kopia lustrzana https://github.com/Hamlib/Hamlib
Joshua Lynch
rodzic
e6fa200152
commit
ed5728c321
|
|
@ -1,5 +1,5 @@
|
|||
/*
|
||||
* Hamlib Sat/El backend - main file
|
||||
* Hamlib SatEL backend - main file
|
||||
* Copyright (c) 2021 Joshua Lynch
|
||||
*
|
||||
*
|
||||
|
|
@ -19,6 +19,7 @@
|
|||
*
|
||||
*/
|
||||
|
||||
#include "hamlib/rig.h"
|
||||
#include <strings.h>
|
||||
#ifdef HAVE_CONFIG_H
|
||||
#include "config.h"
|
||||
|
|
@ -32,6 +33,7 @@
|
|||
#include <ctype.h>
|
||||
#include <stddef.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
#include "hamlib/rotator.h"
|
||||
#include "serial.h"
|
||||
|
|
@ -41,14 +43,132 @@
|
|||
#include "satel.h"
|
||||
|
||||
|
||||
static int satel_rot_open(ROT *rot)
|
||||
/**
|
||||
* Protocol documentation.
|
||||
*
|
||||
* Apparently, the system is modeled after this one:
|
||||
* “An Inexpensive Az-El Rotator System”
|
||||
* "Dec, 1999, QST article by Jim Koehler, VE5FP
|
||||
*
|
||||
* '?' - returns 'SatEL\r\n'. a good test to see if there's
|
||||
* connectivity.
|
||||
*
|
||||
* 'g' - enable motion. nothing happens without this enabled.
|
||||
*
|
||||
* 'z' - display rotator status. contains current Az/El among other
|
||||
* things. here's an example:
|
||||
*
|
||||
* Motion ENABLED
|
||||
* Mode 0 - azimuth break at NORTH
|
||||
* Time: 2001/00/00 00:00:07
|
||||
* Azimuth = 000 Absolute = 000
|
||||
* Elevation = 000
|
||||
*
|
||||
* Number of stored positions: 00
|
||||
*
|
||||
*
|
||||
* '*' - reset the rotator controller.
|
||||
*
|
||||
* 'pAZ EL\r\n' - tell the rotator where to point where AZ is the
|
||||
* integer azimuth and EL is the integer
|
||||
* elevation. e.g. 'p010 045\n'. the controller will
|
||||
* report the current pointing status after the
|
||||
* operation has completed.
|
||||
*
|
||||
* NOTE: The SatEL system changed a few commands as described in the
|
||||
* user's manual. They are not used here. You can find the manual for
|
||||
* this rotator here:
|
||||
*
|
||||
* http://www.codeposse.com/~jlynch/SatEL%20Az-EL.pdf
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
* Idiosyncrasies
|
||||
*
|
||||
* - the controller does zero input checking. you can put it into an
|
||||
* incredibly bad state very easily.
|
||||
*
|
||||
* - the controller doesn't accept any data whilst moving the
|
||||
* rotators. In fact, you can put the controller into a bad state on
|
||||
* occasion if you try and send it commands while its slewing the
|
||||
* rotators. this means we have a really long read timeout so we can
|
||||
* wait for the rotators to slew around before accepting any more
|
||||
* commands.
