kopia lustrzana https://github.com/Hamlib/Hamlib
300 wiersze
6.9 KiB
C
300 wiersze
6.9 KiB
C
/*
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* Hamlib Prosistel backend
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* Copyright (c) 2015 by Dario Ventura IZ7CRX
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*
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library 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 GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 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> /* String function definitions */
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#include <unistd.h> /* UNIX standard function definitions */
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#include <math.h>
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#include <sys/time.h>
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#include <time.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 "num_stdio.h"
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#include "prosistel.h"
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#define BUFSZ 128
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#define CR "\r"
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#define STX "\x02"
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struct prosistel_rot_priv_data
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{
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azimuth_t az;
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elevation_t el;
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struct timeval tv; /* time last az/el update */
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azimuth_t target_az;
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elevation_t target_el;
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};
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/**
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* prosistel_transaction
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*
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* cmdstr - Command to be sent to the rig.
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* data - Buffer for reply string. Can be NULL, indicating that no reply is
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* is needed, but answer will still be read.
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* data_len - in: Size of buffer. It is the caller's responsibily to provide
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* a large enough buffer for all possible replies for a command.
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*
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* returns:
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* RIG_OK - if no error occurred.
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* RIG_EIO - if an I/O error occurred while sending/receiving data.
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* RIG_ETIMEOUT - if timeout expires without any characters received.
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*/
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static int prosistel_transaction(ROT *rot, const char *cmdstr,
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char *data, size_t data_len)
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{
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struct rot_state *rs;
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int retval;
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int retry_read = 0;
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char replybuf[BUFSZ];
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rs = &rot->state;
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transaction_write:
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serial_flush(&rs->rotport);
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if (cmdstr)
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{
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retval = write_block(&rs->rotport, cmdstr, strlen(cmdstr));
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if (retval != RIG_OK)
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{
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goto transaction_quit;
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}
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}
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/* Always read the reply to know whether the cmd went OK */
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if (!data)
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{
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data = replybuf;
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}
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if (!data_len)
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{
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data_len = BUFSZ;
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}
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memset(data, 0, data_len);
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//remember check for STXA,G,R or STXA,?,XXX,R 10 bytes
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retval = read_string(&rs->rotport, data, 20, CR, strlen(CR));
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if (retval < 0)
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{
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if (retry_read++ < rot->state.rotport.retry)
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{
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goto transaction_write;
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}
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goto transaction_quit;
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}
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//check if reply match issued command
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if (data[0] == 0x02 && data[3] == cmdstr[2])
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{
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rig_debug(RIG_DEBUG_VERBOSE, "%s Command %c reply received\n", __func__,
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data[3]);
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retval = RIG_OK;
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}
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else
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{
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rig_debug(RIG_DEBUG_VERBOSE,
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"%s Error Command issued: %c doesn't match reply %c\n", __func__, cmdstr[2],
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data[3]);
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retval = RIG_EIO;
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}
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transaction_quit:
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return retval;
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}
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static int prosistel_rot_open(ROT *rot)
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{
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char cmdstr[64];
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int retval;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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rot_open(rot);
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//disable CPM mode - CPM stands for Continuous Position Monitor operating mode
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//MCU continuously sends position data when CPM enabled
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num_sprintf(cmdstr, STX"AS"CR);
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retval = prosistel_transaction(rot, cmdstr, NULL, 0);
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return retval;
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}
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static int prosistel_rot_set_position(ROT *rot, azimuth_t az, elevation_t el)
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{
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char cmdstr[64];
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int retval;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called: %.1f %.1f\n", __func__,
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az, el);
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num_sprintf(cmdstr, STX"AG%04.0f"CR, az*10);
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retval = prosistel_transaction(rot, cmdstr, NULL, 0);
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if (retval != RIG_OK)
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{
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return retval;
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}
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/*
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* Elevation section
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*/
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num_sprintf(cmdstr, STX"EG%04.0f"CR, el*10);
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retval = prosistel_transaction(rot, cmdstr, NULL, 0);
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if(retval!=RIG_OK) {
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return retval;
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}
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return retval;
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}
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/*
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* Get position of rotor
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*/
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static int prosistel_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
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{
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char cmdstr[64];
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char data[20];
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float posval;
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int retval;
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num_sprintf(cmdstr, STX"A?"CR);
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retval = prosistel_transaction(rot, cmdstr, data, sizeof(data));
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if (retval != RIG_OK)
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{
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return retval;
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}
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// Example response of 100 azimuth
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// 02 41 2c 3f 2c 31 30 30 30 2c 52 0d .A,?,1000,R.
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int n = sscanf(data, "%*cA,?,%f,%*c.", &posval);
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if (n != 1)
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{
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rig_debug(RIG_DEBUG_ERR, "%s failed to parse azimuth '%s'\n", __func__, data);
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return RIG_EPROTO;
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}
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posval /= 10.0;
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rig_debug(RIG_DEBUG_VERBOSE, "%s got position from '%s' converted to %d\n",
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__func__, data, posval);
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*az = (azimuth_t) posval;
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/*
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* Elevation section
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*/
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num_sprintf(cmdstr, STX"B?"CR);
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retval = prosistel_transaction(rot, cmdstr, data, sizeof(data));
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// Example response of 90 elevation
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// 02 42 2c 3f 2c 30 39 30 30 2c 52 0d .B,?,0900,R.
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n = sscanf(data, "%*cB,?,%f,%*c.", &posval);
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posval /= 10.0;
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if (n != 1)
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{
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rig_debug(RIG_DEBUG_ERR, "%s failed to parse elevation '%s'\n", __func__, data);
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return RIG_EPROTO;
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}
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rig_debug(RIG_DEBUG_VERBOSE, "%s got position from '%s' converted to %d\n",
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__func__, data, posval);
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*el = (elevation_t) posval;
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return retval;
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}
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/*
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* Prosistel rotator capabilities.
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*/
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const struct rot_caps prosistel_rot_caps =
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{
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.rot_model = ROT_MODEL_PROSISTEL,
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.model_name = "Prosistel D",
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.mfg_name = "Prosistel",
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.version = "0.5",
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.copyright = "LGPL",
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.status = RIG_STATUS_STABLE,
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.rot_type = ROT_TYPE_AZIMUTH,
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.port_type = RIG_PORT_SERIAL,
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.serial_rate_min = 9600,
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.serial_rate_max = 9600,
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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 = 3000,
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.retry = 3,
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.min_az = 0.0,
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.max_az = 360.0,
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.min_el = 0.0,
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.max_el = 90.0,
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.rot_open = prosistel_rot_open,
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.set_position = prosistel_rot_set_position,
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.get_position = prosistel_rot_get_position,
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};
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DECLARE_INITROT_BACKEND(prosistel)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "prosistel: _init called\n");
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rot_register(&prosistel_rot_caps);
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return RIG_OK;
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}
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