/* * 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 "hamlib/rotator.h" #include "serial.h" #include "misc.h" #include "register.h" #include "celestron.h" #define ACK "#" #define BUFSZ 128 /** * celestron_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 celestron_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, 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, data, data_len, ACK, strlen(ACK)); if (retval < 0) { if (retry_read++ < rot->state.rotport.retry) { goto transaction_write; } goto transaction_quit; } /* check for acknowledge */ if (retval < 1 || data[retval - 1] != '#') { rig_debug(RIG_DEBUG_ERR, "%s: unexpected response, len %d: '%s'\n", __func__, retval, data); return -RIG_EPROTO; } data[retval - 1] = '\0'; retval = RIG_OK; transaction_quit: return retval; } static int celestron_set_position(ROT *rot, azimuth_t az, elevation_t el) { char cmdstr[32]; int retval; rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el); /* Note: if the telescope has not been aligned, the RA/DEC values will not be meaningful and the AZM-ALT values will be relative to where the telescope was powered on. After alignment, RA/DEC values will reflect the actual sky, azimuth will be indexed to North equals 0 and altitude will be indexed with 0 equal to the orientation where the optical tube is perpendicular to the azimuth axis. */ sprintf(cmdstr, "B%04X,%04X", (unsigned)((az / 360.) * 65535), (unsigned)((el / 360.) * 65535)); retval = celestron_transaction(rot, cmdstr, NULL, 0); return retval; } static int celestron_get_position(ROT *rot, azimuth_t *az, elevation_t *el) { char posbuf[32]; int retval; unsigned w; rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__); /* Get Azm-Alt */ retval = celestron_transaction(rot, "Z", posbuf, sizeof(posbuf)); if (retval != RIG_OK || strlen(posbuf) < 9 || posbuf[4] != ',') { return retval < 0 ? retval : -RIG_EPROTO; } if (sscanf(posbuf, "%04X", &w) != 1) { return -RIG_EPROTO; } *az = ((azimuth_t)w * 360.) / 65536.; if (sscanf(posbuf + 5, "%04X", &w) != 1) { return -RIG_EPROTO; } *el = ((elevation_t)w * 360.) / 65536.; rig_debug(RIG_DEBUG_TRACE, "%s: (az, el) = (%.1f, %.1f)\n", __func__, *az, *el); return RIG_OK; } static int celestron_stop(ROT *rot) { int retval; rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__); /* Cancel Goto */ retval = celestron_transaction(rot, "M", NULL, 0); return retval; } static const char * celestron_get_info(ROT *rot) { static char info[16]; char str[8]; rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__); if (celestron_transaction(rot, "V", str, sizeof(str)) != RIG_OK) { return NULL; } sprintf(info, "V%c.%c", str[0], str[1]); return info; } /* ************************************************************************* */ /* * Celestron Nexstar telescope(rotator) capabilities. * * Protocol documentation: * from Celestron: * http://www.celestron.com/c3/images/files/downloads/1154108406_nexstarcommprot.pdf * from Orion Teletrack Az-G: * http://content.telescope.com/rsc/img/catalog/product/instructions/29295.pdf */ const struct rot_caps nexstar_rot_caps = { ROT_MODEL(ROT_MODEL_NEXSTAR), .model_name = "NexStar", // Any Celestron starting with version 1.2 .mfg_name = "Celestron", .version = "20110821.0", .copyright = "LGPL", .status = RIG_STATUS_UNTESTED, .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 = 3500, /* worst case scenario */ .retry = 1, .min_az = 0.0, .max_az = 360.0, .min_el = 0.0, .max_el = 180.0, .get_position = celestron_get_position, .set_position = celestron_set_position, .stop = celestron_stop, .get_info = celestron_get_info, }; /* ************************************************************************* */ DECLARE_INITROT_BACKEND(celestron) { rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__); rot_register(&nexstar_rot_caps); return RIG_OK; } /* ************************************************************************* */ /* end of file */