Add Radant AZV-1 Rotator controller protocol.

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

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)
 
 
 /**

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

rotators/radant/radant.c

@@ -0,0 +1,224 @@
+/*
+ *  Hamlib Rotator backend - Radant
+ *  Copyright (c) 2001-2003 by Stephane Fillod
+ *  Contributed by Francois Retief <fgretief@sun.ac.za>
+ *  Copyright (c) 2014 by Alexander Schultze <alexschultze@gmail.com>
+ *
+ *
+ *   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 <stdio.h>
+#include <stdlib.h>
+#include <string.h>  /* String function definitions */
+#include <unistd.h>  /* UNIX standard function definitions */
+#include <math.h>
+
+#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 */

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 <fgretief@sun.ac.za>
+ *  Copyright (c) 2014 by Alexander Schultze <alexschultze@gmail.com>
+ *
+ *
+ *   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 */

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 -----------------
+<CR> means carriage return
+
+ - Set desired angle:
+"Qaaa.a eee.e<CR>", 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<CR>" if rotator received correct command, or
+"ERR<CR>", if there were any mistakes.
+
+ - After reaching destination angle rotator will send
+"OKaaa.a[.]eee.e<CR>"
+
+ - Request current axes angle command:
+"Y<CR>" without parameters
+ - Rotator will reply: 
+"OKaaa.a[.]eee.e<CR>"
+
+Command for stop positioning:
+"S<CR>"

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