kopia lustrzana https://github.com/Hamlib/Hamlib
396 wiersze
10 KiB
C
396 wiersze
10 KiB
C
/*
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* Hamlib Rotator backend - Celestron
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* Copyright (c) 2011 by Stephane Fillod
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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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#include <stdio.h>
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#include <string.h>
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#include <stddef.h>
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#include "hamlib/rotator.h"
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#include "serial.h"
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#include "register.h"
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#include "rot_ioptron.h"
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#define ACK "#"
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#define ACK1 '1'
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#define BUFSZ 128
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/**
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* ioptron_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.
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* resp_len - in: Expected length of response. It is the caller's responsibily to
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* provide a buffer at least 1 byte larger than this for null terminator.
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*
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* COMMANDS note: as of 12/2018 a mixture of V2 and V3
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* | TTTTTTTT(T) .01 arc seconds
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* | alt- sign with 8 digits, az - 9 digits |
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* | Command | Attribute | Return value | Description |
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* -------------------------------------------------------------------|
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* | :GAC# | .01 arcsec | sTTTTTTTTTTTTTTTTT# | gets alt(s8), az(9) |
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* | :SzTTTTTTTTT# | .01 arcsec | '1' == OK | Set Target azimuth |
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* | :SasTTTTTTTT# |.01 arcsec | '1' == OK | Set Target elevation |
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* | :Q# | - | '1' == OK | Halt all slewing |
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* | :ST0# | - | '1' == OK | Halt tracking |
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* | :MS# | - | '1' == OK | GoTo Target |
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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
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ioptron_transaction(ROT *rot, const char *cmdstr, char *data, size_t resp_len)
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{
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hamlib_port_t *rotp = ROTPORT(rot);
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int retval = 0;
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int retry_read;
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for (retry_read = 0; retry_read <= rotp->retry; retry_read++)
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{
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rig_flush(rotp);
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if (cmdstr)
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{
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retval = write_block(rotp, (unsigned char *) cmdstr, strlen(cmdstr));
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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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/** the answer */
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memset(data, 0, resp_len + 1);
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retval = read_block(rotp, (unsigned char *) data, resp_len);
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/** if expected number of bytes received, return OK status */
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if (retval == resp_len)
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{
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return RIG_OK;
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}
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}
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/** if got here, retry loop failed */
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rig_debug(RIG_DEBUG_ERR, "%s: unexpected response, len %d: '%s'\n", __func__,
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retval, data);
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return -RIG_EPROTO;
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}
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/** get mount type code, initializes mount */
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static const char *
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ioptron_get_info(ROT *rot)
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{
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static char info[32];
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char str[6];
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int retval;
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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retval = ioptron_transaction(rot, ":MountInfo#", str, 4);
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rig_debug(RIG_DEBUG_TRACE, "retval, RIG_OK str %d %d %str\n", retval, RIG_OK,
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str);
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SNPRINTF(info, sizeof(info), "MountInfo %s", str);
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return info;
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}
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/**
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* Opens the Port and sets all needed parameters for operation
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* as of 12/2018 initiates mount with V3 :MountInfo#
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*/
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static int
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ioptron_open(ROT *rot)
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{
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const char *info;
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int retval;
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char retbuf[10];
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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info = ioptron_get_info(rot);
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/* ioptron_get_info returns "MountInfo xxxx", check model number from string */
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/* string of 4 numeric digits is likely model number */
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if ((strlen(&info[10]) != 4) || (strspn(&info[10], "1234567890") != 4))
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{
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return -RIG_ETIMEOUT;
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}
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/** stops tracking, returns "1" if OK */
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retval = ioptron_transaction(rot, ":ST0#", retbuf, 1);
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if (retval != RIG_OK || retbuf[0] != ACK1)
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{
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return -RIG_EPROTO;
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}
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/** set alt limit to -1 since firmware bug sometimes doesn't allow alt of 0 when limit is 0 */
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/** returns "1" if OK */
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retval = ioptron_transaction(rot, ":SAL-01#", retbuf, 1);
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if (retval != RIG_OK || retbuf[0] != ACK1)
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{
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return -RIG_EPROTO;
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}
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return RIG_OK;
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}
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/** gets current position */
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static int
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ioptron_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
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{
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char posbuf[32];
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int retval;
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float w;
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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/** Get Az-Alt */
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retval = ioptron_transaction(rot, ":GAC#", posbuf, 19);
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if (retval != RIG_OK || strlen(posbuf) < 19)
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{
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return retval < 0 ? retval : -RIG_EPROTO;
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}
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if (sscanf(posbuf, "%9f", &w) != 1)
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{
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return -RIG_EPROTO;
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}
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/** convert from .01 arc sec to degrees */
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/** note that firmware only reports alt between -90 and +90 */
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/** e.g. both 80 and 100 degrees are read as 80 degrees */
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*el = ((elevation_t)w / 360000.);
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if (sscanf(posbuf + 9, "%9f", &w) != 1)
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{
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return -RIG_EPROTO;
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}
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*az = ((azimuth_t)w / 360000.);
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rig_debug(RIG_DEBUG_TRACE, "%s: (az, el) = (%.1f, %.1f)\n",
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__func__, *az, *el);
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return RIG_OK;
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}
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/** stop everything **/
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static int
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ioptron_stop(ROT *rot)
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{
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int retval;
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char retbuf[10];
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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/** stop slew, returns "1" if OK */
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retval = ioptron_transaction(rot, ":Q#", retbuf, 1);
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if (retval != RIG_OK || retbuf[0] != ACK1)
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{
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return -RIG_EPROTO;
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}
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/** stops tracking returns "1" if OK */
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retval = ioptron_transaction(rot, ":ST0#", retbuf, 1);
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if (retval != RIG_OK || retbuf[0] != ACK1)
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{
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return -RIG_EPROTO;
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}
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return RIG_OK;
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}
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/** sets mount position, requires 4 steps
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* set azmiuth
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* set altitude
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* goto set
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* stop tracking - mount starts tracking after goto
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*/
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static int
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ioptron_set_position(ROT *rot, azimuth_t az, elevation_t el)
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{
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char cmdstr[32];
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char retbuf[10];
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int retval;
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double faz, fel;
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azimuth_t curr_az;
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elevation_t curr_el;
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rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el);
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/* units .01 arc sec */
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faz = az * 360000;
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fel = el * 360000;
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/** Firmware bug: (at least for AZ Mount Pro as of FW 20200305)
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* azimuth has problems going to 0
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* going to 0 from <=180 causes it to overshoot 0 and never stop
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* going to 0 from >180 causes it to make a hard stop at 0 and a following
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* command to <= 180 will make it rotate forever until manually stopped,
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* and require resetting the mount for azimuth to work correctly again
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* similar behavior is seen the other direction (>180 to 360 goes past 360,
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* <=180 to 360 makes a hard stop with the possibility of loss of
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* azimuth control)
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* Workaround:
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* get current position, if 0 is requested, go to 0.01 arcseconds away from
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* 0 from the same direction (e.g. go to 0.01 arcseconds if currently <= 180,
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* 129599999 arcseconds if currently > 180)
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*/
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if (faz == 0)
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{
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/* make sure stopped */
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retval = ioptron_stop(rot);
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if (retval != RIG_OK)
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{
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return -RIG_EPROTO;
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}
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/* get current position */
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retval = ioptron_get_position(rot, &curr_az, &curr_el);
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if (retval != RIG_OK)
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{
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return -RIG_EPROTO;
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}
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if (curr_az <= 180)
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{
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faz = 1;
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}
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else
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{
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faz = 129599999; /* needs double precision float */
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}
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}
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/* set azmiuth, returns '1" if OK */
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SNPRINTF(cmdstr, sizeof(cmdstr), ":Sz%09.0f#", faz);
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retval = ioptron_transaction(rot, cmdstr, retbuf, 1);
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if (retval != RIG_OK || retbuf[0] != ACK1)
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{
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return -RIG_EPROTO;
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}
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/* set altitude, returns '1" if OK */
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SNPRINTF(cmdstr, sizeof(cmdstr), ":Sa+%08.0f#", fel);
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retval = ioptron_transaction(rot, cmdstr, retbuf, 1);
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if (retval != RIG_OK || retbuf[0] != ACK1)
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{
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return -RIG_EPROTO;
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}
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/* move to set target, V2 command, returns '1" if OK */
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SNPRINTF(cmdstr, sizeof(cmdstr), ":MS#"); //
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retval = ioptron_transaction(rot, cmdstr, retbuf, 1);
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if (retval != RIG_OK || retbuf[0] != ACK1)
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{
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return -RIG_EPROTO;
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}
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/* stop tracking, V2 command, returns '1" if OK */
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SNPRINTF(cmdstr, sizeof(cmdstr), ":ST0#");
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retval = ioptron_transaction(rot, cmdstr, retbuf, 1);
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if (retval != RIG_OK || retbuf[0] != ACK1)
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{
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return -RIG_EPROTO;
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}
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return retval;
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}
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/** *************************************************************************
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*
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* ioptron mount capabilities.
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*
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* Protocol documentation:
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* from ioptron:
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* RS232-Command_Language pdf
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* note that iOptron is currently (12/2018) using a mix of V2 and V3 commands :(
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*/
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const struct rot_caps ioptron_rot_caps =
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{
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ROT_MODEL(ROT_MODEL_IOPTRON),
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.model_name = "iOptron",
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.mfg_name = "iOptron",
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.version = "20220109.0",
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.copyright = "LGPL",
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.status = RIG_STATUS_STABLE,
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.rot_type = ROT_TYPE_AZEL,
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.port_type = RIG_PORT_SERIAL,
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.serial_rate_min = 9600,
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.serial_rate_max = 115200,
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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 = 1000, /* worst case scenario 3500 */
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.retry = 1,
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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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.rot_open = ioptron_open,
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.get_position = ioptron_get_position,
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.set_position = ioptron_set_position,
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.stop = ioptron_stop,
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.get_info = ioptron_get_info,
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};
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/* ****************************************************************** */
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DECLARE_INITROT_BACKEND(ioptron)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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rot_register(&ioptron_rot_caps);
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return RIG_OK;
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}
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/* ****************************************************************** */
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/* end of file */
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