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rotators/flir/README

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rotators/flir/README.md

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+# FLIR/DirectedPerception PTU Rotor Module
+
+This module interfaces FLIR and DirectedPerception
+rotor using the PTU protocol via serial.
+
+This includes:
+
+* PTU-D48(E)
+* PTU-E46
+* PTU-D100(E)
+* PTU-D300(E)
+
+Tested only with PTU-D48 yet and with one rotor per chain only.
+
+## Usage
+
+1. Connect the rotor via serial (RS232 or RS485)
+2. Power up the rotor
+3. The rotor must be calibrated after each power up. This can be accived
+either using the rotctl `Reset` command (R) or manually via serial terminal
+sending the `R\n` command.
+4. To enable the rotor to fully turn +/- 180°, the softlock must be disabled.
+This is included in the rotctl `Reset` commnad or manually via serial terminal
+seinden the command `LD\n`. **WARNING:** Send this command only after the rotor is
+calibrated, or you risk damage running into the hard endstops (at about +/-190°)
+5. Start `rotctl` or `rotctld` with the arguments `-m 2501 -r <Serial
+   Interface>`
+
+Have Fun.
+
+### Hints
+
+1. Setup the max. velocity, power and acceleration according to your antenna load.
+This must be done via serial terminal, as the functions are not implemented yet.
+2. Never use the maximum hold power, only use the low or off. If you use max or regular,
+the rotor may easily overheat!
+
+## PTU Protocol
+
+* [Protocol Version 3.02 (2011)](https://flir.netx.net/file/asset/11556/original/attachment)
+
+## Current Status
+
+The current status is **ALPHA**. It is tested with DirectedPercepiton PTU-D48 (Firmware v2.13.4r0(D48-C14/E))
+Linux with `rotctl` and `gpredict`.
+
+### Implemented so far:
+
+* init
+* cleanup
+* open
+* close
+* set_position
+* get_position
+* park
+* stop
+* reset
+* move
+* info
+
+### Needs to be implemented:
+
+#### Parameters
+
+* velocity
+* acceleration
+* velocity profile
+* user soft-limits
+* power commands (move and hold)
+* step mode
+* reset on startup
+
+#### Functions
+
+* usage of chained rotors via RS485