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Hamlib/rotators/gs232a/gs232.c

395 wiersze
10 KiB
C
Czysty Wina Historia

/*
* Hamlib Rotator backend - GS-232
* Copyright (c) 2001-2010 by Stephane Fillod
* Copyright (c) 2009 by Jason Winningham
*
* 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
*
*/
#include <stdio.h>
#include <string.h> /* String function definitions */
#include <math.h>
#include "hamlib/rotator.h"
#include "serial.h"
#define EOM "\r"
#define REPLY_EOM "\r"
#define BUFSZ 64
/**
* gs232_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
gs232_transaction(ROT *rot, const char *cmdstr,
char *data, size_t data_len)
{
hamlib_port_t *rotp = ROTPORT(rot);
int retval;
int retry_read = 0;
transaction_write:
rig_flush(rotp);
if (cmdstr)
{
retval = write_block(rotp, (unsigned char *) cmdstr, strlen(cmdstr));
if (retval != RIG_OK)
{
goto transaction_quit;
}
}
/* Always read the reply to know whether the cmd went OK */
if (!data)
{
return RIG_OK;
}
if (!data_len)
{
data_len = BUFSZ;
}
memset(data, 0, data_len);
retval = read_string(rotp, (unsigned char *) data, data_len,
REPLY_EOM, strlen(REPLY_EOM), 0, 1);
if (retval < 0)
{
if (retry_read++ < rotp->retry)
{
goto transaction_write;
}
goto transaction_quit;
}
#ifdef XXREMOVEDXX
/* 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++ < rotp->retry)
{
goto transaction_write;
}
retval = -RIG_EPROTO;
goto transaction_quit;
}
#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;
}
/*
* write-only transaction, no data returned by controller
*/
static int
gs232_wo_transaction(ROT *rot, const char *cmdstr,
char *data, size_t data_len)
{
return write_block(ROTPORT(rot), (unsigned char *) cmdstr,
strlen(cmdstr));
}
static int
gs232_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: %f %f\n", __func__, az, el);
if (az < 0.0)
{
az = az + 360.0;
}
u_az = (unsigned)rint(az);
u_el = (unsigned)rint(el);
SNPRINTF(cmdstr, sizeof(cmdstr), "W%03u %03u" EOM, u_az, u_el);
retval = gs232_wo_transaction(rot, cmdstr, NULL, 0);
if (retval != RIG_OK)
{
return retval;
}
return RIG_OK;
}
static int
gs232_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
{
char posbuf[32];
// these really shouldn't be static but it's fixing faulty firmware -- see below
static int expected = 12;
static int expected_flag = 0;
int retval;
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
if (expected_flag == 0)
{
ROTPORT(rot)->retry = 0;
expected_flag = 1;
}
retval = gs232_transaction(rot, "C2" EOM, posbuf, expected);
if (strlen(posbuf) < 10)
{
return retval;
}
// AF6SA WRC - Wifi Rotator Controller does not provide EOM byte so we allow timeout
// Still returns 10 chars though
if (strlen(posbuf) == 10 && expected == 12)
{
rig_debug(RIG_DEBUG_WARN,
"%s: rotor didn't send CR...assuming it won't in the future\n", __func__);
retval = RIG_OK;
expected = 11; // we won't expect the CR
ROTPORT(rot)->retry = 3;
}
/* parse */
if (sscanf(posbuf + 2, "%f", az) != 1)
{
rig_debug(RIG_DEBUG_ERR, "%s: wrong reply '%s'\n", __func__, posbuf);
return -RIG_EPROTO;
}
if (sscanf(posbuf + 7, "%f", el) != 1)
{
rig_debug(RIG_DEBUG_ERR, "%s: wrong reply '%s'\n", __func__, posbuf);
return -RIG_EPROTO;
}
rig_debug(RIG_DEBUG_TRACE, "%s: (az, el) = (%.1f, %.1f)\n",
__func__, *az, *el);
return RIG_OK;
}
static int
gs232_rot_stop(ROT *rot)
{
int retval;
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
/* All Stop */
retval = gs232_wo_transaction(rot, "S" EOM, NULL, 0);
if (retval != RIG_OK)
{
return retval;
}
return RIG_OK;
}
/* ************************************************************************* */
/*
* Generic GS232 Protocol (including those not correctly implemented) rotator capabilities.
*/
const struct rot_caps gs232_generic_rot_caps =
{
ROT_MODEL(ROT_MODEL_GS232_GENERIC),
.model_name = "GS-232 Generic",
.mfg_name = "Various",
.version = "20240921.0",
.copyright = "LGPL",
.status = RIG_STATUS_STABLE,
.rot_type = ROT_TYPE_AZEL,
.port_type = RIG_PORT_SERIAL,
.serial_rate_min = 150,
.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 = 400,
.retry = 1,
.min_az = -180.0,
.max_az = 450.0, /* vary according to rotator type */
.min_el = 0.0,
.max_el = 180.0,
.get_position = gs232_rot_get_position,
.set_position = gs232_rot_set_position,
.stop = gs232_rot_stop,
};
/* ************************************************************************* */
/*
* Generic AMSAT LVB Tracker rotator capabilities.
*/
const struct rot_caps amsat_lvb_rot_caps =
{
ROT_MODEL(ROT_MODEL_LVB),
.model_name = "LVB Tracker",
.mfg_name = "AMSAT",
.version = "20240921.0",
.copyright = "LGPL",
.status = RIG_STATUS_STABLE,
.rot_type = ROT_TYPE_AZEL,
.port_type = RIG_PORT_SERIAL,
.serial_rate_min = 150,
.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 = 400,
.retry = 3,
.min_az = -180.0,
.max_az = 450.0, /* vary according to rotator type */
.min_el = 0.0,
.max_el = 180.0,
.get_position = gs232_rot_get_position,
.set_position = gs232_rot_set_position,
.stop = gs232_rot_stop,
};
/* ************************************************************************* */
/*
* Generic FoxDelta ST2 rotator capabilities.
*/
const struct rot_caps st2_rot_caps =
{
ROT_MODEL(ROT_MODEL_ST2),
.model_name = "GS232/ST2",
.mfg_name = "FoxDelta",
.version = "20240921.0",
.copyright = "LGPL",
.status = RIG_STATUS_STABLE,
.rot_type = ROT_TYPE_AZEL,
.port_type = RIG_PORT_SERIAL,
.serial_rate_min = 150,
.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 = 400,
.retry = 3,
.min_az = -180.0,
.max_az = 450.0, /* vary according to rotator type */
.min_el = 0.0,
.max_el = 180.0,
.get_position = gs232_rot_get_position,
.set_position = gs232_rot_set_position,
.stop = gs232_rot_stop,
};
/* ************************************************************************* */
/*
* F1TE Tracker, GS232 without position feedback
*
* http://www.f1te.org/index.php?option=com_content&view=article&id=19&Itemid=39
*/
const struct rot_caps f1tetracker_rot_caps =
{
ROT_MODEL(ROT_MODEL_F1TETRACKER),
.model_name = "GS232/F1TE Tracker",
.mfg_name = "F1TE",
.version = "20240921.0",
.copyright = "LGPL",
.status = RIG_STATUS_STABLE,
.rot_type = ROT_TYPE_AZEL,
.port_type = RIG_PORT_SERIAL,
.serial_rate_min = 150,
.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 = 400,
.retry = 0,
.min_az = -180.0,
.max_az = 360.0, /* vary according to rotator type */
.min_el = 0.0,
.max_el = 180.0,
.get_position = NULL, /* no position feedback available */
.set_position = gs232_rot_set_position,
#ifdef XXREMOVEDXX
.stop = gs232_rot_stop,
#endif
};
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