/* * Hamlib Rotator backend - GS-232A * Copyright (c) 2001-2012 by Stephane Fillod * * * This library is free software; you can redistribute it and/or * modify it under the terms of the GNU Lesser General Public * License as published by the Free Software Foundation; either * version 2.1 of the License, or (at your option) any later version. * * This library 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 * Lesser General Public License for more details. * * You should have received a copy of the GNU Lesser General Public * License along with this library; if not, write to the Free Software * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA * */ // cppcheck-suppress * #include // cppcheck-suppress * // cppcheck-suppress * #include /* String function definitions */ // cppcheck-suppress * // cppcheck-suppress * #include #include "hamlib/rotator.h" #include "serial.h" #include "misc.h" #include "register.h" #include "idx_builtin.h" #include "gs232a.h" #define EOM "\r" #define REPLY_EOM "\n" #define BUFSZ 64 #define GS232A_LEVELS ROT_LEVEL_SPEED /** * gs232a_transaction * * cmdstr - Command to be sent to the rig. * data - Buffer for reply string. Can be NULL, indicating that no reply is * is needed, but answer will still be read. * data_len - in: Size of buffer. It is the caller's responsibily to provide * a large enough buffer for all possible replies for a command. * * returns: * RIG_OK - if no error occurred. * RIG_EIO - if an I/O error occurred while sending/receiving data. * RIG_ETIMEOUT - if timeout expires without any characters received. * RIG_REJECTED - if a negative acknowledge was received or command not * recognized by rig. */ static int gs232a_transaction(ROT *rot, const char *cmdstr, char *data, size_t data_len, int no_reply) { hamlib_port_t *rotp = ROTPORT(rot); int retval; int retry_read = 0; transaction_write: rig_flush(rotp); if (cmdstr) { retval = write_block(rotp, (unsigned char *) cmdstr, strlen(cmdstr)); if (retval != RIG_OK) { goto transaction_quit; } } /* If no data requested just return */ if (!data) { return RIG_OK; } if (!data_len) { data_len = BUFSZ; } if (!no_reply) { memset(data, 0, data_len); retval = read_string(rotp, (unsigned char *) data, data_len, REPLY_EOM, strlen(REPLY_EOM), 0, 1); if (strncmp(data, "\r\n", 2) == 0 || strchr(data, '>')) { rig_debug(RIG_DEBUG_ERR, "%s: wrong response nbytes=%d\n", __func__, (int)strlen(data)); dump_hex((unsigned char *)data, strlen(data)); retval = -1; // force retry } if (retval < 0) { if (retry_read++ < rotp->retry) { goto transaction_write; } goto transaction_quit; } } #ifdef XXREMOVEDXX /* Check that command termination is correct */ if (strchr(REPLY_EOM, data[strlen(data) - 1]) == NULL) { rig_debug(RIG_DEBUG_ERR, "%s: Command is not correctly terminated '%s'\n", __func__, data); if (retry_read++ < rotp->retry) { goto transaction_write; } retval = -RIG_EPROTO; goto transaction_quit; } #endif if (data[0] == '?') { /* Invalid command */ rig_debug(RIG_DEBUG_VERBOSE, "%s: Error for '%s': '%s'\n", __func__, cmdstr, data); retval = -RIG_EPROTO; goto transaction_quit; } retval = RIG_OK; transaction_quit: return retval; } static int gs232a_rot_set_position(ROT *rot, azimuth_t az, elevation_t el) { char cmdstr[64]; int retval; unsigned u_az, u_el; rig_debug(RIG_DEBUG_TRACE, "%s called: %.02f %.02f\n", __func__, az, el); if (az < 0.0) { az = az + 360.0; } u_az = (unsigned)rint(az); u_el = (unsigned)rint(el); SNPRINTF(cmdstr, sizeof(cmdstr), "W%03u %03u" EOM, u_az, u_el); retval = gs232a_transaction(rot, cmdstr, NULL, 0, 0); if (retval != RIG_OK) { return retval; } return RIG_OK; } static int gs232a_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el) { char posbuf[32]; int retval, int_az, int_el = 0; rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__); retval = gs232a_transaction(rot, "C2" EOM, posbuf, sizeof(posbuf), 0); if (retval != RIG_OK) { return retval; } // parse "+0aaa+0eee" and expect both arguments if (sscanf(posbuf, "+0%d+0%d", &int_az, &int_el) != 2) { rig_debug(RIG_DEBUG_ERR, "%s: wrong reply '%s', not +0xxx+0xxx format?\n", __func__, posbuf); return -RIG_EPROTO; } *az = (azimuth_t) int_az; *el = (elevation_t) int_el; rig_debug(RIG_DEBUG_TRACE, "%s: (az, el) = (%.1f, %.1f)\n", __func__, *az, *el); return RIG_OK; } static int gs232a_rot_stop(ROT *rot) { int retval; rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__); /* All Stop */ retval = gs232a_transaction(rot, "S" EOM, NULL, 0, 0); if (retval != RIG_OK) { return retval; } return RIG_OK; } static int gs232a_rot_get_level(ROT *rot, setting_t level, value_t *val) { const struct rot_state *rs = &rot->state; rig_debug(RIG_DEBUG_VERBOSE, "%s called: %s\n", __func__, rot_strlevel(level)); switch (level) { case ROT_LEVEL_SPEED: val->i = rs->current_speed; break; default: return -RIG_ENAVAIL; } return RIG_OK; } static int gs232a_rot_set_level(ROT *rot, setting_t level, value_t val) { struct rot_state *rs = &rot->state; rig_debug(RIG_DEBUG_VERBOSE, "%s called: %s\n", __func__, rot_strlevel(level)); switch (level) { case ROT_LEVEL_SPEED: { char cmdstr[24]; int retval; int speed = val.i; if (speed < 1) { speed = 1; } else if (speed > 4) { speed = 4; } /* between 1 (slowest) and 4 (fastest) */ SNPRINTF(cmdstr, sizeof(cmdstr), "X%u" EOM, speed); retval = gs232a_transaction(rot, cmdstr, NULL, 0, 1); if (retval != RIG_OK) { return retval; } rs->current_speed = speed; break; } default: return -RIG_ENAVAIL; } return RIG_OK; } static int gs232a_rot_move(ROT *rot, int direction, int speed) { char cmdstr[24]; int retval; rig_debug(RIG_DEBUG_TRACE, "%s called %d %d\n", __func__, direction, speed); if (speed != ROT_SPEED_NOCHANGE) { value_t gs232a_speed; if (speed < 1 || speed > 100) { rig_debug(RIG_DEBUG_ERR, "%s: Invalid speed value (1-100)! (%d)\n", __func__, speed); return -RIG_EINVAL; } gs232a_speed.i = (3 * speed) / 100 + 1; retval = gs232a_rot_set_level(rot, ROT_LEVEL_SPEED, gs232a_speed); if (retval != RIG_OK) { return retval; } } switch (direction) { case ROT_MOVE_UP: /* Elevation increase */ SNPRINTF(cmdstr, sizeof(cmdstr), "U" EOM); break; case ROT_MOVE_DOWN: /* Elevation decrease */ SNPRINTF(cmdstr, sizeof(cmdstr), "D" EOM); break; case ROT_MOVE_LEFT: /* Azimuth decrease */ SNPRINTF(cmdstr, sizeof(cmdstr), "L" EOM); break; case ROT_MOVE_RIGHT: /* Azimuth increase */ SNPRINTF(cmdstr, sizeof(cmdstr), "R" EOM); break; default: rig_debug(RIG_DEBUG_ERR, "%s: Invalid direction value! (%d)\n", __func__, direction); return -RIG_EINVAL; } retval = gs232a_transaction(rot, cmdstr, NULL, 0, 1); if (retval != RIG_OK) { return retval; } return RIG_OK; } static int gs232a_rot_init(ROT *rot) { struct rot_state *rs = &rot->state; rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__); // Set default speed to half of maximum rs->current_speed = 3; return RIG_OK; } /* ************************************************************************* */ /* * Generic GS23 rotator capabilities. */ const struct rot_caps gs23_rot_caps = { ROT_MODEL(ROT_MODEL_GS23), .model_name = "GS-23", .mfg_name = "Yaesu/Kenpro", .version = "20220109.0", .copyright = "LGPL", .status = RIG_STATUS_STABLE, .rot_type = ROT_TYPE_AZEL, .port_type = RIG_PORT_SERIAL, .serial_rate_min = 150, .serial_rate_max = 9600, .serial_data_bits = 8, .serial_stop_bits = 1, .serial_parity = RIG_PARITY_NONE, .serial_handshake = RIG_HANDSHAKE_NONE, .write_delay = 0, .post_write_delay = 50, .timeout = 400, .retry = 3, .min_az = -180.0, .max_az = 450.0, /* vary according to rotator type */ .min_el = 0.0, .max_el = 180.0, .has_get_level = GS232A_LEVELS, .has_set_level = ROT_LEVEL_SET(GS232A_LEVELS), .level_gran = { [ROT_LVL_SPEED] = { .min = { .i = 1 }, .max = { .i = 4 }, .step = { .i = 1 } } }, .rot_init = gs232a_rot_init, .get_position = gs232a_rot_get_position, .set_position = gs232a_rot_set_position, .stop = gs232a_rot_stop, .get_level = gs232a_rot_get_level, .set_level = gs232a_rot_set_level, }; /* ************************************************************************* */ /* * Generic GS23 azimuth rotator capabilities. */ const struct rot_caps gs23_az_rot_caps = { ROT_MODEL(ROT_MODEL_GS23_AZ), .model_name = "GS-23 azimuth", .mfg_name = "Yaesu/Kenpro", .version = "20220527.0", .copyright = "LGPL", .status = RIG_STATUS_STABLE, .rot_type = ROT_TYPE_AZIMUTH, .port_type = RIG_PORT_SERIAL, .serial_rate_min = 150, .serial_rate_max = 9600, .serial_data_bits = 8, .serial_stop_bits = 1, .serial_parity = RIG_PARITY_NONE, .serial_handshake = RIG_HANDSHAKE_NONE, .write_delay = 0, .post_write_delay = 50, .timeout = 400, .retry = 3, .min_az = -180.0, .max_az = 450.0, /* vary according to rotator type */ .min_el = 0.0, .max_el = 0.0, .has_get_level = GS232A_LEVELS, .has_set_level = ROT_LEVEL_SET(GS232A_LEVELS), .level_gran = { [ROT_LVL_SPEED] = { .min = { .i = 1 }, .max = { .i = 4 }, .step = { .i = 1 } } }, .rot_init = gs232a_rot_init, .get_position = gs232a_rot_get_position, .set_position = gs232a_rot_set_position, .stop = gs232a_rot_stop, .get_level = gs232a_rot_get_level, .set_level = gs232a_rot_set_level, }; /* ************************************************************************* */ /* * Generic GS232 rotator capabilities. */ const struct rot_caps gs232_rot_caps = { ROT_MODEL(ROT_MODEL_GS232), .model_name = "GS-232", .mfg_name = "Yaesu/Kenpro", .version = "20220109.0", .copyright = "LGPL", .status = RIG_STATUS_STABLE, .rot_type = ROT_TYPE_AZEL, .port_type = RIG_PORT_SERIAL, .serial_rate_min = 150, .serial_rate_max = 9600, .serial_data_bits = 8, .serial_stop_bits = 1, .serial_parity = RIG_PARITY_NONE, .serial_handshake = RIG_HANDSHAKE_NONE, .write_delay = 0, .post_write_delay = 50, .timeout = 400, .retry = 3, .min_az = -180.0, .max_az = 450.0, /* vary according to rotator type */ .min_el = 0.0, .max_el = 180.0, .has_get_level = GS232A_LEVELS, .has_set_level = ROT_LEVEL_SET(GS232A_LEVELS), .level_gran = { [ROT_LVL_SPEED] = { .min = { .i = 1 }, .max = { .i = 4 }, .step = { .i = 1 } } }, .rot_init = gs232a_rot_init, .get_position = gs232a_rot_get_position, .set_position = gs232a_rot_set_position, .stop = gs232a_rot_stop, .get_level = gs232a_rot_get_level, .set_level = gs232a_rot_set_level, }; /* ************************************************************************* */ /* * Generic GS232A rotator capabilities. */ const struct rot_caps gs232a_rot_caps = { ROT_MODEL(ROT_MODEL_GS232A), .model_name = "GS-232A", .mfg_name = "Yaesu", .version = "20220109.0", .copyright = "LGPL", .status = RIG_STATUS_STABLE, .rot_type = ROT_TYPE_AZEL, .port_type = RIG_PORT_SERIAL, .serial_rate_min = 150, .serial_rate_max = 9600, .serial_data_bits = 8, .serial_stop_bits = 1, .serial_parity = RIG_PARITY_NONE, .serial_handshake = RIG_HANDSHAKE_NONE, .write_delay = 0, .post_write_delay = 50, .timeout = 400, .retry = 3, .min_az = -180.0, .max_az = 450.0, /* vary according to rotator type */ .min_el = 0.0, .max_el = 180.0, /* requires G-5400B, G-5600B, G-5500, or G-500/G-550 */ .has_get_level = GS232A_LEVELS, .has_set_level = ROT_LEVEL_SET(GS232A_LEVELS), .level_gran = { [ROT_LVL_SPEED] = { .min = { .i = 1 }, .max = { .i = 4 }, .step = { .i = 1 } } }, .rot_init = gs232a_rot_init, .get_position = gs232a_rot_get_position, .set_position = gs232a_rot_set_position, .stop = gs232a_rot_stop, .move = gs232a_rot_move, .get_level = gs232a_rot_get_level, .set_level = gs232a_rot_set_level, }; /* ************************************************************************* */ /* * Generic GS232A azimuth rotator capabilities. */ const struct rot_caps gs232a_az_rot_caps = { ROT_MODEL(ROT_MODEL_GS232A_AZ), .model_name = "GS-232A azimuth", .mfg_name = "Yaesu", .version = "20220109.0", .copyright = "LGPL", .status = RIG_STATUS_STABLE, .rot_type = ROT_TYPE_AZIMUTH, .port_type = RIG_PORT_SERIAL, .serial_rate_min = 150, .serial_rate_max = 9600, .serial_data_bits = 8, .serial_stop_bits = 1, .serial_parity = RIG_PARITY_NONE, .serial_handshake = RIG_HANDSHAKE_NONE, .write_delay = 0, .post_write_delay = 50, .timeout = 400, .retry = 3, .min_az = -180.0, .max_az = 450.0, /* vary according to rotator type */ .min_el = 0.0, .max_el = 0.0, .rot_init = gs232a_rot_init, .has_get_level = GS232A_LEVELS, .has_set_level = ROT_LEVEL_SET(GS232A_LEVELS), .level_gran = { [ROT_LVL_SPEED] = { .min = { .i = 1 }, .max = { .i = 4 }, .step = { .i = 1 } } }, .get_position = gs232a_rot_get_position, .set_position = gs232a_rot_set_position, .stop = gs232a_rot_stop, .move = gs232a_rot_move, .get_level = gs232a_rot_get_level, .set_level = gs232a_rot_set_level, }; /* ************************************************************************* */ /* * Generic GS232A elevation rotator capabilities. */ const struct rot_caps gs232a_el_rot_caps = { ROT_MODEL(ROT_MODEL_GS232A_EL), .model_name = "GS-232A elevation", .mfg_name = "Yaesu", .version = "20220109.0", .copyright = "LGPL", .status = RIG_STATUS_STABLE, .rot_type = ROT_TYPE_ELEVATION, .port_type = RIG_PORT_SERIAL, .serial_rate_min = 150, .serial_rate_max = 9600, .serial_data_bits = 8, .serial_stop_bits = 1, .serial_parity = RIG_PARITY_NONE, .serial_handshake = RIG_HANDSHAKE_NONE, .write_delay = 0, .post_write_delay = 50, .timeout = 400, .retry = 3, .min_az = 0.0, .max_az = 0.0, .min_el = 0.0, .max_el = 180.0, /* requires G-5400B, G-5600B, G-5500, or G-500/G-550 */ .has_get_level = GS232A_LEVELS, .has_set_level = ROT_LEVEL_SET(GS232A_LEVELS), .level_gran = { [ROT_LVL_SPEED] = { .min = { .i = 1 }, .max = { .i = 4 }, .step = { .i = 1 } } }, .rot_init = gs232a_rot_init, .get_position = gs232a_rot_get_position, .set_position = gs232a_rot_set_position, .stop = gs232a_rot_stop, .move = gs232a_rot_move, .get_level = gs232a_rot_get_level, .set_level = gs232a_rot_set_level, }; /* ************************************************************************* */ DECLARE_INITROT_BACKEND(gs232a) { rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__); rot_register(&gs232a_rot_caps); rot_register(&gs232a_az_rot_caps); rot_register(&gs232a_el_rot_caps); rot_register(&gs232_generic_rot_caps); rot_register(&gs232b_rot_caps); rot_register(&gs232b_az_rot_caps); rot_register(&gs232b_el_rot_caps); rot_register(&f1tetracker_rot_caps); rot_register(&gs23_rot_caps); rot_register(&gs232_rot_caps); rot_register(&amsat_lvb_rot_caps); rot_register(&st2_rot_caps); return RIG_OK; } /* ************************************************************************* */ /* end of file */