDINGS=""
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BINDING_ALL=""
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BINDING_CHECK=""
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@ -496,6 +496,7 @@ easycomm/Makefile
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fodtrack/Makefile
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gs232a/Makefile
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heathkit/Makefile
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spid/Makefile
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sartek/Makefile
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rpcrig/Makefile
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rpcrot/Makefile
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@ -166,6 +166,16 @@
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#define ROT_BACKEND_HEATHKIT "heathkit"
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#define ROT_MODEL_HD1780 ROT_MAKE_MODEL(ROT_HEATHKIT, 1)
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/*! \def ROT_MODEL_SPID
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* \brief A macro that returns the model number of the SPID backend.
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*
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* The SPID backend can be used with rotators that support the SPID
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* protocol.
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*/
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#define ROT_SPID 9
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#define ROT_BACKEND_SPID "spid"
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#define ROT_MODEL_SPID ROT_MAKE_MODEL(ROT_SPID, 1)
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/*! \typedef typedef int rot_model_t
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\brief Convenience type definition for rotator model.
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*/
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@ -188,6 +198,7 @@ typedef int rot_model_t;
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{ ROT_GS232A, ROT_BACKEND_GS232A }, \
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{ ROT_KIT, ROT_BACKEND_KIT }, \
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{ ROT_HEATHKIT, ROT_BACKEND_HEATHKIT }, \
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{ ROT_SPID, ROT_BACKEND_SPID }, \
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{ 0, NULL }, /* end */ \
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}
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@ -0,0 +1,7 @@
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lib_LTLIBRARIES = hamlib-spid.la
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hamlib_spid_la_SOURCES = spid.c
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hamlib_spid_la_LDFLAGS = -no-undefined -module -avoid-version
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hamlib_spid_la_LIBADD = $(top_builddir)/src/libhamlib.la
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noinst_HEADERS = spid.h
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@ -0,0 +1,294 @@
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/*
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* Hamlib Rotator backend - SPID Rot2Prog
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* Copyright (c) 2009 by Norvald H. Ryeng, LA6YKA
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*
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* $Id$
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*
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* This library is free software; you can redistribute it and/or modify
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* it under the terms of the GNU Library General Public License as
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* published by the Free Software Foundation; either version 2 of
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* the License, or (at your option) any later version.
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*
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* This program 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
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* GNU Library General Public License for more details.
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*
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* You should have received a copy of the GNU Library General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, 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 "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 "spid.h"
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#define TOK_AZRES 1
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#define TOK_ELRES 2
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struct spid_priv_data {
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int az_resolution;
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int el_resolution;
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};
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static int spid_rot_init(ROT *rot)
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{
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struct spid_priv_data *priv;
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __FUNCTION__);
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if (!rot || !rot->caps)
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return -RIG_EINVAL;
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priv = (struct spid_priv_data*)malloc(sizeof(struct spid_priv_data));
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if (!priv) {
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return -RIG_ENOMEM;
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}
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rot->state.priv = (void*)priv;
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priv->az_resolution = 0;
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priv->el_resolution = 0;
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return RIG_OK;
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}
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static int spid_rot_cleanup(ROT *rot)
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{
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __FUNCTION__);
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if (!rot)
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return -RIG_EINVAL;
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if (rot->state.priv)
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free(rot->state.priv);
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rot->state.priv = NULL;
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return RIG_OK;
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}
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static int spid_get_conf(ROT *rot, token_t token, char *val)
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{
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struct spid_priv_data *priv = (struct spid_priv_data*)rot->state.priv;
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rig_debug(RIG_DEBUG_TRACE, "%s called %d\n", __FUNCTION__, token);
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switch(token) {
