kopia lustrzana https://github.com/Hamlib/Hamlib
add new rotator grbltrk
Changes to be committed: modified: Android.mk modified: configure.ac modified: include/hamlib/rotlist.h new file: rotators/grbltrk/Android.mk new file: rotators/grbltrk/Makefile.am new file: rotators/grbltrk/grbltrk.c modified: src/rot_reg.cpull/1032/head
wuxx
rodzic
17539bb68a
commit
e9fb733dae
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@ -34,6 +34,7 @@ include $(TOP_PATH)/rotators/amsat/Android.mk
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include $(TOP_PATH)/rotators/ars/Android.mk
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include $(TOP_PATH)/rotators/celestron/Android.mk
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include $(TOP_PATH)/rotators/cnctrk/Android.mk
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include $(TOP_PATH)/rotators/grbltrk/Android.mk
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include $(TOP_PATH)/rotators/easycomm/Android.mk
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include $(TOP_PATH)/rotators/ether6/Android.mk
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include $(TOP_PATH)/rotators/fodtrack/Android.mk
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@ -48,7 +48,7 @@ dnl Beware of duplication should a backend directory include both rig and
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dnl rotor definitions, e.g. "dummy". Optional backends will not be listed
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dnl here but will be added later, e.g. "winradio".
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RIG_BACKEND_LIST="rigs/adat rigs/alinco rigs/aor rigs/barrett rigs/codan 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 rigs/gomspace"
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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"
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ROT_BACKEND_LIST="rotators/amsat rotators/ars rotators/celestron rotators/cnctrk rotators/grbltrk 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"
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# Amplifiers are all in the amplifiers directory
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AMP_BACKEND_LIST="amplifiers/elecraft"
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@ -831,6 +831,7 @@ rotators/amsat/Makefile
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rotators/ars/Makefile
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rotators/celestron/Makefile
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rotators/cnctrk/Makefile
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rotators/grbltrk/Makefile
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rotators/easycomm/Makefile
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rotators/ether6/Makefile
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rotators/fodtrack/Makefile
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@ -623,6 +623,20 @@
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#define ROT_BACKEND_ANDROIDSENSOR "androidsensor"
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#define ROT_MODEL_ANDROIDSENSOR ROT_MAKE_MODEL(ROT_ANDROIDSENSOR, 1)
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/**
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* \brief A macro that returns the model number of the GRBLTRK backend.
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*
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* \def ROT_MODEL_GRBLTRK
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*
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* The GRBLTRK backend can be used with rotators that support the GRBL
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* protocol.
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*/
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//! @cond Doxygen_Suppress
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#define ROT_GRBLTRK 24
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#define ROT_BACKEND_GRBLTRK "grbltrk"
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//! @endcond
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#define ROT_MODEL_GRBLTRK_SER ROT_MAKE_MODEL(ROT_GRBLTRK, 1)
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#define ROT_MODEL_GRBLTRK_NET ROT_MAKE_MODEL(ROT_GRBLTRK, 2)
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/**
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* \brief Convenience type definition for a rotator model.
