kopia lustrzana https://github.com/Hamlib/Hamlib
291 wiersze
7.7 KiB
C
291 wiersze
7.7 KiB
C
/*
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* Hamlib Rotator backend - SPID Rot2Prog
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* Copyright (c) 2009 by Norvald H. Ryeng, LA6YKA
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*
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*
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* This library is free software; you can redistribute it and/or modify
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* it under the terms of the GNU Library General Public License as
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* published by the Free Software Foundation; either version 2 of
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* the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* You should have received a copy of the GNU Library General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
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*
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*/
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#ifdef HAVE_CONFIG_H
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#include "config.h"
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#endif
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <math.h>
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#include "hamlib/rotator.h"
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#include "serial.h"
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#include "misc.h"
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#include "register.h"
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#include "spid.h"
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#define TOK_AZRES 1
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#define TOK_ELRES 2
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struct spid_priv_data {
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int az_resolution;
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int el_resolution;
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};
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static int spid_rot_init(ROT *rot)
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{
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struct spid_priv_data *priv;
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __FUNCTION__);
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if (!rot || !rot->caps)
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return -RIG_EINVAL;
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priv = (struct spid_priv_data*)malloc(sizeof(struct spid_priv_data));
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if (!priv) {
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return -RIG_ENOMEM;
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}
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rot->state.priv = (void*)priv;
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priv->az_resolution = 0;
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priv->el_resolution = 0;
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return RIG_OK;
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}
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static int spid_rot_cleanup(ROT *rot)
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{
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __FUNCTION__);
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if (!rot)
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return -RIG_EINVAL;
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if (rot->state.priv)
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free(rot->state.priv);
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rot->state.priv = NULL;
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return RIG_OK;
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}
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static int spid_get_conf(ROT *rot, token_t token, char *val)
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{
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struct spid_priv_data *priv = (struct spid_priv_data*)rot->state.priv;
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rig_debug(RIG_DEBUG_TRACE, "%s called %d\n", __FUNCTION__, token);
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switch(token) {
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case TOK_AZRES:
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sprintf(val, "%d", priv->az_resolution);
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break;
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case TOK_ELRES:
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sprintf(val, "%d", priv->el_resolution);
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break;
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default:
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return -RIG_EINVAL;
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}
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return RIG_OK;
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}
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static int spid_set_conf(ROT *rot, token_t token, const char *val)
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{
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struct spid_priv_data *priv = (struct spid_priv_data*)rot->state.priv;
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rig_debug(RIG_DEBUG_TRACE, "%s called %d %s\n", __FUNCTION__, token, val);
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switch(token) {
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case TOK_AZRES:
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priv->az_resolution = atoi(val);
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break;
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case TOK_ELRES:
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priv->el_resolution = atoi(val);
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break;
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default:
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return -RIG_EINVAL;
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}
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return RIG_OK;
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}
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static int spid_rot_set_position(ROT *rot, azimuth_t az, elevation_t el)
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{
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struct rot_state *rs = &rot->state;
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struct spid_priv_data *priv = (struct spid_priv_data*)rs->priv;
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int retval;
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int retry_read = 0;
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char cmdstr[13];
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unsigned int u_az, u_el;
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rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __FUNCTION__, az, el);
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if (!priv->az_resolution || !priv->el_resolution) {
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do {
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retval = write_block(&rs->rotport, "\x57\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1F\x20", 13);
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if (retval != RIG_OK) {
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return retval;
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}
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memset(cmdstr, 0, 12);
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retval = read_block(&rs->rotport, cmdstr, 12);
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} while (retval < 0 && retry_read++ < rot->state.rotport.retry);
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if (retval < 0)
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return retval;
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} else {
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cmdstr[5] = priv->az_resolution; /* PH */
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cmdstr[10] = priv->el_resolution; /* PV */
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}
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u_az = cmdstr[5]*(360 + az);
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u_el = cmdstr[10]*(360 + el);
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cmdstr[0] = 0x57; /* S */
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cmdstr[1] = 0x30 + u_az/1000; /* H1 */
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cmdstr[2] = 0x30 + (u_az % 1000) / 100; /* H2 */
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cmdstr[3] = 0x30 + (u_az % 100) / 10; /* H3 */
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cmdstr[4] = 0x30 + (u_az % 10); /* H4 */
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cmdstr[6] = 0x30 + u_el / 1000; /* V1 */
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cmdstr[7] = 0x30 + (u_el % 1000) / 100; /* V2 */
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cmdstr[8] = 0x30 + (u_el % 100) / 10; /* V3 */
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cmdstr[9] = 0x30 + (u_el % 10); /* V4 */
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cmdstr[11] = 0x2F; /* K */
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cmdstr[12] = 0x20; /* END */
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retval = write_block(&rs->rotport, cmdstr, 13);
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if (retval != RIG_OK) {
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return retval;
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}
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return RIG_OK;
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}
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static int spid_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
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{
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struct rot_state *rs = &rot->state;
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int retval;
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int retry_read = 0;
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char posbuf[12];
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __FUNCTION__);
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do {
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retval = write_block(&rs->rotport, "\x57\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1F\x20", 13);
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if (retval != RIG_OK) {
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return retval;
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}
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memset(posbuf, 0, 12);
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retval = read_block(&rs->rotport, posbuf, 12);
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} while (retval < 0 && retry_read++ < rot->state.rotport.retry);
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if (retval < 0)
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return retval;
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*az = posbuf[1] * 100;
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*az += posbuf[2] * 10;
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*az += posbuf[3];
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*az += posbuf[4] / 10.0;
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*az -= 360;
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*el = posbuf[6] * 100;
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*el += posbuf[7] * 10;
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*el += posbuf[8];
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*el += posbuf[9] / 10.0;
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*el -= 360;
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rig_debug(RIG_DEBUG_TRACE, "%s: (az, el) = (%.1f, %.1f)\n",
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__FUNCTION__, *az, *el);
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return RIG_OK;
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}
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static int spid_rot_stop(ROT *rot)
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{
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struct rot_state *rs = &rot->state;
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int retval;
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int retry_read = 0;
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char posbuf[12];
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __FUNCTION__);
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do {
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retval = write_block(&rs->rotport, "\x57\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0F\x20", 13);
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if (retval != RIG_OK) {
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return retval;
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}
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memset(posbuf, 0, 12);
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retval = read_block(&rs->rotport, posbuf, 12);
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} while (retval < 0 && retry_read++ < rot->state.rotport.retry);
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if (retval < 0)
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return retval;
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return RIG_OK;
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}
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const struct confparams spid_cfg_params[] = {
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{ TOK_AZRES, "az_resolution", "Azimuth resolution", "Number of pulses per degree, 0 = auto sense",
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"0", RIG_CONF_NUMERIC, { .n = { 0, 0xff, 1 } }
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},
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{ TOK_ELRES, "el_resolution", "Eleveation resolution", "Number of pulses per degree, 0 = auto sense",
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"0", RIG_CONF_NUMERIC, { .n = { 0, 0xff, 1 } }
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},
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{ RIG_CONF_END, NULL, }
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};
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const struct rot_caps spid_rot_caps = {
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.rot_model = ROT_MODEL_SPID,
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.model_name = "Rot2Prog",
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.mfg_name = "SPID",
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.version = "0.2",
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.copyright = "LGPL",
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.status = RIG_STATUS_STABLE,
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.rot_type = ROT_TYPE_OTHER,
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.port_type = RIG_PORT_SERIAL,
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.serial_rate_min = 600,
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.serial_rate_max = 600,
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.serial_data_bits = 8,
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.serial_stop_bits = 1,
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.serial_parity = RIG_PARITY_NONE,
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.serial_handshake = RIG_HANDSHAKE_NONE,
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.write_delay = 0,
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.post_write_delay = 0,
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.timeout = 400,
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.retry = 3,
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.min_az = -180.0,
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.max_az = 540.0,
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.min_el = -20.0,
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.max_el = 210.0,
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.cfgparams = spid_cfg_params,
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.get_conf = spid_get_conf,
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.set_conf = spid_set_conf,
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.rot_init = spid_rot_init,
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.rot_cleanup = spid_rot_cleanup,
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.get_position = spid_rot_get_position,
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.set_position = spid_rot_set_position,
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.stop = spid_rot_stop,
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};
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DECLARE_INITROT_BACKEND(spid)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __FUNCTION__);
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rot_register(&spid_rot_caps);
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return RIG_OK;
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}
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