/* * Hamlib Rotator backend - Celestron * Copyright (c) 2011 by Stephane Fillod * * 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 #include #include #include "hamlib/rotator.h" #include "serial.h" #include "misc.h" #include "register.h" #include "rot_ioptron.h" #define ACK "#" #define ACK1 '1' #define BUFSZ 128 /** * ioptron_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. * * COMMANDS note: as of 12/2018 a mixture of V2 and V3 * | TTTTTTTT(T) .01 arc seconds * | alt- sign with 8 digits, az - 9 digits | * | Command | Attribute | Return value | Description | * -------------------------------------------------------------------| * | :GAC# | .01 arcsec | sTTTTTTTTTTTTTTTTT# | gets alt(s8), az(9) | * | :SzTTTTTTTTT# | .01 arcsec | '1' == OK | Set Target azimuth | * | :SasTTTTTTTT# |.01 arcsec | '1' == OK | Set Target elevation | * | :Q# | - | '1' == OK | Halt all slewing | * | :ST0# | - | '1' == OK | Halt tracking | * | :MS# | - | '1' == OK | GoTo Target | * | * 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 ioptron_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: rig_flush(&rs->rotport); if (cmdstr) { retval = write_block(&rs->rotport, (unsigned char *) 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; } /** the answer */ memset(data, 0, data_len); retval = read_string(&rs->rotport, (unsigned char *) data, data_len, ACK, strlen(ACK), 0, 1); if (retval < 0) { if (retry_read++ < rot->state.rotport.retry) { goto transaction_write; } goto transaction_quit; } /** check for acknowledge */ if (retval < 1) { rig_debug(RIG_DEBUG_ERR, "%s: unexpected response, len %d: '%s'\n", __func__, retval, data); return -RIG_EPROTO; } retval = RIG_OK; transaction_quit: return retval; } /** * Opens the Port and sets all needed parameters for operation * as of 12/2018 initiates mount with V3 :MountInfo# */ static int ioptron_open(ROT *rot) { rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__); return ioptron_transaction(rot, ":Mountinfo#", NULL, 0); } /** sets mount position, requires 4 steps * set azmiuth * set altitude * goto set * stop tracking - mount starts tracking after goto */ static int ioptron_set_position(ROT *rot, azimuth_t az, elevation_t el) { char cmdstr[32]; char retbuf[10]; int retval; float faz, fel; rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el); /* units .01 arc sec */ faz = az * 360000; fel = el * 360000; /* set azmiuth, returns '1" if OK */ sprintf(cmdstr, ":Sz%09.0f#", faz); retval = ioptron_transaction(rot, cmdstr, retbuf, sizeof(retbuf)); if (retval != RIG_OK || retbuf[0] != ACK1) { return -RIG_EPROTO; } /* set altitude, returns '1" if OK */ sprintf(cmdstr, ":Sa+%08.0f#", fel); retval = ioptron_transaction(rot, cmdstr, retbuf, sizeof(retbuf)); if (retval != RIG_OK || retbuf[0] != ACK1) { return -RIG_EPROTO; } /* move to set target, V2 command, returns '1" if OK */ sprintf(cmdstr, ":MS#"); // retval = ioptron_transaction(rot, cmdstr, retbuf, sizeof(retbuf)); if (retval != RIG_OK || retbuf[0] != ACK1) { return -RIG_EPROTO; } /* stop tracking, V2 command, returns '1" if OK */ sprintf(cmdstr, ":ST0#"); retval = ioptron_transaction(rot, cmdstr, retbuf, sizeof(retbuf)); if (retval != RIG_OK || retbuf[0] != ACK1) { return -RIG_EPROTO; } return retval; } /** gets current position */ static int ioptron_get_position(ROT *rot, azimuth_t *az, elevation_t *el) { char posbuf[32]; int retval; float w; rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__); /** Get Az-Alt */ retval = ioptron_transaction(rot, ":GAC#", posbuf, sizeof(posbuf)); if (retval != RIG_OK || strlen(posbuf) < 18) { return retval < 0 ? retval : -RIG_EPROTO; } if (sscanf(posbuf, "%9f", &w) != 1) { return -RIG_EPROTO; } /** convert from .01 arc sec to degrees */ *el = ((elevation_t)w / 360000.); if (sscanf(posbuf + 9, "%9f", &w) != 1) { return -RIG_EPROTO; } *az = ((azimuth_t)w / 360000.); rig_debug(RIG_DEBUG_TRACE, "%s: (az, el) = (%.1f, %.1f)\n", __func__, *az, *el); return RIG_OK; } /** stop everything **/ static int ioptron_stop(ROT *rot) { int retval; char retbuf[10]; rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__); /** stop slew, returns "1" if OK */ retval = ioptron_transaction(rot, ":Q#", retbuf, 10); if (retval != RIG_OK || retbuf[0] != ACK1) { return -RIG_EPROTO; } /** stops tracking returns "1" if OK */ retval = ioptron_transaction(rot, ":ST0#", retbuf, 10); if (retval != RIG_OK || retbuf[0] != ACK1) { return -RIG_EPROTO; } return retval; } /** get mount type code, initializes mount */ static const char * ioptron_get_info(ROT *rot) { static char info[16]; char str[6]; int retval; rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__); retval = ioptron_transaction(rot, ":MountInfo#", str, sizeof(str)); rig_debug(RIG_DEBUG_TRACE, "retval, RIG_OK str %d %d %str\n", retval, RIG_OK, str); sprintf(info, "MountInfo %s", str); return info; } /** ************************************************************************* * * ioptron mount capabilities. * * Protocol documentation: * from ioptron: * RS232-Command_Language pdf * note that iOptron is currently (12/2018) using a mix of V2 and V3 commands :( */ const struct rot_caps ioptron_rot_caps = { ROT_MODEL(ROT_MODEL_IOPTRON), .model_name = "iOptron", .mfg_name = "iOptron", .version = "20191209.0", .copyright = "LGPL", .status = RIG_STATUS_ALPHA, .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 = 1000, /* worst case scenario 3500 */ .retry = 1, .min_az = 0.0, .max_az = 360.0, .min_el = 0.0, .max_el = 180.0, .rot_open = ioptron_open, .get_position = ioptron_get_position, .set_position = ioptron_set_position, .stop = ioptron_stop, .get_info = ioptron_get_info, }; /* ****************************************************************** */ DECLARE_INITROT_BACKEND(ioptron) { rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__); rot_register(&ioptron_rot_caps); return RIG_OK; } /* ****************************************************************** */ /* end of file */