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@ -0,0 +1,12 @@
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LOCAL_PATH:= $(call my-dir)
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include $(CLEAR_VARS)
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LOCAL_SRC_FILES := grbltrk.c
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LOCAL_MODULE := grbltrk
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LOCAL_CFLAGS := -DHAVE_CONFIG_H
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LOCAL_C_INCLUDES := android include src
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LOCAL_LDLIBS := -lhamlib -Lobj/local/armeabi
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include $(BUILD_STATIC_LIBRARY)
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@ -0,0 +1,5 @@
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noinst_LTLIBRARIES = libhamlib-grbltrk.la
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libhamlib_grbltrk_la_SOURCES = grbltrk.c
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EXTRA_DIST = Android.mk
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@ -0,0 +1,564 @@
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/*
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* Hamlib Rotator backend - LinuxCNC no hardware port
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* Copyright (c) 2015 by Robert Freeman
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* Adapted from AMSAT code by Stephane Fillod
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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#ifdef HAVE_CONFIG_H
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#include "config.h"
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#endif
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#include <math.h>
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#include <stdlib.h>
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#include <string.h> /* String function definitions */
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#include <unistd.h> /* UNIX standard function definitions */
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#ifdef HAVE_SYS_IOCTL_H
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#include <sys/ioctl.h>
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#endif
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#include "hamlib/rotator.h"
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#include "hamlib/rig.h"
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#include "misc.h"
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#include "serial.h"
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#include "token.h"
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#include "network.h"
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#include "register.h"
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#define RSIZE (1024)
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#define XDEGREE2MM(d) ((d)/9.0)
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// 42-gear-22
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#define YDEGREE2MM(d) ((d)/9.0)
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//#define YDEGREE2MM(d) ((d) * ((1710) / (77*9)))
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//#define YDEGREE2MM(d) ((d) * ((190) / (77)))
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/*
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$0=10 (step pulse, usec)
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$1=25 (step idle delay, msec)
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$2=0 (step port invert mask:00000000)
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$3=0 (dir port invert mask:00000000)
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$4=0 (step enable invert, bool)
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$5=0 (limit pins invert, bool)
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$6=0 (probe pin invert, bool)
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$10=3 (status report mask:00000011)
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$11=0.010 (junction deviation, mm)
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$12=0.002 (arc tolerance, mm)
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$13=0 (report inches, bool)
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$20=0 (soft limits, bool)
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$21=0 (hard limits, bool)
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$22=0 (homing cycle, bool)
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$23=0 (homing dir invert mask:00000000)
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$24=25.000 (homing feed, mm/min)
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$25=500.000 (homing seek, mm/min)
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$26=250 (homing debounce, msec)
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$27=1.000 (homing pull-off, mm)
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$30=1000. (rpm max)
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$31=0. (rpm min)
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$32=0 (motor lock bool)
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$33=7 (motor mode mask:00000111)
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$100=80.000 (x, step/mm)
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$101=80.000 (y, step/mm)
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$102=80.000 (z, step/mm)
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$110=10000.000 (x max rate, mm/min)
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$111=10000.000 (y max rate, mm/min)
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$112=10000.000 (z max rate, mm/min)
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$120=250.000 (x accel, mm/sec^2)
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$121=250.000 (y accel, mm/sec^2)
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$122=250.000 (z accel, mm/sec^2)
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$130=500.000 (x max travel, mm)
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$131=500.000 (y max travel, mm)
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$132=500.000 (z max travel, mm)
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*/
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char *grbl_get_config = "$$\r\n";
