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Hamlib/gs232a/gs232a.c

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9.6 KiB
C
Czysty Wina Historia

/*
* Hamlib Rotator backend - GS-232A
* Copyright (c) 2001-2012 by Stephane Fillod
*
*
* 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 "gs232a.h"
#define EOM "\r"
#define REPLY_EOM "\r\n"
#define BUFSZ 64
/**
* gs232a_transaction
*
* cmdstr - Command to be sent to the rig.
* data - Buffer for reply string. Can be NULL, indicating that no reply is
* is needed, but answer will still be read.
* data_len - in: Size of buffer. It is the caller's responsibily to provide
* a large enough buffer for all possible replies for a command.
*
* returns:
* RIG_OK - if no error occured.
* RIG_EIO - if an I/O error occured while sending/receiving data.
* RIG_ETIMEOUT - if timeout expires without any characters received.
* RIG_REJECTED - if a negative acknowledge was received or command not
* recognized by rig.
*/
static int
gs232a_transaction (ROT *rot, const char *cmdstr,
char *data, size_t data_len)
{
struct rot_state *rs;
int retval;
int retry_read = 0;
char replybuf[BUFSZ];
rs = &rot->state;
transaction_write:
serial_flush(&rs->rotport);
if (cmdstr) {
retval = write_block(&rs->rotport, cmdstr, strlen(cmdstr));
if (retval != RIG_OK)
goto transaction_quit;
}
/* Always read the reply to know whether the cmd went OK */
if (!data)
data = replybuf;
if (!data_len)
data_len = BUFSZ;
memset(data,0,data_len);
retval = read_string(&rs->rotport, data, data_len, REPLY_EOM, strlen(REPLY_EOM));
if (retval < 0) {
if (retry_read++ < rot->state.rotport.retry)
goto transaction_write;
goto transaction_quit;
}
#if 0
/* Check that command termination is correct */
if (strchr(REPLY_EOM, data[strlen(data)-1])==NULL) {
rig_debug(RIG_DEBUG_ERR, "%s: Command is not correctly terminated '%s'\n", __FUNCTION__, data);
if (retry_read++ < rig->state.rotport.retry)
goto transaction_write;
retval = -RIG_EPROTO;
goto transaction_quit;
}
#endif
if (data[0] == '?') {
/* Invalid command */
rig_debug(RIG_DEBUG_VERBOSE, "%s: Error for '%s': '%s'\n",
__FUNCTION__, cmdstr, data);
retval = -RIG_EPROTO;
goto transaction_quit;
}
retval = RIG_OK;
transaction_quit:
return retval;
}
static int
gs232a_rot_set_position(ROT *rot, azimuth_t az, elevation_t el)
{
char cmdstr[64];
int retval;
unsigned u_az, u_el;
rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __FUNCTION__, az, el);
if (az < 0.0) {
az = az + 360.0;
}
u_az = (unsigned)rint(az);
u_el = (unsigned)rint(el);
sprintf(cmdstr, "W%03u %03u" EOM, u_az, u_el);
retval = gs232a_transaction(rot, cmdstr, NULL, 0);
if (retval != RIG_OK) {
return retval;
}
return RIG_OK;
}
static int
gs232a_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
{
char posbuf[32];
int retval, angle;
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __FUNCTION__);
retval = gs232a_transaction(rot, "C2" EOM, posbuf, sizeof(posbuf));
if (retval != RIG_OK || strlen(posbuf) < 10) {
return retval < 0 ? retval : -RIG_EPROTO;
}
/* parse "+0aaa+0eee" */
if (sscanf(posbuf+2, "%d", &angle) != 1) {
rig_debug(RIG_DEBUG_ERR, "%s: wrong reply '%s'\n", __FUNCTION__, posbuf);
return -RIG_EPROTO;
}
*az = (azimuth_t)angle;
if (sscanf(posbuf+7, "%d", &angle) != 1) {
rig_debug(RIG_DEBUG_ERR, "%s: wrong reply '%s'\n", __FUNCTION__, posbuf);
return -RIG_EPROTO;
}
*el = (elevation_t)angle;
rig_debug(RIG_DEBUG_TRACE, "%s: (az, el) = (%.1f, %.1f)\n",
__FUNCTION__, *az, *el);
return RIG_OK;
}
static int
gs232a_rot_stop(ROT *rot)
{
int retval;
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __FUNCTION__);
/* All Stop */
retval = gs232a_transaction(rot, "S" EOM, NULL, 0);
if (retval != RIG_OK)
return retval;
return RIG_OK;
}
static int
gs232a_rot_move(ROT *rot, int direction, int speed)
{
char cmdstr[24];
int retval;
unsigned x_speed;
rig_debug(RIG_DEBUG_TRACE, "%s called %d %d\n", __FUNCTION__,
direction, speed);
x_speed = (3*speed)/100 + 1;
/* between 1 (slowest) and 4 (fastest) */
sprintf(cmdstr, "X%u" EOM, x_speed);
retval = gs232a_transaction(rot, cmdstr, NULL, 0);
if (retval != RIG_OK)
return retval;
switch (direction) {
case ROT_MOVE_UP: /* Elevation increase */
sprintf(cmdstr, "U" EOM);
break;
case ROT_MOVE_DOWN: /* Elevation decrease */
sprintf(cmdstr, "D" EOM);
break;
case ROT_MOVE_LEFT: /* Azimuth decrease */
sprintf(cmdstr, "L" EOM);
break;
case ROT_MOVE_RIGHT: /* Azimuth increase */
sprintf(cmdstr, "R" EOM);
break;
default:
rig_debug(RIG_DEBUG_ERR,"%s: Invalid direction value! (%d)\n",
__FUNCTION__, direction);
return -RIG_EINVAL;
}
retval = gs232a_transaction(rot, cmdstr, NULL, 0);
if (retval != RIG_OK)
return retval;
return RIG_OK;
}
/* ************************************************************************* */
/*
* Generic GS23 rotator capabilities.
*/
const struct rot_caps gs23_rot_caps = {
.rot_model = ROT_MODEL_GS23,
.model_name = "GS-23",
.mfg_name = "Yaesu/Kenpro",
.version = "0.1",
.copyright = "LGPL",
.status = RIG_STATUS_ALPHA,
.rot_type = ROT_TYPE_AZEL,
.port_type = RIG_PORT_SERIAL,
.serial_rate_min = 150,
.serial_rate_max = 9600,
.serial_data_bits = 8,
.serial_stop_bits = 1,
.serial_parity = RIG_PARITY_NONE,
.serial_handshake = RIG_HANDSHAKE_NONE,
.write_delay = 0,
.post_write_delay = 0,
.timeout = 400,
.retry = 3,
.min_az = -180.0,
.max_az = 450.0, /* vary according to rotator type */
.min_el = 0.0,
.max_el = 180.0,
.get_position = gs232a_rot_get_position,
.set_position = gs232a_rot_set_position,
.stop = gs232a_rot_stop,
};
/* ************************************************************************* */
/*
* Generic GS232 rotator capabilities.
*/
const struct rot_caps gs232_rot_caps = {
.rot_model = ROT_MODEL_GS232,
.model_name = "GS-232",
.mfg_name = "Yaesu/Kenpro",
.version = "0.1",
.copyright = "LGPL",
.status = RIG_STATUS_ALPHA,
.rot_type = ROT_TYPE_AZEL,
.port_type = RIG_PORT_SERIAL,
.serial_rate_min = 150,
.serial_rate_max = 9600,
.serial_data_bits = 8,
.serial_stop_bits = 1,
.serial_parity = RIG_PARITY_NONE,
.serial_handshake = RIG_HANDSHAKE_NONE,
.write_delay = 0,
.post_write_delay = 0,
.timeout = 400,
.retry = 3,
.min_az = -180.0,
.max_az = 450.0, /* vary according to rotator type */
.min_el = 0.0,
.max_el = 180.0,
.get_position = gs232a_rot_get_position,
.set_position = gs232a_rot_set_position,
.stop = gs232a_rot_stop,
};
/* ************************************************************************* */
/*
* Generic GS232A rotator capabilities.
*/
const struct rot_caps gs232a_rot_caps = {
.rot_model = ROT_MODEL_GS232A,
.model_name = "GS-232A",
.mfg_name = "Yaesu",
.version = "0.5",
.copyright = "LGPL",
.status = RIG_STATUS_BETA,
.rot_type = ROT_TYPE_OTHER,
.port_type = RIG_PORT_SERIAL,
.serial_rate_min = 150,
.serial_rate_max = 9600,
.serial_data_bits = 8,
.serial_stop_bits = 1,
.serial_parity = RIG_PARITY_NONE,
.serial_handshake = RIG_HANDSHAKE_NONE,
.write_delay = 0,
.post_write_delay = 0,
.timeout = 400,
.retry = 3,
.min_az = -180.0,
.max_az = 450.0, /* vary according to rotator type */
.min_el = 0.0,
.max_el = 180.0, /* requires G-5400B, G-5600B, G-5500, or G-500/G-550 */
.get_position = gs232a_rot_get_position,
.set_position = gs232a_rot_set_position,
.stop = gs232a_rot_stop,
.move = gs232a_rot_move,
};
/* ************************************************************************* */
DECLARE_INITROT_BACKEND(gs232a)
{
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __FUNCTION__);
rot_register(&gs232a_rot_caps);
rot_register(&gs232_generic_rot_caps);
rot_register(&gs232b_rot_caps);
rot_register(&f1tetracker_rot_caps);
rot_register(&gs23_rot_caps);
rot_register(&gs232_rot_caps);
rot_register(&amsat_lvb_rot_caps);
rot_register(&st2_rot_caps);
return RIG_OK;
}
/* ************************************************************************* */
/* end of file */
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