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
|
||||
#define BUF_SIZE 256
|
||||
|
||||
|
||||
typedef struct satel_stat satel_stat_t;
|
||||
struct satel_stat
|
||||
{
|
||||
#define RES_BUF_SIZE 256
|
||||
char buf[RES_BUF_SIZE];
|
||||
bool motion_enabled;
|
||||
int mode;
|
||||
time_t time;
|
||||
int absolute;
|
||||
int az;
|
||||
int el;
|
||||
};
|
||||
|
||||
|
||||
static int satel_read_status(ROT *rot, satel_stat_t *stat)
|
||||
{
|
||||
char resbuf[BUF_SIZE];
|
||||
char *p;
|
||||
int ret;
|
||||
struct rot_state *rs;
|
||||
|
||||
|
||||
rs = &rot->state;
|
||||
|
||||
|
||||
// XXX skip for now
|
||||
for (int i = 0; i < 3; i++)
|
||||
{
|
||||
ret = read_string(&rs->rotport, resbuf, BUF_SIZE, "\n", 1);
|
||||
if (ret < 0)
|
||||
return ret;
|
||||
}
|
||||
|
||||
// read azimuth line
|
||||
ret = read_string(&rs->rotport, resbuf, BUF_SIZE, "\n", 1);
|
||||
if (ret < 0)
|
||||
return ret;
|
||||
|
||||
p = resbuf + 10;
|
||||
p[3] = '\0';
|
||||
stat->az = (int)strtof(p, NULL);
|
||||
|
||||
// read elevation line
|
||||
ret = read_string(&rs->rotport, resbuf, BUF_SIZE, "\n", 1);
|
||||
if (ret < 0)
|
||||
return ret;
|
||||
|
||||
p = resbuf + 12;
|
||||
p[3] = '\0';
|
||||
stat->el = (int)strtof(p, NULL);
|
||||
|
||||
// XXX skip for now
|
||||
for (int i = 0; i < 2; i++)
|
||||
{
|
||||
ret = read_string(&rs->rotport, resbuf, BUF_SIZE, "\n", 1);
|
||||
if (ret < 0)
|
||||
return ret;
|
||||
}
|
||||
|
||||
return RIG_OK;
|
||||
}
|
||||
|
||||
|
||||
static int satel_cmd(ROT *rot, char *cmd, int cmdlen, char *res, int reslen)
|
||||
{
|
||||
int ret;
|
||||
struct rot_state *rs;
|
||||
|
||||
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
|
||||
|
||||
|
|
@ -57,136 +177,123 @@ static int satel_rot_open(ROT *rot)
|
|||
|
||||
rig_flush(&rs->rotport);
|
||||
|
||||
// check if we're connected to the rotator
|
||||
ret = write_block(&rs->rotport, "?", 1);
|
||||
if (ret != RIG_OK)
|
||||
return ret;
|
||||
|
||||
ret = read_string(&rs->rotport, buf, RES_BUF_SIZE, "\n", 1);
|
||||
if (ret < 0)
|
||||
return ret;
|
||||
|
||||
ret = strncasecmp("SatEL", buf, 5);
|
||||
if (ret != 0)
|
||||
return RIG_EIO;
|
||||
|
||||
// yep, now enable motion
|
||||
ret = write_block(&rs->rotport, "g", 1);
|
||||
ret = write_block(&rs->rotport, cmd, cmdlen);
|
||||
if (ret != RIG_OK)
|
||||
return ret;
|
||||
|
||||
if (reslen > 0 && res != NULL)
|
||||
{
|
||||
ret = read_string(&rs->rotport, res, reslen, "\n", 1);
|
||||
if (ret < 0)
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
||||
return RIG_OK;
|
||||
}
|
||||
|
||||
|
||||
static int satel_rot_open(ROT *rot)
|
||||
{
|
||||
char resbuf[BUF_SIZE];
|
||||
int ret;
|
||||
|
||||
|
||||
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
|
||||
|
||||
|
||||
// are we connected?
|
||||
ret = satel_cmd(rot, "?", 1, resbuf, BUF_SIZE);
|
||||
if (ret != RIG_OK)
|
||||
return ret;
|
||||
|
||||
ret = strncasecmp("SatEL", resbuf, 5);
|
||||
if (ret != 0)
|
||||
return -RIG_EIO;
|
||||
|
||||
// yep, reset system
|
||||
ret = satel_cmd(rot, "*", 1, NULL, 0);
|
||||
if (ret != RIG_OK)
|
||||
return ret;
|
||||
|
||||
// enable motion
|
||||
ret = satel_cmd(rot, "g", 1, NULL, 0);
|
||||
if (ret != RIG_OK)
|
||||
return ret;
|
||||
|
||||
return RIG_OK;
|
||||
}
|
||||
|
||||
|
||||
static int satel_rot_set_position(ROT *rot, azimuth_t az, elevation_t el)
|
||||
{
|
||||
#define BUF_CMD_SIZE 20
|
||||
char buf[BUF_CMD_SIZE];
|
||||
struct rot_state *rs;
|
||||
char cmdbuf[BUF_SIZE];
|
||||
int ret;
|
||||
satel_stat_t stat;
|
||||
|
||||
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "%s called: %.2f %.2f\n", __func__,
|
||||
az, el);
|
||||
|
||||
|
||||
rs = &rot->state;
|
||||
|
||||
rig_flush(&rs->rotport);
|
