kopia lustrzana https://github.com/Hamlib/Hamlib
267 wiersze
6.7 KiB
C
267 wiersze
6.7 KiB
C
/*
|
|
* Hamlib Rotator backend - Celestron
|
|
* Copyright (c) 2011 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
|
|
*
|
|
*/
|
|
|
|
|
|
#include <stdio.h>
|
|
#include <string.h>
|
|
|
|
#include "hamlib/rotator.h"
|
|
#include "serial.h"
|
|
#include "register.h"
|
|
|
|
#include "celestron.h"
|
|
|
|
#define ACK "#"
|
|
|
|
#define BUFSZ 128
|
|
|
|
/**
|
|
* celestron_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
|
|
celestron_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:
|
|
|
|
rig_flush(&rs->rotport);
|
|
|
|
if (cmdstr)
|
|
{
|
|
retval = write_block(&rs->rotport, (unsigned char *) 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;
|
|
}
|
|
|
|
/* the answer */
|
|
memset(data, 0, data_len);
|
|
retval = read_string(&rs->rotport, (unsigned char *) data, data_len,
|
|
ACK, strlen(ACK), 0, 1);
|
|
|
|
if (retval < 0)
|
|
{
|
|
if (retry_read++ < rot->state.rotport.retry)
|
|
{
|
|
goto transaction_write;
|
|
}
|
|
|
|
goto transaction_quit;
|
|
}
|
|
|
|
/* check for acknowledge */
|
|
if (retval < 1 || data[retval - 1] != '#')
|
|
{
|
|
rig_debug(RIG_DEBUG_ERR, "%s: unexpected response, len %d: '%s'\n", __func__,
|
|
retval, data);
|
|
return -RIG_EPROTO;
|
|
}
|
|
|
|
data[retval - 1] = '\0';
|
|
|
|
retval = RIG_OK;
|
|
transaction_quit:
|
|
return retval;
|
|
}
|
|
|
|
|
|
static int
|
|
celestron_set_position(ROT *rot, azimuth_t az, elevation_t el)
|
|
{
|
|
char cmdstr[32];
|
|
int retval;
|
|
|
|
rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el);
|
|
|
|
/*
|
|
Note: if the telescope has not been aligned, the RA/DEC values will not be meaningful and the AZM-ALT values will
|
|
be relative to where the telescope was powered on. After alignment, RA/DEC values will reflect the actual sky,
|
|
azimuth will be indexed to North equals 0 and altitude will be indexed with 0 equal to the orientation where the optical
|
|
tube is perpendicular to the azimuth axis.
|
|
*/
|
|
|
|
SNPRINTF(cmdstr, sizeof(cmdstr), "B%04X,%04X",
|
|
(unsigned)((az / 360.) * 65535),
|
|
(unsigned)((el / 360.) * 65535));
|
|
|
|
retval = celestron_transaction(rot, cmdstr, NULL, 0);
|
|
|
|
return retval;
|
|
}
|
|
|
|
static int
|
|
celestron_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
|
|
{
|
|
char posbuf[32];
|
|
int retval;
|
|
unsigned w;
|
|
|
|
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
|
|
|
|
/* Get Azm-Alt */
|
|
retval = celestron_transaction(rot, "Z", posbuf, sizeof(posbuf));
|
|
|
|
if (retval != RIG_OK || strlen(posbuf) < 9 || posbuf[4] != ',')
|
|
{
|
|
return retval < 0 ? retval : -RIG_EPROTO;
|
|
}
|
|
|
|
if (sscanf(posbuf, "%04X", &w) != 1)
|
|
{
|
|
return -RIG_EPROTO;
|
|
}
|
|
|
|
*az = ((azimuth_t)w * 360.) / 65536.;
|
|
|
|
if (sscanf(posbuf + 5, "%04X", &w) != 1)
|
|
{
|
|
return -RIG_EPROTO;
|
|
}
|
|
|
|
*el = ((elevation_t)w * 360.) / 65536.;
|
|
|
|
rig_debug(RIG_DEBUG_TRACE, "%s: (az, el) = (%.1f, %.1f)\n",
|
|
__func__, *az, *el);
|
|
|
|
return RIG_OK;
|
|
}
|
|
|
|
static int
|
|
celestron_stop(ROT *rot)
|
|
{
|
|
int retval;
|
|
|
|
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
|
|
|
|
/* Cancel Goto */
|
|
retval = celestron_transaction(rot, "M", NULL, 0);
|
|
|
|
return retval;
|
|
}
|
|
|
|
static const char *
|
|
celestron_get_info(ROT *rot)
|
|
{
|
|
static char info[32];
|
|
char str[8];
|
|
|
|
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
|
|
|
|
if (celestron_transaction(rot, "V", str, sizeof(str)) != RIG_OK)
|
|
{
|
|
return NULL;
|
|
}
|
|
|
|
SNPRINTF(info, sizeof(info), "V%c.%c", str[0], str[1]);
|
|
|
|
return info;
|
|
}
|
|
|
|
|
|
|
|
/* ************************************************************************* */
|
|
/*
|
|
* Celestron Nexstar telescope(rotator) capabilities.
|
|
*
|
|
* Protocol documentation:
|
|
* from Celestron:
|
|
* http://www.celestron.com/c3/images/files/downloads/1154108406_nexstarcommprot.pdf
|
|
* from Orion Teletrack Az-G:
|
|
* http://content.telescope.com/rsc/img/catalog/product/instructions/29295.pdf
|
|
*/
|
|
|
|
const struct rot_caps nexstar_rot_caps =
|
|
{
|
|
ROT_MODEL(ROT_MODEL_NEXSTAR),
|
|
.model_name = "NexStar", // Any Celestron starting with version 1.2
|
|
.mfg_name = "Celestron",
|
|
.version = "20220109.0",
|
|
.copyright = "LGPL",
|
|
.status = RIG_STATUS_STABLE,
|
|
.rot_type = ROT_TYPE_AZEL,
|
|
.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 = 3500, /* worst case scenario */
|
|
.retry = 1,
|
|
|
|
.min_az = 0.0,
|
|
.max_az = 360.0,
|
|
.min_el = 0.0,
|
|
.max_el = 180.0,
|
|
|
|
.get_position = celestron_get_position,
|
|
.set_position = celestron_set_position,
|
|
.stop = celestron_stop,
|
|
.get_info = celestron_get_info,
|
|
};
|
|
|
|
/* ************************************************************************* */
|
|
|
|
DECLARE_INITROT_BACKEND(celestron)
|
|
{
|
|
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
|
|
|
|
rot_register(&nexstar_rot_caps);
|
|
|
|
return RIG_OK;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
/* end of file */
|
|
|