kopia lustrzana https://github.com/Hamlib/Hamlib
575 wiersze
16 KiB
C
575 wiersze
16 KiB
C
/*
|
|
* Hamlib Rotator backend - SPID Rot1Prog & Rot2Prog
|
|
* Copyright (c) 2009-2011 by Norvald H. Ryeng, LA6YKA
|
|
*
|
|
*
|
|
* 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 <stdlib.h>
|
|
#include <string.h>
|
|
|
|
#include "hamlib/rotator.h"
|
|
#include "serial.h"
|
|
#include "register.h"
|
|
|
|
#include "spid.h"
|
|
|
|
#define TOK_AZRES 1
|
|
#define TOK_ELRES 2
|
|
|
|
struct spid_rot2prog_priv_data
|
|
{
|
|
int az_resolution;
|
|
int el_resolution;
|
|
};
|
|
|
|
static int spid_rot_init(ROT *rot)
|
|
{
|
|
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
|
|
|
|
if (!rot || !rot->caps)
|
|
{
|
|
return -RIG_EINVAL;
|
|
}
|
|
|
|
if (rot->caps->rot_model == ROT_MODEL_SPID_ROT2PROG ||
|
|
rot->caps->rot_model == ROT_MODEL_SPID_MD01_ROT2PROG)
|
|
{
|
|
struct spid_rot2prog_priv_data *priv;
|
|
|
|
priv = (struct spid_rot2prog_priv_data *)calloc(1, sizeof(struct
|
|
spid_rot2prog_priv_data));
|
|
|
|
if (!priv)
|
|
{
|
|
return -RIG_ENOMEM;
|
|
}
|
|
|
|
rot->state.priv = (void *)priv;
|
|
|
|
priv->az_resolution = 0;
|
|
priv->el_resolution = 0;
|
|
}
|
|
|
|
return RIG_OK;
|
|
}
|
|
|
|
static int spid_rot_cleanup(ROT *rot)
|
|
{
|
|
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
|
|
|
|
if (!rot)
|
|
{
|
|
return -RIG_EINVAL;
|
|
}
|
|
|
|
if (rot->state.priv && (rot->caps->rot_model == ROT_MODEL_SPID_ROT2PROG ||
|
|
rot->caps->rot_model == ROT_MODEL_SPID_MD01_ROT2PROG))
|
|
{
|
|
free(rot->state.priv);
|
|
}
|
|
|
|
rot->state.priv = NULL;
|
|
|
|
return RIG_OK;
|
|
}
|
|
|
|
static int spid_get_conf2(ROT *rot, token_t token, char *val, int val_len)
|
|
{
|
|
struct spid_rot2prog_priv_data *priv = (struct spid_rot2prog_priv_data *)
|
|
rot->state.priv;
|
|
|
|
rig_debug(RIG_DEBUG_TRACE, "%s called %d\n", __func__, (int)token);
|
|
|
|
if (rot->caps->rot_model != ROT_MODEL_SPID_ROT2PROG &&
|
|
rot->caps->rot_model != ROT_MODEL_SPID_MD01_ROT2PROG)
|
|
{
|
|
return -RIG_EINVAL;
|
|
}
|
|
|
|
switch (token)
|
|
{
|
|
case TOK_AZRES:
|
|
SNPRINTF(val, val_len, "%d", priv->az_resolution);
|
|
break;
|
|
|
|
case TOK_ELRES:
|
|
SNPRINTF(val, val_len, "%d", priv->el_resolution);
|
|
break;
|
|
|
|
default:
|
|
return -RIG_EINVAL;
|
|
}
|
|
|
|
return RIG_OK;
|
|
}
|
|
|
|
static int spid_get_conf(ROT *rot, token_t token, char *val)
|
|
{
|
|
return spid_get_conf2(rot, token, val, 128);
|
|
}
|
|
|
|
static int spid_set_conf(ROT *rot, token_t token, const char *val)
|
|
{
|
|
struct spid_rot2prog_priv_data *priv = (struct spid_rot2prog_priv_data *)
|
|
rot->state.priv;
|
|
|
|
rig_debug(RIG_DEBUG_TRACE, "%s: called %d=%s\n", __func__, (int)token, val);
|
|
|
|
if (rot->caps->rot_model != ROT_MODEL_SPID_ROT2PROG &&
|
|
rot->caps->rot_model != ROT_MODEL_SPID_MD01_ROT2PROG)
|
|
{
|
|
return -RIG_EINVAL;
|
|
}
|
|
|
|
switch (token)
|
|
{
|
|
case TOK_AZRES:
|
|
priv->az_resolution = atoi(val);
|
|
break;
|
|
|
|
case TOK_ELRES:
|
|
priv->el_resolution = atoi(val);
|
|
break;
|
|
|
|
default:
|
|
return -RIG_EINVAL;
|
|
}
|
|
|
|
return RIG_OK;
|
|
}
|
|
|
|
static int spid_rot1prog_rot_set_position(ROT *rot, azimuth_t az,
|
|
elevation_t el)
|
|
{
|
|
struct rot_state *rs = &rot->state;
|
|
int retval;
|
|
char cmdstr[13];
|
|
unsigned int u_az;
|
|
|
|
rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el);
|
|
|
|
u_az = 360 + az;
|
|
|
|
cmdstr[0] = 0x57; /* S */
|
|
cmdstr[1] = 0x30 + u_az / 100; /* H1 */
|
|
cmdstr[2] = 0x30 + (u_az % 100) / 10; /* H2 */
|
|
cmdstr[3] = 0x30 + (u_az % 10); /* H3 */
|
|
cmdstr[4] = 0x30; /* H4 */
|
|
cmdstr[5] = 0x00; /* PH */
|
|
cmdstr[6] = 0x00; /* V1 */
|
|
cmdstr[7] = 0x00; /* V2 */
|
|
cmdstr[8] = 0x00; /* V3 */
|
|
cmdstr[9] = 0x00; /* V4 */
|
|
cmdstr[10] = 0x00; /* PV */
|
|
cmdstr[11] = 0x2F; /* K */
|
|
cmdstr[12] = 0x20; /* END */
|
|
|
|
retval = write_block(&rs->rotport, (unsigned char *) cmdstr, 13);
|
|
|
|
if (retval != RIG_OK)
|
|
{
|
|
return retval;
|
|
}
|
|
|
|
return RIG_OK;
|
|
}
|
|
|
|
static int spid_rot2prog_rot_set_position(ROT *rot, azimuth_t az,
|
|
elevation_t el)
|
|
{
|
|
struct rot_state *rs = &rot->state;
|
|
struct spid_rot2prog_priv_data *priv = (struct spid_rot2prog_priv_data *)
|
|
rs->priv;
|
|
int retval;
|
|
int retry_read = 0;
|
|
char cmdstr[13];
|
|
unsigned int u_az, u_el;
|
|
|
|
rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el);
|
|
|
|
if (!priv->az_resolution || !priv->el_resolution)
|
|
{
|
|
do
|
|
{
|
|
retval = write_block(&rs->rotport,
|
|
(unsigned char *) "\x57\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1F\x20", 13);
|
|
|
|
if (retval != RIG_OK)
|
|
{
|
|
return retval;
|
|
}
|
|
|
|
memset(cmdstr, 0, 12);
|
|
retval = read_block(&rs->rotport, (unsigned char *) cmdstr, 12);
|
|
}
|
|
while (retval < 0 && retry_read++ < rot->state.rotport.retry);
|
|
|
|
if (retval < 0)
|
|
{
|
|
return retval;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
cmdstr[5] = priv->az_resolution; /* PH */
|
|
cmdstr[10] = priv->el_resolution; /* PV */
|
|
}
|
|
|
|
u_az = cmdstr[5] * (360 + az);
|
|
u_el = cmdstr[10] * (360 + el);
|
|
|
|
cmdstr[0] = 0x57; /* S */
|
|
cmdstr[1] = 0x30 + u_az / 1000; /* H1 */
|
|
cmdstr[2] = 0x30 + (u_az % 1000) / 100; /* H2 */
|
|
cmdstr[3] = 0x30 + (u_az % 100) / 10; /* H3 */
|
|
cmdstr[4] = 0x30 + (u_az % 10); /* H4 */
|
|
|
|
cmdstr[6] = 0x30 + u_el / 1000; /* V1 */
|
|
cmdstr[7] = 0x30 + (u_el % 1000) / 100; /* V2 */
|
|
cmdstr[8] = 0x30 + (u_el % 100) / 10; /* V3 */