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char *grbl_get_pos = "?\r\n";
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char *grbl_init_list[] =
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{
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"$1=255\r\n", /* lock motors */
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"$3=3\r\n", /* invert X and Y direction */
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//"$100=80\r\n", /* axis-x a4988 16 microstep */
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"$100=1776\r\n", /* axis-x a4988 16 microstep 42-gear-motor-22-(1710/77) (80*1710)/77 */
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//"$101=160\n", /* axis-y drv8825 32 microstep */
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//"$101=80\n", /* axis-y a4988 16 microstep */
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"$101=1776\r\n", /* axis-y a4988 16 microstep 42-gear-motor-22-(1710/77) (80*1710)/77 */
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"$110=50\r\n",
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"$111=50\r\n",
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"$120=25\r\n",
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"$121=25\r\n",
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"G90\r\n",
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"G0 X0 Y0\r\n",
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};
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static int
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grbl_request(ROT *rot, char *request, uint32_t req_size, char *response, uint32_t *resp_size)
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{
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int retval;
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static int fail_count = 0;
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rot_debug(RIG_DEBUG_ERR, "req: [%s][%d]\n", request, fail_count);
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if (rot->caps->rot_model == ROT_MODEL_GRBLTRK_SER
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|| rot->caps->rot_model == ROT_MODEL_GRBLTRK_NET) {
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//fprintf(stderr, "ctrl by serial/network\n");
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if ((retval = write_block(&rot->state.rotport, (unsigned char *)request, req_size)) != RIG_OK) {
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rot_debug(RIG_DEBUG_ERR, "%s write_block fail!\n", __func__);
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//exit(-1);
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fail_count++;
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//return RIG_EIO;
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} else {
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fail_count = 0;
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}
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rig_flush(&rot->state.rotport);
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usleep(300000);
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if ((retval = read_string(&rot->state.rotport, (unsigned char *)response, 1024, "\n", 1, 0, 1)) < 0) {
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rot_debug(RIG_DEBUG_ERR, "%s read_string fail! (%d) \n", __func__, retval);
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//exit(-1);
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fail_count++;
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//return RIG_EIO;
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} else {
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fail_count = 0;
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}
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if (fail_count >= 10) {
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rot_debug(RIG_DEBUG_ERR, "%s too much xfer fail! exit\n", __func__);
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exit(-1);
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}
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rig_flush(&rot->state.rotport);
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rot_debug(RIG_DEBUG_ERR, "rsp: [%s]\n", response);
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//fprintf(stderr, "rsp: [%s]\n", response);
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*resp_size = retval;
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}
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return RIG_OK;
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}
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static int
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grbl_init(ROT *rot)
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{
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int i, retval;
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uint32_t init_count;
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char rsp[RSIZE];
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uint32_t resp_size;
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/* get total config */
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grbl_request(rot, grbl_get_config, strlen(grbl_get_config), rsp, &resp_size);
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if (strstr(rsp, grbl_init_list[0]) != NULL) {
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rot_debug(RIG_DEBUG_ERR, "%s: grbl already configured\n", __func__);
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return RIG_OK;
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}
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init_count = sizeof(grbl_init_list) / sizeof(grbl_init_list[0]);
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for(i = 0; i < init_count; i++) {
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rot_debug(RIG_DEBUG_ERR, "grbl_request [%s] ", grbl_init_list[i]);
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retval = grbl_request(rot, grbl_init_list[i], strlen(grbl_init_list[i]), rsp, &resp_size);
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//fprintf(stderr, "done\n");
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if (retval != RIG_OK) {
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rot_debug(RIG_DEBUG_ERR, "grbl_request [%s] fail\n", grbl_init_list[i]);
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return RIG_EIO;
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}
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}
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return RIG_OK;
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}
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static int
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grbltrk_rot_set_position(ROT *rot, azimuth_t curr_az, elevation_t curr_el)
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{
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int i;
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int retval;
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static float prev_az, prev_el;
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static float prev_x, curr_x;
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float x[3], delta[3];
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float y;
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char req[RSIZE] = {0};
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char rsp[RSIZE] = {0};
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uint32_t rsp_size;
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float min_value;
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int min_index;
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/* az:x: 0 - 360 */
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/* el:y: 0 - 90 */
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rot_debug(RIG_DEBUG_ERR,
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"%s: (prev_x) = (%.3f); (prev_az) = (%.3f); (prev_el) = (%.3f); (curr_az, curr_el) = (%.3f, %.3f)\n", __func__,
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prev_x, prev_az, prev_el, curr_az, curr_el);
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/* convert degree to mm, 360 degree = 40mm, 1 degree = 0.111mm */
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//x = az * 0.111;
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//y = el * 0.111;
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/* 360 -> 0 */
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if ((prev_az > 270 && prev_az < 360) &&
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(curr_az > 0 && curr_az < 90 )) {
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rot_debug(RIG_DEBUG_ERR, "%s:%d\n", __func__, __LINE__);
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if (prev_x >= XDEGREE2MM(270)) {
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curr_x = XDEGREE2MM(curr_az) + XDEGREE2MM(360);
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} else {
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curr_x = XDEGREE2MM(curr_az);
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}
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/* 0 -> 360 */
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} else if ((prev_az > 0 && prev_az < 90 ) &&
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(curr_az > 270 && curr_az < 360)) {
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rot_debug(RIG_DEBUG_ERR, "%s:%d\n", __func__, __LINE__);
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if (prev_x >= XDEGREE2MM(360)) {
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curr_x = XDEGREE2MM(curr_az);
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} else {
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curr_x = XDEGREE2MM(curr_az) - XDEGREE2MM(360);
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}
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/* reset */
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} else if (curr_az == 0 && curr_el == 0) {
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rot_debug(RIG_DEBUG_ERR, "%s: reset\n", __func__);
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curr_x = 0;
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} else {
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rot_debug(RIG_DEBUG_ERR, "%s:%d prev_x: %.3f\n", __func__, __LINE__, prev_x);
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x[0] = XDEGREE2MM(curr_az) - XDEGREE2MM(360);
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x[1] = XDEGREE2MM(curr_az);
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x[2] = XDEGREE2MM(curr_az) + XDEGREE2MM(360);
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delta[0] = prev_x - x[0];
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delta[1] = prev_x - x[1];
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delta[2] = prev_x - x[2];
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if (delta[0] < 0) { delta[0] = -1 * delta[0]; }
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if (delta[1] < 0) { delta[1] = -1 * delta[1]; }
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if (delta[2] < 0) { delta[2] = -1 * delta[2]; }
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min_value = delta[0];
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min_index = 0;
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for(i = 0; i < 3; i++) {
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if (delta[i] <= min_value) {
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min_value = delta[i];
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min_index = i;
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}
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}
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curr_x = x[min_index];
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rot_debug(RIG_DEBUG_ERR, "min_index: %d; curr_x: %.3f\n", min_index, curr_x);
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}
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y = YDEGREE2MM(curr_el);
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/**/
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snprintf(req, sizeof(req), "G0 X%.3f Y%.3f\n", curr_x, y);
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retval = grbl_request(rot, req, strlen(req), rsp, &rsp_size);
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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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prev_az = curr_az;
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prev_el = curr_el;
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prev_x = curr_x;
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return RIG_OK;
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}
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static int
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grbltrk_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
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{
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//static char req[RSIZE];
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static char rsp[RSIZE];
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uint32_t rsp_size;
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float mpos[3];
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char dummy0[256];
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char dummy1[256];
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int retval;
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int i;
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rot_debug(RIG_DEBUG_ERR, "%s called\n", __func__);
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//snprintf(req, sizeof(req), "?\r\n");
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for(i = 0; i < 5; i++) {
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retval = grbl_request(rot, grbl_get_pos, strlen(grbl_get_pos), rsp, &rsp_size);
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/*FIXME: X Y safe check */
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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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if (strstr(rsp, "MPos") == NULL) {
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rot_debug(RIG_DEBUG_ERR, "%s no MPos found, continue\n", __func__);
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continue;
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}
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/* grbl 0.9 mega328p */
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/* <Idle,MPos:0.000,0.000,0.000,WPos:0.000,0.000,0.000,SC:0> */
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//sscanf(rsp, "%[^','],MPos:%f,%f,%f,WPos:%f,%f,%f,%s", &dummy[0], &mpos[0], &mpos[1], &mpos[2], &wpos[0], &wpos[1], &wpos[2], &dummy[1]);
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/* grbl 1.3a esp32 */
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//<Idle|MPos:0.000,0.000,0.000|FS:0,0|Pn:P|WCO:5.000,0.000,0.000>
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sscanf(rsp, "%[^'|']|MPos:%f,%f,%s", dummy0, &mpos[0], &mpos[1], dummy1);
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|
||||
//rot_debug(RIG_DEBUG_ERR, "%s: (%.3f, %.3f) (%.3f, %.3f)\n", __func__, mpos[0], mpos[1], wpos[0], wpos[1]);
|
||||
|
||||
//*az = (azimuth_t) mpos[0] / 0.111;
|
||||
//*el = (elevation_t) mpos[1] / 0.111;
|
||||
*az = (azimuth_t) mpos[0] * 9;
|
||||
*el = (elevation_t) mpos[1] * 9;
|
||||
|
||||
if ((*az) < 0) {
|
||||
(*az) = (*az) + 360;
|
||||
}
|
||||
|
||||
//rot_debug(RIG_DEBUG_ERR, "%s: (az, el) = (%.3f, %.3f)\n", __func__, *az, *el);
|
||||
|
||||
rot_debug(RIG_DEBUG_ERR, "%s: (az, el) = (%.3f, %.3f)\n", __func__, *az, *el);
|
||||
|
||||
return RIG_OK;
|
||||
|
||||
}
|
||||
|
||||
*az = (azimuth_t) 0;
|
||||
*el = (elevation_t) 0;
|
||||
return RIG_OK;
|
||||
}
|
||||
|
||||
static int
|
||||
grbltrk_rot_set_conf(ROT *rot, token_t token, const char *val)
|
||||
{
|
||||
int i, retval;
|
||||
char req[RSIZE] = {0};
|
||||
char rsp[RSIZE];
|
||||
uint32_t resp_size, len;
|
||||
|
||||
rot_debug(RIG_DEBUG_ERR, "token: %ld; value: [%s]\n", token, val);
|
||||
|
||||
len = strlen(val);
|
||||
|
||||
if ((len != 0) && (val[0] == 'G')) {
|
||||
|
||||
for(i = 0; i < len; i++) {
|
||||
|
||||
if (val[i] == '@') {
|
||||
req[i] = ' ';
|
||||
} else {
|
||||
req[i] = val[i];
|
||||
}
|
||||
}
|
||||
|
||||
req[i] = '\n';
|
||||
len = strlen(req);
|
||||
|
||||
rot_debug(RIG_DEBUG_ERR, "send gcode [%s]\n", req);
|
||||
retval = grbl_request(rot, req, len, rsp, &resp_size);
|
||||
if (retval < 0) {
|
||||
rot_debug(RIG_DEBUG_ERR, "grbl_request [%s] fail\n", val);
|
||||
return RIG_EIO;
|
||||
}
|
||||
}
|
||||
|
||||
return RIG_OK;
|
||||
}
|
||||
|
||||
static int
|
||||
grbltrk_rot_init(ROT *rot)
|
||||
{
|
||||
int r = RIG_OK;
|
||||
|
||||
rot_debug(RIG_DEBUG_ERR, "%s:%d rot->caps->rot_model: %d\n", __func__, __LINE__, rot->caps->rot_model);
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
static int
|
||||
grbl_net_open(ROT *rot, int port)
|
||||
{
|
||||
//network_open(&rot->state.rotport, port);
|
||||
|
||||
//rot_debug(RIG_DEBUG_ERR, "%s:%d network_fd: %d\n", __func__, __LINE__, (&rot->state.rotport)->fd);
|
||||
rot_debug(RIG_DEBUG_ERR, "%s:%d \n", __func__, __LINE__);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int
|
||||
grbltrk_rot_open(ROT *rot)
|
||||
{
|
||||
int r = RIG_OK;
|
||||
char host[128] = {0};
|
||||
//char ip[32];
|
||||
//int port;
|
||||
|
||||
//rot_debug(RIG_DEBUG_ERR, "%s:%d rot->caps->rot_model: %d\n", __func__, __LINE__, rot->caps->rot_model);
|
||||
if (rot->caps->rot_model == ROT_MODEL_GRBLTRK_SER) {
|
||||
rot_debug(RIG_DEBUG_ERR, "%s:%d ctrl via serial\n", __func__, __LINE__);
|
||||
} else if (rot->caps->rot_model == ROT_MODEL_GRBLTRK_NET) {
|
||||
rot_get_conf(rot, TOK_PATHNAME, host);
|
||||
rot_debug(RIG_DEBUG_ERR, "%s:%d ctrl via net, host [%s]\n", __func__, __LINE__, host);
|
||||
grbl_net_open(rot, 23);
|
||||
|
||||
#if 0
|
||||
if (sscanf(host, "%[^:]:%d", ip, &port) == 2) {
|
||||
grbl_net_open(rot, ip, port);
|
||||
} else {
|
||||
grbl_net_open(rot, NULL, 0); /* use default ip & port */
|
||||
}
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
grbl_init(rot);
|
||||
|
||||
//rot_debug(RIG_DEBUG_ERR, "%s:%d\n", __func__, __LINE__);
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
static void
|
||||
grbl_net_close(ROT *rot)
|
||||
{
|
||||
port_close(&rot->state.rotport, RIG_PORT_NETWORK);
|
||||
}
|
||||
|
||||
static int
|
||||
grbltrk_rot_close(ROT *rot)
|
||||
{
|
||||
int r = RIG_OK;
|
||||
|
||||
if (rot->caps->rot_model == ROT_MODEL_GRBLTRK_SER) {
|
||||
rot_debug(RIG_DEBUG_ERR, "%s:%d\n", __func__, __LINE__);
|
||||
} else if (rot->caps->rot_model == ROT_MODEL_GRBLTRK_NET) {
|
||||
rot_debug(RIG_DEBUG_ERR, "%s:%d\n", __func__, __LINE__);
|
||||
grbl_net_close(rot);
|
||||
}
|
||||
|
||||
rot_debug(RIG_DEBUG_ERR, "%s:%d\n", __func__, __LINE__);
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
|
||||
/** CNCTRK implements essentially only the set position function.