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case TOK_AZRES:
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sprintf(val, "%d", priv->az_resolution);
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break;
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case TOK_ELRES:
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sprintf(val, "%d", priv->el_resolution);
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break;
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default:
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return -RIG_EINVAL;
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}
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return RIG_OK;
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}
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static int spid_set_conf(ROT *rot, token_t token, const char *val)
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{
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struct spid_priv_data *priv = (struct spid_priv_data*)rot->state.priv;
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rig_debug(RIG_DEBUG_TRACE, "%s called %d %s\n", __FUNCTION__, token, val);
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switch(token) {
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case TOK_AZRES:
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priv->az_resolution = atoi(val);
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break;
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case TOK_ELRES:
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priv->el_resolution = atoi(val);
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break;
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default:
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return -RIG_EINVAL;
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}
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return RIG_OK;
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}
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static int spid_rot_set_position(ROT *rot, azimuth_t az, elevation_t el)
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{
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struct rot_state *rs;
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rs = &rot->state;
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struct spid_priv_data *priv = (struct spid_priv_data*)rs->priv;
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int retval;
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int retry_read = 0;
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char cmdstr[13];
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unsigned int u_az, u_el;
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rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __FUNCTION__, az, el);
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if (!priv->az_resolution || !priv->el_resolution) {
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do {
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retval = write_block(&rs->rotport, "\x57\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1F\x20", 13);
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if (retval != RIG_OK) {
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return retval;
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}
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memset(cmdstr, 0, 12);
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retval = read_block(&rs->rotport, cmdstr, 12);
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} while (retval < 0 && retry_read++ < rot->state.rotport.retry);
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if (retval < 0)
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return retval;
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} else {
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cmdstr[5] = priv->az_resolution; /* PH */
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cmdstr[10] = priv->el_resolution; /* PV */
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}
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u_az = cmdstr[5]*(360 + az);
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u_el = cmdstr[10]*(360 + el);
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cmdstr[0] = 0x57; /* S */
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cmdstr[1] = 0x30 + u_az/1000; /* H1 */
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cmdstr[2] = 0x30 + (u_az % 1000) / 100; /* H2 */
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cmdstr[3] = 0x30 + (u_az % 100) / 10; /* H3 */
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cmdstr[4] = 0x30 + (u_az % 10); /* H4 */
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cmdstr[6] = 0x30 + u_el / 1000; /* V1 */
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cmdstr[7] = 0x30 + (u_el % 1000) / 100; /* V2 */
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cmdstr[8] = 0x30 + (u_el % 100) / 10; /* V3 */
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cmdstr[9] = 0x30 + (u_el % 10); /* V4 */
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cmdstr[11] = 0x2F; /* K */
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cmdstr[12] = 0x20; /* END */
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retval = write_block(&rs->rotport, cmdstr, 13);
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if (retval != RIG_OK) {
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return retval;
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}
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return RIG_OK;
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}
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static int spid_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
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{
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struct rot_state *rs;
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rs = &rot->state;
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int retval;
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int retry_read = 0;
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char posbuf[12];
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __FUNCTION__);
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do {
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retval = write_block(&rs->rotport, "\x57\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1F\x20", 13);
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if (retval != RIG_OK) {
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return retval;
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}
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memset(posbuf, 0, 12);
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retval = read_block(&rs->rotport, posbuf, 12);
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} while (retval < 0 && retry_read++ < rot->state.rotport.retry);
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if (retval < 0)
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return retval;
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*az = posbuf[1] * 100;
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*az += posbuf[2] * 10;
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*az += posbuf[3];
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*az += posbuf[4] / 10.0;
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*az -= 360;
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*el = posbuf[6] * 100;
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*el += posbuf[7] * 10;
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*el += posbuf[8];
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*el += posbuf[9] / 10.0;
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*el -= 360;
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rig_debug(RIG_DEBUG_TRACE, "%s: (az, el) = (%.1f, %.1f)\n",
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__FUNCTION__, *az, *el);
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return RIG_OK;
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}
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static int spid_rot_stop(ROT *rot)
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{
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struct rot_state *rs;
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int retval;
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rs = &rot->state;
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int retry_read = 0;
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char posbuf[12];
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __FUNCTION__);
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do {
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retval = write_block(&rs->rotport, "\x57\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0F\x20", 13);
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if (retval != RIG_OK) {
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return retval;
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}
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memset(posbuf, 0, 12);
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retval = read_block(&rs->rotport, posbuf, 12);
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} while (retval < 0 && retry_read++ < rot->state.rotport.retry);
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if (retval < 0)
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return retval;
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return RIG_OK;
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}
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const struct confparams spid_cfg_params[] = {
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{ TOK_AZRES, "az_resolution", "Azimuth resolution", "Number of pulses per degree, 0 = auto sense",
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"0", RIG_CONF_NUMERIC, { .n = { 0, 0xff, 1 } }
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},
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{ TOK_ELRES, "el_resolution", "Eleveation resolution", "Number of pulses per degree, 0 = auto sense",
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"0", RIG_CONF_NUMERIC, { .n = { 0, 0xff, 1 } }
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},
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{ RIG_CONF_END, NULL, }
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};
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const struct rot_caps spid_rot_caps = {
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.rot_model = ROT_MODEL_SPID,
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.model_name = "Rot2Prog",
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.mfg_name = "SPID",
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.version = "0.1",
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.copyright = "LGPL",
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.status = RIG_STATUS_UNTESTED,
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.rot_type = ROT_TYPE_OTHER,
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.port_type = RIG_PORT_SERIAL,
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.serial_rate_min = 600,
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.serial_rate_max = 1200,
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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 = 400,
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.retry = 3,
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.min_az = -180.0,
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.max_az = 540.0,
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.min_el = -20.0,
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.max_el = 210.0,
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.cfgparams = spid_cfg_params,
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.get_conf = spid_get_conf,
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.set_conf = spid_set_conf,
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.rot_init = spid_rot_init,
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.rot_cleanup = spid_rot_cleanup,
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.get_position = spid_rot_get_position,
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.set_position = spid_rot_set_position,
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.stop = spid_rot_stop,
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};
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DECLARE_INITROT_BACKEND(spid)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __FUNCTION__);
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rot_register(&spid_rot_caps);
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return RIG_OK;
|
||||
}
|
||||
|
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@ -0,0 +1,28 @@
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/*
|
||||
* Hamlib Rotator backend - SPID Rot2Prog
|
||||
* Copyright (c) 2009 by Norvald H. Ryeng, LA6YKA
|
||||
*
|
||||
* $Id$
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU Library General Public License as
|
||||
* published by the Free Software Foundation; either version 2 of
|
||||
* the License, or (at your option) any later version.
|
||||
*
|
||||
* This program 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 Library General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Library General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef _ROT_SPID_H
|
||||
#define _ROT_SPID_H 1
|
||||
|
||||
extern const struct rot_caps spid_rot_caps;
|
||||
|
||||
#endif /* _ROT_SPID_H */
|
||||
|
|
@ -0,0 +1,208 @@
|
|||
SPID Rot2Prog Protocol
|
||||
======================
|
||||
|
||||
This is an attempt at documenting the protocol of the Rot2Prog rotator
|
||||
controller from SPID Elektronik (spid@alpha.pl). The protocol is
|
||||
supposed to be similar on Rot1Prog and Rot2Prog, but the specification
|
||||
in this document has only been tested on Rot2Prog.
|
||||
|
||||
|
||||
|
||||
GENERAL INFO
|
||||
------------
|
||||
|
||||
The SPID protocol supports 3 commands: stop, status and set. The stop
|
||||
command stops the rotator in its current position. The status command
|
||||
returns the current position of the rotator, and the set command tells
|
||||
the rotator to rotate to a given position.
|
||||
|
||||
The rotator controller communicates with the PC using a serial
|
||||
port. Communication parameters are 600 bps, 8 bits, no parity and 1
|
||||
stop bit. (Rot1Prog uses 1200 bps.)
|
||||
|
||||
All commands are issued as 13 byte packets, and responses are received
|
||||
as 12 byte packets.
|
||||
|
||||
|
||||
|
||||
COMMAND PACKETS
|
||||
---------------
|
||||
|
||||
Command packets are 13 byte long.
|
||||
|
||||
Byte: 0 1 2 3 4 5 6 7 8 9 10 11 12
|
||||
-----------------------------------------------------------------
|
||||
Field: | S | H1 | H2 | H3 | H4 | PH | V1 | V2 | V3 | V4 | PV | K | END |
|
||||
-----------------------------------------------------------------
|
||||
Value: 57 3x 3x 3x 3x 0x 3x 3x 3x 3x 0x xF 20 (hex)
|
||||
|
||||
|
||||
S: Start byte. This is always 0x57 ('W')
|
||||
|
||||
H1-H4: Azimuth as ASCII characters 0-9
|
||||
|
||||
PH: Azimuth resolution in pulses per degree (ignored!)
|
||||
|
||||
V1-V4: Elevation as ASCII characters 0-9
|
||||
|
||||
PV: Elevation resolution in pulses per degree (ignored!)
|
||||
|
||||
K: Command (0x0F=stop, 0x1F=status, 0x2F=set)
|
||||
|
||||
END: End byte. This is always 0x20 (space)
|
||||
|
||||
|
||||
Positions are encoded as number of pulses in ASCII numbers
|
||||
'0000'-'9999' (see set command for formula).
|
||||
|
||||
|
||||
|
||||
RESPONSE PACKETS
|
||||
----------------
|
||||
|
||||
Response packets are 12 byte long.
|
||||
|
||||
Byte: 0 1 2 3 4 5 6 7 8 9 10 11
|
||||
-------------------------------------------------------------
|
||||
Field: | S | H1 | H2 | H3 | H4 | PH | V1 | V2 | V3 | V4 | PV | END |
|
||||
-------------------------------------------------------------
|
||||
Value: 57 3x 3x 3x 3x 0x 3x 3x 3x 3x 0x 20 (hex)
|
||||
|
||||
|
||||
S: Start byte. This is always 0x57 ('W')
|
||||
|
||||
H1-H4: Azimuth as byte values
|
||||
|
||||
PH: Azimuth resolution in pulses per degree (controller setting)
|
||||
|
||||
V1-V4: Elevation as byte values
|
||||
|
||||
PV: Elevation resolution in pulses per degree (controller setting)
|
||||
|
||||
END: End byte. This is always 0x20 (space)
|
||||
|
||||
|
||||
Positions are decoded using the following formulas:
|
||||
|
||||
az = H1 * 100 + H2 * 10 + H3 + H4 / 10 - 360
|
||||
|
||||
el = V1 * 100 + V2 * 10 + V3 + V4 / 10 - 360
|
||||
|
||||
|
||||
The PH and PV values in the response packet reflect the settings of
|
||||
the rotator controller. The Rot2Prog supports the following
|
||||
resolutions (always the same for azimuth and elevation):
|
||||
|
||||
1 pulse/deg: PH=0x01, PV=0x01
|
||||
0.5 pulse/deg: PH=0x02, PV=0x02
|
||||
0.25 pulse/deg: PH=0x04, PV=0x04
|
||||
|
||||
|
||||
|
||||
STOP COMMAND
|
||||
------------
|
||||
|
||||
The stop command stops the rotator immediately in the current
|
||||
position and returns the current position. (The position returned does
|
||||
not seem to be entirely correct, often off by a degree or two.)
|
||||
|
||||
The H1-H4, PH, V1-V4 and PV fields are ignored, so only the S, K and
|
||||
END fields are used. E.g.:
|
||||
|
||||
Command:
|
||||
-----------------------------------------------------------------
|
||||
| S | H1 | H2 | H3 | H4 | PH | V1 | V2 | V3 | V4 | PV | K | END |
|
||||
-----------------------------------------------------------------
|
||||
| 57| 00 | 00 | 00 | 00 | 00 | 00 | 00 | 00 | 00 | 00 | 0F| 20 | (hex)
|
||||
-----------------------------------------------------------------
|
||||
Rotator stops
|
||||
|
||||
Response:
|
||||
-------------------------------------------------------------
|
||||
| S | H1 | H2 | H3 | H4 | PH | V1 | V2 | V3 | V4 | PV | END |
|
||||
-------------------------------------------------------------
|
||||
| 57| 03 | 07 | 02 | 05 | 02 | 03 | 09 | 04 | 00 | 02 | 20 | (hex)
|
||||
-------------------------------------------------------------
|
||||
az=372.5-360=12.5, el=394.0-360=34.0
|
||||
PH=PV=0x02 (pulse for each 0.5 deg)
|
||||
|
||||
|
||||
|
||||
STATUS COMMAND
|
||||
--------------
|
||||
|
||||
The status command returns the current position of the antenna.
|
||||
|
||||
The H1-H4, PH, V1-V4 and PV fields are ignored, so only the S, K and
|
||||
END fields are used. E.g.:
|
||||
|
||||
Command:
|
||||
-----------------------------------------------------------------
|
||||
| S | H1 | H2 | H3 | H4 | PH | V1 | V2 | V3 | V4 | PV | K | END |
|
||||
-----------------------------------------------------------------
|
||||
| 57| 00 | 00 | 00 | 00 | 00 | 00 | 00 | 00 | 00 | 00 | 1F| 20 | (hex)
|
||||
-----------------------------------------------------------------
|
||||
|
||||
Response:
|
||||
-------------------------------------------------------------
|
||||
| S | H1 | H2 | H3 | H4 | PH | V1 | V2 | V3 | V4 | PV | END |
|
||||
-------------------------------------------------------------
|
||||
| 57| 03 | 07 | 02 | 05 | 02 | 03 | 09 | 04 | 00 | 02 | 20 | (hex)
|
||||
-------------------------------------------------------------
|
||||
az=372.5-360=12.5, el=394.0-360=34.0
|
||||
PH=PV=0x02 (pulse for each 0.5 deg)
|
||||
|
||||
|
||||
Status commands can be issued while the rotator is moving and will
|
||||
always return the current position.
|
||||
|
||||
|
||||
|
||||
SET COMMAND
|
||||
-----------
|
||||
|
||||
The set command tells the rotator to turn to a specific
|
||||
position. The controller does not send a response to this command.
|
||||
|
||||
Azimuth and elevation is calculated as number of pulses, with a +360
|
||||
degree offset (so that negative position can be encoded with positive
|
||||
numbers).
|
||||
|
||||
H = PH * (360 + az)
|
||||
|
||||
V = PV * (360 + el)
|
||||
|
||||
H1-H4 and V1-V4 are these numbers encoded as ASCII (0x30-0x39,
|
||||
i.e. '0'-'9').
|
||||
|
||||
E.g., when pointing to azimuth 123.5, elevation 77.0 when the rotator
|
||||
sends one pulse per 0.5 degree (PH=PV=2):
|
||||
|
||||
|
||||
H = 2 * (360 + 123.5) = 967
|
||||
|
||||
V = 2 * (360 + 77.0) = 874
|
||||
|
||||
-----------------------------------------------------------------
|
||||
| S | H1 | H2 | H3 | H4 | PH | V1 | V2 | V3 | V4 | PV | K | END |
|
||||
-----------------------------------------------------------------
|
||||
| 57| 30 | 39 | 36 | 37 | 02 | 30 | 38 | 37 | 34 | 02 | 2F| 20 | (hex)
|
||||
-----------------------------------------------------------------
|
||||
|
||||
The PH and PV values sent are ignored. The values used by the rotator
|
||||
control unit are set by choosing resolution in the setup
|
||||
menu. Luckily, these values can be read using the status command.
|
||||
|
||||
|
||||
|
||||
SEE ALSO
|
||||
--------
|
||||
http://alfaradio.ca/downloads/program_info/
|
||||
|
||||
|
||||
AUTHOR
|
||||
------
|
||||
|
||||
Norvald H. Ryeng, LA6YKA
|
||||
norvald@ryeng.name
|
||||
2009-05-21
|
||||
Ładowanie…
Reference in New Issue