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Hamlib/rotators/prosistel/prosistel.c

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15 KiB
C
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/*
* Hamlib Prosistel backend
* Copyright (c) 2015 by Dario Ventura IZ7CRX
* Copyright (c) 2020 by Mikael Nousiainen OH3BHX
*
*
* 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 "num_stdio.h"
#include "prosistel.h"
#define BUFSZ 128
#define CR "\r"
#define STX "\x02"
struct prosistel_rot_priv_caps
{
float angle_multiplier;
char azimuth_id;
char elevation_id;
int stop_angle;
};
/**
* 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_EPROTO - if a the response does not follow Prosistel protocol
* 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:
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;
}
// Remember to check for STXA,G,R or STXA,?,XXX,R 10 bytes
retval = read_string(&rs->rotport, (unsigned char *) data, 20, CR, strlen(CR),
0, 1);
if (retval < 0)
{
if (retry_read++ < rot->state.rotport.retry)
{
goto transaction_write;
}
goto transaction_quit;
}
// Check if reply matches issued command
if (cmdstr && 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 if (cmdstr)
{
rig_debug(RIG_DEBUG_VERBOSE,
"%s Error Command issued: %c doesn't match reply %c\n", __func__, cmdstr[2],
data[3]);
retval = -RIG_EPROTO;
}
transaction_quit:
return retval;
}
static int prosistel_rot_open(ROT *rot)
{
struct prosistel_rot_priv_caps *priv_caps =
(struct prosistel_rot_priv_caps *) rot->caps->priv;
char cmdstr[64];
int retval;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
// Disable CPM mode - CPM stands for Continuous Position Monitor operating mode
// The rotator controller sends position data continuously when CPM is enabled
// Disable CPM for azimuth if the rotator has an azimuth rotator
if (rot->caps->rot_type == ROT_TYPE_AZIMUTH
|| rot->caps->rot_type == ROT_TYPE_AZEL)
{
num_sprintf(cmdstr, STX"%cS"CR, priv_caps->azimuth_id);
retval = prosistel_transaction(rot, cmdstr, NULL, 0);
if (retval != RIG_OK)
{
return retval;
}
}
// Disable CPM for elevation if the rotator has an elevation rotator
if (rot->caps->rot_type == ROT_TYPE_ELEVATION
|| rot->caps->rot_type == ROT_TYPE_AZEL)
{
num_sprintf(cmdstr, STX"%cS"CR, priv_caps->elevation_id);
retval = prosistel_transaction(rot, cmdstr, NULL, 0);
if (retval != RIG_OK)
{
return retval;
}
}
return RIG_OK;
}
static int prosistel_rot_set_position(ROT *rot, azimuth_t az, elevation_t el)
{
struct prosistel_rot_priv_caps *priv_caps =
(struct prosistel_rot_priv_caps *) rot->caps->priv;
char cmdstr[64];
int retval = -RIG_EINTERNAL;
rig_debug(RIG_DEBUG_VERBOSE, "%s called: %.1f %.1f\n", __func__, az, el);
// Leading zeros in angle values are optional according to Prosistel protocol documentation
// Set azimuth only if the rotator has the capability to do so
// It is an error to set azimuth if it's not supported by the rotator controller
if (rot->caps->rot_type == ROT_TYPE_AZIMUTH
|| rot->caps->rot_type == ROT_TYPE_AZEL)
{
num_sprintf(cmdstr, STX"%cG%.0f"CR, priv_caps->azimuth_id,
az * priv_caps->angle_multiplier);
retval = prosistel_transaction(rot, cmdstr, NULL, 0);
if (retval != RIG_OK)
{
return retval;
}
}
// Set elevation only if the rotator has the capability to do so
// It is an error to set elevation if it's not supported by the rotator controller
if (rot->caps->rot_type == ROT_TYPE_ELEVATION
|| rot->caps->rot_type == ROT_TYPE_AZEL)
{
num_sprintf(cmdstr, STX"%cG%.0f"CR, priv_caps->elevation_id,
el * priv_caps->angle_multiplier);
retval = prosistel_transaction(rot, cmdstr, NULL, 0);
if (retval != RIG_OK)
{
return retval;
}
}
return retval;
}
static int prosistel_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
{
struct prosistel_rot_priv_caps *priv_caps =
(struct prosistel_rot_priv_caps *) rot->caps->priv;
char cmdstr[64];
char data[20];
float posval;
int retval = RIG_OK;
int n;
// Query azimuth only if the rotator has the capability to do so
// It is an error to query for azimuth if it's not supported by the rotator controller
if (rot->caps->rot_type == ROT_TYPE_AZIMUTH
|| rot->caps->rot_type == ROT_TYPE_AZEL)
{
char rot_id;
num_sprintf(cmdstr, STX"%c?"CR, priv_caps->azimuth_id);
retval = prosistel_transaction(rot, cmdstr, data, sizeof(data));
if (retval != RIG_OK)
{
return retval;
}
// Example response of 290 degree azimuth with 3 digits
// 02 41 2c 3f 2c 32 39 30 2c 52 0d .A,?,290,R.
// Example response of 100 degree azimuth with 4 digits
// 02 41 2c 3f 2c 31 30 30 30 2c 52 0d .A,?,1000,R.
n = sscanf(data, "%*c%c,?,%f,%*c.", &rot_id, &posval);
if (n != 2 || rot_id != priv_caps->azimuth_id)
{
rig_debug(RIG_DEBUG_ERR, "%s failed to parse azimuth '%s'\n", __func__, data);
return -RIG_EPROTO;
}
posval /= priv_caps->angle_multiplier;
rig_debug(RIG_DEBUG_VERBOSE, "%s got position from '%s' converted to %f\n",
__func__, data, posval);
*az = (azimuth_t) posval;
}
else
{
*az = 0;
}
// Query elevation only if the rotator has the capability to do so
// It is an error to query for elevation if it's not supported by the rotator controller
if (rot->caps->rot_type == ROT_TYPE_ELEVATION
|| rot->caps->rot_type == ROT_TYPE_AZEL)
{
char rot_id;
num_sprintf(cmdstr, STX"%c?"CR, priv_caps->elevation_id);
retval = prosistel_transaction(rot, cmdstr, data, sizeof(data));
if (retval != RIG_OK)
{
return retval;
}
// Example response of 90 degree elevation with 4 digits
// 02 42 2c 3f 2c 30 39 30 30 2c 52 0d .B,?,0900,R.
// The response will be an error if no elevation is available
// 02 42 2c 3f 2c 45 2c 30 30 30 30 33 0d .B,?,E,00003.
n = sscanf(data, "%*c%c,?,%f,%*c.", &rot_id, &posval);
if (n != 2 || rot_id != priv_caps->elevation_id)
{
rig_debug(RIG_DEBUG_ERR, "%s failed to parse elevation '%s'\n", __func__, data);
return -RIG_EPROTO;
}
posval /= priv_caps->angle_multiplier;
rig_debug(RIG_DEBUG_VERBOSE, "%s got position from '%s' converted to %f\n",
__func__, data, posval);
*el = (elevation_t) posval;
}
else
{
*el = 0;
}
return retval;
}
static int prosistel_rot_stop(ROT *rot)
{
struct prosistel_rot_priv_caps *priv_caps =
(struct prosistel_rot_priv_caps *) rot->caps->priv;
char cmdstr[64];
int retval = -RIG_EINTERNAL;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
// Stop azimuth only if the rotator has the capability to do so
if (rot->caps->rot_type == ROT_TYPE_AZIMUTH
|| rot->caps->rot_type == ROT_TYPE_AZEL)
{
num_sprintf(cmdstr, STX"%cG%d"CR, priv_caps->azimuth_id, priv_caps->stop_angle);
retval = prosistel_transaction(rot, cmdstr, NULL, 0);
if (retval != RIG_OK)
{
return retval;
}
}
// Stop elevation only if the rotator has the capability to do so
if (rot->caps->rot_type == ROT_TYPE_ELEVATION
|| rot->caps->rot_type == ROT_TYPE_AZEL)
{
num_sprintf(cmdstr, STX"%cG%d"CR, priv_caps->elevation_id,
priv_caps->stop_angle);
retval = prosistel_transaction(rot, cmdstr, NULL, 0);
if (retval != RIG_OK)
{
return retval;
}
}
return retval;
}
static const struct prosistel_rot_priv_caps prosistel_rot_az_or_el_priv_caps =
{
.angle_multiplier = 1.0f,
/**
* Angle 977 = soft stop, stops the rotator using using PWM if PWM mode is enabled, otherwise results in a fast stop
* Angle 999 = fast stop, stops the rotator immediately
*/
.stop_angle = 997,
.azimuth_id = 'A',
.elevation_id = 'E',
};
/*
* The Prosistel Combi-Track azimuth + elevation controllers use angle values multiplied by 10 and have
* two "units" with identifier A and B (instead of A and E).
*/
static const struct prosistel_rot_priv_caps prosistel_rot_combitrack_priv_caps =
{
.angle_multiplier = 10.0f,
/**
* Angle 9777 = soft stop, stops the rotator using using PWM if PWM mode is enabled, otherwise results in a fast stop
* Angle 9999 = fast stop, stops the rotator immediately
*/
.stop_angle = 9777,
.azimuth_id = 'A',
.elevation_id = 'B',
};
// Elevation rotator with Control box D using azimuth logic
static const struct prosistel_rot_priv_caps prosistel_rot_el_cboxaz =
{
.angle_multiplier = 1.0f,
.stop_angle = 997,
.elevation_id = 'A',
};
/*
* Prosistel rotator capabilities
*/
const struct rot_caps prosistel_d_az_rot_caps =
{
ROT_MODEL(ROT_MODEL_PROSISTEL_D_AZ),
.model_name = "D azimuth",
.mfg_name = "Prosistel",
.version = "20201215.0",
.copyright = "LGPL",
.status = RIG_STATUS_STABLE,
.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 = 0.0,
.priv = &prosistel_rot_az_or_el_priv_caps,
.rot_open = prosistel_rot_open,
.stop = prosistel_rot_stop,
.set_position = prosistel_rot_set_position,
.get_position = prosistel_rot_get_position,
};
const struct rot_caps prosistel_d_el_rot_caps =
{
ROT_MODEL(ROT_MODEL_PROSISTEL_D_EL),
.model_name = "D elevation",
.mfg_name = "Prosistel",
.version = "20201215.0",
.copyright = "LGPL",
.status = RIG_STATUS_STABLE,
.rot_type = ROT_TYPE_ELEVATION,
.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 = 0.0,
.min_el = 0.0,
.max_el = 90.0,
.priv = &prosistel_rot_az_or_el_priv_caps,
.rot_open = prosistel_rot_open,
.stop = prosistel_rot_stop,
.set_position = prosistel_rot_set_position,
.get_position = prosistel_rot_get_position,
};
const struct rot_caps prosistel_combi_track_azel_rot_caps =
{
ROT_MODEL(ROT_MODEL_PROSISTEL_COMBI_TRACK_AZEL),
.model_name = "Combi-Track az+el",
.mfg_name = "Prosistel",
.version = "20201215.0",
.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 = 3000,
.retry = 3,
.min_az = 0.0,
.max_az = 360.0,
.min_el = 0.0,
.max_el = 90.0,
.priv = &prosistel_rot_combitrack_priv_caps,
.rot_open = prosistel_rot_open,
.stop = prosistel_rot_stop,
.set_position = prosistel_rot_set_position,
.get_position = prosistel_rot_get_position,
};
// Elevation rotator with Control box D using azimuth logic
const struct rot_caps prosistel_d_el_cboxaz_rot_caps =
{
ROT_MODEL(ROT_MODEL_PROSISTEL_D_EL_CBOXAZ),
.model_name = "D elevation CBOX az",
.mfg_name = "Prosistel",
.version = "20221215.0",
.copyright = "LGPL",
.status = RIG_STATUS_STABLE,
.rot_type = ROT_TYPE_ELEVATION,
.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 = 0.0,
.min_el = 0.0,
.max_el = 90.0,
.priv = &prosistel_rot_el_cboxaz,
.rot_open = prosistel_rot_open,
.stop = prosistel_rot_stop,
.set_position = prosistel_rot_set_position,
.get_position = prosistel_rot_get_position,
};
DECLARE_INITROT_BACKEND(prosistel)
{
rig_debug(RIG_DEBUG_VERBOSE, "%s: _init called\n", __func__);
rot_register(&prosistel_d_az_rot_caps);
rot_register(&prosistel_d_el_rot_caps);
rot_register(&prosistel_combi_track_azel_rot_caps);
rot_register(&prosistel_d_el_cboxaz_rot_caps);
return RIG_OK;
}
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