|
|
cmdstr[9] = 0x30 + (u_el % 10); /* V4 */
|
|
|
|
cmdstr[11] = 0x2F; /* K */
|
|
cmdstr[12] = 0x20; /* END */
|
|
|
|
retval = write_block(&rs->rotport, (unsigned char *) cmdstr, 13);
|
|
|
|
if (retval != RIG_OK)
|
|
{
|
|
return retval;
|
|
}
|
|
|
|
/* Unlike the original Rot2Prog, MD-01 and MD-02 return the position
|
|
after receiving the set position command. */
|
|
if (rot->caps->rot_model == ROT_MODEL_SPID_MD01_ROT2PROG)
|
|
{
|
|
retry_read = 0;
|
|
|
|
do
|
|
{
|
|
retval = read_block(&rs->rotport, (unsigned char *) cmdstr, 12);
|
|
}
|
|
while ((retval < 0) && (retry_read++ < rot->state.rotport.retry));
|
|
}
|
|
|
|
return RIG_OK;
|
|
}
|
|
|
|
static int spid_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
|
|
{
|
|
struct rot_state *rs = &rot->state;
|
|
int retval;
|
|
int retry_read = 0;
|
|
char posbuf[12];
|
|
|
|
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
|
|
|
|
do
|
|
{
|
|
retval = write_block(&rs->rotport,
|
|
(unsigned char *) "\x57\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1F\x20", 13);
|
|
|
|
if (retval != RIG_OK)
|
|
{
|
|
return retval;
|
|
}
|
|
|
|
memset(posbuf, 0, 12);
|
|
|
|
if (rot->caps->rot_model == ROT_MODEL_SPID_ROT1PROG)
|
|
{
|
|
retval = read_block(&rs->rotport, (unsigned char *) posbuf, 5);
|
|
}
|
|
else if (rot->caps->rot_model == ROT_MODEL_SPID_ROT2PROG ||
|
|
rot->caps->rot_model == ROT_MODEL_SPID_MD01_ROT2PROG)
|
|
{
|
|
retval = read_block(&rs->rotport, (unsigned char *) posbuf, 12);
|
|
}
|
|
else
|
|
{
|
|
retval = -RIG_EINVAL;
|
|
}
|
|
}
|
|
while (retval < 0 && retry_read++ < rot->state.rotport.retry);
|
|
|
|
if (retval < 0)
|
|
{
|
|
return retval;
|
|
}
|
|
|
|
*az = posbuf[1] * 100;
|
|
*az += posbuf[2] * 10;
|
|
*az += posbuf[3];
|
|
|
|
if (rot->caps->rot_model == ROT_MODEL_SPID_ROT2PROG ||
|
|
rot->caps->rot_model == ROT_MODEL_SPID_MD01_ROT2PROG)
|
|
{
|
|
*az += posbuf[4] / 10.0;
|
|
}
|
|
|
|
*az -= 360;
|
|
|
|
*el = 0.0;
|
|
|
|
if (rot->caps->rot_model == ROT_MODEL_SPID_ROT2PROG ||
|
|
rot->caps->rot_model == ROT_MODEL_SPID_MD01_ROT2PROG)
|
|
{
|
|
*el = posbuf[6] * 100;
|
|
*el += posbuf[7] * 10;
|
|
*el += posbuf[8];
|
|
*el += posbuf[9] / 10.0;
|
|
*el -= 360;
|
|
}
|
|
|
|
rig_debug(RIG_DEBUG_TRACE, "%s: (az, el) = (%.1f, %.1f)\n",
|
|
__func__, *az, *el);
|
|
|
|
return RIG_OK;
|
|
}
|
|
|
|
static int spid_rot_stop(ROT *rot)
|
|
{
|
|
struct rot_state *rs = &rot->state;
|
|
int retval;
|
|
int retry_read = 0;
|
|
char posbuf[12];
|
|
|
|
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
|
|
|
|
do
|
|
{
|
|
retval = write_block(&rs->rotport,
|
|
(unsigned char *) "\x57\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0F\x20", 13);
|
|
|
|
if (retval != RIG_OK)
|
|
{
|
|
return retval;
|
|
}
|
|
|
|
memset(posbuf, 0, 12);
|
|
|
|
if (rot->caps->rot_model == ROT_MODEL_SPID_ROT1PROG)
|
|
{
|
|
retval = read_block(&rs->rotport, (unsigned char *) posbuf, 5);
|
|
}
|
|
else if (rot->caps->rot_model == ROT_MODEL_SPID_ROT2PROG ||
|
|
rot->caps->rot_model == ROT_MODEL_SPID_MD01_ROT2PROG)
|
|
{
|
|
retval = read_block(&rs->rotport, (unsigned char *) posbuf, 12);
|
|
}
|
|
}
|
|
while (retval < 0 && retry_read++ < rot->state.rotport.retry);
|
|
|
|
if (retval < 0)
|
|
{
|
|
return retval;
|
|
}
|
|
|
|
return RIG_OK;
|
|
}
|
|
|
|
static int spid_md01_rot2prog_rot_move(ROT *rot, int direction, int speed)
|
|
{
|
|
struct rot_state *rs = &rot->state;
|
|
char dir = 0x00;
|
|
int retval;
|
|
char cmdstr[13];
|
|
|
|
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
|
|
|
|
switch (direction)
|
|
{
|
|
case ROT_MOVE_UP:
|
|
dir = 0x04;
|
|
break;
|
|
|
|
case ROT_MOVE_DOWN:
|
|
dir = 0x08;
|
|
break;
|
|
|
|
case ROT_MOVE_LEFT:
|
|
dir = 0x01;
|
|
break;
|
|
|
|
case ROT_MOVE_RIGHT:
|
|
dir = 0x02;
|
|
break;
|
|
}
|
|
|
|
cmdstr[0] = 0x57; /* S */
|
|
cmdstr[1] = dir; /* H1 */
|
|
cmdstr[2] = 0x00; /* H2 */
|
|
cmdstr[3] = 0x00; /* H3 */
|
|
cmdstr[4] = 0x00; /* H4 */
|
|
cmdstr[6] = 0x00; /* V1 */
|
|
cmdstr[7] = 0x00; /* V2 */
|
|
cmdstr[8] = 0x00; /* V3 */
|
|
cmdstr[9] = 0x00; /* V4 */
|
|
cmdstr[11] = 0x14; /* K */
|
|
cmdstr[12] = 0x20; /* END */
|
|
|
|
/* The rotator must be stopped before changing directions. Since
|
|
we don't know which direction we're already moving in (if
|
|
moving at all), always send the stop command first. */
|
|
spid_rot_stop(rot);
|
|
|
|
retval = write_block(&rs->rotport, (unsigned char *) cmdstr, 13);
|
|
return retval;
|
|
}
|
|
|
|
const struct confparams spid_cfg_params[] =
|
|
{
|
|
{
|
|
TOK_AZRES, "az_resolution", "Azimuth resolution", "Number of pulses per degree, 0 = auto sense",
|
|
"0", RIG_CONF_NUMERIC, { .n = { 0, 0xff, 1 } }
|
|
},
|
|
{
|
|
TOK_ELRES, "el_resolution", "Eleveation resolution", "Number of pulses per degree, 0 = auto sense",
|
|
"0", RIG_CONF_NUMERIC, { .n = { 0, 0xff, 1 } }
|
|
},
|
|
{ RIG_CONF_END, NULL, }
|
|
};
|
|
|
|
const struct rot_caps spid_rot1prog_rot_caps =
|
|
{
|
|
ROT_MODEL(ROT_MODEL_SPID_ROT1PROG),
|
|
.model_name = "Rot1Prog",
|
|
.mfg_name = "SPID",
|
|
.version = "20220109.0",
|
|
.copyright = "LGPL",
|
|
.status = RIG_STATUS_STABLE,
|
|
.rot_type = ROT_TYPE_AZIMUTH,
|
|
.port_type = RIG_PORT_SERIAL,
|
|
.serial_rate_min = 1200,
|
|
.serial_rate_max = 1200,
|
|
.serial_data_bits = 8,
|
|
.serial_stop_bits = 1,
|
|
.serial_parity = RIG_PARITY_NONE,
|
|
.serial_handshake = RIG_HANDSHAKE_NONE,
|
|
.write_delay = 0,
|
|
.post_write_delay = 300,
|
|
.timeout = 400,
|
|
.retry = 3,
|
|
|
|
.min_az = -180.0,
|
|
.max_az = 540.0,
|
|
.min_el = 0.0,
|
|
.max_el = 0.0,
|
|
|
|
.cfgparams = spid_cfg_params,
|
|
.get_conf = spid_get_conf,
|
|
.get_conf2 = spid_get_conf2,
|
|
.set_conf = spid_set_conf,
|
|
|
|
.rot_init = spid_rot_init,
|
|
.rot_cleanup = spid_rot_cleanup,
|
|
.get_position = spid_rot_get_position,
|
|
.set_position = spid_rot1prog_rot_set_position,
|
|
.stop = spid_rot_stop,
|
|
};
|
|
|
|
const struct rot_caps spid_rot2prog_rot_caps =
|
|
{
|
|
ROT_MODEL(ROT_MODEL_SPID_ROT2PROG),
|
|
.model_name = "Rot2Prog",
|
|
.mfg_name = "SPID",
|
|
.version = "20220109.0",
|
|
.copyright = "LGPL",
|
|
.status = RIG_STATUS_STABLE,
|
|
.rot_type = ROT_TYPE_AZEL,
|
|
.port_type = RIG_PORT_SERIAL,
|
|
.serial_rate_min = 600,
|
|
.serial_rate_max = 600,
|
|
.serial_data_bits = 8,
|
|
.serial_stop_bits = 1,
|
|
.serial_parity = RIG_PARITY_NONE,
|
|
.serial_handshake = RIG_HANDSHAKE_NONE,
|
|
.write_delay = 0,
|
|
.post_write_delay = 300,
|
|
.timeout = 400,
|
|
.retry = 3,
|
|
|
|
.min_az = -180.0,
|
|
.max_az = 540.0,
|
|
.min_el = -20.0,
|
|
.max_el = 210.0,
|
|
|
|
.cfgparams = spid_cfg_params,
|
|
.get_conf = spid_get_conf,
|
|
.set_conf = spid_set_conf,
|
|
.get_conf2 = spid_get_conf2,
|
|
|
|
.rot_init = spid_rot_init,
|
|
.rot_cleanup = spid_rot_cleanup,
|
|
.get_position = spid_rot_get_position,
|
|
.set_position = spid_rot2prog_rot_set_position,
|
|
.stop = spid_rot_stop,
|
|
};
|
|
|
|
const struct rot_caps spid_md01_rot2prog_rot_caps =
|
|
{
|
|
ROT_MODEL(ROT_MODEL_SPID_MD01_ROT2PROG),
|
|
.model_name = "MD-01/02 (ROT2 mode)",
|
|
.mfg_name = "SPID",
|
|
.version = "20220109.0",
|
|
.copyright = "LGPL",
|
|
.status = RIG_STATUS_STABLE,
|
|
.rot_type = ROT_TYPE_AZEL,
|
|
.port_type = RIG_PORT_SERIAL,
|
|
.serial_rate_min = 600,
|
|
.serial_rate_max = 460800,
|
|
.serial_data_bits = 8,
|
|
.serial_stop_bits = 1,
|
|
.serial_parity = RIG_PARITY_NONE,
|
|
.serial_handshake = RIG_HANDSHAKE_NONE,
|
|
.write_delay = 0,
|
|
.post_write_delay = 300,
|
|
.timeout = 400,
|
|
.retry = 3,
|
|
|
|
.min_az = -180.0,
|
|
.max_az = 540.0,
|
|
.min_el = -20.0,
|
|
.max_el = 210.0,
|
|
|
|
.cfgparams = spid_cfg_params,
|
|
.get_conf = spid_get_conf,
|
|
.get_conf2 = spid_get_conf2,
|
|
.set_conf = spid_set_conf,
|
|
|
|
.rot_init = spid_rot_init,
|
|
.rot_cleanup = spid_rot_cleanup,
|
|
.get_position = spid_rot_get_position,
|
|
.set_position = spid_rot2prog_rot_set_position,
|
|
.move = spid_md01_rot2prog_rot_move,
|
|
.stop = spid_rot_stop,
|
|
};
|
|
|
|
DECLARE_INITROT_BACKEND(spid)
|
|
{
|
|
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
|
|
|
|
rot_register(&spid_rot1prog_rot_caps);
|
|
rot_register(&spid_rot2prog_rot_caps);
|
|
rot_register(&spid_md01_rot2prog_rot_caps);
|
|
|
|
return RIG_OK;
|
|
}
|