diff --git a/rotators/satel/satel.c b/rotators/satel/satel.c index 1a9aa0e29..6a0e12db9 100644 --- a/rotators/satel/satel.c +++ b/rotators/satel/satel.c @@ -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 #ifdef HAVE_CONFIG_H #include "config.h" @@ -32,6 +33,7 @@ #include #include #include +#include #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., diff --git a/rotators/satel/satel.h b/rotators/satel/satel.h index 8f5dfd935..402f234b5 100644 --- a/rotators/satel/satel.h +++ b/rotators/satel/satel.h @@ -1,5 +1,5 @@ /* - * Hamlib Sat/El backend - main header + * Hamlib SatEL backend - main header * Copyright (c) 2021 Joshua Lynch * *