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Hamlib/rotorez/rotorez.c

750 wiersze
17 KiB
C
Czysty Wina Historia

/*
* Hamlib backend library for the DCU rotor command set.
*
* rotorez.c - (C) Nate Bargmann 2003,2009,2010 (n0nb at arrl.net)
*
* This shared library provides an API for communicating
* via serial interface to a Hy-Gain or Yaesu rotor using
* the Idiom Press Rotor-EZ or RotorCard interface. It also
* supports the Hy-Gain DCU-1, and DF9GR ERC.
*
* Rotor-EZ is a trademark of Idiom Press
* Hy-Gain is a trademark of MFJ Enterprises
*
* Tested on a HAM-IV with the Rotor-EZ V1.4S interface installed.
*
*
* 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> /* Standard library definitions */
#include <string.h> /* String function definitions */
#include <unistd.h> /* UNIX standard function definitions */
#include <ctype.h> /* for isdigit function */
#include "hamlib/rotator.h"
#include "serial.h"
#include "misc.h"
#include "register.h"
#include "iofunc.h"
#include "rotorez.h"
/*
* API local implementation
*
*/
static int rotorez_rot_init(ROT *rot);
static int rotorez_rot_cleanup(ROT *rot);
static int rotorez_rot_set_position(ROT *rot, azimuth_t azimuth, elevation_t elevation);
static int rotorez_rot_get_position(ROT *rot, azimuth_t *azimuth, elevation_t *elevation);
static int erc_rot_get_position(ROT *rot, azimuth_t *azimuth, elevation_t *elevation);
static int rotorez_rot_reset(ROT *rot, rot_reset_t reset);
static int rotorez_rot_stop(ROT *rot);
static int dcu1_rot_stop(ROT *rot);
static int rotorez_rot_set_conf(ROT *rot, token_t token, const char *val);
static const char *rotorez_rot_get_info(ROT *rot);
/*
* Private data structure
*/
struct rotorez_rot_priv_data {
azimuth_t az;
};
/*
* Private helper function prototypes
*/
static int rotorez_send_priv_cmd(ROT *rot, const char *cmd);
static int rotorez_flush_buffer(ROT *rot);
/*
* local configuration parameters
*/
static const struct confparams rotorez_cfg_params[] = {
{ TOK_ENDPT, "endpt", "Endpoint option", "Endpoint option",
NULL, RIG_CONF_CHECKBUTTON, { }
},
{ TOK_JAM, "jam", "Jam protection", "Jam protection",
NULL, RIG_CONF_CHECKBUTTON, { }
},
{ TOK_OVRSHT, "oversht", "Overshoot option", "Overshoot option",
NULL, RIG_CONF_CHECKBUTTON, { }
},
{ TOK_UNSTICK, "unstick", "Unstick option", "Unstick option",
NULL, RIG_CONF_CHECKBUTTON, { }
},
{ RIG_CONF_END, NULL, }
};
/* *************************************
*
* Separate model capabilities
*
* *************************************
*/
/*
* Idiom Press Rotor-EZ enhanced rotor capabilities for
* Hy-Gain CD45, Ham-II, Ham-III, Ham IV and all TailTwister rotors
*/
const struct rot_caps rotorez_rot_caps = {
.rot_model = ROT_MODEL_ROTOREZ,
.model_name = "Rotor-EZ",
.mfg_name = "Idiom Press",
.version = "2010-02-14",
.copyright = "LGPL",
.status = RIG_STATUS_BETA,
.rot_type = ROT_TYPE_OTHER,
.port_type = RIG_PORT_SERIAL,
.serial_rate_min = 4800,
.serial_rate_max = 4800,
.serial_data_bits = 8,
.serial_stop_bits = 1,
.serial_parity = RIG_PARITY_NONE,
.serial_handshake = RIG_HANDSHAKE_NONE,
.write_delay = 0,
