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