diff --git a/configure.ac b/configure.ac index 4ba505b35..7086bb018 100644 --- a/configure.ac +++ b/configure.ac @@ -48,7 +48,7 @@ dnl Beware of duplication should a backend directory include both rig and dnl rotor definitions, e.g. "dummy". Optional backends will not be listed dnl here but will be added later, e.g. "winradio". RIG_BACKEND_LIST="rigs/adat rigs/alinco rigs/aor rigs/barrett rigs/dorji rigs/drake rigs/dummy rigs/elad rigs/flexradio rigs/icom rigs/icmarine rigs/jrc rigs/kachina rigs/kenwood rigs/kit rigs/lowe rigs/pcr rigs/prm80 rigs/racal rigs/rft rigs/rs rigs/skanti rigs/tapr rigs/tentec rigs/tuner rigs/uniden rigs/winradio rigs/wj rigs/yaesu" -ROT_BACKEND_LIST="rotators/amsat rotators/ars rotators/celestron rotators/cnctrk rotators/easycomm rotators/ether6 rotators/fodtrack rotators/gs232a rotators/heathkit rotators/m2 rotators/meade rotators/rotorez rotators/sartek rotators/spid rotators/ts7400 rotators/prosistel rotators/ioptron rotators/satel" +ROT_BACKEND_LIST="rotators/amsat rotators/ars rotators/celestron rotators/cnctrk rotators/easycomm rotators/ether6 rotators/fodtrack rotators/gs232a rotators/heathkit rotators/m2 rotators/meade rotators/rotorez rotators/sartek rotators/spid rotators/ts7400 rotators/prosistel rotators/ioptron rotators/satel rotators/radant" # Amplifiers are all in the amplifiers directory AMP_BACKEND_LIST="amplifiers/elecraft" @@ -832,6 +832,7 @@ rotators/spid/Makefile rotators/ts7400/Makefile rotators/indi/Makefile rotators/satel/Makefile +rotators/radant/Makefile rigs/adat/Makefile rigs/alinco/Makefile rigs/aor/Makefile diff --git a/include/hamlib/rotlist.h b/include/hamlib/rotlist.h index cdfe840c9..939cad56b 100644 --- a/include/hamlib/rotlist.h +++ b/include/hamlib/rotlist.h @@ -604,6 +604,19 @@ #define ROT_MODEL_SATEL ROT_MAKE_MODEL(ROT_SATEL, 1) +/** + * \brief A macro that returns the model number of the RADANT backend. + * + * \def ROT_MODEL_RADANT + * + * The RADANT backend can be used with rotators that support the MS232 + * interface. + */ +//! @cond Doxygen_Suppress +#define ROT_RADANT 22 +#define ROT_BACKEND_RADANT "radant" +//! @endcond +#define ROT_MODEL_RADANT ROT_MAKE_MODEL(ROT_RADANT, 1) /** diff --git a/rotators/radant/Makefile.am b/rotators/radant/Makefile.am new file mode 100644 index 000000000..42da545fd --- /dev/null +++ b/rotators/radant/Makefile.am @@ -0,0 +1,5 @@ + +noinst_LTLIBRARIES = libhamlib-radant.la +libhamlib_radant_la_SOURCES = radant.c radant.h + +EXTRA_DIST = radant.txt diff --git a/rotators/radant/radant.c b/rotators/radant/radant.c new file mode 100644 index 000000000..351aadc7d --- /dev/null +++ b/rotators/radant/radant.c @@ -0,0 +1,224 @@ +/* + * Hamlib Rotator backend - Radant + * Copyright (c) 2001-2003 by Stephane Fillod + * Contributed by Francois Retief + * Copyright (c) 2014 by Alexander Schultze + * + * + * 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 + * + */ + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +#include +#include +#include /* String function definitions */ +#include /* UNIX standard function definitions */ +#include + +#include "hamlib/rotator.h" +#include "serial.h" +#include "misc.h" +#include "register.h" +#include "idx_builtin.h" + +#include "radant.h" + +//#define EASYCOMM3_LEVELS ROT_LEVEL_SPEED + +/* ************************************************************************* */ +/** + * radant_transaction + * + * Assumes rot!=NULL and cmdstr!=NULL + * + * cmdstr - string to send to rotator + * data - buffer for reply string + * data_len - (input) Maximum size of buffer + * (output) Number of bytes read. + */ +static int +radant_transaction(ROT *rot, const char *cmdstr, char *data, size_t data_len) +{ + struct rot_state *rs; + int retval; + + rig_debug(RIG_DEBUG_TRACE, "%s called: %s\n", __func__, cmdstr); + + if (!rot) + { + return -RIG_EINVAL; + } + + rs = &rot->state; + rig_flush(&rs->rotport); + retval = write_block(&rs->rotport, cmdstr, strlen(cmdstr)); + + if (retval != RIG_OK) + { + goto transaction_quit; + } + + if (data == NULL) + { + return RIG_OK; /* don't want a reply */ + } + + retval = read_string(&rs->rotport, data, data_len, "\n", 1); + + if (retval < 0) + { + rig_debug(RIG_DEBUG_TRACE, "%s read_string failed with status %d\n", __func__, + retval); + goto transaction_quit; + } + else + { + rig_debug(RIG_DEBUG_TRACE, "%s read_string: %s\n", __func__, data); + retval = RIG_OK; + } + +transaction_quit: + return retval; +} + +/* ************************************************************************* */ + +static int +radant_rot_set_position(ROT *rot, azimuth_t az, elevation_t el) +{ + char cmdstr[13]; + int retval; + rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el); + + + sprintf(cmdstr, "Q%.1f %1.f\r", az, el); + + retval = radant_transaction(rot, cmdstr, NULL, 0); + + if (retval != RIG_OK) + { + return retval; + } + + /* TODO: Error processing */ + return RIG_OK; +} + +static int +radant_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el) +{ + char cmdstr[4], ackbuf[16]; + int retval; + + rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__); + + sprintf(cmdstr, "Y\r"); + + retval = radant_transaction(rot, cmdstr, ackbuf, sizeof(ackbuf)); + + if (retval != RIG_OK) + { + rig_debug(RIG_DEBUG_TRACE, "%s got error: %d\n", __func__, retval); + return retval; + } + + rig_debug(RIG_DEBUG_TRACE, "%s got response: %s\n", __func__, ackbuf); + retval = sscanf(ackbuf, "OK%f %f\r", az, el); + + if (retval != 2) + { + rig_debug(RIG_DEBUG_ERR, "%s: unknown response (%s)\n", __func__, ackbuf); + return -RIG_ERJCTED; + } + + return RIG_OK; +} + +static int +radant_rot_stop(ROT *rot) +{ + int retval; + + rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__); + + retval = radant_transaction(rot, "S\r", NULL, 0); + + if (retval != RIG_OK) + { + return retval; + } + + /* TODO: error processing */ + + return RIG_OK; +} + +/* ************************************************************************* */ +/* + * Radant rotator capabilities. + */ + +/** Radant implement set and get position function and stop, but + * there is no velocity and other configurations functions + */ +const struct rot_caps radant_rot_caps = +{ + ROT_MODEL(ROT_MODEL_RADANT), + .model_name = "Radant", + .mfg_name = "Hamlib", + .version = "20210409.0", + .copyright = "LGPL", + .status = RIG_STATUS_BETA, + .rot_type = ROT_TYPE_OTHER, + .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 = 200, + .retry = 3, + + .min_az = 0.0, + .max_az = 360.0, + .min_el = 0.0, + .max_el = 180.0, + + .priv = NULL, /* priv */ + + .set_position = radant_rot_set_position, + .get_position = radant_rot_get_position, + .stop = radant_rot_stop, +}; + +/* ************************************************************************* */ + +DECLARE_INITROT_BACKEND(radant) +{ + rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__); + + rot_register(&radant_rot_caps); + return RIG_OK; +} + +/* ************************************************************************* */ +/* end of file */ diff --git a/rotators/radant/radant.h b/rotators/radant/radant.h new file mode 100644 index 000000000..72226b542 --- /dev/null +++ b/rotators/radant/radant.h @@ -0,0 +1,46 @@ +/* + * Hamlib Rotator backend - Easycomm interface protocol + * Copyright (c) 2001-2003 by Stephane Fillod + * Contributed by Francois Retief + * Copyright (c) 2014 by Alexander Schultze + * + * + * 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 + * + */ + +#ifndef _ROT_RADANT_H +#define _ROT_RADANT_H 1 + +#include "token.h" + +extern const struct rot_caps radant_rot_caps; + +/* + * Tokens used by rotorez_rot_set_conf and get_conf and the 'C' command in rotctl + * and rotctld. + */ + +#define TOK_GET_CONFIG TOKEN_BACKEND(1) +#define TOK_SET_CONFIG TOKEN_BACKEND(2) +#define TOK_GET_STATUS TOKEN_BACKEND(3) +#define TOK_GET_ERRORS TOKEN_BACKEND(4) +#define TOK_GET_VERSION TOKEN_BACKEND(5) +#define TOK_GET_INPUT TOKEN_BACKEND(6) +#define TOK_SET_OUTPUT TOKEN_BACKEND(7) +#define TOK_GET_ANALOG_INPUT TOKEN_BACKEND(8) + + +#endif /* _ROT_RADANT_H */ diff --git a/rotators/radant/radant.txt b/rotators/radant/radant.txt new file mode 100644 index 000000000..c6d10a569 --- /dev/null +++ b/rotators/radant/radant.txt @@ -0,0 +1,27 @@ +Standart protocol for both El and Az axes. Working with russian Radant version 1.0 - 1.4: Радант AZV-1 + +Serial port mode 9600 8N1. + + +------------ Main commands ----------------- + means carriage return + + - Set desired angle: +"Qaaa.a eee.e", where +aaa.a - azimuth angle value with floating point, +eee.e - elevation angle with floating point. + + - After receiving command 'Q' rotator will send message +"ACK" if rotator received correct command, or +"ERR", if there were any mistakes. + + - After reaching destination angle rotator will send +"OKaaa.a[.]eee.e" + + - Request current axes angle command: +"Y" without parameters + - Rotator will reply: +"OKaaa.a[.]eee.e" + +Command for stop positioning: +"S" diff --git a/src/rot_reg.c b/src/rot_reg.c index 8a341872c..3a97ed71d 100644 --- a/src/rot_reg.c +++ b/src/rot_reg.c @@ -85,6 +85,7 @@ DEFINE_INITROT_BACKEND(prosistel); DEFINE_INITROT_BACKEND(meade); DEFINE_INITROT_BACKEND(ioptron); DEFINE_INITROT_BACKEND(satel); +DEFINE_INITROT_BACKEND(radant); #if HAVE_LIBINDI DEFINE_INITROT_BACKEND(indi); #endif @@ -128,6 +129,7 @@ static struct { ROT_MEADE, ROT_BACKEND_MEADE, ROT_FUNCNAMA(meade) }, { ROT_IOPTRON, ROT_BACKEND_IOPTRON, ROT_FUNCNAMA(ioptron) }, { ROT_SATEL, ROT_BACKEND_SATEL, ROT_FUNCNAMA(satel) }, + { ROT_RADANT, ROT_BACKEND_RADANT, ROT_FUNCNAMA(radant)}, #if HAVE_LIBINDI { ROT_INDI, ROT_BACKEND_INDI, ROT_FUNCNAMA(indi) }, #endif