kopia lustrzana https://github.com/Hamlib/Hamlib
New rotator model: SPID MD-01/02 in ROT2 mode
Add driver for SPID MD-01 and MD-02 in ROT2 mode. The MD-01 and MD-02 extend the command set from the original ROT2PROG and deviate slightly from the original protocol on the set_position command.astyle-formatting
Norvald H. Ryeng
Nate Bargmann
rodzic
42de040bcb
commit
fbef95f30f
|
|
@ -206,10 +206,17 @@
|
|||
* The SPID backend can be used with rotators that support the SPID
|
||||
* protocol.
|
||||
*/
|
||||
/*! \def ROT_MODEL_SPID_MD01_ROT2PROG \brief A macro that returns the
|
||||
* model number of the MD-01/02 (ROT2PROG protocol) backend.
|
||||
*
|
||||
* The SPID backend can be used with rotators that support the SPID
|
||||
* protocol.
|
||||
*/
|
||||
#define ROT_SPID 9
|
||||
#define ROT_BACKEND_SPID "spid"
|
||||
#define ROT_MODEL_SPID_ROT2PROG ROT_MAKE_MODEL(ROT_SPID, 1)
|
||||
#define ROT_MODEL_SPID_ROT1PROG ROT_MAKE_MODEL(ROT_SPID, 2)
|
||||
#define ROT_MODEL_SPID_MD01_ROT2PROG ROT_MAKE_MODEL(ROT_SPID, 3)
|
||||
|
||||
/*! \def ROT_MODEL_RC2800
|
||||
* \brief A macro that returns the model number of the RC2800 backend.
|
||||
|
|
|
|||
118
spid/spid.c
118
spid/spid.c
|
|
@ -53,8 +53,9 @@ static int spid_rot_init(ROT *rot)
|
|||
if (!rot || !rot->caps)
|
||||
return -RIG_EINVAL;
|
||||
|
||||
if (rot->caps->rot_model == ROT_MODEL_SPID_ROT2PROG) {
|
||||
priv = (struct spid_rot2prog_priv_data*)malloc(sizeof(struct spid_rot2prog_priv_data));
|
||||
if (rot->caps->rot_model == ROT_MODEL_SPID_ROT2PROG ||
|
||||
rot->caps->rot_model == ROT_MODEL_SPID_MD01_ROT2PROG) {
|
||||
priv = (struct spid_rot2prog_priv_data*)malloc(sizeof(struct spid_rot2prog_priv_data));
|
||||
if (!priv) {
|
||||
return -RIG_ENOMEM;
|
||||
}
|
||||
|
|
@ -75,7 +76,8 @@ static int spid_rot_cleanup(ROT *rot)
|
|||
if (!rot)
|
||||
return -RIG_EINVAL;
|
||||
|
||||
if (rot->state.priv && rot->caps->rot_model == ROT_MODEL_SPID_ROT2PROG)
|
||||
if (rot->state.priv && (rot->caps->rot_model == ROT_MODEL_SPID_ROT2PROG ||
|
||||
rot->caps->rot_model == ROT_MODEL_SPID_MD01_ROT2PROG))
|
||||
free(rot->state.priv);
|
||||
rot->state.priv = NULL;
|
||||
|
||||
|
|
@ -88,7 +90,8 @@ static int spid_get_conf(ROT *rot, token_t token, char *val)
|
|||
|
||||
rig_debug(RIG_DEBUG_TRACE, "%s called %d\n", __FUNCTION__, token);
|
||||
|
||||
if (rot->caps->rot_model != ROT_MODEL_SPID_ROT2PROG)
|
||||
if (rot->caps->rot_model != ROT_MODEL_SPID_ROT2PROG &&
|
||||
rot->caps->rot_model != ROT_MODEL_SPID_MD01_ROT2PROG)
|
||||
return -RIG_EINVAL;
|
||||
|
||||
switch(token) {
|
||||
|
|
@ -110,7 +113,8 @@ static int spid_set_conf(ROT *rot, token_t token, const char *val)
|
|||
|
||||
rig_debug(RIG_DEBUG_TRACE, "%s called %d %s\n", __FUNCTION__, token, val);
|
||||
|
||||
if (rot->caps->rot_model != ROT_MODEL_SPID_ROT2PROG)
|
||||
if (rot->caps->rot_model != ROT_MODEL_SPID_ROT2PROG &&
|
||||
rot->caps->rot_model != ROT_MODEL_SPID_MD01_ROT2PROG)
|
||||
return -RIG_EINVAL;
|
||||
|
||||
switch(token) {
|
||||
|
|
@ -209,6 +213,15 @@ static int spid_rot2prog_rot_set_position(ROT *rot, azimuth_t az, elevation_t el
|
|||
return retval;
|
||||
}
|
||||
|
||||
/* Unlike the original Rot2Prog, MD-01 and MD-02 return the position
|
||||
after receiving the set position command. */
|
||||
if (rot->caps->rot_model == ROT_MODEL_SPID_MD01_ROT2PROG) {
|
||||
retry_read = 0;
|
||||
do {
|
||||
retval = read_block(&rs->rotport, cmdstr, 12);
|
||||
} while ((retval < 0) && (retry_read++ < rot->state.rotport.retry));
|
||||
}
|
||||
|
||||
return RIG_OK;
|
||||
}
|
||||
|
||||
|
|
@ -230,7 +243,8 @@ static int spid_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
|
|||
memset(posbuf, 0, 12);
|
||||
if (rot->caps->rot_model == ROT_MODEL_SPID_ROT1PROG)
|
||||
retval = read_block(&rs->rotport, posbuf, 5);
|
||||
else if (rot->caps->rot_model == ROT_MODEL_SPID_ROT2PROG)
|
||||
else if (rot->caps->rot_model == ROT_MODEL_SPID_ROT2PROG ||
|
||||
rot->caps->rot_model == ROT_MODEL_SPID_MD01_ROT2PROG)
|
||||
retval = read_block(&rs->rotport, posbuf, 12);
|
||||
else
|
||||
retval = -RIG_EINVAL;
|
||||
|
|
@ -241,12 +255,14 @@ static int spid_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
|
|||
*az = posbuf[1] * 100;
|
||||
*az += posbuf[2] * 10;
|
||||
*az += posbuf[3];
|
||||
if (rot->caps->rot_model == ROT_MODEL_SPID_ROT2PROG)
|
||||
if (rot->caps->rot_model == ROT_MODEL_SPID_ROT2PROG ||
|
||||
rot->caps->rot_model == ROT_MODEL_SPID_MD01_ROT2PROG)
|
||||
*az += posbuf[4] / 10.0;
|
||||
*az -= 360;
|
||||
|
||||
*el = 0.0;
|
||||
if (rot->caps->rot_model == ROT_MODEL_SPID_ROT2PROG) {
|
||||
if (rot->caps->rot_model == ROT_MODEL_SPID_ROT2PROG ||
|
||||
rot->caps->rot_model == ROT_MODEL_SPID_MD01_ROT2PROG) {
|
||||
*el = posbuf[6] * 100;
|
||||
*el += posbuf[7] * 10;
|
||||
*el += posbuf[8];
|
||||
|
|
@ -278,7 +294,8 @@ static int spid_rot_stop(ROT *rot)
|
|||
memset(posbuf, 0, 12);
|
||||
if (rot->caps->rot_model == ROT_MODEL_SPID_ROT1PROG)
|
||||
retval = read_block(&rs->rotport, posbuf, 5);
|
||||
else if (rot->caps->rot_model == ROT_MODEL_SPID_ROT2PROG)
|
||||
else if (rot->caps->rot_model == ROT_MODEL_SPID_ROT2PROG ||
|
||||
rot->caps->rot_model == ROT_MODEL_SPID_MD01_ROT2PROG)
|
||||
retval = read_block(&rs->rotport, posbuf, 12);
|
||||
} while (retval < 0 && retry_read++ < rot->state.rotport.retry);
|
||||
if (retval < 0)
|
||||
|
|
@ -287,6 +304,51 @@ static int spid_rot_stop(ROT *rot)
|
|||
return RIG_OK;
|
||||
}
|
||||
|
||||
static int spid_md01_rot2prog_rot_move(ROT *rot, int direction, int speed)
|
||||
{
|
||||
struct rot_state *rs = &rot->state;
|
||||
char dir = 0x00;
|
||||
int retval;
|
||||
char cmdstr[13];
|
||||
|
||||
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __FUNCTION__);
|
||||
|
||||
switch (direction) {
|
||||
case ROT_MOVE_UP:
|
||||
dir = 0x04;
|
||||
break;
|
||||
case ROT_MOVE_DOWN:
|
||||
dir = 0x08;
|
||||
break;
|
||||
case ROT_MOVE_LEFT:
|
||||
dir = 0x01;
|
||||
break;
|
||||
case ROT_MOVE_RIGHT:
|
||||
dir = 0x02;
|
||||
break;
|
||||
}
|
||||
|
||||
cmdstr[0] = 0x57; /* S */
|
||||
cmdstr[1] = dir; /* H1 */
|
||||
cmdstr[2] = 0x00; /* H2 */
|
||||
cmdstr[3] = 0x00; /* H3 */
|
||||
cmdstr[4] = 0x00; /* H4 */
|
||||
cmdstr[6] = 0x00; /* V1 */
|
||||
cmdstr[7] = 0x00; /* V2 */
|
||||
cmdstr[8] = 0x00; /* V3 */
|
||||
cmdstr[9] = 0x00; /* V4 */
|
||||
cmdstr[11] = 0x14; /* K */
|
||||
cmdstr[12] = 0x20; /* END */
|
||||
|
||||
/* The rotator must be stopped before changing directions. Since
|
||||
we don't know which direction we're already moving in (if
|
||||
moving at all), always send the stop command first. */
|
||||
spid_rot_stop(rot);
|
||||
|
||||
retval = write_block(&rs->rotport, cmdstr, 13);
|
||||
return retval;
|
||||
}
|
||||
|
||||
const struct confparams spid_cfg_params[] = {
|
||||
{ TOK_AZRES, "az_resolution", "Azimuth resolution", "Number of pulses per degree, 0 = auto sense",
|
||||
"0", RIG_CONF_NUMERIC, { .n = { 0, 0xff, 1 } }
|
||||
|
|
@ -369,12 +431,50 @@ const struct rot_caps spid_rot2prog_rot_caps = {
|
|||
.stop = spid_rot_stop,
|
||||
};
|
||||
|
||||
const struct rot_caps spid_md01_rot2prog_rot_caps = {
|
||||
.rot_model = ROT_MODEL_SPID_MD01_ROT2PROG,
|
||||
.model_name = "MD-01/02 (ROT2 mode)",
|
||||
.mfg_name = "SPID",
|
||||
.version = "1.0",
|
||||
.copyright = "LGPL",
|
||||
.status = RIG_STATUS_STABLE,
|
||||
.rot_type = ROT_TYPE_AZEL,
|
||||
.port_type = RIG_PORT_SERIAL,
|
||||
.serial_rate_min = 600,
|
||||
.serial_rate_max = 460800,
|
||||
.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 = 400,
|
||||
.retry = 3,
|
||||
|
||||
.min_az = -180.0,
|
||||
.max_az = 540.0,
|
||||
.min_el = -20.0,
|
||||
.max_el = 210.0,
|
||||
|
||||
.cfgparams = spid_cfg_params,
|
||||
.get_conf = spid_get_conf,
|
||||
.set_conf = spid_set_conf,
|
||||
|
||||
.rot_init = spid_rot_init,
|
||||
.rot_cleanup = spid_rot_cleanup,
|
||||
.get_position = spid_rot_get_position,
|
||||
.set_position = spid_rot2prog_rot_set_position,
|
||||
.move = spid_md01_rot2prog_rot_move,
|
||||
.stop = spid_rot_stop,
|
||||
};
|
||||
|
||||
DECLARE_INITROT_BACKEND(spid)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __FUNCTION__);
|
||||
|
||||
rot_register(&spid_rot1prog_rot_caps);
|
||||
rot_register(&spid_rot2prog_rot_caps);
|
||||
rot_register(&spid_md01_rot2prog_rot_caps);
|
||||
|
||||
return RIG_OK;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -24,5 +24,6 @@
|
|||
|
||||
extern const struct rot_caps spid_rot1prog_rot_caps;
|
||||
extern const struct rot_caps spid_rot2prog_rot_caps;
|
||||
extern const struct rot_caps spid_md01_rot2prog_rot_caps;
|
||||
|
||||
#endif /* _ROT_SPID_H */
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue