kopia lustrzana https://github.com/Hamlib/Hamlib
Tested with LX200 & Autostar
Move command during active rotation ignored Added --conf=south_zero=1 option for LX200 south orientation LX200 now moves smoothly through 180 degrees Parses both low and high precision answerspull/145/head
Michael Black
rodzic
243fe294f4
commit
49fde34f2f
451
meade/meade.c
451
meade/meade.c
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@ -39,14 +39,15 @@
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#include "meade.h"
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struct meade_priv_data
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{
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azimuth_t az;
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elevation_t el;
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struct timeval tv; /* time last az/el update */
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azimuth_t target_az;
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elevation_t target_el;
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struct meade_priv_data {
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azimuth_t az;
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elevation_t el;
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struct timeval tv; /* time last az/el update */
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azimuth_t target_az;
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elevation_t target_el;
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char product_name[32];
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};
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/**
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@ -97,54 +98,50 @@ struct meade_priv_data
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* RIG_EIO - if an I/O error occurred 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 meade_transaction(ROT *rot, const char *cmdstr,
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char *data, size_t *data_len, size_t expected_return_length)
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static int meade_transaction (ROT *rot, const char *cmdstr,
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char *data, size_t *data_len, size_t expected_return_length)
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{
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struct rot_state *rs;
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int return_value;
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int retry_read = 0;
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struct rot_state *rs;
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int return_value;
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int retry_read = 0;
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rs = &rot->state;
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rs = &rot->state;
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while (1)
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{
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serial_flush(&rs->rotport);
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while(1) {
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transaction:
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serial_flush(&rs->rotport);
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if (cmdstr)
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{
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return_value = write_block(&rs->rotport, cmdstr, strlen(cmdstr));
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if (return_value != RIG_OK)
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{
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return return_value;
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}
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}
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/* Not all commands will send a return value, so use data = NULL if no
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return value is expected, Strings end with '#' */
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if (data != NULL)
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{
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memset(data, 0, BUFSIZE);
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*data_len = read_string(&rs->rotport, data, expected_return_length + 1, "\n",
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strlen("\n"));
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if (*data_len < 0)
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{
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if (retry_read++ >= rot->state.rotport.retry)
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{
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return RIG_ETIMEOUT;
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}
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}
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else
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{
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return RIG_OK;
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}
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}
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else
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{
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return RIG_OK;
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}
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if (cmdstr) {
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return_value = write_block(&rs->rotport, cmdstr, strlen(cmdstr));
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if (return_value != RIG_OK) {
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*data_len = 0;
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return return_value;
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}
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}
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/* Not all commands will send a return value, so use data = NULL if no
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return value is expected, Strings end with '#' */
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if (data != NULL) {
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return_value = read_string(&rs->rotport, data, expected_return_length + 1, "\r\n", strlen("\r\n"));
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if (return_value > 0) {
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*data_len = return_value;
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return RIG_OK;
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}
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else {
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if (retry_read++ >= rot->state.rotport.retry) {
