Hamlib/rotators/gs232a/gs232b.c

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13 KiB
C

/*
* Hamlib Rotator backend - GS-232B
* Copyright (c) 2001-2012 by Stephane Fillod
* (c) 2010 by Kobus Botha
*
*
* 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
// cppcheck-suppress *
#include <stdio.h>
// cppcheck-suppress *
#include <string.h> /* String function definitions */
// cppcheck-suppress *
#include <math.h>
#include "hamlib/rotator.h"
#include "serial.h"
#include "misc.h"
#include "idx_builtin.h"
#define EOM "\r"
#define REPLY_EOM "\n"
#define BUFSZ 64
#define GS232B_LEVELS ROT_LEVEL_SPEED
/**
* gs232b_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.
*
* returns:
* RIG_OK - if no error occurred.
* RIG_EIO - if an I/O error occurred while sending/receiving data.
* RIG_ETIMEOUT - if timeout expires without any characters received.
* RIG_REJECTED - if a negative acknowledge was received or command not
* recognized by rig.
*/
static int
gs232b_transaction(ROT *rot, const char *cmdstr,
char *data, size_t data_len, int no_reply)
{
struct rot_state *rs;
int retval;
int retry_read = 0;
rs = &rot->state;
transaction_write:
rig_flush(&rs->rotport);
if (cmdstr)
{
retval = write_block(&rs->rotport, cmdstr, strlen(cmdstr));
if (retval != RIG_OK)
{
goto transaction_quit;
}
if (!data)
{
write_block(&rs->rotport, EOM, strlen(EOM));
}
}
if (no_reply) { return RIG_OK; } // nothing expected so return
/* If no data requested just return */
if (!data)
{
return RIG_OK;
}
if (!data_len)
{
data_len = BUFSZ;
}
memset(data, 0, data_len);
retval = read_string(&rs->rotport, data, data_len, REPLY_EOM,
strlen(REPLY_EOM));
if (strncmp(data, "\r\n", 2) == 0 || strchr(data, '>'))
{
rig_debug(RIG_DEBUG_ERR, "%s: Invalid response for '%s': '%s' (length=%d)\n",
__func__, cmdstr, data, (int) strlen(data));
dump_hex((unsigned char *)data, strlen(data));
retval = -RIG_EPROTO; // force retry
}
if (retval < 0)
{
if (retry_read++ < rot->state.rotport.retry)
{
goto transaction_write;
}
goto transaction_quit;
}
#if 0
/* Check that command termination is correct */
if (strchr(REPLY_EOM, data[strlen(data) - 1]) == NULL)
{
rig_debug(RIG_DEBUG_ERR,
"%s: Command is not correctly terminated '%s'\n",
__func__, data);
if (retry_read++ < rig->state.rotport.retry)
{
goto transaction_write;
}
retval = -RIG_EPROTO;
goto transaction_quit;
}
#endif
#if 0
https://github.com/Hamlib/Hamlib/issues/272
// If asked for we will check for connection
// we don't expect a reply...just a prompt return
// Seems some GS232B's only echo the CR
if ((strncmp(data, "?>", 2) != 0) && data[0] != 0x0d)
{
rig_debug(RIG_DEBUG_VERBOSE,
"%s: Expected '?>' but got '%s' from cmd '%s'\n",
__func__, data, cmdstr);
return -RIG_EPROTO;
}
#endif
if (data[0] == '?')
{
/* Invalid command */
rig_debug(RIG_DEBUG_VERBOSE, "%s: Error for '%s': '%s'\n",
__func__, cmdstr, data);
retval = -RIG_EPROTO;
goto transaction_quit;
}
retval = RIG_OK;
transaction_quit:
return retval;
}
static int
gs232b_rot_set_position(ROT *rot, azimuth_t az, elevation_t el)
{
char cmdstr[64];
int retval;
unsigned u_az, u_el;
rig_debug(RIG_DEBUG_TRACE, "%s called: az=%.02f el=%.02f\n", __func__, az,
el);
if (az < 0.0)
{
az = az + 360.0;
}
u_az = (unsigned) rint(az);
u_el = (unsigned) rint(el);
sprintf(cmdstr, "W%03u %03u" EOM, u_az, u_el);
#if 0 // do any GS232B models need a reply to the W command?
retval = gs232b_transaction(rot, cmdstr, buf, sizeof(buf), 0);
#else
retval = gs232b_transaction(rot, cmdstr, NULL, 0, 0);
if (retval != RIG_OK)
{
return retval;
}
#endif
return RIG_OK;
}
static int
gs232b_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
{
char posbuf[32];
int retval, int_az = 0, int_el = 0;
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
retval = gs232b_transaction(rot, "C2" EOM, posbuf, sizeof(posbuf), 0);
if (retval != RIG_OK || strlen(posbuf) < 10)
{
return retval < 0 ? retval : -RIG_EPROTO;
}
/* parse "AZ=aaa EL=eee" */
/* With the format string containing a space character as one of the
* directives, any amount of space is matched, including none in the input.
*/
// There's a 12PR1A rotor that only returns AZ so we may only get AZ=xxx
if (sscanf(posbuf, "AZ=%d EL=%d", &int_az, &int_el) == 0)
{
// only give error if we didn't parse anything
rig_debug(RIG_DEBUG_ERR, "%s: wrong reply '%s', expected AZ=xxx EL=xxx\n",
__func__,
posbuf);
return -RIG_EPROTO;
}
*az = (azimuth_t) int_az;
*el = (elevation_t) int_el;
rig_debug(RIG_DEBUG_TRACE, "%s: (az, el) = (%.0f, %.0f)\n",
__func__, *az, *el);
return RIG_OK;
}
static int
gs232b_rot_stop(ROT *rot)
{
int retval;
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
/* All Stop */
retval = gs232b_transaction(rot, "S" EOM, NULL, 0, 0);
if (retval != RIG_OK)
{
return retval;
}
return RIG_OK;
}
static int gs232b_rot_get_level(ROT *rot, setting_t level, value_t *val)
{
struct rot_state *rs = &rot->state;
rig_debug(RIG_DEBUG_VERBOSE, "%s called: %s\n", __func__, rot_strlevel(level));
switch (level)
{
case ROT_LEVEL_SPEED:
val->i = rs->current_speed;
break;
default:
return -RIG_ENAVAIL;
}
return RIG_OK;
}
static int gs232b_rot_set_level(ROT *rot, setting_t level, value_t val)
{
struct rot_state *rs = &rot->state;
char cmdstr[24];
int retval;
rig_debug(RIG_DEBUG_VERBOSE, "%s called: %s\n", __func__, rot_strlevel(level));
switch (level)
{
case ROT_LEVEL_SPEED:
{
int speed = val.i;
if (speed < 1)
{
speed = 1;
}
else if (speed > 4)
{
speed = 4;
}
/* between 1 (slowest) and 4 (fastest) */
sprintf(cmdstr, "X%u" EOM, speed);
retval = gs232b_transaction(rot, cmdstr, NULL, 0, 1);
if (retval != RIG_OK)
{
return retval;
}
rs->current_speed = speed;
break;
}
default:
return -RIG_ENAVAIL;
}
return RIG_OK;
}
static int gs232b_rot_move(ROT *rot, int direction, int speed)
{
char cmdstr[24];
int retval;
rig_debug(RIG_DEBUG_TRACE, "%s called %d %d\n", __func__,
direction, speed);
if (speed != ROT_SPEED_NOCHANGE)
{
value_t gs232b_speed;
if (speed < 1 || speed > 100)
{
rig_debug(RIG_DEBUG_ERR, "%s: Invalid speed value (1-100)! (%d)\n", __func__,
speed);
return -RIG_EINVAL;
}
gs232b_speed.i = (3 * speed) / 100 + 1;
retval = gs232b_rot_set_level(rot, ROT_LEVEL_SPEED, gs232b_speed);
if (retval != RIG_OK)
{
return retval;
}
}
switch (direction)
{
case ROT_MOVE_UP: /* Elevation increase */
sprintf(cmdstr, "U" EOM);
break;
case ROT_MOVE_DOWN: /* Elevation decrease */
sprintf(cmdstr, "D" EOM);
break;
case ROT_MOVE_LEFT: /* Azimuth decrease */
sprintf(cmdstr, "L" EOM);
break;
case ROT_MOVE_RIGHT: /* Azimuth increase */
sprintf(cmdstr, "R" EOM);
break;
default:
rig_debug(RIG_DEBUG_ERR, "%s: Invalid direction value! (%d)\n",
__func__, direction);
return -RIG_EINVAL;
}
retval = gs232b_transaction(rot, cmdstr, NULL, 0, 1);
if (retval != RIG_OK)
{
return retval;
}
return RIG_OK;
}
static int gs232b_rot_init(ROT *rot)
{
struct rot_state *rs = &rot->state;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
// Set default speed to half of maximum
rs->current_speed = 3;
return RIG_OK;
}
/* ************************************************************************* */
/*
* Generic GS232B rotator capabilities.
*/
const struct rot_caps gs232b_rot_caps =
{
ROT_MODEL(ROT_MODEL_GS232B),
.model_name = "GS-232B",
.mfg_name = "Yaesu",
.version = "20201203.0",
.copyright = "LGPL",
.status = RIG_STATUS_STABLE,
.rot_type = ROT_TYPE_AZEL,
.port_type = RIG_PORT_SERIAL,
.serial_rate_min = 1200,
.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 = 50,
.timeout = 400,
.retry = 3,
.min_az = -180.0,
.max_az = 450.0, /* vary according to rotator type */
.min_el = 0.0,
.max_el = 180.0, /* requires G-5400B, G-5600B, G-5500, or G-500/G-550 */
.has_get_level = GS232B_LEVELS,
.has_set_level = ROT_LEVEL_SET(GS232B_LEVELS),
.level_gran = { [ROT_LVL_SPEED] = { .min = { .i = 1 }, .max = { .i = 4 }, .step = { .i = 1 } } },
.rot_init = gs232b_rot_init,
.get_position = gs232b_rot_get_position,
.set_position = gs232b_rot_set_position,
.stop = gs232b_rot_stop,
.move = gs232b_rot_move,
.get_level = gs232b_rot_get_level,
.set_level = gs232b_rot_set_level,
};
/* ************************************************************************* */
/*
* Generic GS232B azimuth rotator capabilities.
*/
const struct rot_caps gs232b_az_rot_caps =
{
ROT_MODEL(ROT_MODEL_GS232B_AZ),
.model_name = "GS-232B azimuth",
.mfg_name = "Yaesu",
.version = "20201203.0",
.copyright = "LGPL",
.status = RIG_STATUS_STABLE,
.rot_type = ROT_TYPE_AZIMUTH,
.port_type = RIG_PORT_SERIAL,
.serial_rate_min = 1200,
.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 = 50,
.timeout = 400,
.retry = 3,
.min_az = -180.0,
.max_az = 450.0, /* vary according to rotator type */
.min_el = 0.0,
.max_el = 0.0,
.has_get_level = GS232B_LEVELS,
.has_set_level = ROT_LEVEL_SET(GS232B_LEVELS),
.level_gran = { [ROT_LVL_SPEED] = { .min = { .i = 1 }, .max = { .i = 4 }, .step = { .i = 1 } } },
.rot_init = gs232b_rot_init,
.get_position = gs232b_rot_get_position,
.set_position = gs232b_rot_set_position,
.stop = gs232b_rot_stop,
.move = gs232b_rot_move,
.get_level = gs232b_rot_get_level,
.set_level = gs232b_rot_set_level,
};
/* ************************************************************************* */
/*
* Generic GS232B elevation rotator capabilities.
*/
const struct rot_caps gs232b_el_rot_caps =
{
ROT_MODEL(ROT_MODEL_GS232B_EL),
.model_name = "GS-232B elevation",
.mfg_name = "Yaesu",
.version = "20201203.0",
.copyright = "LGPL",
.status = RIG_STATUS_STABLE,
.rot_type = ROT_TYPE_ELEVATION,
.port_type = RIG_PORT_SERIAL,
.serial_rate_min = 1200,
.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 = 50,
.timeout = 400,
.retry = 3,
.min_az = 0.0,
.max_az = 0.0,
.min_el = 0.0,
.max_el = 180.0, /* requires G-5400B, G-5600B, G-5500, or G-500/G-550 */
.has_get_level = GS232B_LEVELS,
.has_set_level = ROT_LEVEL_SET(GS232B_LEVELS),
.level_gran = { [ROT_LVL_SPEED] = { .min = { .i = 1 }, .max = { .i = 4 }, .step = { .i = 1 } } },
.rot_init = gs232b_rot_init,
.get_position = gs232b_rot_get_position,
.set_position = gs232b_rot_set_position,
.stop = gs232b_rot_stop,
.move = gs232b_rot_move,
.get_level = gs232b_rot_get_level,
.set_level = gs232b_rot_set_level,
};
/* end of file */