.post_write_delay = 500,
.timeout = 1500,
.retry = 2,
.min_az = 0,
.max_az = 360,
.min_el = 0,
.max_el = 0,
.priv = NULL, /* priv */
.cfgparams = rotorez_cfg_params,
.rot_init = rotorez_rot_init,
.rot_cleanup = rotorez_rot_cleanup,
.set_position = rotorez_rot_set_position,
.get_position = rotorez_rot_get_position,
.stop = rotorez_rot_stop,
.set_conf = rotorez_rot_set_conf,
.get_info = rotorez_rot_get_info,
};
/*
* Idiom Press RotorCard enhanced rotor capabilities for
* Yaesu SDX and DXA series rotors
*/
const struct rot_caps rotorcard_rot_caps = {
.rot_model = ROT_MODEL_ROTORCARD,
.model_name = "RotorCard",
.mfg_name = "Idiom Press",
.version = "2010-02-14",
.copyright = "LGPL",
.status = RIG_STATUS_UNTESTED,
.rot_type = ROT_TYPE_OTHER,
.port_type = RIG_PORT_SERIAL,
.serial_rate_min = 4800,
.serial_rate_max = 4800,
.serial_data_bits = 8,
.serial_stop_bits = 1,
.serial_parity = RIG_PARITY_NONE,
.serial_handshake = RIG_HANDSHAKE_NONE,
.write_delay = 0,
.post_write_delay = 500,
.timeout = 1500,
.retry = 2,
.min_az = 0,
.max_az = 360,
.min_el = 0,
.max_el = 0,
.priv = NULL, /* priv */
.cfgparams = rotorez_cfg_params,
.rot_init = rotorez_rot_init,
.rot_cleanup = rotorez_rot_cleanup,
.set_position = rotorez_rot_set_position,
.get_position = rotorez_rot_get_position,
.stop = rotorez_rot_stop,
.set_conf = rotorez_rot_set_conf,
.get_info = rotorez_rot_get_info,
};
/*
* Hy-Gain DCU-1/DCU-1X rotor capabilities
*/
const struct rot_caps dcu_rot_caps = {
.rot_model = ROT_MODEL_DCU,
.model_name = "DCU-1/DCU-1X",
.mfg_name = "Hy-Gain",
.version = "2010-08-23",
.copyright = "LGPL",
.status = RIG_STATUS_UNTESTED,
.rot_type = ROT_TYPE_OTHER,
.port_type = RIG_PORT_SERIAL,
.serial_rate_min = 4800,
.serial_rate_max = 4800,
.serial_data_bits = 8,
.serial_stop_bits = 1,
.serial_parity = RIG_PARITY_NONE,
.serial_handshake = RIG_HANDSHAKE_NONE,
.write_delay = 0,
.post_write_delay = 500,
.timeout = 1500,
.retry = 2,
.min_az = 0,
.max_az = 360,
.min_el = 0,
.max_el = 0,
.priv = NULL, /* priv */
.rot_init = rotorez_rot_init,
.rot_cleanup = rotorez_rot_cleanup,
.set_position = rotorez_rot_set_position,
.stop = dcu1_rot_stop,
.reset = rotorez_rot_reset,
.get_info = rotorez_rot_get_info,
};
/*
* Rotor capabilities for DF9GR ERC
*
* TODO: Learn of additional capabilities of the ERC
*/
const struct rot_caps erc_rot_caps = {
.rot_model = ROT_MODEL_ERC,
.model_name = "ERC",
.mfg_name = "DF9GR",
.version = "2010-08-23b", /* second revision on 23 Aug 2010 */
.copyright = "LGPL",
.status = RIG_STATUS_ALPHA,
.rot_type = ROT_TYPE_OTHER,
.port_type = RIG_PORT_SERIAL,
.serial_rate_min = 4800,
.serial_rate_max = 4800,
.serial_data_bits = 8,
.serial_stop_bits = 1,
.serial_parity = RIG_PARITY_NONE,
.serial_handshake = RIG_HANDSHAKE_NONE,
.write_delay = 0,
.post_write_delay = 500,
.timeout = 1500,
.retry = 2,
.min_az = 0,
.max_az = 360,
.min_el = 0,
.max_el = 0,
.priv = NULL, /* priv */
// .cfgparams = rotorez_cfg_params,
.rot_init = rotorez_rot_init,
.rot_cleanup = rotorez_rot_cleanup,
.set_position = rotorez_rot_set_position,
.get_position = erc_rot_get_position,
.stop = dcu1_rot_stop,
.reset = rotorez_rot_reset,
// .stop = rotorez_rot_stop,
// .set_conf = rotorez_rot_set_conf,
.get_info = rotorez_rot_get_info,
};
/* ************************************
*
* API functions
*
* ************************************
*/
/*
* Initialize data structures
*/
static int rotorez_rot_init(ROT *rot) {
struct rotorez_rot_priv_data *priv;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
if (!rot)
return -RIG_EINVAL;
priv = (struct rotorez_rot_priv_data *)
malloc(sizeof(struct rotorez_rot_priv_data));
if (!priv)
return -RIG_ENOMEM;
rot->state.priv = (void *)priv;
rot->state.rotport.type.rig = RIG_PORT_SERIAL;
priv->az = 0;
return RIG_OK;
}
/*
* Clean up allocated memory structures
*/
static int rotorez_rot_cleanup(ROT *rot) {
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
if (!rot)
return -RIG_EINVAL;
if (rot->state.priv)
free(rot->state.priv);
rot->state.priv = NULL;
return RIG_OK;
}
/*
* Set position
* DCU protocol supports azimuth only--elevation is ignored
* Range is converted to an integer string, 0 to 360 degrees
*/
static int rotorez_rot_set_position(ROT *rot, azimuth_t azimuth, elevation_t elevation) {
char cmdstr[8];
char execstr[5] = "AM1;";
int err;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
if (!rot)
return -RIG_EINVAL;
if (azimuth < 0 || azimuth > 360)
return -RIG_EINVAL;
if (azimuth > 359.4999) /* DCU-1 compatibility */
azimuth = 0;
sprintf(cmdstr, "AP1%03.0f;", azimuth); /* Target bearing */
err = rotorez_send_priv_cmd(rot, cmdstr);
if (err != RIG_OK)
return err;
err = rotorez_send_priv_cmd(rot, execstr); /* Execute command */
if (err != RIG_OK)
return err;
return RIG_OK;
}
/*
* Get position
* Returns current azimuth position in whole degrees.
* Range returned from Rotor-EZ is an integer, 0 to 359 degrees
* Elevation is set to 0
*/
static int rotorez_rot_get_position(ROT *rot, azimuth_t *azimuth, elevation_t *elevation) {
struct rot_state *rs;
char cmdstr[5] = "AI1;";
char az[5]; /* read azimuth string */
char *p;
azimuth_t tmp = 0;
int err;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
if (!rot)
return -RIG_EINVAL;
do {
err = rotorez_send_priv_cmd(rot, cmdstr);
if (err != RIG_OK)
return err;
rs = &rot->state;
err = read_block(&rs->rotport, az, AZ_READ_LEN);
if (err != AZ_READ_LEN)
return -RIG_ETRUNC;
/* The azimuth string should be ';xxx' beginning at offset 0. If the
* ';' is not there, it's likely the RotorEZ has received an invalid
* command and the buffer needs to be flushed. See
* rotorez_flush_buffer() definition below for a complete description.
*/
if (az[0] != ';') {
err = rotorez_flush_buffer(rot);
if (err == -RIG_EIO)
return err;
else
err = -RIG_EINVAL;
} else if (err == AZ_READ_LEN && az[0] == ';') {
/* Check if remaining chars are digits if az[0] == ';' */
for (p = az + 1;p < az + 4; p++)
if (isdigit((int)*p))
continue;
else
err = -RIG_EINVAL;
}
} while (err == -RIG_EINVAL);
/*
* Rotor-EZ returns a four octet string consisting of a ';' followed
* by three octets containing the rotor's position in degrees. The
* semi-colon is ignored when passing the string to atof().
*/
az[4] = 0x00; /* NULL terminated string */
p = az + 1; /* advance past leading ';' */
tmp = (azimuth_t)atof(p);
rig_debug(RIG_DEBUG_TRACE, "%s: \"%s\" after conversion = %.1f\n",
__func__, p, tmp);
if (tmp == 360)
tmp = 0;
else if (tmp < 0 || tmp > 359)
return -RIG_EINVAL;
*azimuth = tmp;
*elevation = 0; /* RotorEZ does not support elevation */
rig_debug(RIG_DEBUG_TRACE,
"%s: azimuth = %.1f deg; elevation = %.1f deg\n",
__func__, *azimuth, *elevation);
return RIG_OK;
}
/*
* Get position for ERC
* Returns current azimuth position in whole degrees.
* Range returned from ERC is an integer, 0 to 359 degrees
* Elevation is set to 0
*/
static int erc_rot_get_position(ROT *rot, azimuth_t *azimuth, elevation_t *elevation) {
struct rot_state *rs;
char cmdstr[5] = "AI1;";
char az[5]; /* read azimuth string */
char *p;
azimuth_t tmp = 0;
int err;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
if (!rot)
return -RIG_EINVAL;
do {
err = rotorez_send_priv_cmd(rot, cmdstr);
if (err != RIG_OK)
return err;
rs = &rot->state;
err = read_block(&rs->rotport, az, AZ_READ_LEN);
if (err != AZ_READ_LEN)
return -RIG_ETRUNC;
/*
* The azimuth string returned by the ERC should be 'xxx;'
* beginning at offset 0. A new version may implement the
* Idiom PRess format, hence the test for ';xxx'.
*/
/* Check if remaining chars are digits if az[3] == ';' */
if (az[3] == ';') {
for (p = az; p < az + 3; p++)
if (isdigit((int)*p))
continue;
else
err = -RIG_EINVAL;
} else if (az[0] == ';') {
/* Check if remaining chars are digits if az[0] == ';' */
for (p = az + 1;p < az + 4; p++)
if (isdigit((int)*p))
continue;
else
err = -RIG_EINVAL;
}
} while (err == -RIG_EINVAL);
/*
* Old ERC returns a four octet string consisting of three octets
* followed by ';' ('xxx;') containing the rotor's position in degrees.
* A new version will implement Idiom Press format of ';xxx'.
*
* We test for either case and pass a string of only digits to atof()
*/
az[4] = 0x00; /* NULL terminated string */
p = az;
if (*p == ';')
p++;
else
az[3] = 0x00; /* truncate trailing ';' */
tmp = (azimuth_t)atof(p);
rig_debug(RIG_DEBUG_TRACE, "%s: \"%s\" after conversion = %.1f\n",
__func__, p, tmp);
if (tmp == 360)
tmp = 0;
else if (tmp < 0 || tmp > 359)
return -RIG_EINVAL;
*azimuth = tmp;
*elevation = 0; /* ERC does not support elevation */
rig_debug(RIG_DEBUG_TRACE,
"%s: azimuth = %.1f deg; elevation = %.1f deg\n",
__func__, *azimuth, *elevation);
return RIG_OK;
}
/*
* Stop rotation on RotorEZ, reset on DCU-1
*
* Sending the ";" string will stop rotation on the RotorEZ and reset the DCU-1
*/
static int rotorez_rot_stop(ROT *rot) {
char cmdstr[2] = ";";
int err;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
if (!rot)
return -RIG_EINVAL;
err = rotorez_send_priv_cmd(rot, cmdstr);
if (err != RIG_OK)
return err;
return RIG_OK;
}
static int rotorez_rot_reset(ROT *rot, rot_reset_t reset) {
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
return rotorez_rot_stop(rot);
}
/*
* Stop rotation on DCU-1
*/
static int dcu1_rot_stop(ROT *rot) {
char cmdstr[5] = "AS1;";
int err;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
if (!rot)
return -RIG_EINVAL;
err = rotorez_send_priv_cmd(rot, cmdstr);
if (err != RIG_OK)
return err;
return RIG_OK;
}
/*
* Send configuration character
*
* Rotor-EZ interface will act on these commands immediately --
* no other command or command terminator is needed. Expects token
* define in rotorez.h and *val of '1' or '0' (enable/disable).
*/
static int rotorez_rot_set_conf(ROT *rot, token_t token, const char *val) {
char cmdstr[2];
char c;
int err;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
rig_debug(RIG_DEBUG_TRACE, "%s: token = %d, *val = %c\n", __func__, token, *val);
if (!rot)
return -RIG_EINVAL;
if (*val < '0' || *val > '1')
return -RIG_EINVAL;
switch(token) {
case TOK_ENDPT: /* Endpoint option */
if (*val == '1')
c = 'E';
else
c = 'e';
break;
case TOK_JAM: /* Jam protection */
if (*val == '1')
c = 'J';
else
c = 'j';
break;
case TOK_OVRSHT: /* Overshoot option */
if (*val == '1')
c = 'O';
else
c = 'o';
break;
case TOK_UNSTICK: /* Unstick option */
if (*val == '1')
c = 'S';
else
c = 's';
break;
default:
return -RIG_EINVAL;
}
rig_debug(RIG_DEBUG_TRACE, "%s: c = %c, *val = %c\n", __func__, c, *val);
snprintf(cmdstr, sizeof(cmdstr), "%c", c);
rig_debug(RIG_DEBUG_TRACE, "%s: cmdstr = %s, *val = %c\n",
__func__, cmdstr, *val);
err = rotorez_send_priv_cmd(rot, cmdstr);
if (err != RIG_OK)
return err;
return RIG_OK;
}
/*
* Get Info
* returns the model name string
*/
static const char *rotorez_rot_get_info(ROT *rot)
{
const struct rot_caps *rc;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
if (!rot)
return (const char *)-RIG_EINVAL;
rc = rot->caps;
return rc->model_name;
}
/*
* Send command string to rotor
*/
static int rotorez_send_priv_cmd(ROT *rot, const char *cmdstr) {
struct rot_state *rs;
int err;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
if (!rot)
return -RIG_EINVAL;
rs = &rot->state;
err = write_block(&rs->rotport, cmdstr, strlen(cmdstr));
if (err != RIG_OK)
return err;
return RIG_OK;
}
/*
* Flush the serial input buffer
*
* If the RotorEZ should receive an invalid command, such as an the ';'
* character while the rotor is not in motion, as sent by the rotorez_rot_stop
* function or the 'S' command from `rotctl', it will output the following
* string, "C2000 IDIOM V1.4S " into the input buffer. This function flushes
* the buffer by reading it until a timeout occurs. Once the timeout occurs,
* this function returns and the buffer is presumed to be empty.
*/
static int rotorez_flush_buffer(ROT *rot) {
struct rot_state *rs;
char garbage[32]; /* read buffer */
int err = 0;
size_t MAX = 31;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
if (!rot)
return -RIG_EINVAL;
rs = &rot->state;
do {
err = read_block(&rs->rotport, garbage, MAX);
/* Oops! An IO error was encountered. Bail out! */
if (err == -RIG_EIO)
return -RIG_EIO;
}
while (err != -RIG_ETIMEOUT);
return RIG_OK;
}
/*
* Initialize backend
*/
DECLARE_INITROT_BACKEND(rotorez)
{
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
rot_register(&rotorez_rot_caps);
rot_register(&rotorcard_rot_caps);
rot_register(&dcu_rot_caps);
rot_register(&erc_rot_caps);
return RIG_OK;
}
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