first release of ARS-RCI

git-svn-id: https://hamlib.svn.sourceforge.net/svnroot/hamlib/trunk@2898 7ae35d74-ebe9-4afe-98af-79ac388436b8
2010-04-25 21:30:17 +00:00 · 2010-04-25 21:30:17 +00:00 · a81145dd96
commit a81145dd96
--- a/Makefile.am
+++ b/Makefile.am
@ -7,7 +7,7 @@ pkgconfigdir = $(libdir)/pkgconfig
 pkgconfig_DATA = hamlib.pc

 EXTRA_DIST = PLAN TODO LICENSE hamlib.m4 hamlib.pc.in README.developer \
-	README.betatester README.win32 hamlib.spec
+	README.betatester README.win32 hamlib.spec config.rpath

 # BINDINGS_LIST subdirs are no longer built
 SUBDIRS = macros include lib $(subdirs) src @BACKEND_LIST@ @ROT_BACKEND_LIST@ \
@ -18,7 +18,7 @@ DIST_SUBDIRS = macros include lib $(subdirs) src c++ bindings tests doc \
 	icom kenwood aor yaesu dummy pcr alinco uniden tentec kachina jrc \
 	rpcrig winradio easycomm fodtrack rpcrot drake rotorez \
 	flexradio sartek lowe rft rs tapr kit skanti wj racal tuner \
-	gs232a heathkit spid
+	gs232a heathkit spid ars

 rpm: Makefile
 	make dist
--- a/ars/Makefile.am
+++ b/ars/Makefile.am
@ -0,0 +1,8 @@
+
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+hamlib_ars_la_LIBADD = $(top_builddir)/lib/libmisc.la \
+				$(top_builddir)/src/libhamlib.la
+
+noinst_HEADERS = ars.h
--- a/ars/Makefile.in
+++ b/ars/Makefile.in
@ -0,0 +1,621 @@
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+	list='$(SOURCES) $(HEADERS)  $(LISP) $(TAGS_FILES)'; \
+	unique=`for i in $$list; do \
+	    if test -f "$$i"; then echo $$i; else echo $(srcdir)/$$i; fi; \
+	  done | \
+	  $(AWK) '{ files[$$0] = 1; nonempty = 1; } \
+	      END { if (nonempty) { for (i in files) print i; }; }'`; \
+	test -z "$(CTAGS_ARGS)$$unique" \
+	  || $(CTAGS) $(CTAGSFLAGS) $(AM_CTAGSFLAGS) $(CTAGS_ARGS) \
+	     $$unique
+
+GTAGS:
+	here=`$(am__cd) $(top_builddir) && pwd` \
+	  && $(am__cd) $(top_srcdir) \
+	  && gtags -i $(GTAGS_ARGS) "$$here"
+
+distclean-tags:
+	-rm -f TAGS ID GTAGS GRTAGS GSYMS GPATH tags
+
+distdir: $(DISTFILES)
+	@srcdirstrip=`echo "$(srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	topsrcdirstrip=`echo "$(top_srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	list='$(DISTFILES)'; \
+	  dist_files=`for file in $$list; do echo $$file; done | \
+	  sed -e "s|^$$srcdirstrip/||;t" \
+	      -e "s|^$$topsrcdirstrip/|$(top_builddir)/|;t"`; \
+	case $$dist_files in \
+	  */*) $(MKDIR_P) `echo "$$dist_files" | \
+			   sed '/\//!d;s|^|$(distdir)/|;s,/[^/]*$$,,' | \
+			   sort -u` ;; \
+	esac; \
+	for file in $$dist_files; do \
+	  if test -f $$file || test -d $$file; then d=.; else d=$(srcdir); fi; \
+	  if test -d $$d/$$file; then \
+	    dir=`echo "/$$file" | sed -e 's,/[^/]*$$,,'`; \
+	    if test -d "$(distdir)/$$file"; then \
+	      find "$(distdir)/$$file" -type d ! -perm -700 -exec chmod u+rwx {} \;; \
+	    fi; \
+	    if test -d $(srcdir)/$$file && test $$d != $(srcdir); then \
+	      cp -fpR $(srcdir)/$$file "$(distdir)$$dir" || exit 1; \
+	      find "$(distdir)/$$file" -type d ! -perm -700 -exec chmod u+rwx {} \;; \
+	    fi; \
+	    cp -fpR $$d/$$file "$(distdir)$$dir" || exit 1; \
+	  else \
+	    test -f "$(distdir)/$$file" \
+	    || cp -p $$d/$$file "$(distdir)/$$file" \
+	    || exit 1; \
+	  fi; \
+	done
+check-am: all-am
+check: check-am
+all-am: Makefile $(LTLIBRARIES) $(HEADERS)
+installdirs:
+	for dir in "$(DESTDIR)$(libdir)"; do \
+	  test -z "$$dir" || $(MKDIR_P) "$$dir"; \
+	done
+install: install-am
+install-exec: install-exec-am
+install-data: install-data-am
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+
+install-am: all-am
+	@$(MAKE) $(AM_MAKEFLAGS) install-exec-am install-data-am
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+installcheck: installcheck-am
+install-strip:
+	$(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+	  install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+	  `test -z '$(STRIP)' || \
+	    echo "INSTALL_PROGRAM_ENV=STRIPPROG='$(STRIP)'"` install
+mostlyclean-generic:
+
+clean-generic:
+
+distclean-generic:
+	-test -z "$(CONFIG_CLEAN_FILES)" || rm -f $(CONFIG_CLEAN_FILES)
+	-test . = "$(srcdir)" || test -z "$(CONFIG_CLEAN_VPATH_FILES)" || rm -f $(CONFIG_CLEAN_VPATH_FILES)
+
+maintainer-clean-generic:
+	@echo "This command is intended for maintainers to use"
+	@echo "it deletes files that may require special tools to rebuild."
+clean: clean-am
+
+clean-am: clean-generic clean-libLTLIBRARIES clean-libtool \
+	mostlyclean-am
+
+distclean: distclean-am
+	-rm -rf ./$(DEPDIR)
+	-rm -f Makefile
+distclean-am: clean-am distclean-compile distclean-generic \
+	distclean-tags
+
+dvi: dvi-am
+
+dvi-am:
+
+html: html-am
+
+html-am:
+
+info: info-am
+
+info-am:
+
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+
+install-dvi: install-dvi-am
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+
+install-exec-am: install-libLTLIBRARIES
+
+install-html: install-html-am
+
+install-html-am:
+
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+
+install-info-am:
+
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+
+install-pdf-am:
+
+install-ps: install-ps-am
+
+install-ps-am:
+
+installcheck-am:
+
+maintainer-clean: maintainer-clean-am
+	-rm -rf ./$(DEPDIR)
+	-rm -f Makefile
+maintainer-clean-am: distclean-am maintainer-clean-generic
+
+mostlyclean: mostlyclean-am
+
+mostlyclean-am: mostlyclean-compile mostlyclean-generic \
+	mostlyclean-libtool
+
+pdf: pdf-am
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+
+ps-am:
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+uninstall-am: uninstall-libLTLIBRARIES
+
+.MAKE: install-am install-strip
+
+.PHONY: CTAGS GTAGS all all-am check check-am clean clean-generic \
+	clean-libLTLIBRARIES clean-libtool ctags distclean \
+	distclean-compile distclean-generic distclean-libtool \
+	distclean-tags distdir dvi dvi-am html html-am info info-am \
+	install install-am install-data install-data-am install-dvi \
+	install-dvi-am install-exec install-exec-am install-html \
+	install-html-am install-info install-info-am \
+	install-libLTLIBRARIES install-man install-pdf install-pdf-am \
+	install-ps install-ps-am install-strip installcheck \
+	installcheck-am installdirs maintainer-clean \
+	maintainer-clean-generic mostlyclean mostlyclean-compile \
+	mostlyclean-generic mostlyclean-libtool pdf pdf-am ps ps-am \
+	tags uninstall uninstall-am uninstall-libLTLIBRARIES
+
+
+# Tell versions [3.59,3.63) of GNU make to not export all variables.
+# Otherwise a system limit (for SysV at least) may be exceeded.
+.NOEXPORT:
--- a/ars/ars.c
+++ b/ars/ars.c
@ -0,0 +1,495 @@
+/*
+ *  Hamlib Rotator backend - ARS parallel port backend
+ *  Copyright (c) 2010 by Stephane Fillod
+ *  This code is inspired by work from Pablo GARCIA - EA4TX
+ *
+ *
+ *   This library is free software; you can redistribute it and/or modify
+ *   it under the terms of the GNU Library General Public License as
+ *   published by the Free Software Foundation; either version 2 of
+ *   the License, or (at your option) any later version.
+ *
+ *   This program 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 Library General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Library General Public
+ *   License along with this library; if not, write to the Free Software
+ *   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+ *
+ */
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include <stdlib.h>
+#include <string.h>  /* String function definitions */
+#include <unistd.h>  /* UNIX standard function definitions */
+#ifdef HAVE_SYS_IOCTL_H
+#include <sys/ioctl.h>
+#endif
+
+#include "hamlib/rotator.h"
+#include "parallel.h"
+#include "misc.h"
+#include "register.h"
+
+#include "ars.h"
+
+#define CTL_PIN_CS  PARPORT_CONTROL_AUTOFD /* pin14: Control Linefeed */
+#define CTL_PIN_CLK PARPORT_CONTROL_STROBE /* pin01: Control /Strobe  */
+#define STA_PIN_D0  PARPORT_STATUS_BUSY    /* pin11: Status  Busy     */
+#define STA_PIN_D1  PARPORT_STATUS_ERROR   /* pin15: Status  /Error   */
+
+#define DTA_PIN02   0x01    /* Data0 */
+#define DTA_PIN03   0x02    /* Data1 */
+#define DTA_PIN04   0x04    /* Data2 */
+#define DTA_PIN05   0x08    /* Data3 */
+#define DTA_PIN06   0x10    /* Data4 */
+#define DTA_PIN07   0x20    /* Data5 */
+#define DTA_PIN08   0x40    /* Data6 */
+#define DTA_PIN09   0x80    /* Data7 */
+
+#define CTL_PIN16   PARPORT_CONTROL_INIT
+#define CTL_PIN17   PARPORT_CONTROL_SELECT
+
+#define ARS_BRAKE_DELAY 100000 /* usecs */
+#define PP_IO_PERIOD 4000 /* usecs */
+#define NUM_SAMPLES 3
+
+/* Check return value, with appropriate unlocking upon error.
+ * Assumes "rot" variable is current ROT pointer.
+ */
+#define CHKPPRET(a) \
+    do { int _retval = a; if (_retval != RIG_OK) \
+        {par_unlock (&rot->state.rotport);return _retval; }} while(0)
+
+static int ars_init(ROT *rot);
+static int ars_cleanup(ROT *rot);
+static int ars_open(ROT *rot);
+static int ars_close(ROT *rot);
+static int ars_stop(ROT *rot);
+static int ars_move(ROT *rot, int direction, int speed);
+static int ars_set_position(ROT *rot, azimuth_t az, elevation_t el);
+static int ars_get_position(ROT *rot, azimuth_t *az, elevation_t *el);
+
+/* ************************************************************************* */
+
+static int ars_clear_ctrl_pin(ROT *rot, unsigned char pin)
+{
+    hamlib_port_t *pport = &rot->state.rotport;
+    struct ars_priv_data *priv = (struct ars_priv_data *)rot->state.priv;
+
+    priv->pp_control &= ~pin;
+
+    return par_write_control(pport, priv->pp_control);
+}
+
+static int ars_set_ctrl_pin(ROT *rot, unsigned char pin)
+{
+    hamlib_port_t *pport = &rot->state.rotport;
+    struct ars_priv_data *priv = (struct ars_priv_data *)rot->state.priv;
+
+    priv->pp_control |= pin;
+
+    return par_write_control(pport, priv->pp_control);
+}
+
+static int ars_clear_data_pin(ROT *rot, unsigned char pin)
+{
+    hamlib_port_t *pport = &rot->state.rotport;
+    struct ars_priv_data *priv = (struct ars_priv_data *)rot->state.priv;
+
+    priv->pp_data &= ~pin;
+
+    return par_write_data(pport, priv->pp_data);
+}
+
+static int ars_set_data_pin(ROT *rot, unsigned char pin)
+{
+    hamlib_port_t *pport = &rot->state.rotport;
+    struct ars_priv_data *priv = (struct ars_priv_data *)rot->state.priv;
+
+    priv->pp_data |= pin;
+
+    return par_write_data(pport, priv->pp_data);
+}
+
+static int ars_has_el(const ROT *rot)
+{
+    return (rot->caps->rot_type & ROT_FLAG_ELEVATION);
+}
+
+/* ************************************************************************* */
+
+int
+ars_init(ROT *rot)
+{
+    struct ars_priv_data *priv;
+
+    if (!rot)
+        return -RIG_EINVAL;
+
+    priv = (struct ars_priv_data*)malloc(sizeof(struct ars_priv_data));
+    if (!priv) {
+        /* whoops! memory shortage! */
+        return -RIG_ENOMEM;
+    }
+
+    priv->pp_control = 0;
+    priv->pp_data = 0;
+
+    priv->dac_res = 8; /* 8 bits vs. 10 bits DAC */
+    priv->brake_off = 0;
+
+    rot->state.priv = (void*)priv;
+
+    return RIG_OK;
+}
+
+int
+ars_cleanup(ROT *rot)
+{
+    if (!rot)
+        return -RIG_EINVAL;
+
+    if (rot->state.priv) {
+        free(rot->state.priv);
+        rot->state.priv = NULL;
+    }
+
+    return RIG_OK;
+}
+
+int
+ars_open(ROT *rot)
+{
+    /* make it idle, and known state */
+    ars_stop(rot);
+
+    return RIG_OK;
+}
+
+int
+ars_close(ROT *rot)
+{
+    /* leave it in safe state */
+    ars_stop(rot);
+
+    return RIG_OK;
+}
+
+int
+ars_stop(ROT *rot)
+{
+    struct ars_priv_data *priv = (struct ars_priv_data *)rot->state.priv;
+    hamlib_port_t *pport = &rot->state.rotport;
+
+    rig_debug(RIG_DEBUG_TRACE, "%s called, brake was %s\n", __func__,
+            priv->brake_off ? "OFF" : "ON");
+
+    priv->brake_off = 0;
+
+    par_lock (pport);
+
+    // Relay AUX -> Off
+    CHKPPRET(ars_clear_data_pin(rot, DTA_PIN02 | DTA_PIN04 | DTA_PIN08));
+    CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN17 | CTL_PIN16));
+
+    // Elevation Relays -> Off
+    CHKPPRET(ars_clear_data_pin(rot, DTA_PIN03 | DTA_PIN07));
+
+    par_unlock (pport);
+
+    return RIG_OK;
+}
+
+int
+ars_move(ROT *rot, int direction, int speed)
+{
+    struct ars_priv_data *priv = (struct ars_priv_data *)rot->state.priv;
+    hamlib_port_t *pport = &rot->state.rotport;
+
+    rig_debug(RIG_DEBUG_TRACE, "%s called %d\n", __func__, direction);
+
+    par_lock (pport);
+
+    if (!priv->brake_off && (direction & (ROT_MOVE_LEFT|ROT_MOVE_RIGHT))) {
+        /* release the brake */
+        if (ars_has_el(rot)) {
+            // RCI Model Azim & Elev
+            // Desactivated CCW/CW relays
+            CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN17 | CTL_PIN16));
+            // Relay Aux
+            CHKPPRET(ars_set_data_pin(rot, DTA_PIN02 | DTA_PIN04 | DTA_PIN06 | DTA_PIN08));
+            CHKPPRET(ars_clear_data_pin (rot, DTA_PIN09));
+        } else {
+            // RCI Model Azimuth only
+            // Desactivated CCW/CW relays
+            CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN17 | CTL_PIN16));
+            // Relay Aux
+            CHKPPRET(ars_set_data_pin(rot, DTA_PIN02 | DTA_PIN04 | DTA_PIN06 | DTA_PIN07 | DTA_PIN08 | DTA_PIN09));
+            CHKPPRET(ars_clear_data_pin(rot, DTA_PIN03 | DTA_PIN05));
+        }
+        priv->brake_off = 1;
+        usleep(ARS_BRAKE_DELAY);
+    }
+
+
+    if (ars_has_el(rot)) {
+        if (direction & ROT_MOVE_UP) {
+            /* UP */
+            CHKPPRET(ars_set_data_pin(rot, DTA_PIN03 | DTA_PIN06 | DTA_PIN07));
+            CHKPPRET(ars_clear_data_pin(rot, DTA_PIN05 | DTA_PIN09));
+        } else
+        if (direction & ROT_MOVE_DOWN) {
+            CHKPPRET(ars_set_data_pin(rot, DTA_PIN03 | DTA_PIN05 | DTA_PIN06 | DTA_PIN07));
+            CHKPPRET(ars_clear_data_pin(rot, DTA_PIN09));
+        }
+        else {
+            // Elevation Relays -> Off
+            CHKPPRET(ars_clear_data_pin(rot, DTA_PIN03 | DTA_PIN07));
+        }
+    }
+
+    if (direction & ROT_MOVE_LEFT) {
+        // Relay Left
+        if (ars_has_el(rot)) {
+            // RCI Model Azim & Elev
+            CHKPPRET(ars_set_data_pin(rot, DTA_PIN02 | DTA_PIN04 | DTA_PIN06));
+            CHKPPRET(ars_set_ctrl_pin(rot, CTL_PIN16));
+            CHKPPRET(ars_clear_data_pin(rot, DTA_PIN09));
+            CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN17));
+        } else {
+            // RCI Model Azimuth only
+            CHKPPRET(ars_set_data_pin(rot, DTA_PIN02 | DTA_PIN04 | DTA_PIN06 | DTA_PIN07 | DTA_PIN08));
+            CHKPPRET(ars_set_ctrl_pin(rot, CTL_PIN16));
+            CHKPPRET(ars_clear_data_pin(rot, DTA_PIN03 | DTA_PIN05));
+            CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN17));
+        }
+    } else
+    if (direction & ROT_MOVE_RIGHT) {
+        // Relay Right
+        if (ars_has_el(rot)) {
+            // RCI Model Azim & Elev
+            CHKPPRET(ars_set_data_pin (rot, DTA_PIN02 | DTA_PIN04 | DTA_PIN06));
+            CHKPPRET(ars_set_ctrl_pin (rot, CTL_PIN17));
+            CHKPPRET(ars_clear_data_pin(rot, DTA_PIN09));
+            CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN16));
+        } else {
+            // RCI Model Azimuth only
+            CHKPPRET(ars_set_data_pin(rot, DTA_PIN02 | DTA_PIN04 | DTA_PIN06 | DTA_PIN07 | DTA_PIN08));
+            CHKPPRET(ars_set_ctrl_pin(rot, CTL_PIN17));
+            CHKPPRET(ars_clear_data_pin(rot, DTA_PIN03 | DTA_PIN05));
+            CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN16));
+        }
+    } else {
+        // Relay AUX -> Off
+        CHKPPRET(ars_clear_data_pin(rot, DTA_PIN02 | DTA_PIN04 | DTA_PIN08));
+        CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN17 | CTL_PIN16));
+        // AZ stop 
+    }
+
+    par_unlock (pport);
+
+    return RIG_OK;
+}
+
+
+static int angle_in_range(float angle, float angle_base, float range)
+{
+    return (angle >= angle_base-range && angle <= angle_base+range);
+}
+
+/*
+ * TODO: watchdog: when rotor is not moving any more
+ * TODO: make set_position asynchronous, with wait loop in background (pthread)
+ */
+int
+ars_set_position(ROT *rot, azimuth_t az, elevation_t el)
+{
+    azimuth_t curr_az;
+    elevation_t curr_el;
+    int retval;
+    int az_move, el_move;
+
+    rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el);
+
+    ars_stop(rot);
+
+    retval = ars_get_position(rot, &curr_az, &curr_el);
+    if (retval != RIG_OK)
+        return retval;
+
+    /* TODO: take into account DAC res (8 bits -> 1.4 deg at 360 deg) */
+#define AZ_RANGE 2.
+#define EL_RANGE 2.
+    while (!angle_in_range(curr_az, az, AZ_RANGE) ||
+           (ars_has_el(rot) && !angle_in_range(curr_el, el, EL_RANGE))
+          ) {
+
+        if (curr_az < (az-AZ_RANGE))
+            az_move = ROT_MOVE_RIGHT;
+        else if (curr_az > (az+AZ_RANGE))
+            az_move = ROT_MOVE_RIGHT;
+        else
+            az_move = 0;
+
+        if (ars_has_el(rot)) {
+            if (curr_el < (el-EL_RANGE))
+                el_move = ROT_MOVE_UP;
+            else if (curr_el > (el+EL_RANGE))
+                el_move = ROT_MOVE_DOWN;
+            else
+                el_move = 0;
+        } else {
+            el_move = 0;
+        }
+
+        retval = ars_move(rot, az_move|el_move, 0);
+        if (retval != RIG_OK)
+            return retval;
+
+#if 0
+        /* wait some?
+         * At 360 deg/mn, that's 6 deg/sec.
+         */
+        usleep(100000);
+#endif
+
+        retval = ars_get_position(rot, &curr_az, &curr_el);
+        if (retval != RIG_OK)
+            return retval;
+    }
+
+    return ars_stop(rot);
+}
+
+
+static int comparunsigned(const void *a, const void *b)
+{
+    const unsigned ua=*(const unsigned*)a, ub = *(const unsigned*)b;
+
+    return ua==ub ? 0 : ua<ub ? -1 : 1;
+}
+
+int
+ars_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
+{
+    struct ars_priv_data *priv = (struct ars_priv_data *)rot->state.priv;
+    struct rot_state *rs = &rot->state;
+    hamlib_port_t *pport = &rs->rotport;
+    int i, num_sample;
+    unsigned az_samples[NUM_SAMPLES], az_value;
+    unsigned el_samples[NUM_SAMPLES], el_value;
+    unsigned char status;
+
+    par_lock (pport);
+
+    for (num_sample=0; num_sample < NUM_SAMPLES; num_sample++) {
+
+        /* read ADC value TLC(1)549 (8/10 bits), by SPI bitbanging */
+
+        usleep (PP_IO_PERIOD);
+        CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN_CLK));
+        usleep (PP_IO_PERIOD);
+
+        CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN_CS));
+        usleep (PP_IO_PERIOD);
+
+        az_samples[num_sample] = 0;
+        el_samples[num_sample] = 0;
+
+        for (i = 0; i < priv->dac_res; i++) {
+            CHKPPRET(ars_set_ctrl_pin(rot, CTL_PIN_CLK));
+            usleep (PP_IO_PERIOD);
+
+            CHKPPRET(par_read_status(pport, &status));
+
+            az_samples[num_sample] <<= 1;
+            az_samples[num_sample] |= (status & STA_PIN_D0) ? 1 : 0;
+
+            el_samples[num_sample] <<= 1;
+            el_samples[num_sample] |= (status & STA_PIN_D1) ? 1 : 0;
+
+            CHKPPRET(ars_clear_ctrl_pin(rot, CTL_PIN_CLK));
+            usleep (PP_IO_PERIOD);
+        }
+
+        CHKPPRET(ars_set_ctrl_pin(rot, CTL_PIN_CS));
+
+        rig_debug(RIG_DEBUG_TRACE, "%s: raw samples: az %u, el %u\n",
+                __func__, az_samples[num_sample], el_samples[num_sample]);
+
+        usleep (PP_IO_PERIOD);
+	}
+
+    par_unlock (pport);
+
+    qsort (az_samples, NUM_SAMPLES, sizeof(unsigned), comparunsigned);
+    qsort (el_samples, NUM_SAMPLES, sizeof(unsigned), comparunsigned);
+
+    /* select median value in order to rule out glitches */
+    az_value = az_samples[NUM_SAMPLES/2];
+    el_value = el_samples[NUM_SAMPLES/2];
+
+    *az = rs->min_az + ((float)az_value * (rs->max_az - rs->min_az)) / ((1 << priv->dac_res)-1);
+    *el = rs->min_el + ((float)el_value * (rs->max_el - rs->min_el)) / ((1 << priv->dac_res)-1);
+
+    rig_debug(RIG_DEBUG_TRACE, "%s: az=%.1f el=%.1f\n", __func__, *az, *el);
+
+    return RIG_OK;
+}
+
+
+/* ************************************************************************* */
+/*
+ * ARS rotator capabilities.
+ */
+
+const struct rot_caps rci_se8_rot_caps = {
+  .rot_model =      ROT_MODEL_RCI_SE8,
+  .model_name =     "ARS RCI-SE8",
+  .mfg_name =       "EA4TX",
+  .version =        "0.1",
+  .copyright = 	    "LGPL",
+  .status =         RIG_STATUS_ALPHA,
+  .rot_type =       ROT_TYPE_AZEL,
+  .port_type =      RIG_PORT_PARALLEL,
+  .write_delay =    0,
+  .post_write_delay =  10,
+  .timeout =  0,
+  .retry =  3,
+
+  .min_az = 	0,
+  .max_az =  	360,
+  .min_el = 	0,
+  .max_el =  	180,    /* TBC */
+
+  .rot_init     = ars_init,
+  .rot_cleanup  = ars_cleanup,
+  .rot_open     = ars_open,
+  .rot_close    = ars_close,
+  .set_position = ars_set_position,
+  .get_position = ars_get_position,
+  .stop         = ars_stop,
+  .move         = ars_move,
+
+};
+
+
+/* ************************************************************************* */
+
+DECLARE_INITROT_BACKEND(ars)
+{
+	rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
+
+	rot_register(&rci_se8_rot_caps);
+
+	return RIG_OK;
+}
+
+/* ************************************************************************* */
+/* end of file */
--- a/ars/ars.h
+++ b/ars/ars.h
@ -0,0 +1,34 @@
+/*
+ *  Hamlib Rotator backend - ARS interface protocol
+ *  Copyright (c) 2010 by Stephane Fillod
+ *
+ *
+ *   This library is free software; you can redistribute it and/or modify
+ *   it under the terms of the GNU Library General Public License as
+ *   published by the Free Software Foundation; either version 2 of
+ *   the License, or (at your option) any later version.
+ *
+ *   This program 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 Library General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Library General Public
+ *   License along with this library; if not, write to the Free Software
+ *   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+ *
+ */
+
+#ifndef _ROT_ARS_H
+#define _ROT_ARS_H 1
+
+struct ars_priv_data {
+    unsigned dac_res;
+    int brake_off;
+    unsigned char pp_control;
+    unsigned char pp_data;
+};
+
+extern const struct rot_caps rci_se8_rot_caps;
+
+#endif /* _ROT_ARS_H */
--- a/configure.ac
+++ b/configure.ac
@ -233,7 +233,7 @@ AC_SUBST(RIGMATRIX)


 BACKEND_LIST="icom kenwood aor yaesu dummy pcr alinco uniden tentec kachina jrc drake lowe rft rs kit skanti tapr flexradio wj racal tuner"
-ROT_BACKEND_LIST="dummy easycomm fodtrack gs232a heathkit kit rotorez sartek spid"
+ROT_BACKEND_LIST="dummy easycomm fodtrack gs232a heathkit kit rotorez sartek spid ars"
 BINDINGS=""
 BINDING_ALL=""
 BINDING_CHECK=""
@ -490,6 +490,7 @@ skanti/Makefile
 wj/Makefile
 racal/Makefile
 tuner/Makefile
+ars/Makefile
 easycomm/Makefile
 fodtrack/Makefile
 gs232a/Makefile