|
||||
it assumes there is a LinuxCNC running with the Axis GUI */
|
||||
const struct rot_caps grbltrk_serial_rot_caps =
|
||||
{
|
||||
ROT_MODEL(ROT_MODEL_GRBLTRK_SER),
|
||||
.model_name = "GRBLTRK via Serial",
|
||||
.mfg_name = "BG5DIW",
|
||||
.version = "20220515.0",
|
||||
.copyright = "LGPL",
|
||||
.status = RIG_STATUS_BETA,
|
||||
.rot_type = ROT_TYPE_OTHER,
|
||||
.port_type = RIG_PORT_SERIAL,
|
||||
.serial_rate_min = 9600,
|
||||
.serial_rate_max = 115200,
|
||||
.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 = 400,
|
||||
.retry = 0,
|
||||
|
||||
|
||||
.min_az = 0,
|
||||
.max_az = 360,
|
||||
.min_el = 0,
|
||||
.max_el = 90,
|
||||
|
||||
.rot_init = grbltrk_rot_init,
|
||||
.rot_open = grbltrk_rot_open,
|
||||
|
||||
.set_position = grbltrk_rot_set_position,
|
||||
.get_position = grbltrk_rot_get_position,
|
||||
.set_conf = grbltrk_rot_set_conf,
|
||||
};
|
||||
|
||||
const struct rot_caps grbltrk_net_rot_caps =
|
||||
{
|
||||
ROT_MODEL(ROT_MODEL_GRBLTRK_NET),
|
||||
.model_name = "GRBLTRK via Net",
|
||||
.mfg_name = "BG5DIW",
|
||||
.version = "20220515.0",
|
||||
.copyright = "LGPL",
|
||||
.status = RIG_STATUS_BETA,
|
||||
.rot_type = ROT_TYPE_OTHER,
|
||||
.port_type = RIG_PORT_NETWORK, /* RIG_PORT_NONE */
|
||||
//.port_type = RIG_PORT_NONE, /* RIG_PORT_NONE */
|
||||
|
||||
.write_delay = 0,
|
||||
.post_write_delay = 0,
|
||||
.timeout = 300,
|
||||
.retry = 0,
|
||||
//.retry = 3,
|
||||
|
||||
|
||||
.min_az = 0,
|
||||
.max_az = 360,
|
||||
.min_el = 0,
|
||||
.max_el = 90,
|
||||
|
||||
.rot_init = grbltrk_rot_init,
|
||||
.rot_open = grbltrk_rot_open,
|
||||
.rot_close = grbltrk_rot_close,
|
||||
|
||||
.set_position = grbltrk_rot_set_position,
|
||||
.get_position = grbltrk_rot_get_position,
|
||||
.set_conf = grbltrk_rot_set_conf,
|
||||
};
|
||||
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
||||
DECLARE_INITROT_BACKEND(grbltrk)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "%s: _init called\n", __func__);
|
||||
|
||||
//rot_debug(RIG_DEBUG_ERR, "%s: _init called\n", __func__);
|
||||
|
||||
rot_register(&grbltrk_serial_rot_caps);
|
||||
|
||||
rot_register(&grbltrk_net_rot_caps);
|
||||
|
||||
return RIG_OK;
|
||||
}
|
||||
|
|
@ -90,6 +90,7 @@ DEFINE_INITROT_BACKEND(indi);
|
|||
#if defined(ANDROID) || defined(__ANDROID__)
|
||||
DEFINE_INITROT_BACKEND(androidsensor);
|
||||
#endif
|
||||
DEFINE_INITROT_BACKEND(grbltrk);
|
||||
//! @endcond
|
||||
|
||||
/**
|
||||
|
|
@ -137,6 +138,7 @@ static struct
|
|||
#if defined(ANDROID) || defined(__ANDROID__)
|
||||
{ ROT_ANDROIDSENSOR, ROT_BACKEND_ANDROIDSENSOR, ROT_FUNCNAMA(androidsensor) },
|
||||
#endif
|
||||
{ ROT_GRBLTRK, ROT_BACKEND_GRBLTRK, ROT_FUNCNAMA(grbltrk) },
|
||||
{ 0, NULL }, /* end */
|
||||
};
|
||||
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue