kopia lustrzana https://github.com/Hamlib/Hamlib
272 wiersze
7.1 KiB
C
272 wiersze
7.1 KiB
C
/*
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* Hamlib Rotator backend - GS-232
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* Copyright (c) 2001-2010 by Stephane Fillod
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* Copyright (c) 2009 by Jason Winningham
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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 "gs232a.h"
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#define EOM "\r"
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#define REPLY_EOM "\r"
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#define BUFSZ 64
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/**
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* gs232_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. Can be NULL, indicating that no reply is
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* is needed, but answer will still be read.
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* data_len - in: Size of buffer. It is the caller's responsibily to provide
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* a large enough buffer for all possible replies for a command.
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*
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* returns:
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* RIG_OK - if no error occured.
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* RIG_EIO - if an I/O error occured while sending/receiving data.
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* RIG_ETIMEOUT - if timeout expires without any characters received.
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* RIG_REJECTED - if a negative acknowledge was received or command not
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* recognized by rig.
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*/
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static int
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gs232_transaction (ROT *rot, const char *cmdstr,
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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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int retry_read = 0;
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char replybuf[BUFSZ];
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rs = &rot->state;
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transaction_write:
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serial_flush(&rs->rotport);
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if (cmdstr) {
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retval = write_block(&rs->rotport, cmdstr, strlen(cmdstr));
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if (retval != RIG_OK)
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goto transaction_quit;
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}
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/* Always read the reply to know whether the cmd went OK */
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if (!data)
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data = replybuf;
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if (!data_len)
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data_len = BUFSZ;
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memset(data,0,data_len);
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retval = read_string(&rs->rotport, data, data_len, REPLY_EOM, strlen(REPLY_EOM));
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if (retval < 0) {
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if (retry_read++ < rot->state.rotport.retry)
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goto transaction_write;
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goto transaction_quit;
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}
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#if 0
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/* Check that command termination is correct */
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if (strchr(REPLY_EOM, data[strlen(data)-1])==NULL) {
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rig_debug(RIG_DEBUG_ERR, "%s: Command is not correctly terminated '%s'\n", __FUNCTION__, data);
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if (retry_read++ < rig->state.rotport.retry)
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goto transaction_write;
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retval = -RIG_EPROTO;
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goto transaction_quit;
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}
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#endif
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if (data[0] == '?') {
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/* Invalid command */
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rig_debug(RIG_DEBUG_VERBOSE, "%s: Error for '%s': '%s'\n",
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__FUNCTION__, cmdstr, data);
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retval = -RIG_EPROTO;
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goto transaction_quit;
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}
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retval = RIG_OK;
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transaction_quit:
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return retval;
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}
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/*
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* write-only transaction, no data returned by controller
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*/
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static int
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gs232_wo_transaction (ROT *rot, const char *cmdstr,
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char *data, size_t data_len)
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{
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return write_block(&rot->state.rotport, cmdstr, strlen(cmdstr));
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}
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static int
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gs232_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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unsigned u_az, u_el;
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rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __FUNCTION__, az, el);
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u_az = (unsigned)rint(az);
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u_el = (unsigned)rint(el);
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sprintf(cmdstr, "W%03u %03u" EOM, u_az, u_el);
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retval = gs232_wo_transaction(rot, cmdstr, NULL, 0);
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if (retval != RIG_OK)
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return retval;
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return RIG_OK;
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}
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static int
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gs232_rot_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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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __FUNCTION__);
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retval = gs232_transaction(rot, "C2" EOM, posbuf, sizeof(posbuf));
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if (retval != RIG_OK || strlen(posbuf) < 10)
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return retval;
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/* parse */
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if (sscanf(posbuf+2, "%f", az) != 1) {
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rig_debug(RIG_DEBUG_ERR, "%s: wrong reply '%s'\n", __FUNCTION__, posbuf);
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return -RIG_EPROTO;
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}
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if (sscanf(posbuf+7, "%f", el) != 1) {
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rig_debug(RIG_DEBUG_ERR, "%s: wrong reply '%s'\n", __FUNCTION__, posbuf);
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return -RIG_EPROTO;
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}
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rig_debug(RIG_DEBUG_TRACE, "%s: (az, el) = (%.1f, %.1f)\n",
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__FUNCTION__, *az, *el);
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return RIG_OK;
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}
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static int
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gs232_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", __FUNCTION__);
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/* All Stop */
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retval = gs232_wo_transaction(rot, "S" EOM, NULL, 0);
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if (retval != RIG_OK)
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return retval;
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return RIG_OK;
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}
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/* ************************************************************************* */
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/*
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* Generic GS232 (not A, not B) rotator capabilities.
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*/
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const struct rot_caps gs232_rot_caps = {
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.rot_model = ROT_MODEL_GS232,
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.model_name = "GS-232",
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.mfg_name = "Yaesu/Kenpro",
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.version = "0.1",
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.copyright = "LGPL",
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.status = RIG_STATUS_BETA,
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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 = 150,
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.serial_rate_max = 9600,
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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 = 400,
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.retry = 3,
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.min_az = 0.0,
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.max_az = 450.0, /* vary according to rotator type */
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.min_el = 0.0,
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.max_el = 180.0,
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.get_position = gs232_rot_get_position,
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.set_position = gs232_rot_set_position,
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.stop = gs232_rot_stop,
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};
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/* ************************************************************************* */
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/*
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* F1TE Tracker, GS232 withtout position feedback
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*
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* http://www.f1te.org/index.php?option=com_content&view=article&id=19&Itemid=39
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*/
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const struct rot_caps f1tetracker_rot_caps = {
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.rot_model = ROT_MODEL_F1TETRACKER,
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.model_name = "GS232/F1TE Tracker",
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.mfg_name = "F1TE",
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.version = "0.1",
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.copyright = "LGPL",
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.status = RIG_STATUS_BETA,
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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 = 150,
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.serial_rate_max = 9600,
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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 = 400,
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.retry = 0,
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.min_az = 0.0,
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.max_az = 360.0, /* vary according to rotator type */
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.min_el = 0.0,
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.max_el = 180.0,
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.get_position = NULL, /* no position feedback available */
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.set_position = gs232_rot_set_position,
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#if 0
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.stop = gs232_rot_stop,
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#endif
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};
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