/* * Hamlib Rotator backend - Celestron * Copyright (c) 2011 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 * */ #include #include #include #include "hamlib/rotator.h" #include "serial.h" #include "register.h" #include "rot_ioptron.h" #define ACK "#" #define ACK1 '1' #define BUFSZ 128 /** * ioptron_transaction * * cmdstr - Command to be sent to the rig. * data - Buffer for reply string. * resp_len - in: Expected length of response. It is the caller's responsibily to * provide a buffer at least 1 byte larger than this for null terminator. * * COMMANDS note: as of 12/2018 a mixture of V2 and V3 * | TTTTTTTT(T) .01 arc seconds * | alt- sign with 8 digits, az - 9 digits | * | Command | Attribute | Return value | Description | * -------------------------------------------------------------------| * | :GAC# | .01 arcsec | sTTTTTTTTTTTTTTTTT# | gets alt(s8), az(9) | * | :SzTTTTTTTTT# | .01 arcsec | '1' == OK | Set Target azimuth | * | :SasTTTTTTTT# |.01 arcsec | '1' == OK | Set Target elevation | * | :Q# | - | '1' == OK | Halt all slewing | * | :ST0# | - | '1' == OK | Halt tracking | * | :MS# | - | '1' == OK | GoTo Target | * | * 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. */ static int ioptron_transaction(ROT *rot, const char *cmdstr, char *data, size_t resp_len) { hamlib_port_t *rotp = ROTPORT(rot); int retval = 0; int retry_read; for (retry_read = 0; retry_read <= rotp->retry; retry_read++) { rig_flush(rotp); if (cmdstr) { retval = write_block(rotp, (unsigned char *) cmdstr, strlen(cmdstr)); if (retval != RIG_OK) { return retval; } } /** the answer */ memset(data, 0, resp_len + 1); retval = read_block(rotp, (unsigned char *) data, resp_len); /** if expected number of bytes received, return OK status */ if (retval == resp_len) { return RIG_OK; } } /** if got here, retry loop failed */ rig_debug(RIG_DEBUG_ERR, "%s: unexpected response, len %d: '%s'\n", __func__, retval, data); return -RIG_EPROTO; } /** get mount type code, initializes mount */ static const char * ioptron_get_info(ROT *rot) { static char info[32]; char str[6]; int retval; rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__); retval = ioptron_transaction(rot, ":MountInfo#", str, 4); rig_debug(RIG_DEBUG_TRACE, "retval, RIG_OK str %d %d %str\n", retval, RIG_OK, str); SNPRINTF(info, sizeof(info), "MountInfo %s", str); return info; } /** * Opens the Port and sets all needed parameters for operation * as of 12/2018 initiates mount with V3 :MountInfo# */ static int ioptron_open(ROT *rot) { const char *info; int retval; char retbuf[10]; rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__); info = ioptron_get_info(rot); /* ioptron_get_info returns "MountInfo xxxx", check model number from string */ /* string of 4 numeric digits is likely model number */ if ((strlen(&info[10]) != 4) || (strspn(&info[10], "1234567890") != 4)) { return -RIG_ETIMEOUT; } /** stops tracking, returns "1" if OK */ retval = ioptron_transaction(rot, ":ST0#", retbuf, 1); if (retval != RIG_OK || retbuf[0] != ACK1) { return -RIG_EPROTO; } /** set alt limit to -1 since firmware bug sometimes doesn't allow alt of 0 when limit is 0 */ /** returns "1" if OK */ retval = ioptron_transaction(rot, ":SAL-01#", retbuf, 1); if (retval != RIG_OK || retbuf[0] != ACK1) { return -RIG_EPROTO; } return RIG_OK; } /** gets current position */ static int ioptron_get_position(ROT *rot, azimuth_t *az, elevation_t *el) { char posbuf[32]; int retval; float w; rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__); /** Get Az-Alt */ retval = ioptron_transaction(rot, ":GAC#", posbuf, 19); if (retval != RIG_OK || strlen(posbuf) < 19) { return retval < 0 ? retval : -RIG_EPROTO; } if (sscanf(posbuf, "%9f", &w) != 1) { return -RIG_EPROTO; } /** convert from .01 arc sec to degrees */ /** note that firmware only reports alt between -90 and +90 */ /** e.g. both 80 and 100 degrees are read as 80 degrees */ *el = ((elevation_t)w / 360000.); if (sscanf(posbuf + 9, "%9f", &w) != 1) { return -RIG_EPROTO; } *az = ((azimuth_t)w / 360000.); rig_debug(RIG_DEBUG_TRACE, "%s: (az, el) = (%.1f, %.1f)\n", __func__, *az, *el); return RIG_OK; } /** stop everything **/ static int ioptron_stop(ROT *rot) { int retval; char retbuf[10]; rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__); /** stop slew, returns "1" if OK */ retval = ioptron_transaction(rot, ":Q#", retbuf, 1); if (retval != RIG_OK || retbuf[0] != ACK1) { return -RIG_EPROTO; } /** stops tracking returns "1" if OK */ retval = ioptron_transaction(rot, ":ST0#", retbuf, 1); if (retval != RIG_OK || retbuf[0] != ACK1) { return -RIG_EPROTO; } return RIG_OK; } /** sets mount position, requires 4 steps * set azmiuth * set altitude * goto set * stop tracking - mount starts tracking after goto */ static int ioptron_set_position(ROT *rot, azimuth_t az, elevation_t el) { char cmdstr[32]; char retbuf[10]; int retval; double faz, fel; azimuth_t curr_az; elevation_t curr_el; rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el); /* units .01 arc sec */ faz = az * 360000; fel = el * 360000; /** Firmware bug: (at least for AZ Mount Pro as of FW 20200305) * azimuth has problems going to 0 * going to 0 from <=180 causes it to overshoot 0 and never stop * going to 0 from >180 causes it to make a hard stop at 0 and a following * command to <= 180 will make it rotate forever until manually stopped, * and require resetting the mount for azimuth to work correctly again * similar behavior is seen the other direction (>180 to 360 goes past 360, * <=180 to 360 makes a hard stop with the possibility of loss of * azimuth control) * Workaround: * get current position, if 0 is requested, go to 0.01 arcseconds away from * 0 from the same direction (e.g. go to 0.01 arcseconds if currently <= 180, * 129599999 arcseconds if currently > 180) */ if (faz == 0) { /* make sure stopped */ retval = ioptron_stop(rot); if (retval != RIG_OK) { return -RIG_EPROTO; } /* get current position */ retval = ioptron_get_position(rot, &curr_az, &curr_el); if (retval != RIG_OK) { return -RIG_EPROTO; } if (curr_az <= 180) { faz = 1; } else { faz = 129599999; /* needs double precision float */ } } /* set azmiuth, returns '1" if OK */ SNPRINTF(cmdstr, sizeof(cmdstr), ":Sz%09.0f#", faz); retval = ioptron_transaction(rot, cmdstr, retbuf, 1); if (retval != RIG_OK || retbuf[0] != ACK1) { return -RIG_EPROTO; } /* set altitude, returns '1" if OK */ SNPRINTF(cmdstr, sizeof(cmdstr), ":Sa+%08.0f#", fel); retval = ioptron_transaction(rot, cmdstr, retbuf, 1); if (retval != RIG_OK || retbuf[0] != ACK1) { return -RIG_EPROTO; } /* move to set target, V2 command, returns '1" if OK */ SNPRINTF(cmdstr, sizeof(cmdstr), ":MS#"); // retval = ioptron_transaction(rot, cmdstr, retbuf, 1); if (retval != RIG_OK || retbuf[0] != ACK1) { return -RIG_EPROTO; } /* stop tracking, V2 command, returns '1" if OK */ SNPRINTF(cmdstr, sizeof(cmdstr), ":ST0#"); retval = ioptron_transaction(rot, cmdstr, retbuf, 1); if (retval != RIG_OK || retbuf[0] != ACK1) { return -RIG_EPROTO; } return retval; } /** ************************************************************************* * * ioptron mount capabilities. * * Protocol documentation: * from ioptron: * RS232-Command_Language pdf * note that iOptron is currently (12/2018) using a mix of V2 and V3 commands :( */ const struct rot_caps ioptron_rot_caps = { ROT_MODEL(ROT_MODEL_IOPTRON), .model_name = "iOptron", .mfg_name = "iOptron", .version = "20220109.0", .copyright = "LGPL", .status = RIG_STATUS_STABLE, .rot_type = ROT_TYPE_AZEL, .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 = 1000, /* worst case scenario 3500 */ .retry = 1, .min_az = 0.0, .max_az = 360.0, .min_el = 0.0, .max_el = 180.0, .rot_open = ioptron_open, .get_position = ioptron_get_position, .set_position = ioptron_set_position, .stop = ioptron_stop, .get_info = ioptron_get_info, }; /* ****************************************************************** */ DECLARE_INITROT_BACKEND(ioptron) { rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__); rot_register(&ioptron_rot_caps); return RIG_OK; } /* ****************************************************************** */ /* end of file */