/* * Hamlib Prosistel backend * Copyright (c) 2015 by Dario Ventura IZ7CRX * * * 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 /* String function definitions */ #include /* UNIX standard function definitions */ #include #include #include #include "hamlib/rotator.h" #include "serial.h" #include "misc.h" #include "register.h" #include "num_stdio.h" #include "prosistel.h" #define BUFSZ 128 #define CR "\r" #define STX "\x02" struct prosistel_rot_priv_data { azimuth_t az; elevation_t el; struct timeval tv; /* time last az/el update */ azimuth_t target_az; elevation_t target_el; }; /** * prosistel_transaction * * cmdstr - Command to be sent to the rig. * data - Buffer for reply string. Can be NULL, indicating that no reply is * is needed, but answer will still be read. * data_len - in: Size of buffer. It is the caller's responsibily to provide * a large enough buffer for all possible replies for a command. * * returns: * RIG_OK - if no error occurred. * RIG_EIO - if an I/O error occurred while sending/receiving data. * RIG_ETIMEOUT - if timeout expires without any characters received. */ static int prosistel_transaction(ROT *rot, const char *cmdstr, char *data, size_t data_len) { struct rot_state *rs; int retval; int retry_read = 0; char replybuf[BUFSZ]; rs = &rot->state; transaction_write: serial_flush(&rs->rotport); if (cmdstr) { retval = write_block(&rs->rotport, cmdstr, strlen(cmdstr)); if (retval != RIG_OK) { goto transaction_quit; } } /* Always read the reply to know whether the cmd went OK */ if (!data) { data = replybuf; } if (!data_len) { data_len = BUFSZ; } //remember check for STXA,G,R or STXA,?,XXX,R 10 bytes retval = read_string(&rs->rotport, data, 20, CR, strlen(CR)); if (retval < 0) { if (retry_read++ < rot->state.rotport.retry) { goto transaction_write; } goto transaction_quit; } //check if reply match issued command if (data[0] == 0x02 && data[3] == cmdstr[2]) { rig_debug(RIG_DEBUG_VERBOSE, "%s Command %c reply received\n", __func__, data[3]); retval = RIG_OK; } else { rig_debug(RIG_DEBUG_VERBOSE, "%s Error Command issued: %c doesn't match reply %c\n", __func__, cmdstr[2], data[3]); retval = RIG_EIO; } transaction_quit: return retval; } static int prosistel_rot_open(ROT *rot) { char cmdstr[64]; int retval; rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__); rot_open(rot); //disable CPM mode - CPM stands for Continuous Position Monitor operating mode //MCU continuously sends position data when CPM enabled num_sprintf(cmdstr, STX"AS"CR); retval = prosistel_transaction(rot, cmdstr, NULL, 0); return retval; } static int prosistel_rot_set_position(ROT *rot, azimuth_t az, elevation_t el) { char cmdstr[64]; int retval; rig_debug(RIG_DEBUG_VERBOSE, "%s called: %.1f %.1f\n", __func__, az, el); num_sprintf(cmdstr, STX"AG%04.0f"CR, az*10); retval = prosistel_transaction(rot, cmdstr, NULL, 0); if (retval != RIG_OK) { return retval; } /* * Elevation section */ num_sprintf(cmdstr, STX"EG%04.0f"CR, el*10); retval = prosistel_transaction(rot, cmdstr, NULL, 0); if(retval!=RIG_OK) { return retval; } return retval; } /* * Get position of rotor */ static int prosistel_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el) { char cmdstr[64]; char data[20]; float posval; int retval; num_sprintf(cmdstr, STX"A?"CR); retval = prosistel_transaction(rot, cmdstr, data, sizeof(data)); if (retval != RIG_OK) { return retval; } // Example response of 100 azimuth // 02 41 2c 3f 2c 31 30 30 30 2c 52 0d .A,?,1000,R. int n = sscanf(data, "%*cA,?,%f,%*c.", &posval); if (n != 1) { rig_debug(RIG_DEBUG_ERR, "%s failed to parse azimuth '%s'\n", __func__, data); return RIG_EPROTO; } posval /= 10.0; rig_debug(RIG_DEBUG_VERBOSE, "%s got position from '%s' converted to %f\n", __func__, data, posval); *az = (azimuth_t) posval; /* * Elevation section */ num_sprintf(cmdstr, STX"B?"CR); retval = prosistel_transaction(rot, cmdstr, data, sizeof(data)); // Example response of 90 elevation // 02 42 2c 3f 2c 30 39 30 30 2c 52 0d .B,?,0900,R. n = sscanf(data, "%*cB,?,%f,%*c.", &posval); posval /= 10.0; if (n != 1) { rig_debug(RIG_DEBUG_ERR, "%s failed to parse elevation '%s'\n", __func__, data); return RIG_EPROTO; } rig_debug(RIG_DEBUG_VERBOSE, "%s got position from '%s' converted to %f\n", __func__, data, posval); *el = (elevation_t) posval; return retval; } /* * Prosistel rotator capabilities. */ const struct rot_caps prosistel_rot_caps = { .rot_model = ROT_MODEL_PROSISTEL, .model_name = "Prosistel D", .mfg_name = "Prosistel", .version = "0.5", .copyright = "LGPL", .status = RIG_STATUS_STABLE, .rot_type = ROT_TYPE_AZIMUTH, .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, }; DECLARE_INITROT_BACKEND(prosistel) { rig_debug(RIG_DEBUG_VERBOSE, "prosistel: _init called\n"); rot_register(&prosistel_rot_caps); return RIG_OK; }