/* * Hamlib Rotator backend - GS-232 * Copyright (c) 2001-2010 by Stephane Fillod * Copyright (c) 2009 by Jason Winningham * * 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 "hamlib/rotator.h" #include "serial.h" #include "misc.h" #include "register.h" #include "gs232a.h" #define EOM "\r" #define REPLY_EOM "\r" #define BUFSZ 64 /** * gs232_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. * RIG_REJECTED - if a negative acknowledge was received or command not * recognized by rig. */ static int gs232_transaction(ROT *rot, const char *cmdstr, char *data, size_t data_len) { struct rot_state *rs; int retval; int retry_read = 0; 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) { return RIG_OK; } if (!data_len) { data_len = BUFSZ; } memset(data, 0, data_len); retval = read_string(&rs->rotport, data, data_len, REPLY_EOM, strlen(REPLY_EOM)); if (retval < 0) { if (retry_read++ < rot->state.rotport.retry) { goto transaction_write; } goto transaction_quit; } #ifdef XXREMOVEDXX /* Check that command termination is correct */ if (strchr(REPLY_EOM, data[strlen(data) - 1]) == NULL) { rig_debug(RIG_DEBUG_ERR, "%s: Command is not correctly terminated '%s'\n", __func__, data); if (retry_read++ < rig->state.rotport.retry) { goto transaction_write; } retval = -RIG_EPROTO; goto transaction_quit; } #endif if (data[0] == '?') { /* Invalid command */ rig_debug(RIG_DEBUG_VERBOSE, "%s: Error for '%s': '%s'\n", __func__, cmdstr, data); retval = -RIG_EPROTO; goto transaction_quit; } retval = RIG_OK; transaction_quit: return retval; } /* * write-only transaction, no data returned by controller */ static int gs232_wo_transaction(ROT *rot, const char *cmdstr, char *data, size_t data_len) { return write_block(&rot->state.rotport, cmdstr, strlen(cmdstr)); } static int gs232_rot_set_position(ROT *rot, azimuth_t az, elevation_t el) { char cmdstr[64]; int retval; unsigned u_az, u_el; rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el); if (az < 0.0) { az = az + 360.0; } u_az = (unsigned)rint(az); u_el = (unsigned)rint(el); sprintf(cmdstr, "W%03u %03u" EOM, u_az, u_el); retval = gs232_wo_transaction(rot, cmdstr, NULL, 0); if (retval != RIG_OK) { return retval; } return RIG_OK; } static int gs232_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el) { char posbuf[32]; int retval; rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__); retval = gs232_transaction(rot, "C2" EOM, posbuf, sizeof(posbuf)); if (retval != RIG_OK || strlen(posbuf) < 10) { return retval; } /* parse */ if (sscanf(posbuf + 2, "%f", az) != 1) { rig_debug(RIG_DEBUG_ERR, "%s: wrong reply '%s'\n", __func__, posbuf); return -RIG_EPROTO; } if (sscanf(posbuf + 7, "%f", el) != 1) { rig_debug(RIG_DEBUG_ERR, "%s: wrong reply '%s'\n", __func__, posbuf); return -RIG_EPROTO; } rig_debug(RIG_DEBUG_TRACE, "%s: (az, el) = (%.1f, %.1f)\n", __func__, *az, *el); return RIG_OK; } static int gs232_rot_stop(ROT *rot) { int retval; rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__); /* All Stop */ retval = gs232_wo_transaction(rot, "S" EOM, NULL, 0); if (retval != RIG_OK) { return retval; } return RIG_OK; } /* ************************************************************************* */ /* * Generic GS232 Protocol (including those not correctly implemented) rotator capabilities. */ const struct rot_caps gs232_generic_rot_caps = { ROT_MODEL(ROT_MODEL_GS232_GENERIC), .model_name = "GS-232 Generic", .mfg_name = "Various", .version = "20200424.0", .copyright = "LGPL", .status = RIG_STATUS_BETA, .rot_type = ROT_TYPE_AZEL, .port_type = RIG_PORT_SERIAL, .serial_rate_min = 150, .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 = 400, .retry = 3, .min_az = -180.0, .max_az = 450.0, /* vary according to rotator type */ .min_el = 0.0, .max_el = 180.0, .get_position = gs232_rot_get_position, .set_position = gs232_rot_set_position, .stop = gs232_rot_stop, }; /* ************************************************************************* */ /* * Generic AMSAT LVB Tracker rotator capabilities. */ const struct rot_caps amsat_lvb_rot_caps = { ROT_MODEL(ROT_MODEL_LVB), .model_name = "LVB Tracker", .mfg_name = "AMSAT", .version = "20200424.0", .copyright = "LGPL", .status = RIG_STATUS_ALPHA, .rot_type = ROT_TYPE_AZEL, .port_type = RIG_PORT_SERIAL, .serial_rate_min = 150, .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 = 400, .retry = 3, .min_az = -180.0, .max_az = 450.0, /* vary according to rotator type */ .min_el = 0.0, .max_el = 180.0, .get_position = gs232_rot_get_position, .set_position = gs232_rot_set_position, .stop = gs232_rot_stop, }; /* ************************************************************************* */ /* * Generic FoxDelta ST2 rotator capabilities. */ const struct rot_caps st2_rot_caps = { ROT_MODEL(ROT_MODEL_ST2), .model_name = "GS232/ST2", .mfg_name = "FoxDelta", .version = "20200424.0", .copyright = "LGPL", .status = RIG_STATUS_ALPHA, .rot_type = ROT_TYPE_AZEL, .port_type = RIG_PORT_SERIAL, .serial_rate_min = 150, .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 = 400, .retry = 3, .min_az = -180.0, .max_az = 450.0, /* vary according to rotator type */ .min_el = 0.0, .max_el = 180.0, .get_position = gs232_rot_get_position, .set_position = gs232_rot_set_position, .stop = gs232_rot_stop, }; /* ************************************************************************* */ /* * F1TE Tracker, GS232 withtout position feedback * * http://www.f1te.org/index.php?option=com_content&view=article&id=19&Itemid=39 */ const struct rot_caps f1tetracker_rot_caps = { ROT_MODEL(ROT_MODEL_F1TETRACKER), .model_name = "GS232/F1TE Tracker", .mfg_name = "F1TE", .version = "20200424.0", .copyright = "LGPL", .status = RIG_STATUS_BETA, .rot_type = ROT_TYPE_AZEL, .port_type = RIG_PORT_SERIAL, .serial_rate_min = 150, .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 = 400, .retry = 0, .min_az = -180.0, .max_az = 360.0, /* vary according to rotator type */ .min_el = 0.0, .max_el = 180.0, .get_position = NULL, /* no position feedback available */ .set_position = gs232_rot_set_position, #ifdef XXREMOVEDXX .stop = gs232_rot_stop, #endif };