kopia lustrzana https://github.com/Hamlib/Hamlib
658 wiersze
16 KiB
C
658 wiersze
16 KiB
C
/*
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* Hamlib Rotator backend - Easycom
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* Copyright (c) 2001-2003 by Stephane Fillod
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* Contributed by Francois Retief <fgretief@sun.ac.za>
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* Copyright (c) 2014 by Alexander Schultze <alexschultze@gmail.com>
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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 "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 "idx_builtin.h"
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#include "easycomm.h"
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#define EASYCOMM3_LEVELS ROT_LEVEL_SPEED
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/* ************************************************************************* */
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/**
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* easycomm_transaction
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*
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* Assumes rot!=NULL and cmdstr!=NULL
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*
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* cmdstr - string to send to rotator
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* data - buffer for reply string
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* data_len - (input) Maximum size of buffer
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* (output) Number of bytes read.
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*/
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static int
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easycomm_transaction(ROT *rot, const char *cmdstr, 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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rig_debug(RIG_DEBUG_TRACE, "%s called: %s\n", __func__, cmdstr);
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if (!rot)
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{
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return -RIG_EINVAL;
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}
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rs = &rot->state;
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rig_flush(&rs->rotport);
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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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if (data == NULL)
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{
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return RIG_OK; /* don't want a reply */
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}
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retval = read_string(&rs->rotport, data, data_len, "\n", 1);
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if (retval < 0)
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{
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rig_debug(RIG_DEBUG_TRACE, "%s read_string failed with status %d\n", __func__,
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retval);
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goto transaction_quit;
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}
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else
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{
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rig_debug(RIG_DEBUG_TRACE, "%s read_string: %s\n", __func__, data);
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retval = RIG_OK;
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}
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transaction_quit:
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return retval;
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}
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/* ************************************************************************* */
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static int
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easycomm_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_TRACE, "%s called: %f %f\n", __func__, az, el);
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if (rot->caps->rot_model == ROT_MODEL_EASYCOMM1)
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{
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sprintf(cmdstr, "AZ%.1f EL%.1f UP000 XXX DN000 XXX\n", az, el);
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}
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else // for easycomm 2 & 3 and upwards
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{
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sprintf(cmdstr, "AZ%.1f EL%.1f\n", az, el);
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}
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retval = easycomm_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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/* TODO: Error processing */
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return RIG_OK;
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}
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static int
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easycomm_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
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{
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char cmdstr[16], ackbuf[32];
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int retval;
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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sprintf(cmdstr, "AZ EL \n");
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retval = easycomm_transaction(rot, cmdstr, ackbuf, sizeof(ackbuf));
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if (retval != RIG_OK)
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{
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rig_debug(RIG_DEBUG_TRACE, "%s got error: %d\n", __func__, retval);
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return retval;
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}
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/* Parse parse string to extract AZ,EL values */
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rig_debug(RIG_DEBUG_TRACE, "%s got response: %s\n", __func__, ackbuf);
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retval = sscanf(ackbuf, "AZ%f EL%f", az, el);
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if (retval != 2)
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{
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rig_debug(RIG_DEBUG_ERR, "%s: unknown response (%s)\n", __func__, ackbuf);
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return -RIG_ERJCTED;
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}
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return RIG_OK;
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}
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static int
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easycomm_rot_stop(ROT *rot)
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{
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int retval;
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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retval = easycomm_transaction(rot, "SA SE \n", 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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/* TODO: error processing */
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return RIG_OK;
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}
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static int
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easycomm_rot_reset(ROT *rot, rot_reset_t rst)
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{
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int retval;
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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retval = easycomm_transaction(rot, "RESET\n", NULL, 0);
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if (retval != RIG_OK) /* Custom command (not in Easycomm) */
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{
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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
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easycomm_rot_park(ROT *rot)
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{
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int retval;
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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retval = easycomm_transaction(rot, "PARK\n", NULL, 0);
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if (retval != RIG_OK) /* Custom command (not in Easycomm) */
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{
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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
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easycomm_rot_move(ROT *rot, int direction, int speed)
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{
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char cmdstr[24];
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int retval;
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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/* For EasyComm 1/2/3 */
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switch (direction)
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{
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case ROT_MOVE_UP: /* Elevation increase */
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sprintf(cmdstr, "MU\n");
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break;
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case ROT_MOVE_DOWN: /* Elevation decrease */
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sprintf(cmdstr, "MD\n");
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break;
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case ROT_MOVE_LEFT: /* Azimuth decrease */
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sprintf(cmdstr, "ML\n");
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break;
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case ROT_MOVE_RIGHT: /* Azimuth increase */
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sprintf(cmdstr, "MR\n");
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break;
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default:
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rig_debug(RIG_DEBUG_ERR, "%s: Invalid direction value! (%d)\n", __func__,
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direction);
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return -RIG_EINVAL;
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}
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retval = easycomm_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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return RIG_OK;
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}
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static int easycomm_rot_move_velocity(ROT *rot, int direction, int speed)
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{
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struct rot_state *rs = &rot->state;
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char cmdstr[24];
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int retval;
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int easycomm_speed;
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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if (speed == ROT_SPEED_NOCHANGE) {
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easycomm_speed = rs->current_speed;
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} else {
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if (speed < 1 || speed > 100)
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{
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rig_debug(RIG_DEBUG_ERR, "%s: Invalid speed value (1-100)! (%d)\n", __func__,
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speed);
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return -RIG_EINVAL;
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}
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easycomm_speed = ((speed - 1) * 100);
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rs->current_speed = easycomm_speed;
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}
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/* Speed for EasyComm 3 */
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switch (direction)
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{
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case ROT_MOVE_UP: /* Elevation increase */
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sprintf(cmdstr, "VU%04d\n", easycomm_speed);
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break;
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case ROT_MOVE_DOWN: /* Elevation decrease */
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sprintf(cmdstr, "VD%04d\n", easycomm_speed);
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break;
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case ROT_MOVE_LEFT: /* Azimuth decrease */
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sprintf(cmdstr, "VL%04d\n", easycomm_speed);
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break;
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case ROT_MOVE_RIGHT: /* Azimuth increase */
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sprintf(cmdstr, "VR%04d\n", easycomm_speed);
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break;
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default:
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rig_debug(RIG_DEBUG_ERR, "%s: Invalid direction value! (%d)\n", __func__,
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direction);
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return -RIG_EINVAL;
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}
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retval = easycomm_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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return RIG_OK;
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}
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static int easycomm_rot_get_level(ROT *rot, setting_t level, value_t *val)
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{
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struct rot_state *rs = &rot->state;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called: %s\n", __func__, rot_strlevel(level));
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switch (level) {
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case ROT_LEVEL_SPEED:
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val->i = rs->current_speed;
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break;
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default:
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return -RIG_ENAVAIL;
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}
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return RIG_OK;
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}
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static int easycomm_rot_set_level(ROT *rot, setting_t level, value_t val)
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{
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struct rot_state *rs = &rot->state;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called: %s\n", __func__, rot_strlevel(level));
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switch (level) {
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case ROT_LEVEL_SPEED: {
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int speed = val.i;
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if (speed < 0) {
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speed = 0;
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} else if (speed > 9999) {
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speed = 9999;
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}
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rs->current_speed = speed;
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break;
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}
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default:
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return -RIG_ENAVAIL;
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}
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return RIG_OK;
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}
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/*
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* Get Info
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* returns the model name string
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*/
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static const char *easycomm_rot_get_info(ROT *rot)
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{
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const struct rot_caps *rc;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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if (!rot)
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{
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return (const char *) - RIG_EINVAL;
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}
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rc = rot->caps;
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return rc->model_name;
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}
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/*
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* Receive status / configuration / output
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*
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* For configuration registers, *val must contain string of register e.g. '0'-'f'
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*/
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static int easycomm_rot_get_conf(ROT *rot, token_t token, char *val)
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{
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char cmdstr[16], ackbuf[32];
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int retval;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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rig_debug(RIG_DEBUG_TRACE, "%s: token = %d", __func__, (int)token);
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if (!rot)
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{
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return -RIG_EINVAL;
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}
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switch (token)
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{
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case TOK_GET_STATUS:
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sprintf(cmdstr, "GS\n;");
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break;
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case TOK_GET_ERRORS:
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sprintf(cmdstr, "GE\n;");
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break;
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case TOK_GET_INPUT:
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sprintf(cmdstr, "IP\n;");
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break;
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case TOK_GET_ANALOG_INPUT:
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sprintf(cmdstr, "AN\n;");
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break;
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case TOK_GET_VERSION:
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sprintf(cmdstr, "VE\n;");
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break;
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case TOK_GET_CONFIG:
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sprintf(cmdstr, "CR %c\n;", *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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rig_debug(RIG_DEBUG_TRACE, "%s: cmdstr = %s, *val = %c\n", __func__, cmdstr,
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*val);
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retval = easycomm_transaction(rot, cmdstr, ackbuf, sizeof(ackbuf));
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if (retval != RIG_OK)
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{
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rig_debug(RIG_DEBUG_TRACE, "%s got error: %d\n", __func__, retval);
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return retval;
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}
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rig_debug(RIG_DEBUG_TRACE, "%s got response: %s\n", __func__, ackbuf);
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/* Return given string at correct position*/
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memcpy(val, ackbuf + 2, sizeof(ackbuf) - 2); /* CCxxxxxx */
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return RIG_OK;
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}
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/*
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* Set configuration
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*
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* For configuration registers, *val must contain char of register e.g. '0'-'f' followed by setting
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* e.g. x,yyyyy
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*/
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static int easycomm_rot_set_conf(ROT *rot, token_t token, const char *val)
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{
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char cmdstr[16];
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int retval;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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rig_debug(RIG_DEBUG_TRACE, "%s: token = %d", __func__, (int)token);
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if (!rot)
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{
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return -RIG_EINVAL;
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}
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switch (token)
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{
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case TOK_SET_CONFIG:
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sprintf(cmdstr, "CW%s\n;", 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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rig_debug(RIG_DEBUG_TRACE, "%s: cmdstr = %s, *val = %c\n", __func__, cmdstr,
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*val);
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retval = easycomm_transaction(rot, cmdstr, NULL, 0);
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|
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if (retval != RIG_OK)
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{
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rig_debug(RIG_DEBUG_TRACE, "%s got error: %d\n", __func__, retval);
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return retval;
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}
|
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|
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return RIG_OK;
|
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}
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|
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static int easycomm_rot_init(ROT *rot)
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{
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struct rot_state *rs = &rot->state;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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|
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// Set default speed to half of maximum
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rs->current_speed = 5000;
|
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|
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return RIG_OK;
|
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}
|
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|
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/* ************************************************************************* */
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/*
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* Easycomm rotator capabilities.
|
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*/
|
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|
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/** EasycommI implement essentially only the set position function, but
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* I included the stop command too. The radio control tags is only included
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* as dummy entries because the spec require them.
|
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*/
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const struct rot_caps easycomm1_rot_caps =
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{
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ROT_MODEL(ROT_MODEL_EASYCOMM1),
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.model_name = "EasycommI",
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.mfg_name = "Hamlib",
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.version = "20191206.0",
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.copyright = "LGPL",
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.status = RIG_STATUS_BETA,
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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 = 9600,
|
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.serial_rate_max = 19200,
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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 = 200,
|
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.retry = 3,
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|
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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 = 180.0,
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|
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.priv = NULL, /* priv */
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|
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.set_position = easycomm_rot_set_position,
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.stop = easycomm_rot_stop,
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.get_info = easycomm_rot_get_info,
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};
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|
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/* EasycommII implement most of the functions. Again the radio tags
|
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* is only dummy values.
|
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*/
|
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const struct rot_caps easycomm2_rot_caps =
|
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{
|
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ROT_MODEL(ROT_MODEL_EASYCOMM2),
|
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.model_name = "EasycommII",
|
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.mfg_name = "Hamlib",
|
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.version = "20191206.0",
|
|
.copyright = "LGPL",
|
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.status = RIG_STATUS_BETA,
|
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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 = 9600,
|
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.serial_rate_max = 19200,
|
|
.serial_data_bits = 8,
|
|
.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 = 200,
|
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.retry = 3,
|
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|
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.min_az = 0.0,
|
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.max_az = 360.0,
|
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.min_el = 0.0,
|
|
.max_el = 180.0,
|
|
|
|
.priv = NULL, /* priv */
|
|
|
|
.rot_init = NULL,
|
|
.rot_cleanup = NULL,
|
|
.rot_open = NULL,
|
|
.rot_close = NULL,
|
|
|
|
.get_position = easycomm_rot_get_position,
|
|
.set_position = easycomm_rot_set_position,
|
|
.stop = easycomm_rot_stop,
|
|
.park = easycomm_rot_park,
|
|
.reset = easycomm_rot_reset,
|
|
.move = easycomm_rot_move,
|
|
.set_conf = easycomm_rot_set_conf,
|
|
.get_conf = easycomm_rot_get_conf,
|
|
.get_info = easycomm_rot_get_info,
|
|
};
|
|
|
|
/* EasycommIII provides changes Moving functions and info.
|
|
*/
|
|
const struct rot_caps easycomm3_rot_caps =
|
|
{
|
|
ROT_MODEL(ROT_MODEL_EASYCOMM3),
|
|
.model_name = "EasycommIII",
|
|
.mfg_name = "Hamlib",
|
|
.version = "20201203.0",
|
|
.copyright = "LGPL",
|
|
.status = RIG_STATUS_ALPHA,
|
|
.rot_type = ROT_TYPE_OTHER,
|
|
.port_type = RIG_PORT_SERIAL,
|
|
.serial_rate_min = 9600,
|
|
.serial_rate_max = 19200,
|
|
.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 = 200,
|
|
.retry = 3,
|
|
|
|
.min_az = 0.0,
|
|
.max_az = 360.0,
|
|
.min_el = 0.0,
|
|
.max_el = 180.0,
|
|
|
|
.priv = NULL, /* priv */
|
|
|
|
.has_get_level = EASYCOMM3_LEVELS,
|
|
.has_set_level = ROT_LEVEL_SET(EASYCOMM3_LEVELS),
|
|
|
|
.level_gran = { [ROT_LVL_SPEED] = { .min = { .i = 0 }, .max = { .i = 9999 }, .step = { .i = 1 } } },
|
|
|
|
.rot_init = easycomm_rot_init,
|
|
.rot_cleanup = NULL,
|
|
.rot_open = NULL,
|
|
.rot_close = NULL,
|
|
|
|
.get_position = easycomm_rot_get_position,
|
|
.set_position = easycomm_rot_set_position,
|
|
.stop = easycomm_rot_stop,
|
|
.park = easycomm_rot_park,
|
|
.reset = easycomm_rot_reset,
|
|
.move = easycomm_rot_move_velocity,
|
|
.get_level = easycomm_rot_get_level,
|
|
.set_level = easycomm_rot_set_level,
|
|
.set_conf = easycomm_rot_set_conf,
|
|
.get_conf = easycomm_rot_get_conf,
|
|
.get_info = easycomm_rot_get_info,
|
|
};
|
|
|
|
/* ************************************************************************* */
|
|
|
|
DECLARE_INITROT_BACKEND(easycomm)
|
|
{
|
|
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
|
|
|
|
rot_register(&easycomm1_rot_caps);
|
|
rot_register(&easycomm2_rot_caps);
|
|
rot_register(&easycomm3_rot_caps);
|
|
return RIG_OK;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
/* end of file */
|