kopia lustrzana https://github.com/Hamlib/Hamlib
Merge pull request #468 from mikaelnousiainen/prosistel-d-fixes
Fix Prosistel rotator control backendpull/474/head
Michael Black
GitHub
commit
82c389a75b
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@ -424,15 +424,31 @@
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/**
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* \def ROT_MODEL_PROSISTEL
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* \brief A macro that returns the model number of the PROSISTEL backend.
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* \def ROT_MODEL_PROSISTEL_D_AZ
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* \brief A macro that returns the model number of the PROSISTEL D azimuth backend.
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*
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*/
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//! @cond Doxygen_Suppress
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#define ROT_PROSISTEL 17
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#define ROT_BACKEND_PROSISTEL "prosistel"
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//! @endcond
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#define ROT_MODEL_PROSISTEL ROT_MAKE_MODEL(ROT_PROSISTEL, 1)
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#define ROT_MODEL_PROSISTEL_D_AZ ROT_MAKE_MODEL(ROT_PROSISTEL, 1)
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/**
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* \def ROT_MODEL_PROSISTEL_D_EL
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* \brief A macro that returns the model number of the PROSISTEL D elevation backend.
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*
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*/
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#define ROT_MODEL_PROSISTEL_D_EL ROT_MAKE_MODEL(ROT_PROSISTEL, 2)
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/**
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* \def ROT_MODEL_PROSISTEL_AZEL_COMBO
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* \brief A macro that returns the model number of the PROSISTEL Combi-Track azimuth + elevation combo backend.
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*
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*/
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#define ROT_MODEL_PROSISTEL_COMBI_TRACK_AZEL ROT_MAKE_MODEL(ROT_PROSISTEL, 3)
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/**
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@ -1,6 +1,7 @@
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/*
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* Hamlib Prosistel backend
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* Copyright (c) 2015 by Dario Ventura IZ7CRX
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* Copyright (c) 2020 by Mikael Nousiainen OH3BHX
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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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@ -24,16 +25,10 @@
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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 <sys/time.h>
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#include <time.h>
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#include <string.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 "num_stdio.h"
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@ -43,19 +38,14 @@
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#define CR "\r"
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#define STX "\x02"
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#if 0
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struct prosistel_rot_priv_data
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struct prosistel_rot_priv_caps
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{
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azimuth_t az;
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elevation_t el;
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float angle_multiplier;
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char azimuth_id;
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char elevation_id;
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azimuth_t target_az;
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elevation_t target_el;
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int stop_angle;
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};
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#endif
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/**
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* prosistel_transaction
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@ -69,6 +59,7 @@ struct prosistel_rot_priv_data
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* returns:
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* RIG_OK - if no error occurred.
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* RIG_EIO - if an I/O error occurred while sending/receiving data.
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* RIG_EPROTO - if a the response does not follow Prosistel protocol
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* RIG_ETIMEOUT - if timeout expires without any characters received.
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*/
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static int prosistel_transaction(ROT *rot, const char *cmdstr,
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@ -106,7 +97,7 @@ transaction_write:
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data_len = BUFSZ;
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}
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//remember check for STXA,G,R or STXA,?,XXX,R 10 bytes
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// Remember to check for STXA,G,R or STXA,?,XXX,R 10 bytes
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retval = read_string(&rs->rotport, data, 20, CR, strlen(CR));
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if (retval < 0)
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@ -119,7 +110,7 @@ transaction_write:
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goto transaction_quit;
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}
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//check if reply match issued command
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// Check if reply matches issued command
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if (cmdstr && data[0] == 0x02 && data[3] == cmdstr[2])
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{
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rig_debug(RIG_DEBUG_VERBOSE, "%s Command %c reply received\n", __func__,
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@ -131,7 +122,7 @@ transaction_write:
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rig_debug(RIG_DEBUG_VERBOSE,
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"%s Error Command issued: %c doesn't match reply %c\n", __func__, cmdstr[2],
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data[3]);
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retval = RIG_EIO;
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retval = -RIG_EPROTO;
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}
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transaction_quit:
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@ -139,132 +130,250 @@ transaction_quit:
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}
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static int prosistel_rot_open(ROT *rot)
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{
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struct prosistel_rot_priv_caps *priv_caps =
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(struct prosistel_rot_priv_caps *) rot->caps->priv;
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char cmdstr[64];
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int retval;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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rot_open(rot);
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//disable CPM mode - CPM stands for Continuous Position Monitor operating mode
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//MCU continuously sends position data when CPM enabled
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num_sprintf(cmdstr, STX"AS"CR);
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retval = prosistel_transaction(rot, cmdstr, NULL, 0);
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return retval;
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}
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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// Disable CPM mode - CPM stands for Continuous Position Monitor operating mode
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// The rotator controller sends position data continuously when CPM is enabled
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// Disable CPM for azimuth if the rotator has an azimuth rotator
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if (rot->caps->rot_type == ROT_TYPE_AZIMUTH || rot->caps->rot_type == ROT_TYPE_AZEL)
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{
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num_sprintf(cmdstr, STX"%cS"CR, priv_caps->azimuth_id);
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retval = prosistel_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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}
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// Disable CPM for elevation if the rotator has an elevation rotator
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if (rot->caps->rot_type == ROT_TYPE_ELEVATION || rot->caps->rot_type == ROT_TYPE_AZEL)
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{
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num_sprintf(cmdstr, STX"%cS"CR, priv_caps->elevation_id);
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retval = prosistel_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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}
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return RIG_OK;
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}
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static int prosistel_rot_set_position(ROT *rot, azimuth_t az, elevation_t el)
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{
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struct prosistel_rot_priv_caps *priv_caps =
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(struct prosistel_rot_priv_caps *) rot->caps->priv;
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char cmdstr[64];
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int retval;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called: %.1f %.1f\n", __func__,
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az, el);
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rig_debug(RIG_DEBUG_VERBOSE, "%s called: %.1f %.1f\n", __func__, az, el);
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num_sprintf(cmdstr, STX"AG%04.0f"CR, az * 10);
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retval = prosistel_transaction(rot, cmdstr, NULL, 0);
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// Leading zeros in angle values are optional according to Prosistel protocol documentation
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if (retval != RIG_OK)
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// Set azimuth only if the rotator has the capability to do so
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// It is an error to set azimuth if it's not supported by the rotator controller
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if (rot->caps->rot_type == ROT_TYPE_AZIMUTH || rot->caps->rot_type == ROT_TYPE_AZEL)
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{
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return retval;
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num_sprintf(cmdstr, STX"%cG%.0f"CR, priv_caps->azimuth_id, az * priv_caps->angle_multiplier);
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retval = prosistel_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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}
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/*
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* Elevation section
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*/
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num_sprintf(cmdstr, STX"EG%04.0f"CR, el * 10);
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retval = prosistel_transaction(rot, cmdstr, NULL, 0);
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if (retval != RIG_OK)
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// Set elevation only if the rotator has the capability to do so
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// It is an error to set elevation if it's not supported by the rotator controller
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if (rot->caps->rot_type == ROT_TYPE_ELEVATION || rot->caps->rot_type == ROT_TYPE_AZEL)
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{
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return retval;
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num_sprintf(cmdstr, STX"%cG%.0f"CR, priv_caps->elevation_id, el * priv_caps->angle_multiplier);
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retval = prosistel_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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}
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return retval;
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}
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/*
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* Get position of rotor
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*/
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static int prosistel_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
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{
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struct prosistel_rot_priv_caps *priv_caps =
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(struct prosistel_rot_priv_caps *) rot->caps->priv;
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char cmdstr[64];
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char data[20];
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float posval;
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int retval;
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int n;
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num_sprintf(cmdstr, STX"A?"CR);
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retval = prosistel_transaction(rot, cmdstr, data, sizeof(data));
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if (retval != RIG_OK)
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// Query azimuth only if the rotator has the capability to do so
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// It is an error to query for azimuth if it's not supported by the rotator controller
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if (rot->caps->rot_type == ROT_TYPE_AZIMUTH || rot->caps->rot_type == ROT_TYPE_AZEL)
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{
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return retval;
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char rot_id;
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num_sprintf(cmdstr, STX"%c?"CR, priv_caps->azimuth_id);
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retval = prosistel_transaction(rot, cmdstr, data, sizeof(data));
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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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// Example response of 290 degree azimuth with 3 digits
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// 02 41 2c 3f 2c 32 39 30 2c 52 0d .A,?,290,R.
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// Example response of 100 degree azimuth with 4 digits
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// 02 41 2c 3f 2c 31 30 30 30 2c 52 0d .A,?,1000,R.
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n = sscanf(data, "%*c%c,?,%f,%*c.", &rot_id, &posval);
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if (n != 2 || rot_id != priv_caps->azimuth_id)
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{
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rig_debug(RIG_DEBUG_ERR, "%s failed to parse azimuth '%s'\n", __func__, data);
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return -RIG_EPROTO;
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}
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posval /= priv_caps->angle_multiplier;
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rig_debug(RIG_DEBUG_VERBOSE, "%s got position from '%s' converted to %f\n",
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__func__, data, posval);
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*az = (azimuth_t) posval;
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}
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else
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{
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*az = 0;
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}
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// Example response of 100 azimuth
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// 02 41 2c 3f 2c 31 30 30 30 2c 52 0d .A,?,1000,R.
