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Hamlib/ioptron/rot_ioptron.c

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8.7 KiB
C
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/*
* Hamlib Rotator backend - Celestron
* Copyright (c) 2011 by Stephane Fillod
*
* 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 <stddef.h>
#include <stdint.h>
#include "hamlib/rotator.h"
#include "serial.h"
#include "misc.h"
#include "register.h"
#include "rot_ioptron.h"
#define ACK "#"
#define ACK1 '1'
#define BUFSZ 128
/**
* ioptron_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.
*
* COMMANDS note: as of 12/2018 a mixture of V2 and V3
* | TTTTTTTT(T) .01 arc seconds
* | alt- sign with 8 digits, az - 9 digits |
* | Command | Atribute | Return value | Description |
* -------------------------------------------------------------------|
* | :GAC# | .01 arcsec | sTTTTTTTTTTTTTTTTT# | gets alt(s8), az(9) |
* | :SzTTTTTTTTT# | .01 arcsec | '1' == OK | Set Target azimuth |
* | :SasTTTTTTTT# |.01 arcsec | '1' == OK | Set Target elevation |
* | :Q# | - | '1' == OK | Halt all slewing |
* | :ST0# | - | '1' == OK | Halt tracking |
* | :MS# | - | '1' == OK | GoTo Target |
* |
* returns:
* RIG_OK - if no error occured.
* RIG_EIO - if an I/O error occured while sending/receiving data.
* RIG_ETIMEOUT - if timeout expires without any characters received.
*/
static int
ioptron_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:
serial_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;
}
/** the answer */
memset(data, 0, data_len);
retval = read_string(&rs->rotport, data, data_len, ACK, strlen(ACK));
if (retval < 0)
{
if (retry_read++ < rot->state.rotport.retry)
{
goto transaction_write;
}
goto transaction_quit;
}
/** check for acknowledge */
if (retval < 1)
{
rig_debug(RIG_DEBUG_ERR, "%s: unexpected response, len %d: '%s'\n", __func__,
retval, data);
return -RIG_EPROTO;
}
retval = RIG_OK;
transaction_quit:
return retval;
}
/**
* Opens the Port and sets all needed parametes for operation
* as of 12/2018 initiates mount with V3 :MountInfo#
*/
static int ioptron_open(ROT *rot)
{
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
return ioptron_transaction(rot, ":Mountinfo#", NULL, 0);
}
/** sets mount position, requires 4 steps
* set azmiuth
* set altitude
* goto set
* stop tracking - mount starts tracking after goto
*/
static int
ioptron_set_position(ROT *rot, azimuth_t az, elevation_t el)
{
char cmdstr[32];
char retbuf[10];
int retval;
float faz, fel;
rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el);
/* units .01 arc sec */
faz = az * 360000;
fel = el * 360000;
/* set azmiuth, returns '1" if OK */
sprintf(cmdstr, ":Sz%09.0f#", faz);
retval = ioptron_transaction(rot, cmdstr, retbuf, sizeof(retbuf));
if (retval != RIG_OK || retbuf[0] != ACK1)
{
return -RIG_EPROTO;
}
/* set altitude, returns '1" if OK */
sprintf(cmdstr, ":Sa+%08.0f#", fel);
retval = ioptron_transaction(rot, cmdstr, retbuf, sizeof(retbuf));
if (retval != RIG_OK || retbuf[0] != ACK1)
{
return -RIG_EPROTO;
}
/* move to set target, V2 command, returns '1" if OK */
sprintf(cmdstr, ":MS#"); //
retval = ioptron_transaction(rot, cmdstr, retbuf, sizeof(retbuf));
if (retval != RIG_OK || retbuf[0] != ACK1)
{
return -RIG_EPROTO;
}
/* stop tracking, V2 command, returns '1" if OK */
sprintf(cmdstr, ":ST0#");
retval = ioptron_transaction(rot, cmdstr, retbuf, sizeof(retbuf));
if (retval != RIG_OK || retbuf[0] != ACK1)
{
return -RIG_EPROTO;
}
return retval;
}
/** gets current position */
static int
ioptron_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
{
char posbuf[32];
int retval;
float w;
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
/** Get Az-Alt */
retval = ioptron_transaction(rot, ":GAC#", posbuf, sizeof(posbuf));
if (retval != RIG_OK || strlen(posbuf) < 18)
{
return retval < 0 ? retval : -RIG_EPROTO;
}
if (sscanf(posbuf, "%9f", &w) != 1)
{
return -RIG_EPROTO;
}
/** convert from .01 arc sec to degrees */
*el = ((elevation_t)w / 360000.);
if (sscanf(posbuf + 9, "%9f", &w) != 1)
{
return -RIG_EPROTO;
}
*az = ((azimuth_t)w / 360000.);
rig_debug(RIG_DEBUG_TRACE, "%s: (az, el) = (%.1f, %.1f)\n",
__func__, *az, *el);
return RIG_OK;
}
/** stop everything **/
static int
ioptron_stop(ROT *rot)
{
int retval;
char retbuf[10];
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
/** stop slew, returns "1" if OK */
retval = ioptron_transaction(rot, ":Q#", retbuf, 10);
if (retval != RIG_OK || retbuf[0] != ACK1)
{
return -RIG_EPROTO;
}
/** stops tracking returns "1" if OK */
retval = ioptron_transaction(rot, ":ST0#", retbuf, 10);
if (retval != RIG_OK || retbuf[0] != ACK1)
{
return -RIG_EPROTO;
}
return retval;
}
/** get mount type code, initializes mount */
static const char *
ioptron_get_info(ROT *rot)
{
static char info[16];
char str[6];
int retval;
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
retval = ioptron_transaction(rot, ":MountInfo#", str, sizeof(str));
rig_debug(RIG_DEBUG_TRACE, "retval, RIG_OK str %d %d %str\n", retval, RIG_OK,
str);
sprintf(info, "MountInfo %s", str);
return info;
}
/** *************************************************************************
*
* ioptron mount capabilities.
*
* Protocol documentation:
* from ioptron:
* RS232-Command_Language pdf
* note that iOptron is currently (12/2018) using a mix of V2 and V3 commands :(
*/
const struct rot_caps ioptron_rot_caps =
{
.rot_model = ROT_MODEL_IOPTRON,
.model_name = "iOptron",
.mfg_name = "iOptron",
.version = "0.1",
.copyright = "LGPL",
.status = RIG_STATUS_ALPHA,
.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, /* worst case scenario 3500 */
.retry = 1,
.min_az = 0.0,
.max_az = 360.0,
.min_el = 0.0,
.max_el = 180.0,
.rot_open = ioptron_open,
.get_position = ioptron_get_position,
.set_position = ioptron_set_position,
.stop = ioptron_stop,
.get_info = ioptron_get_info,
};
/* ****************************************************************** */
DECLARE_INITROT_BACKEND(ioptron)
{
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
rot_register(&ioptron_rot_caps);
return RIG_OK;
}
/* ****************************************************************** */
/* end of file */
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