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Hamlib/rotorez/rotorez.c

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C
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/*
* Hamlib backend library for the DCU rotor command set.
*
* rotorez.c - (C) Nate Bargmann 2003 (n0nb at arrl.net)
*
* This shared library provides an API for communicating
* via serial interface to a Hy-Gain or Yaesu rotor using
* the Idiom Press Rotor-EZ or RotorCard interface. It also
* supports the Hy-Gain DCU-1.
*
* Rotor-EZ is a trademark of Idiom Press
* Hy-Gain is a trademark of MFJ Enterprises
*
*
* $Id: rotorez.c,v 1.9 2006-10-07 19:04:49 csete Exp $
*
*
* 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 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., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
#include <stdio.h>
#include <stdlib.h> /* Standard library definitions */
#include <string.h> /* String function definitions */
#include <unistd.h> /* UNIX standard function definitions */
#include "hamlib/rotator.h"
#include "serial.h"
#include "misc.h"
#include "register.h"
#include "rotorez.h"
/*
* Private data structure
*/
struct rotorez_rot_priv_data {
azimuth_t az;
};
/*
* Private helper function prototypes
*/
static int rotorez_send_priv_cmd(ROT *rot, const char *cmd);
/* *************************************
*
* Seperate model capabilities
*
* *************************************
*/
/*
* Rotor-EZ enhanced rotor capabilities
*/
const struct rot_caps rotorez_rot_caps = {
.rot_model = ROT_MODEL_ROTOREZ,
.model_name = "Rotor-EZ",
.mfg_name = "Idiom Press",
.version = "0.2",
.copyright = "LGPL",
.status = RIG_STATUS_NEW,
.rot_type = ROT_TYPE_OTHER,
.port_type = RIG_PORT_SERIAL,
.serial_rate_min = 4800,
.serial_rate_max = 4800,
.serial_data_bits = 8,
.serial_stop_bits = 1,
.serial_parity = RIG_PARITY_NONE,
.serial_handshake = RIG_HANDSHAKE_NONE,
.write_delay = 0,
.post_write_delay = 500,
.timeout = 5000,
.retry = 3,
.min_az = 0,
.max_az = 360,
.min_el = 0,
.max_el = 0,
.priv = NULL, /* priv */
.rot_init = rotorez_rot_init,
.rot_cleanup = rotorez_rot_cleanup,
.set_position = rotorez_rot_set_position,
.get_position = rotorez_rot_get_position,
.stop = rotorez_rot_stop,
.set_conf = rotorez_rot_set_conf,
};
/*
* RotorCard enhanced rotor capabilities
*/
const struct rot_caps rotorcard_rot_caps = {
.rot_model = ROT_MODEL_ROTORCARD,
.model_name = "RotorCard",
.mfg_name = "Idiom Press",
.version = "0.2",
.copyright = "LGPL",
.status = RIG_STATUS_NEW,
.rot_type = ROT_TYPE_OTHER,
.port_type = RIG_PORT_SERIAL,
.serial_rate_min = 4800,
.serial_rate_max = 4800,
.serial_data_bits = 8,
.serial_stop_bits = 1,
.serial_parity = RIG_PARITY_NONE,
.serial_handshake = RIG_HANDSHAKE_NONE,
.write_delay = 0,
.post_write_delay = 500,
.timeout = 5000,
.retry = 3,
.min_az = 0,
.max_az = 360,
.min_el = 0,
.max_el = 0,
.priv = NULL, /* priv */
.rot_init = rotorez_rot_init,
.rot_cleanup = rotorez_rot_cleanup,
.set_position = rotorez_rot_set_position,
.get_position = rotorez_rot_get_position,
.stop = rotorez_rot_stop,
.set_conf = rotorez_rot_set_conf,
};
/*
* Hy-Gain DCU-1/DCU-1X rotor capabilities
*/
const struct rot_caps dcu_rot_caps = {
.rot_model = ROT_MODEL_DCU,
.model_name = "DCU-1/DCU-1X",
.mfg_name = "Hy-Gain",
.version = "0.2",
.copyright = "LGPL",
.status = RIG_STATUS_NEW,
.rot_type = ROT_TYPE_OTHER,
.port_type = RIG_PORT_SERIAL,
.serial_rate_min = 4800,
.serial_rate_max = 4800,
.serial_data_bits = 8,
.serial_stop_bits = 1,
.serial_parity = RIG_PARITY_NONE,
.serial_handshake = RIG_HANDSHAKE_NONE,
.write_delay = 0,
.post_write_delay = 500,
.timeout = 5000,
.retry = 3,
.min_az = 0,
.max_az = 360,
.min_el = 0,
.max_el = 0,
.priv = NULL, /* priv */
.rot_init = rotorez_rot_init,
.rot_cleanup = rotorez_rot_cleanup,
.set_position = rotorez_rot_set_position,
};
/* ************************************
*
* API functions
*
* ************************************
*/
/*
* Initialize data structures
*/
static int rotorez_rot_init(ROT *rot) {
struct rotorez_rot_priv_data *priv;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
if (!rot)
return -RIG_EINVAL;
priv = (struct rotorez_rot_priv_data*)
malloc(sizeof(struct rotorez_rot_priv_data));
if (!priv)
return -RIG_ENOMEM;
rot->state.priv = (void*)priv;
rot->state.rotport.type.rig = RIG_PORT_SERIAL;
priv->az = 0;
return RIG_OK;
}
/*
* Clean up allocated memory structures
*/
static int rotorez_rot_cleanup(ROT *rot) {
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
if (!rot)
return -RIG_EINVAL;
if (rot->state.priv)
free(rot->state.priv);
rot->state.priv = NULL;
return RIG_OK;
}
/*
* Set position
* DCU protocol supports azimuth only--elevation is ignored
* Range is converted to an integer string, 0 to 360 degrees
*/
static int rotorez_rot_set_position(ROT *rot, azimuth_t azimuth, elevation_t elevation) {
char cmdstr[8];
char execstr[5] = "AM1;";
int err;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
if (!rot)
return -RIG_EINVAL;
if (azimuth < 0 || azimuth > 360)
return -RIG_EINVAL;
if (azimuth > 359.4999) /* DCU-1 compatibility */
azimuth = 0;
sprintf(cmdstr, "AP1%03.0f;", azimuth); /* Target bearing */
err = rotorez_send_priv_cmd(rot, cmdstr);
if (err != RIG_OK)
return err;
err = rotorez_send_priv_cmd(rot, execstr); /* Execute command */
if (err != RIG_OK)
return err;
return RIG_OK;
}
/*
* Get position
* Returns current azimuth position in whole degrees.
* Range returned from Rotor-EZ is an integer, 0 to 359 degrees
* Elevation is set to 0
*/
static int rotorez_rot_get_position(ROT *rot, azimuth_t *azimuth, elevation_t *elevation) {
struct rot_state *rs;
char cmdstr[5] = "AI1;";
char az[5]; /* read azimuth string */
char *p;
azimuth_t tmp = 0;
int err;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
if (!rot)
return -RIG_EINVAL;
err = rotorez_send_priv_cmd(rot, cmdstr);
if (err != RIG_OK)
return err;
rs = &rot->state;
err = read_block(&rs->rotport, az, AZ_READ_LEN);
if (err != AZ_READ_LEN)
return -RIG_ETRUNC;
/*
* Rotor-EZ returns a four octet string consisting of a ';' followed
* by three octets containing the rotor's position in degrees. The
* semi-colon is ignored when passing the string to atof().
*/
az[4] = 0x00; /* NULL terminated string */
p = az + 1; /* advance past leading ';' */
tmp = (azimuth_t)atof(p);
rig_debug(RIG_DEBUG_TRACE, "%s: \"%s\" after conversion = %.1f\n",
__func__, p, tmp);
if (tmp < 0 || tmp > 359)
return -RIG_EINVAL;
*azimuth = tmp;
*elevation = 0; /* assume aiming at the horizon */
rig_debug(RIG_DEBUG_TRACE,
"%s: azimuth = %.1f deg; elevation = %.1f deg\n",
__func__, *azimuth, *elevation);
return RIG_OK;
}
/*
* Stop rotation
*/
static int rotorez_rot_stop(ROT *rot) {
char cmdstr[2] = ";";
int err;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
if (!rot)
return -RIG_EINVAL;
err = rotorez_send_priv_cmd(rot, cmdstr);
if (err != RIG_OK)
return err;
return RIG_OK;
}
/*
* Send configuration character
*
* token is ignored
* Rotor-EZ interface will act on these commands immediately --
* no other command or command terminator is needed
*/
static int rotorez_rot_set_conf(ROT *rot, token_t token, const char *val) {
int err;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
if (!rot)
return -RIG_EINVAL;
switch(*val) {
case 'E': /* Enable endpoint option */
case 'e': /* Disable endpoint option */
case 'J': /* Enable jam protection */
case 'j': /* Disable jam protection -- not recommended */
case 'O': /* Enable overshoot option */
case 'o': /* Disable overshoot option */
case 'S': /* Enable unstick option */
case 's': /* Disable unstick option */
err = rotorez_send_priv_cmd(rot, val);
if (err != RIG_OK)
return err;
return RIG_OK;
default:
return -RIG_EINVAL;
}
}
/*
* Send command string to rotor
*/
static int rotorez_send_priv_cmd(ROT *rot, const char *cmdstr) {
struct rot_state *rs;
int err;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
if (!rot)
return -RIG_EINVAL;
rs = &rot->state;
err = write_block(&rs->rotport, cmdstr, strlen(cmdstr));
if (err != RIG_OK)
return err;
return RIG_OK;
}
/*
* Initialize backend
*/
DECLARE_INITROT_BACKEND(rotorez)
{
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
rot_register(&rotorez_rot_caps);
rot_register(&rotorcard_rot_caps);
rot_register(&dcu_rot_caps);
return RIG_OK;
}
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