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n = sscanf(data, "%*cA,?,%f,%*c.", &posval);
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if (n != 1)
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// Query elevation only if the rotator has the capability to do so
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// It is an error to query for elevation if it's not supported by the rotator controller
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if (rot->caps->rot_type == ROT_TYPE_ELEVATION || rot->caps->rot_type == ROT_TYPE_AZEL)
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{
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rig_debug(RIG_DEBUG_ERR, "%s failed to parse azimuth '%s'\n", __func__, data);
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return RIG_EPROTO;
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char rot_id;
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num_sprintf(cmdstr, STX"%c?"CR, priv_caps->elevation_id);
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retval = prosistel_transaction(rot, cmdstr, data, sizeof(data));
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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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// Example response of 90 degree elevation with 4 digits
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// 02 42 2c 3f 2c 30 39 30 30 2c 52 0d .B,?,0900,R.
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// The response will be an error if no elevation is available
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// 02 42 2c 3f 2c 45 2c 30 30 30 30 33 0d .B,?,E,00003.
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n = sscanf(data, "%*c%c,?,%f,%*c.", &rot_id, &posval);
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if (n != 2 || rot_id != priv_caps->elevation_id)
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{
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rig_debug(RIG_DEBUG_ERR, "%s failed to parse elevation '%s'\n", __func__, data);
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return -RIG_EPROTO;
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}
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posval /= priv_caps->angle_multiplier;
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rig_debug(RIG_DEBUG_VERBOSE, "%s got position from '%s' converted to %f\n",
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__func__, data, posval);
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*el = (elevation_t) posval;
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}
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posval /= 10.0;
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rig_debug(RIG_DEBUG_VERBOSE, "%s got position from '%s' converted to %f\n",
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__func__, data, posval);
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*az = (azimuth_t) posval;
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/*
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* Elevation section
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*/
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num_sprintf(cmdstr, STX"B?"CR);
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retval = prosistel_transaction(rot, cmdstr, data, sizeof(data));
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// Example response of 90 elevation
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// 02 42 2c 3f 2c 30 39 30 30 2c 52 0d .B,?,0900,R.
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// Could be error if no el available e.g. .B,?,E,00003.
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if (data[5] == 'E') return RIG_OK;
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n = sscanf(data, "%*cB,?,%f,%*c.", &posval);
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posval /= 10.0;
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if (n != 1)
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else
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{
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rig_debug(RIG_DEBUG_ERR, "%s failed to parse elevation '%s'\n", __func__, data);
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return RIG_EPROTO;
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*el = 0;
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}
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rig_debug(RIG_DEBUG_VERBOSE, "%s got position from '%s' converted to %f\n",
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__func__, data, posval);
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*el = (elevation_t) posval;
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return retval;
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}
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static int prosistel_rot_stop(ROT *rot)
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{
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struct prosistel_rot_priv_caps *priv_caps =
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(struct prosistel_rot_priv_caps *) rot->caps->priv;
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char cmdstr[64];
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int retval;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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// Stop azimuth only if the rotator has the capability to do so
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if (rot->caps->rot_type == ROT_TYPE_AZIMUTH || rot->caps->rot_type == ROT_TYPE_AZEL)
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{
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num_sprintf(cmdstr, STX"%cG%d"CR, priv_caps->azimuth_id, priv_caps->stop_angle);
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retval = prosistel_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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}
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// Stop elevation only if the rotator has the capability to do so
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if (rot->caps->rot_type == ROT_TYPE_ELEVATION || rot->caps->rot_type == ROT_TYPE_AZEL)
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{
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num_sprintf(cmdstr, STX"%cG%d"CR, priv_caps->elevation_id, priv_caps->stop_angle);
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retval = prosistel_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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}
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return retval;
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}
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static const struct prosistel_rot_priv_caps prosistel_rot_az_or_el_priv_caps =
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{
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.angle_multiplier = 1.0f,
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/**
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* Angle 977 = soft stop, stops the rotator using using PWM if PWM mode is enabled, otherwise results in a fast stop
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* Angle 999 = fast stop, stops the rotator immediately
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*/
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.stop_angle = 997,
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.azimuth_id = 'A',
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.elevation_id = 'E',
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};
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/*
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* Prosistel rotator capabilities.
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* The Prosistel Combi-Track azimuth + elevation controllers use angle values multiplied by 10 and have
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* two "units" with identifier A and B (instead of A and E).
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*/
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const struct rot_caps prosistel_rot_caps =
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static const struct prosistel_rot_priv_caps prosistel_rot_combitrack_priv_caps =
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{
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ROT_MODEL(ROT_MODEL_PROSISTEL),
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.model_name = "Prosistel D",
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.angle_multiplier = 10.0f,
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/**
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* Angle 9777 = soft stop, stops the rotator using using PWM if PWM mode is enabled, otherwise results in a fast stop
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* Angle 9999 = fast stop, stops the rotator immediately
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*/
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.stop_angle = 9777,
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.azimuth_id = 'A',
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.elevation_id = 'B',
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};
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/*
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* Prosistel rotator capabilities
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*/
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const struct rot_caps prosistel_d_az_rot_caps =
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{
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ROT_MODEL(ROT_MODEL_PROSISTEL_D_AZ),
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.model_name = "D azimuth",
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.mfg_name = "Prosistel",
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.version = "20201214.0",
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.version = "20201215.0",
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.copyright = "LGPL",
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.status = RIG_STATUS_STABLE,
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.rot_type = ROT_TYPE_AZIMUTH,
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@ -280,24 +389,96 @@ const struct rot_caps prosistel_rot_caps =
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.timeout = 3000,
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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 = 0.0,
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|
||||
.priv = &prosistel_rot_az_or_el_priv_caps,
|
||||
|
||||
.rot_open = prosistel_rot_open,
|
||||
.stop = prosistel_rot_stop,
|
||||
.set_position = prosistel_rot_set_position,
|
||||
.get_position = prosistel_rot_get_position,
|
||||
};
|
||||
|
||||
|
||||
const struct rot_caps prosistel_d_el_rot_caps =
|
||||
{
|
||||
ROT_MODEL(ROT_MODEL_PROSISTEL_D_EL),
|
||||
.model_name = "D elevation",
|
||||
.mfg_name = "Prosistel",
|
||||
.version = "20201215.0",
|
||||
.copyright = "LGPL",
|
||||
.status = RIG_STATUS_STABLE,
|
||||
.rot_type = ROT_TYPE_ELEVATION,
|
||||
.port_type = RIG_PORT_SERIAL,
|
||||
.serial_rate_min = 9600,
|
||||
.serial_rate_max = 9600,
|
||||
.serial_data_bits = 8,
|
||||
.serial_stop_bits = 1,
|
||||
.serial_parity = RIG_PARITY_NONE,
|
||||
.serial_handshake = RIG_HANDSHAKE_NONE,
|
||||
.write_delay = 0,
|
||||
.post_write_delay = 0,
|
||||
.timeout = 3000,
|
||||
.retry = 3,
|
||||
|
||||
.min_az = 0.0,
|
||||
.max_az = 0.0,
|
||||
.min_el = 0.0,
|
||||
.max_el = 90.0,
|
||||
|
||||
.priv = &prosistel_rot_az_or_el_priv_caps,
|
||||
|
||||
.rot_open = prosistel_rot_open,
|
||||
.stop = prosistel_rot_stop,
|
||||
.set_position = prosistel_rot_set_position,
|
||||
.get_position = prosistel_rot_get_position,
|
||||
};
|
||||
|
||||
|
||||
const struct rot_caps prosistel_combi_track_azel_rot_caps =
|
||||
{
|
||||
ROT_MODEL(ROT_MODEL_PROSISTEL_COMBI_TRACK_AZEL),
|
||||
.model_name = "Combi-Track az+el",
|
||||
.mfg_name = "Prosistel",
|
||||
.version = "20201215.0",
|
||||
.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 = 0,
|
||||
.timeout = 3000,
|
||||
.retry = 3,
|
||||
|
||||
.min_az = 0.0,
|
||||
.max_az = 360.0,
|
||||
.min_el = 0.0,
|
||||
.max_el = 90.0,
|
||||
|
||||
.rot_open = prosistel_rot_open,
|
||||
.set_position = prosistel_rot_set_position,
|
||||
.get_position = prosistel_rot_get_position,
|
||||
.priv = &prosistel_rot_combitrack_priv_caps,
|
||||
|
||||
.rot_open = prosistel_rot_open,
|
||||
.stop = prosistel_rot_stop,
|
||||
.set_position = prosistel_rot_set_position,
|
||||
.get_position = prosistel_rot_get_position,
|
||||
};
|
||||
|
||||
DECLARE_INITROT_BACKEND(prosistel)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "%s: _init called\n", __func__);
|
||||
|
||||
rot_register(&prosistel_rot_caps);
|
||||
|
||||
rot_register(&prosistel_d_az_rot_caps);
|
||||
rot_register(&prosistel_d_el_rot_caps);
|
||||
rot_register(&prosistel_combi_track_azel_rot_caps);
|
||||
|
||||
return RIG_OK;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -22,7 +22,8 @@
|
|||
#ifndef _ROT_PROSISTEL_H
|
||||
#define _ROT_PROSISTEL_H 1
|
||||
|
||||
|
||||
extern const struct rot_caps prosistel_rot_caps;
|
||||
extern const struct rot_caps prosistel_d_az_rot_caps;
|
||||
extern const struct rot_caps prosistel_d_el_rot_caps;
|
||||
extern const struct rot_caps prosistel_combi_track_azel_rot_caps;
|
||||
|
||||
#endif /* _ROT_PROSISTEL_H */
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue