kopia lustrzana https://github.com/Hamlib/Hamlib
Merge pull request #658 from b-o-r-m-a-l-e-y/radant
Add Radant AZV-1 Rotator controller protocol.pull/668/head
Michael Black
GitHub
commit
681c2ae953
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@ -48,7 +48,7 @@ dnl Beware of duplication should a backend directory include both rig and
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dnl rotor definitions, e.g. "dummy". Optional backends will not be listed
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dnl here but will be added later, e.g. "winradio".
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RIG_BACKEND_LIST="rigs/adat rigs/alinco rigs/aor rigs/barrett rigs/dorji rigs/drake rigs/dummy rigs/elad rigs/flexradio rigs/icom rigs/icmarine rigs/jrc rigs/kachina rigs/kenwood rigs/kit rigs/lowe rigs/pcr rigs/prm80 rigs/racal rigs/rft rigs/rs rigs/skanti rigs/tapr rigs/tentec rigs/tuner rigs/uniden rigs/winradio rigs/wj rigs/yaesu"
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ROT_BACKEND_LIST="rotators/amsat rotators/ars rotators/celestron rotators/cnctrk rotators/easycomm rotators/ether6 rotators/fodtrack rotators/gs232a rotators/heathkit rotators/m2 rotators/meade rotators/rotorez rotators/sartek rotators/spid rotators/ts7400 rotators/prosistel rotators/ioptron rotators/satel"
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ROT_BACKEND_LIST="rotators/amsat rotators/ars rotators/celestron rotators/cnctrk rotators/easycomm rotators/ether6 rotators/fodtrack rotators/gs232a rotators/heathkit rotators/m2 rotators/meade rotators/rotorez rotators/sartek rotators/spid rotators/ts7400 rotators/prosistel rotators/ioptron rotators/satel rotators/radant"
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# Amplifiers are all in the amplifiers directory
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AMP_BACKEND_LIST="amplifiers/elecraft"
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@ -832,6 +832,7 @@ rotators/spid/Makefile
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rotators/ts7400/Makefile
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rotators/indi/Makefile
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rotators/satel/Makefile
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rotators/radant/Makefile
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rigs/adat/Makefile
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rigs/alinco/Makefile
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rigs/aor/Makefile
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@ -604,6 +604,19 @@
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#define ROT_MODEL_SATEL ROT_MAKE_MODEL(ROT_SATEL, 1)
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/**
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* \brief A macro that returns the model number of the RADANT backend.
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*
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* \def ROT_MODEL_RADANT
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*
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* The RADANT backend can be used with rotators that support the MS232
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* interface.
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*/
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//! @cond Doxygen_Suppress
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#define ROT_RADANT 22
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#define ROT_BACKEND_RADANT "radant"
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//! @endcond
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#define ROT_MODEL_RADANT ROT_MAKE_MODEL(ROT_RADANT, 1)
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/**
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@ -0,0 +1,5 @@
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noinst_LTLIBRARIES = libhamlib-radant.la
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libhamlib_radant_la_SOURCES = radant.c radant.h
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EXTRA_DIST = radant.txt
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@ -0,0 +1,224 @@
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/*
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* Hamlib Rotator backend - Radant
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* Copyright (c) 2001-2003 by Stephane Fillod
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* Contributed by Francois Retief <fgretief@sun.ac.za>
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* Copyright (c) 2014 by Alexander Schultze <alexschultze@gmail.com>
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*
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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#ifdef HAVE_CONFIG_H
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#include "config.h"
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#endif
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h> /* String function definitions */
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#include <unistd.h> /* UNIX standard function definitions */
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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 "idx_builtin.h"
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#include "radant.h"
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//#define EASYCOMM3_LEVELS ROT_LEVEL_SPEED
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/* ************************************************************************* */
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/**
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* radant_transaction
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*
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* Assumes rot!=NULL and cmdstr!=NULL
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*
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* cmdstr - string to send to rotator
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* data - buffer for reply string
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* data_len - (input) Maximum size of buffer
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* (output) Number of bytes read.
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*/
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static int
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radant_transaction(ROT *rot, const char *cmdstr, char *data, size_t data_len)
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{
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struct rot_state *rs;
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int retval;
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rig_debug(RIG_DEBUG_TRACE, "%s called: %s\n", __func__, cmdstr);
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if (!rot)
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{
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return -RIG_EINVAL;
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}
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rs = &rot->state;
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rig_flush(&rs->rotport);
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retval = write_block(&rs->rotport, cmdstr, strlen(cmdstr));
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if (retval != RIG_OK)
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{
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goto transaction_quit;
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}
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if (data == NULL)
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{
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return RIG_OK; /* don't want a reply */
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}
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retval = read_string(&rs->rotport, data, data_len, "\n", 1);
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if (retval < 0)
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{
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rig_debug(RIG_DEBUG_TRACE, "%s read_string failed with status %d\n", __func__,
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retval);
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goto transaction_quit;
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}
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else
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{
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rig_debug(RIG_DEBUG_TRACE, "%s read_string: %s\n", __func__, data);
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retval = RIG_OK;
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}
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transaction_quit:
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return retval;
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}
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/* ************************************************************************* */
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static int
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radant_rot_set_position(ROT *rot, azimuth_t az, elevation_t el)
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{
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char cmdstr[13];
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int retval;
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rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el);
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sprintf(cmdstr, "Q%.1f %1.f\r", az, el);
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retval = radant_transaction(rot, cmdstr, NULL, 0);
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if (retval != RIG_OK)
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{
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return retval;
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}
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/* TODO: Error processing */
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return RIG_OK;
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}
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static int
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radant_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
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{
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char cmdstr[4], ackbuf[16];
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int retval;
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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sprintf(cmdstr, "Y\r");
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retval = radant_transaction(rot, cmdstr, ackbuf, sizeof(ackbuf));
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if (retval != RIG_OK)
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{
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rig_debug(RIG_DEBUG_TRACE, "%s got error: %d\n", __func__, retval);
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return retval;
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}
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rig_debug(RIG_DEBUG_TRACE, "%s got response: %s\n", __func__, ackbuf);
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retval = sscanf(ackbuf, "OK%f %f\r", az, el);
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if (retval != 2)
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{
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rig_debug(RIG_DEBUG_ERR, "%s: unknown response (%s)\n", __func__, ackbuf);
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return -RIG_ERJCTED;
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}
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return RIG_OK;
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}
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static int
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radant_rot_stop(ROT *rot)
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{
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int retval;
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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retval = radant_transaction(rot, "S\r", NULL, 0);
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if (retval != RIG_OK)
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{
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return retval;
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}
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/* TODO: error processing */
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return RIG_OK;
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}
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/* ************************************************************************* */
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/*
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* Radant rotator capabilities.
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*/
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/** Radant implement set and get position function and stop, but
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* there is no velocity and other configurations functions
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*/
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const struct rot_caps radant_rot_caps =
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{
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ROT_MODEL(ROT_MODEL_RADANT),
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.model_name = "Radant",
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.mfg_name = "Hamlib",
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.version = "20210409.0",
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.copyright = "LGPL",
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.status = RIG_STATUS_BETA,
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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 = 9600,
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.serial_rate_max = 9600,
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.serial_data_bits = 8,
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.serial_stop_bits = 1,
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.serial_parity = RIG_PARITY_NONE,
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.serial_handshake = RIG_HANDSHAKE_NONE,
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.write_delay = 0,
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.post_write_delay = 0,
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.timeout = 200,
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.retry = 3,
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.min_az = 0.0,
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.max_az = 360.0,
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.min_el = 0.0,
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.max_el = 180.0,
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.priv = NULL, /* priv */
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.set_position = radant_rot_set_position,
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.get_position = radant_rot_get_position,
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.stop = radant_rot_stop,
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};
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/* ************************************************************************* */
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DECLARE_INITROT_BACKEND(radant)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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rot_register(&radant_rot_caps);
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return RIG_OK;
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}
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/* ************************************************************************* */
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/* end of file */
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@ -0,0 +1,46 @@
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/*
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* Hamlib Rotator backend - Easycomm interface protocol
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* Copyright (c) 2001-2003 by Stephane Fillod
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* Contributed by Francois Retief <fgretief@sun.ac.za>
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* Copyright (c) 2014 by Alexander Schultze <alexschultze@gmail.com>
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*
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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#ifndef _ROT_RADANT_H
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#define _ROT_RADANT_H 1
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#include "token.h"
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extern const struct rot_caps radant_rot_caps;
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/*
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* Tokens used by rotorez_rot_set_conf and get_conf and the 'C' command in rotctl
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* and rotctld.
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*/
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#define TOK_GET_CONFIG TOKEN_BACKEND(1)
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#define TOK_SET_CONFIG TOKEN_BACKEND(2)
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#define TOK_GET_STATUS TOKEN_BACKEND(3)
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#define TOK_GET_ERRORS TOKEN_BACKEND(4)
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#define TOK_GET_VERSION TOKEN_BACKEND(5)
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#define TOK_GET_INPUT TOKEN_BACKEND(6)
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#define TOK_SET_OUTPUT TOKEN_BACKEND(7)
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#define TOK_GET_ANALOG_INPUT TOKEN_BACKEND(8)
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#endif /* _ROT_RADANT_H */
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@ -0,0 +1,27 @@
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Standart protocol for both El and Az axes. Working with russian Radant version 1.0 - 1.4: Радант AZV-1
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Serial port mode 9600 8N1.
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------------ Main commands -----------------
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<CR> means carriage return
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- Set desired angle:
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"Qaaa.a eee.e<CR>", where
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aaa.a - azimuth angle value with floating point,
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eee.e - elevation angle with floating point.
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- After receiving command 'Q' rotator will send message
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"ACK<CR>" if rotator received correct command, or
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"ERR<CR>", if there were any mistakes.
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- After reaching destination angle rotator will send
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"OKaaa.a[.]eee.e<CR>"
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- Request current axes angle command:
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"Y<CR>" without parameters
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- Rotator will reply:
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"OKaaa.a[.]eee.e<CR>"
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Command for stop positioning:
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"S<CR>"
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@ -85,6 +85,7 @@ DEFINE_INITROT_BACKEND(prosistel);
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DEFINE_INITROT_BACKEND(meade);
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DEFINE_INITROT_BACKEND(ioptron);
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DEFINE_INITROT_BACKEND(satel);
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DEFINE_INITROT_BACKEND(radant);
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#if HAVE_LIBINDI
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DEFINE_INITROT_BACKEND(indi);
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#endif
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@ -128,6 +129,7 @@ static struct
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{ ROT_MEADE, ROT_BACKEND_MEADE, ROT_FUNCNAMA(meade) },
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{ ROT_IOPTRON, ROT_BACKEND_IOPTRON, ROT_FUNCNAMA(ioptron) },
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{ ROT_SATEL, ROT_BACKEND_SATEL, ROT_FUNCNAMA(satel) },
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{ ROT_RADANT, ROT_BACKEND_RADANT, ROT_FUNCNAMA(radant)},
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#if HAVE_LIBINDI
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{ ROT_INDI, ROT_BACKEND_INDI, ROT_FUNCNAMA(indi) },
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#endif
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