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rig_debug(RIG_DEBUG_ERR,"%s: read_string error %s\n",__func__, rigerror(return_value));
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*data_len = 0;
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return -RIG_ETIMEOUT;
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}
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else {
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goto transaction;
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}
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}
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}
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else {
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return RIG_OK;
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}
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}
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}
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/*
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@ -152,26 +149,23 @@ static int meade_transaction(ROT *rot, const char *cmdstr,
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*/
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static int meade_init(ROT *rot)
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{
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struct meade_priv_data *priv;
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struct meade_priv_data *priv;
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priv = (struct meade_priv_data *)
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malloc(sizeof(struct meade_priv_data));
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priv = (struct meade_priv_data*)
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calloc(1,sizeof(struct meade_priv_data));
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if (!priv)
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{
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return -RIG_ENOMEM;
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}
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if (!priv)
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return -RIG_ENOMEM;
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rot->state.priv = (void*)priv;
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rot->state.priv = (void *)priv;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called version %s\n", __func__, rot->caps->version);
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rot->state.rotport.type.rig = RIG_PORT_SERIAL;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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rot->state.rotport.type.rig = RIG_PORT_SERIAL;
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priv->az = priv->el = 0;
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priv->az = priv->el = 0;
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priv->target_az = priv->target_el = 0;
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priv->target_az = priv->target_el = 0;
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return RIG_OK;
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return RIG_OK;
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}
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/*
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@ -179,16 +173,14 @@ static int meade_init(ROT *rot)
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*/
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static int meade_cleanup(ROT *rot)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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if (rot->state.priv)
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{
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free(rot->state.priv);
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}
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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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rot->state.priv = NULL;
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return RIG_OK;
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return RIG_OK;
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}
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/*
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@ -196,11 +188,26 @@ static int meade_cleanup(ROT *rot)
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*/
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static int meade_open(ROT *rot)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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char return_str[BUFSIZE];
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size_t return_str_size = 0;
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struct meade_priv_data *priv = (struct meade_priv_data *)rot->state.priv;
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int retval;
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/* Set Telescope to Land alignment mode to deactivate sloping */
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/* Allow 0-90 Degree Elevation */
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return meade_transaction(rot, ":AL#:So00#:Sh90#", NULL, 0, 0);
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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// Get our product name for any custom things we need to do
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// The LX200 does not have :GVP# so no response will default to LX200
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retval = meade_transaction(rot, ":GVP#", return_str, &return_str_size, sizeof(return_str));
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if (retval != RIG_OK) rig_debug(RIG_DEBUG_ERR,"%s: meade_transaction %s\n",__func__,rigerror(retval));
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if (return_str_size > 0) strtok(return_str,"#");
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strcpy(priv->product_name, return_str_size > 0? return_str : "LX200 Assumed");
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rig_debug(RIG_DEBUG_VERBOSE, "%s product_name=%s\n", __func__, priv->product_name);
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/* Set Telescope to Land alignment mode to deactivate sloping */
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/* Allow 0-90 Degree Elevation */
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retval = meade_transaction(rot, ":AL#:So00#:Sh90#" , NULL, 0, 0);
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if (retval != RIG_OK) rig_debug(RIG_DEBUG_ERR,"%s: meade_transaction %s\n",__func__,rigerror(retval));
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return RIG_OK;
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}
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/*
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@ -208,9 +215,9 @@ static int meade_open(ROT *rot)
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*/
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static int meade_close(ROT *rot)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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/* Stop all Movement */
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return meade_transaction(rot, ":Q#", NULL, 0, 0);
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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/* Stop all Movement */
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return meade_transaction(rot, ":Q#" , NULL, 0, 0);
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}
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/*
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@ -221,54 +228,52 @@ static int meade_close(ROT *rot)
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*/
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static int meade_set_position(ROT *rot, azimuth_t az, elevation_t el)
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{
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struct meade_priv_data *priv = (struct meade_priv_data *)rot->state.priv;
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char cmd_str[BUFSIZE];
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char return_str[BUFSIZE];
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size_t return_str_size;
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float az_degrees, az_minutes, el_degrees, el_minutes;
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struct meade_priv_data *priv = (struct meade_priv_data *)rot->state.priv;
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char cmd_str[BUFSIZE];
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char return_str[BUFSIZE];
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size_t return_str_size;
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float az_degrees, az_minutes, el_degrees, el_minutes;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called: %.2f %.2f\n", __func__,
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az, el);
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rig_debug(RIG_DEBUG_VERBOSE,"%s called: %.2f %.2f\n", __func__,
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az, el);
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az_degrees = floor(az);
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az_minutes = (az - az_degrees) * 60;
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el_degrees = floor(el);
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el_minutes = (el - el_degrees) * 60;
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az_degrees = floor(az);
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az_minutes = (az - az_degrees) * 60;
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el_degrees = floor(el);
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el_minutes = (el - el_degrees) * 60;
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// LX200 won't do 180 degrees exactly...so we fudge everybody
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if (strstr(priv->product_name,"LX200") && az_degrees == 180 && az_minutes == 0) {
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az_degrees = 179;
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az_minutes = 59;
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}
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/* Check if there is an active movement, if yes, stop it if
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new target is more than 5 Degrees away from old target
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if not, don't accept new target*/
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meade_transaction(rot, ":D#", return_str, &return_str_size, 1);
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/* Check if there is an active movement and stop it */
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/* Undesirable behavior if stopped can happen */
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/* So we just ignore commands while moving */
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/* Should we return RIG_OK or an error though? */
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meade_transaction(rot, ":D#", return_str, &return_str_size, sizeof(return_str));
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rig_debug(RIG_DEBUG_VERBOSE,"%s: size=%d, str[0]=0x%02x\n",__func__, return_str_size, return_str[0]);
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// LX200 return 0xff bytes and Autostart returns 0x7f
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if(return_str_size > 0 && ((return_str[0] & 0x7f) == 0x7f)) {
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rig_debug(RIG_DEBUG_WARN,"%s: rotor is moving...ignoring move\n",__func__);
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return RIG_OK; // we don't give an error -- just ignore it
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}
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if (return_str_size > 0 && return_str[0] == 0x7F)
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{
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if (fabsf(az - priv->target_az) > 5 || fabsf(el - priv->target_el) > 5)
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{
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meade_transaction(rot, ":Q#", NULL, 0, 0);
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}
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else
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{
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return RIG_OK;
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}
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}
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priv->target_az = az;
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priv->target_el = el;
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priv->target_az = az;
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priv->target_el = el;
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num_sprintf(cmd_str, ":Sz %03.0f*%02.0f#:Sa+%02.0f*%02.0f#:MA#",
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az_degrees, az_minutes, el_degrees, el_minutes);
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num_sprintf(cmd_str, ":Sz %03.0f*%02.0f#:Sa+%02.0f*%02.0f#:MA#",
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az_degrees, az_minutes, el_degrees, el_minutes);
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meade_transaction(rot, cmd_str, return_str, &return_str_size, 3);
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/* '1' == Azimuth accepted '1' == Elevation accepted '0' == No error */
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if (return_str_size > 0 && strstr(return_str, "110") != NULL)
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{
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return RIG_OK;
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}
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else
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{
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return RIG_EINVAL;
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}
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meade_transaction(rot, cmd_str, return_str, &return_str_size, 3);
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/* '1' == Azimuth accepted '1' == Elevation accepted '0' == No error */
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if(return_str_size > 0 && strstr(return_str , "110") != NULL) {
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return RIG_OK;
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}
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else {
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rig_debug(RIG_DEBUG_VERBOSE,"%s: expected 110, got %s\n", __func__,return_str);
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return RIG_EINVAL;
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}
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}
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/*
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@ -276,39 +281,31 @@ static int meade_set_position(ROT *rot, azimuth_t az, elevation_t el)
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*/
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static int meade_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
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{
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char return_str[BUFSIZE];
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size_t return_str_size;
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int az_degree, az_minutes, el_degree, el_minutes;
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char return_str[BUFSIZE];
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char eom;
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size_t return_str_size;
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int az_degrees, az_minutes, az_seconds, el_degrees, el_minutes, el_seconds;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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meade_transaction(rot, ":GZ#:GA#", return_str, &return_str_size, BUFSIZE);
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// answer expecting one of two formats depending on precision setting
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// The Meade manual is not clear on this format
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// The period separator is coming back as 0xdf so we won't assume which char it is
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// DDD.MM:SS#sDD.MM:SS#
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// DDD.MM#sDD.MM#
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// Tested and working with the Meade LX200 and Autostar 497
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rig_debug(RIG_DEBUG_VERBOSE, "%s: parsing \"%s\" as high precision\n", __func__,
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return_str);
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int n = sscanf(return_str, "%d%*c%d:%*d#%d%*c%d:%*d#", &az_degree, &az_minutes,
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&el_degree, &el_minutes);
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if (n != 4)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "%s: parsing as low precision\n", __func__);
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n = sscanf(return_str, "%d%*c%d#%d%*c%d", &az_degree, &az_minutes, &el_degree,
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&el_minutes);
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if (n != 4)
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{
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return RIG_EPROTO;
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}
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meade_transaction(rot, ":GZ#:GA#", return_str, &return_str_size, BUFSIZE);
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rig_debug(RIG_DEBUG_VERBOSE, "%s: returned '%s'\n", __func__, return_str);
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// GZ returns DDD*MM# or DDD*MM'SS#
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// GA returns sDD*MM# or sDD*MM'SS#
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int n = sscanf(return_str,"%d%*c%d:%d#%d%*c%d:%d%c",&az_degrees,&az_minutes,&az_seconds,&el_degrees,&el_minutes,&el_seconds,&eom);
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if (n != 7 || eom!='#') {
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rig_debug(RIG_DEBUG_VERBOSE, "%s: not 6 args in '%s'\nTrying low precision\n", __func__, return_str);
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az_seconds = el_seconds = 0;
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n = sscanf(return_str,"%d%*c%d#%d%*c%d%c",&az_degrees,&az_minutes,&el_degrees,&el_minutes,&eom);
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if (n != 5 || eom!='#') {
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rig_debug(RIG_DEBUG_ERR, "%s: not 4 args in '%s', parsing failed\n", __func__, return_str);
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return -RIG_EPROTO;
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}
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*az = dmmm2dec(az_degree, az_minutes, 0);
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*el = dmmm2dec(el_degree, el_minutes, 0);
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return RIG_OK;
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}
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rig_debug(RIG_DEBUG_VERBOSE,"%s: az=%03d:%02d:%02d, el=%03d:%02d:%02d\n",__func__,az_degrees, az_minutes, az_seconds, el_degrees, el_minutes, el_seconds);
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*az = dmmm2dec(az_degrees, az_minutes, az_seconds);
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*el = dmmm2dec(el_degrees, el_minutes, el_seconds);
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return RIG_OK;
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}
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/*
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@ -316,19 +313,19 @@ static int meade_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
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*/
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static int meade_stop(ROT *rot)
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{
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struct meade_priv_data *priv = (struct meade_priv_data *)rot->state.priv;
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azimuth_t az;
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elevation_t el;
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struct meade_priv_data *priv = (struct meade_priv_data *)rot->state.priv;
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azimuth_t az;
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elevation_t el;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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meade_transaction(rot, ":Q#", NULL, 0, 0);
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meade_get_position(rot, &az, &el);
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meade_transaction(rot, ":Q#", NULL, 0, 0);
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meade_get_position(rot, &az, &el);
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priv->target_az = priv->az = az;
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priv->target_el = priv->el = el;
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priv->target_az = priv->az = az;
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priv->target_el = priv->el = el;
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return RIG_OK;
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return RIG_OK;
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}
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/*
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@ -336,12 +333,12 @@ static int meade_stop(ROT *rot)
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*/
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static int meade_park(ROT *rot)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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/* Assume home is 0,0 */
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meade_set_position(rot, 0, 0);
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/* Assume home is 0,0 */
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||||
meade_set_position(rot, 0, 0);
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return RIG_OK;
|
||||
return RIG_OK;
|
||||
}
|
||||
|
||||
/*
|
||||
|
|
@ -349,10 +346,10 @@ static int meade_park(ROT *rot)
|
|||
*/
|
||||
static int meade_reset(ROT *rot, rot_reset_t reset)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
|
||||
meade_park(rot);
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
|
||||
meade_park(rot);
|
||||
|
||||
return RIG_OK;
|
||||
return RIG_OK;
|
||||
}
|
||||
|
||||
/*
|
||||
|
|
@ -360,93 +357,97 @@ static int meade_reset(ROT *rot, rot_reset_t reset)
|
|||
*/
|
||||
static int meade_move(ROT *rot, int direction, int speed)
|
||||
{
|
||||
struct meade_priv_data *priv = (struct meade_priv_data *)rot->state.priv;
|
||||
struct meade_priv_data *priv = (struct meade_priv_data *)rot->state.priv;
|
||||
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
|
||||
rig_debug(RIG_DEBUG_TRACE, "%s: Direction = %d, Speed = %d\n", __func__,
|
||||
direction, speed);
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
|
||||
rig_debug(RIG_DEBUG_TRACE, "%s: Direction = %d, Speed = %d\n", __func__, direction, speed);
|
||||
|
||||
switch (direction)
|
||||
{
|
||||
case ROT_MOVE_UP:
|
||||
return meade_set_position(rot, priv->target_az, 90);
|
||||
switch(direction) {
|
||||
case ROT_MOVE_UP:
|
||||
return meade_set_position(rot, priv->target_az, 90);
|
||||
|
||||
case ROT_MOVE_DOWN:
|
||||
return meade_set_position(rot, priv->target_az, 0);
|
||||
case ROT_MOVE_DOWN:
|
||||
return meade_set_position(rot, priv->target_az, 0);
|
||||
|
||||
case ROT_MOVE_CCW:
|
||||
return meade_set_position(rot, -180, priv->target_el);
|
||||
case ROT_MOVE_CCW:
|
||||
return meade_set_position(rot, -180, priv->target_el);
|
||||
|
||||
case ROT_MOVE_CW:
|
||||
return meade_set_position(rot, 180, priv->target_el);
|
||||
case ROT_MOVE_CW:
|
||||
return meade_set_position(rot, 180, priv->target_el);
|
||||
|
||||
default:
|
||||
return -RIG_EINVAL;
|
||||
}
|
||||
default:
|
||||
return -RIG_EINVAL;
|
||||
}
|
||||
|
||||
return RIG_OK;
|
||||
return RIG_OK;
|
||||
}
|
||||
|
||||
static const char *meade_get_info(ROT *rot)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
|
||||
struct meade_priv_data *priv = (struct meade_priv_data *)rot->state.priv;
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
|
||||
|
||||
return "Meade telescope rotator with LX200 protocol.";
|
||||
static char buf[256]; // this is not thread-safe but not important either
|
||||
sprintf(buf,"Meade telescope rotator with LX200 protocol.\nModel: %s", priv->product_name);
|
||||
return buf;
|
||||
}
|
||||
|
||||
/*
|
||||
* Meade telescope rotator capabilities.
|
||||
*/
|
||||
|
||||
const struct rot_caps meade_caps =
|
||||
{
|
||||
.rot_model = ROT_MODEL_MEADE,
|
||||
.model_name = "LX200",
|
||||
.mfg_name = "Meade",
|
||||
.version = "0.2",
|
||||
.copyright = "LGPL",
|
||||
.status = RIG_STATUS_ALPHA,
|
||||
.rot_type = ROT_TYPE_AZEL,
|
||||
const struct rot_caps meade_caps = {
|
||||
.rot_model = ROT_MODEL_MEADE,
|
||||
.model_name = "LX200/Autostar",
|
||||
.mfg_name = "Meade",
|
||||
.version = "0.2",
|
||||
.copyright = "LGPL",
|
||||
.status = RIG_STATUS_STABLE,
|
||||
.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 = 200,
|
||||
.timeout = 400,
|
||||
.retry = 5,
|
||||
.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 = 200,
|
||||
.timeout = 400,
|
||||
.retry = 2,
|
||||
|
||||
.min_az = 0.,
|
||||
.max_az = 360.,
|
||||
.min_el = 0.,
|
||||
.max_el = 90.,
|
||||
.min_az = 0.,
|
||||
.max_az = 360.,
|
||||
.min_el = 0.,
|
||||
.max_el = 90.,
|
||||
|
||||
.priv = NULL, /* priv */
|
||||
|
||||
.rot_init = meade_init,
|
||||
.rot_cleanup = meade_cleanup,
|
||||
.rot_open = meade_open,
|
||||
.rot_close = meade_close,
|
||||
.priv = NULL, /* priv */
|
||||
|
||||
.set_position = meade_set_position,
|
||||
.get_position = meade_get_position,
|
||||
.park = meade_park,
|
||||
.stop = meade_stop,
|
||||
.reset = meade_reset,
|
||||
.move = meade_move,
|
||||
.rot_init = meade_init,
|
||||
.rot_cleanup = meade_cleanup,
|
||||
.rot_open = meade_open,
|
||||
.rot_close = meade_close,
|
||||
|
||||
.get_info = meade_get_info,
|
||||
.set_position = meade_set_position,
|
||||
.get_position = meade_get_position,
|
||||
.park = meade_park,
|
||||
.stop = meade_stop,
|
||||
.reset = meade_reset,
|
||||
.move = meade_move,
|
||||
|
||||
.get_info = meade_get_info,
|
||||
|
||||
.get_conf = rot_get_conf,
|
||||
.set_conf = rot_set_conf,
|
||||
};
|
||||
|
||||
DECLARE_INITROT_BACKEND(meade)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "meade: _init called\n");
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "meade: _init called\n");
|
||||
|
||||
rot_register(&meade_caps);
|
||||
rot_register(&meade_caps);
|
||||
|
||||
return RIG_OK;
|
||||
return RIG_OK;
|
||||
}
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue