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Hamlib/rotators/m2/rc2800.c

521 wiersze
12 KiB
C
Czysty Wina Historia

/*
* Hamlib Rotator backend - M2 RC2800
*
*
* 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 <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <math.h>
#include <ctype.h>
#include "hamlib/rotator.h"
#include "serial.h"
#include "misc.h"
#include "register.h"
#include "num_stdio.h"
#include "rc2800.h"
#define CR "\r"
#define LF "\x0a"
#define BUFSZ 128
/*
The continuous output of some of the RC2800
models can be a nuisance. Even if we flush
the input stream before sending the command,
there may be partial sentence in the stream
ahead of the data we want.
*/
/*
rc2800_parse
Parse output from the rotator controller
We want to recognize the following sentences:
A ERR=<n><cr>
E ERR=<n><cr>
A P=<ff.f> S=<n> <s><cr>
E P=<ff.f> S=<n> <s><cr>
A=<ff.f> S=<n> <s><cr>
E=<ff.f> S=<n> <s><cr>
*/
static int rc2800_parse(char *s, char *device, float *value)
{
int msgtype = 0, errcode = 0;
int len;
rig_debug(RIG_DEBUG_TRACE, "%s: device return->%s", __func__, s);
len = strlen(s);
if (len == 0)
{
return -RIG_EPROTO;
}
if (len > 7)
{
if (*s == 'A' || *s == 'E')
{
int i;
*device = *s;
if (!strncmp(s + 2, "ERR=", 4))
{
msgtype = 1;
i = sscanf(s + 6, "%d", &errcode);
if (i == EOF)
{
return -RIG_EINVAL;
}
}
else if (!strncmp(s + 2, "P=", 2))
{
msgtype = 2;
i = num_sscanf(s + 5, "%f", value);
if (i == EOF)
{
return -RIG_EINVAL;
}
}
else if (s[1] == '=')
{
msgtype = 2;
i = num_sscanf(s + 2, "%f", value);
if (i == EOF)
{
return -RIG_EINVAL;
}
}
}
}
if (msgtype == 2)
{
rig_debug(RIG_DEBUG_TRACE, "%s: device=%c value=%3.1f\n", __func__, *device,
*value);
return RIG_OK;
}
else if (msgtype == 1)
{
rig_debug(RIG_DEBUG_TRACE, "%s: driver error code %d\n", __func__, errcode);
*device = ' ';
return RIG_OK;
}
return -RIG_EPROTO;
}
#if 0
int testmain()
{
rc2800_parse("A P= 98.1 S=9 MV");
rc2800_parse("A P= 100.0 S=9 MV");
rc2800_parse("E=43.7 S=9 M");
rc2800_parse("E=42.8 S=9 S");
rc2800_parse("E ERR=05");
return 0;
}
#endif
/**
* rc2800_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
rc2800_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;
}
#if 0 // manual says no echos
/* first reply is an echo */
memset(data, 0, data_len);
retval = read_string(&rs->rotport, data, data_len, CR, strlen(CR));
if (retval < 0)
{
if (retry_read++ < rot->state.rotport.retry)
{
goto transaction_write;
}
goto transaction_quit;
}
#endif
/* then comes the answer */
memset(data, 0, data_len);
retval = read_string(&rs->rotport, data, data_len, CR, strlen(CR));
if (retval < 0)
{
if (retry_read++ < rot->state.rotport.retry)
{
goto transaction_write;
}
goto transaction_quit;
}
retval = RIG_OK;
transaction_quit:
return retval;
}
static int
rc2800_rot_set_position(ROT *rot, azimuth_t az, elevation_t el)
{
char cmdstr[64];
int retval1, retval2 = RIG_OK;
rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el);
if (rot->caps->rot_model == ROT_MODEL_RC2800_EARLY_AZ)
{
// we only do azimuth and this is the old protocol
// we have to switch modes and then send azimuth
// an extra CR gives us a response to expect
num_sprintf(cmdstr, "A\r%.0f\r\r", az);
}
else
{
// does the new protocol use decimal points?
// we'll assume no for now
num_sprintf(cmdstr, "A%0f"CR, az);
}
retval1 = rc2800_transaction(rot, cmdstr, NULL, 0);
if (rot->caps->rot_type == ROT_TYPE_AZIMUTH)
{
return retval1;
}
/* do not overwhelm the MCU? */
hl_usleep(200 * 1000);
if (rot->caps->rot_model == ROT_MODEL_RC2800_EARLY_AZEL)
{
// this is the old protocol
// we have to switch modes and then send azimuth
// an extra CR gives us a response to expect
num_sprintf(cmdstr, "E\r%.0f\r\r", el);
}
else
{
num_sprintf(cmdstr, "E%.0f"CR, el);
}
retval2 = rc2800_transaction(rot, cmdstr, NULL, 0);
if (retval1 == retval2)
{
return retval1;
}
return (retval1 != RIG_OK ? retval1 : retval2);
}
static int
rc2800_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
{
char posbuf[32];
int retval;
char device;
float value;
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
*el = 0;
retval = rc2800_transaction(rot, "A" CR, posbuf, sizeof(posbuf));
if (retval != RIG_OK || strlen(posbuf) < 5)
{
return retval < 0 ? retval : -RIG_EPROTO;
}
if (rc2800_parse(posbuf, &device, &value) == RIG_OK)
{
if (device == 'A')
{
*az = (azimuth_t) value;
}
else
{
return -RIG_EPROTO;
}
}
if (rot->caps->rot_model == ROT_MODEL_RC2800)
{
retval = rc2800_transaction(rot, "E" CR, posbuf, sizeof(posbuf));
if (retval != RIG_OK || strlen(posbuf) < 5)
{
return retval < 0 ? retval : -RIG_EPROTO;
}
if (rc2800_parse(posbuf, &device, &value) == RIG_OK)
{
if (device == 'E')
{
*el = (elevation_t) value;
}
else
{
return -RIG_EPROTO;
}
}
rig_debug(RIG_DEBUG_TRACE, "%s: (az, el) = (%.1f, %.1f)\n",
__func__, *az, *el);
}
else
{
rig_debug(RIG_DEBUG_TRACE, "%s: (az) = (%.1f)\n",
__func__, *az);
}
return RIG_OK;
}
static int
rc2800_rot_stop(ROT *rot)
{
int retval;
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
/* TODO: check each return value (do we care?) */
/* Stop AZ*/
retval = rc2800_transaction(rot, "A" CR, NULL, 0); /* select AZ */
if (retval != RIG_OK) { rig_debug(RIG_DEBUG_VERBOSE, "%s: A command failed?\n", __func__); }
retval = rc2800_transaction(rot, "S" CR, NULL, 0); /* STOP */
if (retval != RIG_OK) { rig_debug(RIG_DEBUG_VERBOSE, "%s: az S command failed?\n", __func__); }
if (rot->caps->rot_type == ROT_TYPE_AZIMUTH)
{
return retval;
}
/* do not overwhelm the MCU? */
hl_usleep(200 * 1000);
/* Stop EL*/
retval = rc2800_transaction(rot, "E" CR, NULL, 0); /* select EL */
if (retval != RIG_OK) { rig_debug(RIG_DEBUG_VERBOSE, "%s: E command failed?\n", __func__); }
retval = rc2800_transaction(rot, "S" CR, NULL, 0); /* STOP */
if (retval != RIG_OK) { rig_debug(RIG_DEBUG_VERBOSE, "%s: el S command failed?\n", __func__); }
return retval;
}
/* ************************************************************************* */
/*
* M2 RC2800 rotator capabilities.
*
* Protocol documentation: http://www.confluentdesigns.com/files/PdfFiles/devguide_24.pdf
*/
const struct rot_caps rc2800_rot_caps =
{
ROT_MODEL(ROT_MODEL_RC2800),
.model_name = "RC2800",
.mfg_name = "M2",
.version = "20201130",
.copyright = "LGPL",
.status = RIG_STATUS_BETA,
.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,
.retry = 3,
.min_az = 0.0,
.max_az = 360.0,
.min_el = 0.0,
.max_el = 180.0,
.get_position = rc2800_rot_get_position,
.set_position = rc2800_rot_set_position,
.stop = rc2800_rot_stop,
};
// below tested on RC2800P-A
const struct rot_caps rc2800az_rot_caps =
{
ROT_MODEL(ROT_MODEL_RC2800_EARLY_AZ),
.model_name = "RC2800_EARLY_AZ",
.mfg_name = "M2",
.version = "20201130",
.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 = 1000,
.retry = 3,
.min_az = 0.0,
.max_az = 360.0,
.min_el = 0.0,
.max_el = 180.0,
.get_position = rc2800_rot_get_position,
.set_position = rc2800_rot_set_position,
.stop = rc2800_rot_stop,
};
const struct rot_caps rc2800azel_rot_caps =
{
ROT_MODEL(ROT_MODEL_RC2800_EARLY_AZEL),
.model_name = "RC2800_EARLY_AZEL",
.mfg_name = "M2",
.version = "20201130",
.copyright = "LGPL",
.status = RIG_STATUS_STABLE,
.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,
.retry = 3,
.min_az = 0.0,
.max_az = 360.0,
.min_el = 0.0,
.max_el = 180.0,
.get_position = rc2800_rot_get_position,
.set_position = rc2800_rot_set_position,
.stop = rc2800_rot_stop,
};
/* ************************************************************************* */
DECLARE_INITROT_BACKEND(m2)
{
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
rot_register(&rc2800_rot_caps);
rot_register(&rc2800az_rot_caps);
rot_register(&rc2800azel_rot_caps);
return RIG_OK;
}
/* ************************************************************************* */
/* end of file */
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