||||
|
||||
snprintf(buf, BUF_CMD_SIZE, "p%03d %03d\r\n", (int)az, (int)el);
|
||||
return write_block(&rs->rotport, buf, strlen(buf));
|
||||
}
|
||||
|
||||
static int satel_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
|
||||
{
|
||||
#define RES_BUF_SIZE 256
|
||||
char buf[RES_BUF_SIZE];
|
||||
char *p;
|
||||
int ret;
|
||||
struct rot_state *rs;
|
||||
|
||||
|
||||
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
|
||||
|
||||
|
||||
rs = &rot->state;
|
||||
|
||||
rig_flush(&rs->rotport);
|
||||
|
||||
ret = write_block(&rs->rotport, "z", 1);
|
||||
snprintf(cmdbuf, BUF_SIZE, "p%d %d\r\n", (int)az, (int)el);
|
||||
ret = satel_cmd(rot, cmdbuf, strlen(cmdbuf), NULL, 0);
|
||||
if (ret != RIG_OK)
|
||||
return ret;
|
||||
|
||||
|
||||
// skip header information
|
||||
for (int i = 0; i < 3; i++)
|
||||
{
|
||||
ret = read_string(&rs->rotport, buf, RES_BUF_SIZE, "\n", 1);
|
||||
if (ret < 0)
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
||||
// read azimuth line
|
||||
ret = read_string(&rs->rotport, buf, RES_BUF_SIZE, "\n", 1);
|
||||
// wait-for, read and discard the status message
|
||||
ret = satel_read_status(rot, &stat);
|
||||
if (ret < 0)
|
||||
return ret;
|
||||
|
||||
p = buf + 10;
|
||||
p[3] = '\0';
|
||||
*az = strtof(p, NULL);
|
||||
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "AZIMUTH %f[%s]", *az, p);
|
||||
|
||||
|
||||
// read elevation line
|
||||
ret = read_string(&rs->rotport, buf, RES_BUF_SIZE, "\n", 1);
|
||||
if (ret < 0)
|
||||
return ret;
|
||||
|
||||
p = buf + 12;
|
||||
p[3] = '\0';
|
||||
*el = strtof(p, NULL);
|
||||
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "ELEVATION %f[%s]", *el, p);
|
||||
|
||||
// skip trailer information
|
||||
for (int i = 0; i < 2; i++)
|
||||
{
|
||||
ret = read_string(&rs->rotport, buf, RES_BUF_SIZE, "\n", 1);
|
||||
if (ret < 0)
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
||||
return RIG_OK;
|
||||
}
|
||||
|
||||
|
||||
static int satel_rot_stop(ROT *rot)
|
||||
static int satel_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
|
||||
{
|
||||
struct rot_state *rs;
|
||||
int ret;
|
||||
satel_stat_t stat;
|
||||
|
||||
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
|
||||
|
||||
|
||||
rs = &rot->state;
|
||||
ret = satel_cmd(rot, "z", 1, NULL, 0);
|
||||
if (ret != RIG_OK)
|
||||
return ret;
|
||||
|
||||
ret = satel_read_status(rot, &stat);
|
||||
if (ret < 0)
|
||||
return ret;
|
||||
|
||||
*az = stat.az;
|
||||
*el = stat.el;
|
||||
|
||||
rig_flush(&rs->rotport);
|
||||
|
||||
return write_block(&rs->rotport, "*", 1);
|
||||
return RIG_OK;
|
||||
}
|
||||
|
||||
|
||||
static int satel_rot_stop(ROT *rot)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
|
||||
|
||||
// send reset command
|
||||
return satel_cmd(rot, "*", 1, NULL, 0);
|
||||
}
|
||||
|
||||
|
||||
static const char *satel_rot_get_info(ROT *rot)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
|
||||
|
||||
return "Satel rotator";
|
||||
return "SatEL rotator";
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* Satel rotator capabilities.
|
||||
*/
|
||||
|
|
@ -206,9 +313,9 @@ const struct rot_caps satel_rot_caps =
|
|||
.serial_stop_bits = 1,
|
||||
.serial_parity = RIG_PARITY_NONE,
|
||||
.serial_handshake = RIG_HANDSHAKE_NONE,
|
||||
.write_delay = 250,
|
||||
.write_delay = 0,
|
||||
.post_write_delay = 0,
|
||||
.timeout = 1000,
|
||||
.timeout = 60000,
|
||||
.retry = 0,
|
||||
.min_az = 0.,
|
||||
.max_az = 360.,
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
/*
|
||||
* Hamlib Sat/El backend - main header
|
||||
* Hamlib SatEL backend - main header
|
||||
* Copyright (c) 2021 Joshua Lynch
|
||||
*
|
||||
*
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue