kopia lustrzana https://github.com/Hamlib/Hamlib
Fixed functionality (AZ Mount Pro), added improvements
Updated code to work with current AZ Mount Pro firmware. Current firmware uses serial at 115200. Original code looked for # delimiter on responses, but not all responses end in #. This caused the software to timeout, which caused slow response time, and in some cases returned a failure (including :MountInfo# used at open). All responses have fixed length replies, so code updated to look at fixed length data rather than delimiter. Added workarounds for a couple firmware bugs. Minor cleanup.pull/1434/head
pdaderko
GitHub
rodzic
46c16b22a0
commit
c0457a0d7b
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@ -38,10 +38,9 @@
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* ioptron_transaction
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*
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* cmdstr - Command to be sent to the rig.
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* data - Buffer for reply string. Can be NULL, indicating that no reply is
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* is needed, but answer will still be read.
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* data_len - in: Size of buffer. It is the caller's responsibily to provide
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* a large enough buffer for all possible replies for a command.
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* data - Buffer for reply string.
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* resp_len - in: Expected length of response. It is the caller's responsibily to
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* provide a buffer at least 1 byte larger than this for null terminator.
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*
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* COMMANDS note: as of 12/2018 a mixture of V2 and V3
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* | TTTTTTTT(T) .01 arc seconds
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@ -62,136 +61,103 @@
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*/
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static int
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ioptron_transaction(ROT *rot, const char *cmdstr,
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char *data, size_t data_len)
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ioptron_transaction(ROT *rot, const char *cmdstr, char *data, size_t resp_len)
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{
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struct rot_state *rs;
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int retval;
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int retry_read = 0;
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char replybuf[BUFSZ];
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int retval = 0;
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int retry_read;
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rs = &rot->state;
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transaction_write:
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rig_flush(&rs->rotport);
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if (cmdstr)
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for (retry_read = 0; retry_read <= rot->state.rotport.retry; retry_read++)
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{
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retval = write_block(&rs->rotport, (unsigned char *) cmdstr, strlen(cmdstr));
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rig_flush(&rs->rotport);
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if (retval != RIG_OK)
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if (cmdstr)
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{
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goto transaction_quit;
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retval = write_block(&rs->rotport, (unsigned char *) cmdstr, strlen(cmdstr));
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if (retval != RIG_OK)
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{
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return retval;
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}
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}
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/** the answer */
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memset(data, 0, resp_len+1);
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retval = read_block(&rs->rotport, (unsigned char *) data, resp_len);
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/** if expected number of bytes received, return OK status */
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if (retval == resp_len)
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{
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return RIG_OK;
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}
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}
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/** Always read the reply to know whether the cmd went OK */
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if (!data)
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{
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data = replybuf;
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}
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/** if got here, retry loop failed */
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rig_debug(RIG_DEBUG_ERR, "%s: unexpected response, len %d: '%s'\n", __func__, retval, data);
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if (!data_len)
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{
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data_len = BUFSZ;
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}
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return -RIG_EPROTO;
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}
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/** the answer */
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memset(data, 0, data_len);
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retval = read_string(&rs->rotport, (unsigned char *) data, data_len, ACK,
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strlen(ACK), 0, 1);
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/** get mount type code, initializes mount */
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static const char *
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ioptron_get_info(ROT *rot)
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{
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static char info[32];
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char str[6];
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int retval;
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if (retval < 0)
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{
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if (retry_read++ < rot->state.rotport.retry)
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{
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goto transaction_write;
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}
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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goto transaction_quit;
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}
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retval = ioptron_transaction(rot, ":MountInfo#", str, 4);
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/** check for acknowledge */
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if (retval < 1)
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{
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rig_debug(RIG_DEBUG_ERR, "%s: unexpected response, len %d: '%s'\n", __func__,
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retval, data);
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return -RIG_EPROTO;
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}
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rig_debug(RIG_DEBUG_TRACE, "retval, RIG_OK str %d %d %str\n", retval, RIG_OK,
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str);
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retval = RIG_OK;
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transaction_quit:
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return retval;
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SNPRINTF(info, sizeof(info), "MountInfo %s", str);
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return info;
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}
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/**
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* Opens the Port and sets all needed parameters for operation
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* as of 12/2018 initiates mount with V3 :MountInfo#
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*/
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static int ioptron_open(ROT *rot)
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static int
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ioptron_open(ROT *rot)
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{
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const char *info;
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int retval;
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char retbuf[10];
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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return ioptron_transaction(rot, ":Mountinfo#", NULL, 0);
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}
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info = ioptron_get_info(rot);
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/* ioptron_get_info returns "MountInfo xxxx", check model number from string */
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/* string of 4 numeric digits is likely model number */
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if ((strlen(&info[10]) != 4) || (strspn(&info[10], "1234567890") != 4))
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{
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return -RIG_ETIMEOUT;
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}
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/** sets mount position, requires 4 steps
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* set azmiuth
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* set altitude
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* goto set
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* stop tracking - mount starts tracking after goto
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*/
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static int
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ioptron_set_position(ROT *rot, azimuth_t az, elevation_t el)
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{
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char cmdstr[32];
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char retbuf[10];
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int retval;
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float faz, fel;
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rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el);
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/* units .01 arc sec */
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faz = az * 360000;
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fel = el * 360000;
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/* set azmiuth, returns '1" if OK */
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SNPRINTF(cmdstr, sizeof(cmdstr), ":Sz%09.0f#", faz);
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retval = ioptron_transaction(rot, cmdstr, retbuf, sizeof(retbuf));
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/** stops tracking, returns "1" if OK */
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retval = ioptron_transaction(rot, ":ST0#", retbuf, 1);
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if (retval != RIG_OK || retbuf[0] != ACK1)
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{
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return -RIG_EPROTO;
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}
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/* set altitude, returns '1" if OK */
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SNPRINTF(cmdstr, sizeof(cmdstr), ":Sa+%08.0f#", fel);
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retval = ioptron_transaction(rot, cmdstr, retbuf, sizeof(retbuf));
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/** set alt limit to -1 since firmware bug sometimes doesn't allow alt of 0 when limit is 0 */
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/** returns "1" if OK */
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retval = ioptron_transaction(rot, ":SAL-01#", retbuf, 1);
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if (retval != RIG_OK || retbuf[0] != ACK1)
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{
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return -RIG_EPROTO;
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}
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/* move to set target, V2 command, returns '1" if OK */
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SNPRINTF(cmdstr, sizeof(cmdstr), ":MS#"); //
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retval = ioptron_transaction(rot, cmdstr, retbuf, sizeof(retbuf));
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if (retval != RIG_OK || retbuf[0] != ACK1)
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{
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return -RIG_EPROTO;
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}
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/* stop tracking, V2 command, returns '1" if OK */
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SNPRINTF(cmdstr, sizeof(cmdstr), ":ST0#");
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retval = ioptron_transaction(rot, cmdstr, retbuf, sizeof(retbuf));
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if (retval != RIG_OK || retbuf[0] != ACK1)
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{
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return -RIG_EPROTO;
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}
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return retval;
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return RIG_OK;
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}
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/** gets current position */
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@ -205,9 +171,9 @@ ioptron_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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/** Get Az-Alt */
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retval = ioptron_transaction(rot, ":GAC#", posbuf, sizeof(posbuf));
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retval = ioptron_transaction(rot, ":GAC#", posbuf, 19);
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if (retval != RIG_OK || strlen(posbuf) < 18)
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if (retval != RIG_OK || strlen(posbuf) < 19)
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{
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return retval < 0 ? retval : -RIG_EPROTO;
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}
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@ -218,6 +184,8 @@ ioptron_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
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}
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/** convert from .01 arc sec to degrees */
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/** note that firmware only reports alt between -90 and +90 */
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/** e.g. both 80 and 100 degrees are read as 80 degrees */
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*el = ((elevation_t)w / 360000.);
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if (sscanf(posbuf + 9, "%9f", &w) != 1)
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@ -243,7 +211,7 @@ ioptron_stop(ROT *rot)
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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/** stop slew, returns "1" if OK */
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retval = ioptron_transaction(rot, ":Q#", retbuf, 10);
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retval = ioptron_transaction(rot, ":Q#", retbuf, 1);
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if (retval != RIG_OK || retbuf[0] != ACK1)
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{
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@ -251,7 +219,108 @@ ioptron_stop(ROT *rot)
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}
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/** stops tracking returns "1" if OK */
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retval = ioptron_transaction(rot, ":ST0#", retbuf, 10);
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retval = ioptron_transaction(rot, ":ST0#", retbuf, 1);
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if (retval != RIG_OK || retbuf[0] != ACK1)
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{
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return -RIG_EPROTO;
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}
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return RIG_OK;
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}
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/** sets mount position, requires 4 steps
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* set azmiuth
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* set altitude
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* goto set
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* stop tracking - mount starts tracking after goto
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*/
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static int
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ioptron_set_position(ROT *rot, azimuth_t az, elevation_t el)
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{
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char cmdstr[32];
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char retbuf[10];
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int retval;
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double faz, fel;
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azimuth_t curr_az;
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elevation_t curr_el;
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rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el);
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/* units .01 arc sec */
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faz = az * 360000;
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fel = el * 360000;
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/** Firmware bug: (at least for AZ Mount Pro as of FW 20200305)
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* azimuth has problems going to 0
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* going to 0 from <=180 causes it to overshoot 0 and never stop
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* going to 0 from >180 causes it to make a hard stop at 0 and a following
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* command to <= 180 will make it rotate forever until manually stopped,
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* and require resetting the mount for azimuth to work correctly again
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* similar behavior is seen the other direction (>180 to 360 goes past 360,
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* <=180 to 360 makes a hard stop with the possibility of loss of
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* azimuth control)
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* Workaround:
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* get current position, if 0 is requested, go to 0.01 arcseconds away from
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* 0 from the same direction (e.g. go to 0.01 arcseconds if currently <= 180,
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* 129599999 arcseconds if currently > 180)
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*/
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if (faz == 0)
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{
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/* make sure stopped */
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retval = ioptron_stop(rot);
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if (retval != RIG_OK)
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{
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return -RIG_EPROTO;
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}
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/* get current position */
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retval = ioptron_get_position(rot, &curr_az, &curr_el);
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if (retval != RIG_OK)
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{
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return -RIG_EPROTO;
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}
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if (curr_az <= 180)
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{
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faz = 1;
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}
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else
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{
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faz = 129599999; /* needs double precision float */
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}
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}
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/* set azmiuth, returns '1" if OK */
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SNPRINTF(cmdstr, sizeof(cmdstr), ":Sz%09.0f#", faz);
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retval = ioptron_transaction(rot, cmdstr, retbuf, 1);
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if (retval != RIG_OK || retbuf[0] != ACK1)
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{
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return -RIG_EPROTO;
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}
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/* set altitude, returns '1" if OK */
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SNPRINTF(cmdstr, sizeof(cmdstr), ":Sa+%08.0f#", fel);
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retval = ioptron_transaction(rot, cmdstr, retbuf, 1);
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if (retval != RIG_OK || retbuf[0] != ACK1)
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{
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return -RIG_EPROTO;
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}
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/* move to set target, V2 command, returns '1" if OK */
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SNPRINTF(cmdstr, sizeof(cmdstr), ":MS#"); //
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retval = ioptron_transaction(rot, cmdstr, retbuf, 1);
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if (retval != RIG_OK || retbuf[0] != ACK1)
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{
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return -RIG_EPROTO;
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}
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/* stop tracking, V2 command, returns '1" if OK */
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SNPRINTF(cmdstr, sizeof(cmdstr), ":ST0#");
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retval = ioptron_transaction(rot, cmdstr, retbuf, 1);
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if (retval != RIG_OK || retbuf[0] != ACK1)
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{
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@ -261,25 +330,6 @@ ioptron_stop(ROT *rot)
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return retval;
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}
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/** get mount type code, initializes mount */
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static const char *
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ioptron_get_info(ROT *rot)
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{
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static char info[32];
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char str[6];
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int retval;
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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retval = ioptron_transaction(rot, ":MountInfo#", str, sizeof(str));
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rig_debug(RIG_DEBUG_TRACE, "retval, RIG_OK str %d %d %str\n", retval, RIG_OK,
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str);
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SNPRINTF(info, sizeof(info), "MountInfo %s", str);
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return info;
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}
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@ -304,7 +354,7 @@ const struct rot_caps ioptron_rot_caps =
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.rot_type = ROT_TYPE_AZEL,
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.port_type = RIG_PORT_SERIAL,
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.serial_rate_min = 9600,
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.serial_rate_max = 9600,
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.serial_rate_max = 115200,
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.serial_data_bits = 8,
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.serial_stop_bits = 1,
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.serial_parity = RIG_PARITY_NONE,
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