/* * Hamlib Rotator backend - SPID Rot1Prog & Rot2Prog * Copyright (c) 2009-2011 by Norvald H. Ryeng, LA6YKA * * * This library is free software; you can redistribute it and/or * modify it under the terms of the GNU Lesser General Public * License as published by the Free Software Foundation; either * version 2.1 of the License, or (at your option) any later version. * * This library is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * Lesser General Public License for more details. * * You should have received a copy of the GNU Lesser General Public * License along with this library; if not, write to the Free Software * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA * */ #ifdef HAVE_CONFIG_H #include "config.h" #endif #include #include #include #include #include #include "hamlib/rotator.h" #include "serial.h" #include "misc.h" #include "register.h" #include "spid.h" #define TOK_AZRES 1 #define TOK_ELRES 2 struct spid_rot2prog_priv_data { int az_resolution; int el_resolution; }; static int spid_rot_init(ROT *rot) { rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__); if (!rot || !rot->caps) { return -RIG_EINVAL; } if (rot->caps->rot_model == ROT_MODEL_SPID_ROT2PROG || rot->caps->rot_model == ROT_MODEL_SPID_MD01_ROT2PROG) { struct spid_rot2prog_priv_data *priv; priv = (struct spid_rot2prog_priv_data *)malloc(sizeof(struct spid_rot2prog_priv_data)); if (!priv) { return -RIG_ENOMEM; } rot->state.priv = (void *)priv; priv->az_resolution = 0; priv->el_resolution = 0; } return RIG_OK; } static int spid_rot_cleanup(ROT *rot) { rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__); if (!rot) { return -RIG_EINVAL; } 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; return RIG_OK; } static int spid_get_conf(ROT *rot, token_t token, char *val) { struct spid_rot2prog_priv_data *priv = (struct spid_rot2prog_priv_data *) rot->state.priv; rig_debug(RIG_DEBUG_TRACE, "%s called %d\n", __func__, (int)token); if (rot->caps->rot_model != ROT_MODEL_SPID_ROT2PROG && rot->caps->rot_model != ROT_MODEL_SPID_MD01_ROT2PROG) { return -RIG_EINVAL; } switch (token) { case TOK_AZRES: sprintf(val, "%d", priv->az_resolution); break; case TOK_ELRES: sprintf(val, "%d", priv->el_resolution); break; default: return -RIG_EINVAL; } return RIG_OK; } static int spid_set_conf(ROT *rot, token_t token, const char *val) { struct spid_rot2prog_priv_data *priv = (struct spid_rot2prog_priv_data *) rot->state.priv; rig_debug(RIG_DEBUG_TRACE, "%s: called %d=%s\n", __func__, (int)token, val); if (rot->caps->rot_model != ROT_MODEL_SPID_ROT2PROG && rot->caps->rot_model != ROT_MODEL_SPID_MD01_ROT2PROG) { return -RIG_EINVAL; } switch (token) { case TOK_AZRES: priv->az_resolution = atoi(val); break; case TOK_ELRES: priv->el_resolution = atoi(val); break; default: return -RIG_EINVAL; } return RIG_OK; } static int spid_rot1prog_rot_set_position(ROT *rot, azimuth_t az, elevation_t el) { struct rot_state *rs = &rot->state; int retval; char cmdstr[13]; unsigned int u_az; rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el); u_az = 360 + az; cmdstr[0] = 0x57; /* S */ cmdstr[1] = 0x30 + u_az / 100; /* H1 */ cmdstr[2] = 0x30 + (u_az % 100) / 10; /* H2 */ cmdstr[3] = 0x30 + (u_az % 10); /* H3 */ cmdstr[4] = 0x30; /* H4 */ cmdstr[5] = 0x00; /* PH */ cmdstr[6] = 0x00; /* V1 */ cmdstr[7] = 0x00; /* V2 */ cmdstr[8] = 0x00; /* V3 */ cmdstr[9] = 0x00; /* V4 */ cmdstr[10] = 0x00; /* PV */ cmdstr[11] = 0x2F; /* K */ cmdstr[12] = 0x20; /* END */ retval = write_block(&rs->rotport, cmdstr, 13); if (retval != RIG_OK) { return retval; } return RIG_OK; } static int spid_rot2prog_rot_set_position(ROT *rot, azimuth_t az, elevation_t el) { struct rot_state *rs = &rot->state; struct spid_rot2prog_priv_data *priv = (struct spid_rot2prog_priv_data *) rs->priv; int retval; int retry_read = 0; char cmdstr[13]; unsigned int u_az, u_el; rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el); if (!priv->az_resolution || !priv->el_resolution) { do { retval = write_block(&rs->rotport, "\x57\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1F\x20", 13); if (retval != RIG_OK) { return retval; } memset(cmdstr, 0, 12); retval = read_block(&rs->rotport, cmdstr, 12); } while (retval < 0 && retry_read++ < rot->state.rotport.retry); if (retval < 0) { return retval; } } else { cmdstr[5] = priv->az_resolution; /* PH */ cmdstr[10] = priv->el_resolution; /* PV */ } u_az = cmdstr[5] * (360 + az); u_el = cmdstr[10] * (360 + el); cmdstr[0] = 0x57; /* S */ cmdstr[1] = 0x30 + u_az / 1000; /* H1 */ cmdstr[2] = 0x30 + (u_az % 1000) / 100; /* H2 */ cmdstr[3] = 0x30 + (u_az % 100) / 10; /* H3 */ cmdstr[4] = 0x30 + (u_az % 10); /* H4 */ cmdstr[6] = 0x30 + u_el / 1000; /* V1 */ cmdstr[7] = 0x30 + (u_el % 1000) / 100; /* V2 */ cmdstr[8] = 0x30 + (u_el % 100) / 10; /* V3 */ cmdstr[9] = 0x30 + (u_el % 10); /* V4 */ cmdstr[11] = 0x2F; /* K */ cmdstr[12] = 0x20; /* END */ retval = write_block(&rs->rotport, cmdstr, 13); if (retval != RIG_OK) { 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; } static int spid_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el) { struct rot_state *rs = &rot->state; int retval; int retry_read = 0; char posbuf[12]; rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__); do { retval = write_block(&rs->rotport, "\x57\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1F\x20", 13); if (retval != RIG_OK) { return retval; } 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 || rot->caps->rot_model == ROT_MODEL_SPID_MD01_ROT2PROG) { retval = read_block(&rs->rotport, posbuf, 12); } else { retval = -RIG_EINVAL; } } while (retval < 0 && retry_read++ < rot->state.rotport.retry); if (retval < 0) { return retval; } *az = posbuf[1] * 100; *az += posbuf[2] * 10; *az += posbuf[3]; 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 || rot->caps->rot_model == ROT_MODEL_SPID_MD01_ROT2PROG) { *el = posbuf[6] * 100; *el += posbuf[7] * 10; *el += posbuf[8]; *el += posbuf[9] / 10.0; *el -= 360; } rig_debug(RIG_DEBUG_TRACE, "%s: (az, el) = (%.1f, %.1f)\n", __func__, *az, *el); return RIG_OK; } static int spid_rot_stop(ROT *rot) { struct rot_state *rs = &rot->state; int retval; int retry_read = 0; char posbuf[12]; rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__); do { retval = write_block(&rs->rotport, "\x57\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0F\x20", 13); if (retval != RIG_OK) { return retval; } 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 || 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) { return retval; } 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", __func__); 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 } } }, { TOK_ELRES, "el_resolution", "Eleveation resolution", "Number of pulses per degree, 0 = auto sense", "0", RIG_CONF_NUMERIC, { .n = { 0, 0xff, 1 } } }, { RIG_CONF_END, NULL, } }; const struct rot_caps spid_rot1prog_rot_caps = { .rot_model = ROT_MODEL_SPID_ROT1PROG, .model_name = "Rot1Prog", .mfg_name = "SPID", .version = "1.0", .copyright = "LGPL", .status = RIG_STATUS_STABLE, .rot_type = ROT_TYPE_AZIMUTH, .port_type = RIG_PORT_SERIAL, .serial_rate_min = 1200, .serial_rate_max = 1200, .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 = 0.0, .max_el = 0.0, .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_rot1prog_rot_set_position, .stop = spid_rot_stop, }; const struct rot_caps spid_rot2prog_rot_caps = { .rot_model = ROT_MODEL_SPID_ROT2PROG, .model_name = "Rot2Prog", .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 = 600, .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, .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", __func__); rot_register(&spid_rot1prog_rot_caps); rot_register(&spid_rot2prog_rot_caps); rot_register(&spid_md01_rot2prog_rot_caps); return RIG_OK; }