Hamlib/prosistel/prosistel.c

/*
 *  Hamlib Prosistel backend
 *  Copyright (c) 2015 by Dario Ventura IZ7CRX
 *
 *
 *   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 <sys/time.h>
#include <time.h>

#include "hamlib/rotator.h"
#include "serial.h"
#include "misc.h"
#include "register.h"
#include "num_stdio.h"

#include "prosistel.h"

#define BUFSZ 128
#define CR "\r"
#define STX "\x02"


struct prosistel_rot_priv_data {
	azimuth_t az;
	elevation_t el;

	struct timeval tv;	/* time last az/el update */
	azimuth_t target_az;
	elevation_t target_el;
};



/**
 * prosistel_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 occurred.
 *   RIG_EIO  -  if an I/O error occurred while sending/receiving data.
 *   RIG_ETIMEOUT  -  if timeout expires without any characters received.
 */
static int prosistel_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);
    //remember check for STXA,G,R or STXA,?,XXX,R 10 bytes
    retval = read_string(&rs->rotport, data, 20, CR, strlen(CR));
    if (retval < 0) {
        if (retry_read++ < rot->state.rotport.retry)
            goto transaction_write;
        goto transaction_quit;
    }

    //check if reply match issued command
    if(data[0]==0x02 && data[3]==cmdstr[2]) {
	rig_debug(RIG_DEBUG_VERBOSE, "%s Command %c reply received\n", __func__, data[3]);
	retval = RIG_OK;
	} else {
	rig_debug(RIG_DEBUG_VERBOSE, "%s Error Command issued: %c doesn't match reply %c\n", __func__, cmdstr[2], data[3]);
	retval = RIG_EIO;
	}
transaction_quit:
    return retval;
}






static int prosistel_rot_open(ROT *rot)
{
	char cmdstr[64];
	 int retval;
  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
  rot_open(rot);
  //disable CPM mode - CPM stands for Continuous Position Monitor operating mode
  //MCU continuously sends position data when CPM enabled
  num_sprintf(cmdstr, STX"AS"CR);
  retval = prosistel_transaction(rot, cmdstr, NULL, 0);
  return retval;
}



static int prosistel_rot_set_position(ROT *rot, azimuth_t az, elevation_t el) {

	char cmdstr[64];
	int retval;

  rig_debug(RIG_DEBUG_VERBOSE,"%s called: %.2f %.2f\n", __func__,
			az, el);

  num_sprintf(cmdstr, STX"AG%03.0f"CR, az);
  retval = prosistel_transaction(rot, cmdstr, NULL, 0);
  if(retval!=RIG_OK) {
	  return retval;
	  }

  /*
   * Elevation section: have no hardware to test
  memset(cmdstr,0,64);
  num_sprintf(cmdstr, STX"EG%03.0f"CR, el);
  retval = prosistel_transaction(rot, cmdstr, NULL, 0);
  if(retval!=RIG_OK) {
	  return retval;
	  }

   */
  return retval;
}


/*
 * Get position of rotor
 */
static int prosistel_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
{
	char cmdstr[64];
	char data[20];
	char posstr[3];
	int posval;
	int retval;

	num_sprintf(cmdstr, STX"A?"CR);
	retval = prosistel_transaction(rot, cmdstr, data, 20);
	 if(retval!=RIG_OK) {
		 return retval;
		 }

	posstr[0]=data[5];
	posstr[1]=data[6];
	posstr[2]=data[7];
	posval=atoi(posstr);
	rig_debug(RIG_DEBUG_VERBOSE, "%s got position %s converted to %d\n", __func__,posstr,posval);
	*az = (azimuth_t) posval;


	/*
	 * Elevation section: have no hardware to test
	memset(cmdstr,0,64);
	num_sprintf(cmdstr, STX"E?"CR);
	retval = prosistel_transaction(rot, cmdstr, data, 20);

	posstr[0]=data[5];
	posstr[1]=data[6];
	posstr[2]=data[7];
	posval=atoi(posstr);
	rig_debug(RIG_DEBUG_VERBOSE, "%s got position %s converted to %d\n", __func__,posstr,posval);
	*el = (azimuth_t) posval;
	*/

  return retval;
}





/*
 * Prosistel rotator capabilities.
 */

const struct rot_caps prosistel_rot_caps = {
  .rot_model =      ROT_MODEL_PROSISTEL,
  .model_name =     "Prosistel D",
  .mfg_name =       "Prosistel",
  .version =        "0.3",
  .copyright = 	    "LGPL",
  .status =         RIG_STATUS_BETA,
  .rot_type =       ROT_TYPE_AZIMUTH,
  .port_type =      RIG_PORT_SERIAL,
  .serial_rate_min  = 9600,
  .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          = 3000,
  .retry            = 3,


  .min_az =  	0.0,
  .max_az =  	360.0,
  .min_el =  	0.0,
  .max_el =  	90.0,

  .rot_open =     prosistel_rot_open,
  .set_position =     prosistel_rot_set_position,
  .get_position =     prosistel_rot_get_position,

};

DECLARE_INITROT_BACKEND(prosistel)
{
	rig_debug(RIG_DEBUG_VERBOSE, "prosistel: _init called\n");

	rot_register(&prosistel_rot_caps);


	return RIG_OK;
}