kopia lustrzana https://github.com/Hamlib/Hamlib
670 wiersze
16 KiB
C
670 wiersze
16 KiB
C
/*
|
|
* Hamlib Rotator backend - Easycom
|
|
* Copyright (c) 2001-2003 by Stephane Fillod
|
|
* Contributed by Francois Retief <fgretief@sun.ac.za>
|
|
* Copyright (c) 2014 by Alexander Schultze <alexschultze@gmail.com>
|
|
*
|
|
*
|
|
* 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
|
|
|
|
#include <stdio.h>
|
|
#include <stdlib.h>
|
|
#include <string.h> /* String function definitions */
|
|
#include <unistd.h> /* UNIX standard function definitions */
|
|
#include <math.h>
|
|
|
|
#include "hamlib/rotator.h"
|
|
#include "serial.h"
|
|
#include "misc.h"
|
|
#include "register.h"
|
|
#include "idx_builtin.h"
|
|
|
|
#include "easycomm.h"
|
|
|
|
#define EASYCOMM3_LEVELS ROT_LEVEL_SPEED
|
|
|
|
/* ************************************************************************* */
|
|
/**
|
|
* easycomm_transaction
|
|
*
|
|
* Assumes rot!=NULL and cmdstr!=NULL
|
|
*
|
|
* cmdstr - string to send to rotator
|
|
* data - buffer for reply string
|
|
* data_len - (input) Maximum size of buffer
|
|
* (output) Number of bytes read.
|
|
*/
|
|
static int
|
|
easycomm_transaction(ROT *rot, const char *cmdstr, char *data, size_t data_len)
|
|
{
|
|
struct rot_state *rs;
|
|
int retval;
|
|
|
|
rig_debug(RIG_DEBUG_TRACE, "%s called: %s\n", __func__, cmdstr);
|
|
|
|
if (!rot)
|
|
{
|
|
return -RIG_EINVAL;
|
|
}
|
|
|
|
rs = &rot->state;
|
|
rig_flush(&rs->rotport);
|
|
retval = write_block(&rs->rotport, cmdstr, strlen(cmdstr));
|
|
|
|
if (retval != RIG_OK)
|
|
{
|
|
goto transaction_quit;
|
|
}
|
|
|
|
if (data == NULL)
|
|
{
|
|
return RIG_OK; /* don't want a reply */
|
|
}
|
|
|
|
retval = read_string(&rs->rotport, data, data_len, "\n", 1);
|
|
|
|
if (retval < 0)
|
|
{
|
|
rig_debug(RIG_DEBUG_TRACE, "%s read_string failed with status %d\n", __func__,
|
|
retval);
|
|
goto transaction_quit;
|
|
}
|
|
else
|
|
{
|
|
rig_debug(RIG_DEBUG_TRACE, "%s read_string: %s\n", __func__, data);
|
|
retval = RIG_OK;
|
|
}
|
|
|
|
transaction_quit:
|
|
return retval;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
|
|
static int
|
|
easycomm_rot_set_position(ROT *rot, azimuth_t az, elevation_t el)
|
|
{
|
|
char cmdstr[64];
|
|
int retval;
|
|
rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el);
|
|
|
|
if (rot->caps->rot_model == ROT_MODEL_EASYCOMM1)
|
|
{
|
|
sprintf(cmdstr, "AZ%.1f EL%.1f UP000 XXX DN000 XXX\n", az, el);
|
|
}
|
|
else // for easycomm 2 & 3 and upwards
|
|
{
|
|
sprintf(cmdstr, "AZ%.1f EL%.1f\n", az, el);
|
|
}
|
|
|
|
retval = easycomm_transaction(rot, cmdstr, NULL, 0);
|
|
|
|
if (retval != RIG_OK)
|
|
{
|
|
return retval;
|
|
}
|
|
|
|
/* TODO: Error processing */
|
|
return RIG_OK;
|
|
}
|
|
|
|
static int
|
|
easycomm_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
|
|
{
|
|
char cmdstr[16], ackbuf[32];
|
|
int retval;
|
|
|
|
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
|
|
|
|
sprintf(cmdstr, "AZ EL \n");
|
|
|
|
retval = easycomm_transaction(rot, cmdstr, ackbuf, sizeof(ackbuf));
|
|
|
|
if (retval != RIG_OK)
|
|
{
|
|
rig_debug(RIG_DEBUG_TRACE, "%s got error: %d\n", __func__, retval);
|
|
return retval;
|
|
}
|
|
|
|
/* Parse parse string to extract AZ,EL values */
|
|
rig_debug(RIG_DEBUG_TRACE, "%s got response: %s\n", __func__, ackbuf);
|
|
retval = sscanf(ackbuf, "AZ%f EL%f", az, el);
|
|
|
|
if (retval != 2)
|
|
{
|
|
rig_debug(RIG_DEBUG_ERR, "%s: unknown response (%s)\n", __func__, ackbuf);
|
|
return -RIG_ERJCTED;
|
|
}
|
|
|
|
return RIG_OK;
|
|
}
|
|
|
|
static int
|
|
easycomm_rot_stop(ROT *rot)
|
|
{
|
|
int retval;
|
|
|
|
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
|
|
|
|
retval = easycomm_transaction(rot, "SA SE \n", NULL, 0);
|
|
|
|
if (retval != RIG_OK)
|
|
{
|
|
return retval;
|
|
}
|
|
|
|
/* TODO: error processing */
|
|
|
|
return RIG_OK;
|
|
}
|
|
|
|
static int
|
|
easycomm_rot_reset(ROT *rot, rot_reset_t rst)
|
|
{
|
|
int retval;
|
|
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
|
|
|
|
retval = easycomm_transaction(rot, "RESET\n", NULL, 0);
|
|
|
|
if (retval != RIG_OK) /* Custom command (not in Easycomm) */
|
|
{
|
|
return retval;
|
|
}
|
|
|
|
return RIG_OK;
|
|
}
|
|
|
|
static int
|
|
easycomm_rot_park(ROT *rot)
|
|
{
|
|
int retval;
|
|
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
|
|
|
|
retval = easycomm_transaction(rot, "PARK\n", NULL, 0);
|
|
|
|
if (retval != RIG_OK) /* Custom command (not in Easycomm) */
|
|
{
|
|
return retval;
|
|
}
|
|
|
|
return RIG_OK;
|
|
}
|
|
|
|
static int
|
|
easycomm_rot_move(ROT *rot, int direction, int speed)
|
|
{
|
|
char cmdstr[24];
|
|
int retval;
|
|
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
|
|
|
|
/* For EasyComm 1/2/3 */
|
|
switch (direction)
|
|
{
|
|
case ROT_MOVE_UP: /* Elevation increase */
|
|
sprintf(cmdstr, "MU\n");
|
|
break;
|
|
|
|
case ROT_MOVE_DOWN: /* Elevation decrease */
|
|
sprintf(cmdstr, "MD\n");
|
|
break;
|
|
|
|
case ROT_MOVE_LEFT: /* Azimuth decrease */
|
|
sprintf(cmdstr, "ML\n");
|
|
break;
|
|
|
|
case ROT_MOVE_RIGHT: /* Azimuth increase */
|
|
sprintf(cmdstr, "MR\n");
|
|
break;
|
|
|
|
default:
|
|
rig_debug(RIG_DEBUG_ERR, "%s: Invalid direction value! (%d)\n", __func__,
|
|
direction);
|
|
return -RIG_EINVAL;
|
|
}
|
|
|
|
retval = easycomm_transaction(rot, cmdstr, NULL, 0);
|
|
|
|
if (retval != RIG_OK)
|
|
{
|
|
return retval;
|
|
}
|
|
|
|
return RIG_OK;
|
|
}
|
|
|
|
static int easycomm_rot_move_velocity(ROT *rot, int direction, int speed)
|
|
{
|
|
struct rot_state *rs = &rot->state;
|
|
char cmdstr[24];
|
|
int retval;
|
|
int easycomm_speed;
|
|
|
|
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
|
|
|
|
if (speed == ROT_SPEED_NOCHANGE)
|
|
{
|
|
easycomm_speed = rs->current_speed;
|
|
}
|
|
else
|
|
{
|
|
if (speed < 1 || speed > 100)
|
|
{
|
|
rig_debug(RIG_DEBUG_ERR, "%s: Invalid speed value (1-100)! (%d)\n", __func__,
|
|
speed);
|
|
return -RIG_EINVAL;
|
|
}
|
|
|
|
easycomm_speed = ((speed - 1) * 100);
|
|
rs->current_speed = easycomm_speed;
|
|
}
|
|
|
|
/* Speed for EasyComm 3 */
|
|
switch (direction)
|
|
{
|
|
case ROT_MOVE_UP: /* Elevation increase */
|
|
sprintf(cmdstr, "VU%04d\n", easycomm_speed);
|
|
break;
|
|
|
|
case ROT_MOVE_DOWN: /* Elevation decrease */
|
|
sprintf(cmdstr, "VD%04d\n", easycomm_speed);
|
|
break;
|
|
|
|
case ROT_MOVE_LEFT: /* Azimuth decrease */
|
|
sprintf(cmdstr, "VL%04d\n", easycomm_speed);
|
|
break;
|
|
|
|
case ROT_MOVE_RIGHT: /* Azimuth increase */
|
|
sprintf(cmdstr, "VR%04d\n", easycomm_speed);
|
|
break;
|
|
|
|
default:
|
|
rig_debug(RIG_DEBUG_ERR, "%s: Invalid direction value! (%d)\n", __func__,
|
|
direction);
|
|
return -RIG_EINVAL;
|
|
}
|
|
|
|
retval = easycomm_transaction(rot, cmdstr, NULL, 0);
|
|
|
|
if (retval != RIG_OK)
|
|
{
|
|
return retval;
|
|
}
|
|
|
|
return RIG_OK;
|
|
}
|
|
|
|
static int easycomm_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 easycomm_rot_set_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:
|
|
{
|
|
int speed = val.i;
|
|
|
|
if (speed < 0)
|
|
{
|
|
speed = 0;
|
|
}
|
|
else if (speed > 9999)
|
|
{
|
|
speed = 9999;
|
|
}
|
|
|
|
rs->current_speed = speed;
|
|
break;
|
|
}
|
|
|
|
default:
|
|
return -RIG_ENAVAIL;
|
|
}
|
|
|
|
return RIG_OK;
|
|
}
|
|
|
|
/*
|
|
* Get Info
|
|
* returns the model name string
|
|
*/
|
|
static const char *easycomm_rot_get_info(ROT *rot)
|
|
{
|
|
const struct rot_caps *rc;
|
|
|
|
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
|
|
|
|
if (!rot)
|
|
{
|
|
return (const char *) - RIG_EINVAL;
|
|
}
|
|
|
|
rc = rot->caps;
|
|
|
|
return rc->model_name;
|
|
}
|
|
|
|
/*
|
|
* Receive status / configuration / output
|
|
*
|
|
* For configuration registers, *val must contain string of register e.g. '0'-'f'
|
|
*/
|
|
|
|
static int easycomm_rot_get_conf(ROT *rot, token_t token, char *val)
|
|
{
|
|
char cmdstr[16], ackbuf[32];
|
|
int retval;
|
|
|
|
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
|
|
rig_debug(RIG_DEBUG_TRACE, "%s: token = %d", __func__, (int)token);
|
|
|
|
if (!rot)
|
|
{
|
|
return -RIG_EINVAL;
|
|
}
|
|
|
|
switch (token)
|
|
{
|
|
case TOK_GET_STATUS:
|
|
sprintf(cmdstr, "GS\n;");
|
|
break;
|
|
|
|
case TOK_GET_ERRORS:
|
|
sprintf(cmdstr, "GE\n;");
|
|
break;
|
|
|
|
case TOK_GET_INPUT:
|
|
sprintf(cmdstr, "IP\n;");
|
|
break;
|
|
|
|
case TOK_GET_ANALOG_INPUT:
|
|
sprintf(cmdstr, "AN\n;");
|
|
break;
|
|
|
|
case TOK_GET_VERSION:
|
|
sprintf(cmdstr, "VE\n;");
|
|
break;
|
|
|
|
case TOK_GET_CONFIG:
|
|
sprintf(cmdstr, "CR %c\n;", *val);
|
|
break;
|
|
|
|
default:
|
|
|
|
|
|
return -RIG_EINVAL;
|
|
}
|
|
|
|
rig_debug(RIG_DEBUG_TRACE, "%s: cmdstr = %s, *val = %c\n", __func__, cmdstr,
|
|
*val);
|
|
|
|
|
|
|
|
retval = easycomm_transaction(rot, cmdstr, ackbuf, sizeof(ackbuf));
|
|
|
|
if (retval != RIG_OK)
|
|
{
|
|
rig_debug(RIG_DEBUG_TRACE, "%s got error: %d\n", __func__, retval);
|
|
return retval;
|
|
}
|
|
|
|
|
|
rig_debug(RIG_DEBUG_TRACE, "%s got response: %s\n", __func__, ackbuf);
|
|
/* Return given string at correct position*/
|
|
memcpy(val, ackbuf + 2, sizeof(ackbuf) - 2); /* CCxxxxxx */
|
|
return RIG_OK;
|
|
}
|
|
|
|
/*
|
|
* Set configuration
|
|
*
|
|
* For configuration registers, *val must contain char of register e.g. '0'-'f' followed by setting
|
|
* e.g. x,yyyyy
|
|
*/
|
|
|
|
static int easycomm_rot_set_conf(ROT *rot, token_t token, const char *val)
|
|
{
|
|
char cmdstr[16];
|
|
int retval;
|
|
|
|
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
|
|
rig_debug(RIG_DEBUG_TRACE, "%s: token = %d", __func__, (int)token);
|
|
|
|
if (!rot)
|
|
{
|
|
return -RIG_EINVAL;
|
|
}
|
|
|
|
switch (token)
|
|
{
|
|
case TOK_SET_CONFIG:
|
|
sprintf(cmdstr, "CW%s\n;", val);
|
|
break;
|
|
|
|
default:
|
|
return -RIG_EINVAL;
|
|
}
|
|
|
|
rig_debug(RIG_DEBUG_TRACE, "%s: cmdstr = %s, *val = %c\n", __func__, cmdstr,
|
|
*val);
|
|
|
|
retval = easycomm_transaction(rot, cmdstr, NULL, 0);
|
|
|
|
if (retval != RIG_OK)
|
|
{
|
|
rig_debug(RIG_DEBUG_TRACE, "%s got error: %d\n", __func__, retval);
|
|
return retval;
|
|
}
|
|
|
|
return RIG_OK;
|
|
}
|
|
|
|
|
|
static int easycomm_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 = 5000;
|
|
|
|
return RIG_OK;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
/*
|
|
* Easycomm rotator capabilities.
|
|
*/
|
|
|
|
/** EasycommI implement essentially only the set position function, but
|
|
* I included the stop command too. The radio control tags is only included
|
|
* as dummy entries because the spec require them.
|
|
*/
|
|
const struct rot_caps easycomm1_rot_caps =
|
|
{
|
|
ROT_MODEL(ROT_MODEL_EASYCOMM1),
|
|
.model_name = "EasycommI",
|
|
.mfg_name = "Hamlib",
|
|
.version = "20191206.0",
|
|
.copyright = "LGPL",
|
|
.status = RIG_STATUS_STABLE,
|
|
.rot_type = ROT_TYPE_OTHER,
|
|
.port_type = RIG_PORT_SERIAL,
|
|
.serial_rate_min = 9600,
|
|
.serial_rate_max = 19200,
|
|
.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 = 200,
|
|
.retry = 3,
|
|
|
|
.min_az = 0.0,
|
|
.max_az = 360.0,
|
|
.min_el = 0.0,
|
|
.max_el = 180.0,
|
|
|
|
.priv = NULL, /* priv */
|
|
|
|
.set_position = easycomm_rot_set_position,
|
|
.stop = easycomm_rot_stop,
|
|
.get_info = easycomm_rot_get_info,
|
|
};
|
|
|
|
/* EasycommII implement most of the functions. Again the radio tags
|
|
* is only dummy values.
|
|
*/
|
|
const struct rot_caps easycomm2_rot_caps =
|
|
{
|
|
ROT_MODEL(ROT_MODEL_EASYCOMM2),
|
|
.model_name = "EasycommII",
|
|
.mfg_name = "Hamlib",
|
|
.version = "20191206.0",
|
|
.copyright = "LGPL",
|
|
.status = RIG_STATUS_STABLE,
|
|
.rot_type = ROT_TYPE_OTHER,
|
|
.port_type = RIG_PORT_SERIAL,
|
|
.serial_rate_min = 9600,
|
|
.serial_rate_max = 19200,
|
|
.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 = 200,
|
|
.retry = 3,
|
|
|
|
.min_az = 0.0,
|
|
.max_az = 360.0,
|
|
.min_el = 0.0,
|
|
.max_el = 180.0,
|
|
|
|
.priv = NULL, /* priv */
|
|
|
|
.rot_init = NULL,
|
|
.rot_cleanup = NULL,
|
|
.rot_open = NULL,
|
|
.rot_close = NULL,
|
|
|
|
.get_position = easycomm_rot_get_position,
|
|
.set_position = easycomm_rot_set_position,
|
|
.stop = easycomm_rot_stop,
|
|
.park = easycomm_rot_park,
|
|
.reset = easycomm_rot_reset,
|
|
.move = easycomm_rot_move,
|
|
.set_conf = easycomm_rot_set_conf,
|
|
.get_conf = easycomm_rot_get_conf,
|
|
.get_info = easycomm_rot_get_info,
|
|
};
|
|
|
|
/* EasycommIII provides changes Moving functions and info.
|
|
*/
|
|
const struct rot_caps easycomm3_rot_caps =
|
|
{
|
|
ROT_MODEL(ROT_MODEL_EASYCOMM3),
|
|
.model_name = "EasycommIII",
|
|
.mfg_name = "Hamlib",
|
|
.version = "20201203.0",
|
|
.copyright = "LGPL",
|
|
.status = RIG_STATUS_ALPHA,
|
|
.rot_type = ROT_TYPE_OTHER,
|
|
.port_type = RIG_PORT_SERIAL,
|
|
.serial_rate_min = 9600,
|
|
.serial_rate_max = 19200,
|
|
.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 = 200,
|
|
.retry = 3,
|
|
|
|
.min_az = 0.0,
|
|
.max_az = 360.0,
|
|
.min_el = 0.0,
|
|
.max_el = 180.0,
|
|
|
|
.priv = NULL, /* priv */
|
|
|
|
.has_get_level = EASYCOMM3_LEVELS,
|
|
.has_set_level = ROT_LEVEL_SET(EASYCOMM3_LEVELS),
|
|
|
|
.level_gran = { [ROT_LVL_SPEED] = { .min = { .i = 0 }, .max = { .i = 9999 }, .step = { .i = 1 } } },
|
|
|
|
.rot_init = easycomm_rot_init,
|
|
.rot_cleanup = NULL,
|
|
.rot_open = NULL,
|
|
.rot_close = NULL,
|
|
|
|
.get_position = easycomm_rot_get_position,
|
|
.set_position = easycomm_rot_set_position,
|
|
.stop = easycomm_rot_stop,
|
|
.park = easycomm_rot_park,
|
|
.reset = easycomm_rot_reset,
|
|
.move = easycomm_rot_move_velocity,
|
|
.get_level = easycomm_rot_get_level,
|
|
.set_level = easycomm_rot_set_level,
|
|
.set_conf = easycomm_rot_set_conf,
|
|
.get_conf = easycomm_rot_get_conf,
|
|
.get_info = easycomm_rot_get_info,
|
|
};
|
|
|
|
/* ************************************************************************* */
|
|
|
|
DECLARE_INITROT_BACKEND(easycomm)
|
|
{
|
|
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
|
|
|
|
rot_register(&easycomm1_rot_caps);
|
|
rot_register(&easycomm2_rot_caps);
|
|
rot_register(&easycomm3_rot_caps);
|
|
return RIG_OK;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
/* end of file */
|