kopia lustrzana https://github.com/Hamlib/Hamlib
274 wiersze
6.7 KiB
C
274 wiersze
6.7 KiB
C
/*
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* Hamlib Rotator backend - Celestron
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* Copyright (c) 2011 by Stephane Fillod
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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>
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#include <unistd.h>
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#include <math.h>
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#include <ctype.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 "celestron.h"
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#define ACK "#"
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#define BUFSZ 128
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/**
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* celestron_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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*/
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static int
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celestron_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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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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}
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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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{
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data = replybuf;
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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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/* the answer */
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memset(data, 0, data_len);
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retval = read_string(&rs->rotport, data, data_len, ACK, strlen(ACK));
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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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/* check for acknowledge */
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if (retval < 1 || data[retval - 1] != '#')
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{
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rig_debug(RIG_DEBUG_ERR, "%s: unexpected response, len %d: '%s'\n", __func__,
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retval, data);
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return -RIG_EPROTO;
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}
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data[retval - 1] = '\0';
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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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celestron_set_position(ROT *rot, azimuth_t az, elevation_t el)
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{
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char cmdstr[32];
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int retval;
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rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el);
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/*
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Note: if the telescope has not been aligned, the RA/DEC values will not be meaningful and the AZM-ALT values will
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be relative to where the telescope was powered on. After alignment, RA/DEC values will reflect the actual sky,
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azimuth will be indexed to North equals 0 and altitude will be indexed with 0 equal to the orientation where the optical
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tube is perpendicular to the azimuth axis.
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*/
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sprintf(cmdstr, "B%04X,%04X",
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(unsigned)((az / 360.) * 65535),
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(unsigned)((el / 360.) * 65535));
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retval = celestron_transaction(rot, cmdstr, NULL, 0);
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return retval;
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}
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static int
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celestron_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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unsigned w;
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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/* Get Azm-Alt */
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retval = celestron_transaction(rot, "Z", posbuf, sizeof(posbuf));
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if (retval != RIG_OK || strlen(posbuf) < 9 || posbuf[4] != ',')
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{
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return retval < 0 ? retval : -RIG_EPROTO;
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}
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if (sscanf(posbuf, "%04X", &w) != 1)
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{
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return -RIG_EPROTO;
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}
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*az = ((azimuth_t)w * 360.) / 65536.;
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if (sscanf(posbuf + 5, "%04X", &w) != 1)
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{
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return -RIG_EPROTO;
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}
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*el = ((elevation_t)w * 360.) / 65536.;
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rig_debug(RIG_DEBUG_TRACE, "%s: (az, el) = (%.1f, %.1f)\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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celestron_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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/* Cancel Goto */
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retval = celestron_transaction(rot, "M", NULL, 0);
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return retval;
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}
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static const char *
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celestron_get_info(ROT *rot)
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{
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static char info[16];
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char str[8];
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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if (celestron_transaction(rot, "V", str, sizeof(str)) != RIG_OK)
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{
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return NULL;
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}
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sprintf(info, "V%c.%c", str[0], str[1]);
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return info;
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}
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/* ************************************************************************* */
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/*
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* Celestron Nexstar telescope(rotator) capabilities.
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*
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* Protocol documentation:
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* from Celestron:
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* http://www.celestron.com/c3/images/files/downloads/1154108406_nexstarcommprot.pdf
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* from Orion Teletrack Az-G:
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* http://content.telescope.com/rsc/img/catalog/product/instructions/29295.pdf
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*/
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const struct rot_caps nexstar_rot_caps =
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{
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ROT_MODEL(ROT_MODEL_NEXSTAR),
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.model_name = "NexStar", // Any Celestron starting with version 1.2
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.mfg_name = "Celestron",
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.version = "20110821.0",
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.copyright = "LGPL",
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.status = RIG_STATUS_UNTESTED,
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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 = 9600,
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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 = 3500, /* worst case scenario */
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.retry = 1,
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.min_az = 0.0,
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.max_az = 360.0,
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.min_el = 0.0,
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.max_el = 180.0,
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.get_position = celestron_get_position,
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.set_position = celestron_set_position,
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.stop = celestron_stop,
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.get_info = celestron_get_info,
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};
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/* ************************************************************************* */
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DECLARE_INITROT_BACKEND(celestron)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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rot_register(&nexstar_rot_caps);
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return RIG_OK;
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}
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/* ************************************************************************* */
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/* end of file */
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