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Hamlib/rotators/spid/spid.txt

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SPID Rot1Prog & Rot2Prog Protocol
=================================
This is an attempt at documenting the protocol of the Rot1Prog and
Rot2Prog rotator controller from SPID Elektronik (spid@alpha.pl).
Rot1Prog controls only azimuth, while Rot2Prog controls both azimuth and
elevation.
GENERAL INFO
------------
The SPID protocol supports 3 commands: stop, status and set. The stop
command stops the rotator in its current position. The status command
returns the current position of the rotator, and the set command tells
the rotator to rotate to a given position.
The rotator controller communicates with the PC using a serial
port. Communication parameters are 1200 bps (Rot1Prog) or 600 bps
(Rot2Prog), 8 bits, no parity and 1 stop bit.
All commands are issued as 13 byte packets, and responses are received
as 5 byte packets (Rot1Prog) or 12 byte packets (Rot2Prog).
COMMAND PACKETS
---------------
Command packets are 13 byte long.
Byte: 0 1 2 3 4 5 6 7 8 9 10 11 12
-----------------------------------------------------------------
Field: | S | H1 | H2 | H3 | H4 | PH | V1 | V2 | V3 | V4 | PV | K | END |
-----------------------------------------------------------------
Value: 57 3x 3x 3x 3x 0x 3x 3x 3x 3x 0x xF 20 (hex)
S: Start byte. This is always 0x57 ('W')
H1-H4: Azimuth as ASCII characters 0-9
PH: Azimuth resolution in pulses per degree (ignored!)
V1-V4: Elevation as ASCII characters 0-9
PV: Elevation resolution in pulses per degree (ignored!)
K: Command (0x0F=stop, 0x1F=status, 0x2F=set)
END: End byte. This is always 0x20 (space)
Positions are encoded as number of pulses in ASCII numbers
'0000'-'9999' (see set command for formula).
Rot1Prog does not control elevation and does not support different
resolutions, so V1-V4, PH and PV are set to 0x00. Also, since only whole
degrees are supported, H4 is always set to 0x30 (0 tenths of degrees).
RESPONSE PACKETS
----------------
Rot1Prog response packets are 5 bytes long.
Byte: 0 1 2 3 4
--------------------------
Field: | S | H1 | H2 | H3 | END |
--------------------------
Value: 57 0x 0x 0x 20 (hex)
S: Start byte. This is always 0x57 ('W')
H1-H3: Azimuth as byte values
END: End byte. This is always 0x20 (space)
Positions are decoded using the following formula:
az = H1 * 100 + H2 * 10 + H3 - 360
Rot2Prog response packets are 12 bytes long.
Byte: 0 1 2 3 4 5 6 7 8 9 10 11
-------------------------------------------------------------
Field: | S | H1 | H2 | H3 | H4 | PH | V1 | V2 | V3 | V4 | PV | END |
-------------------------------------------------------------
Value: 57 0x 0x 0x 0x 0x 0x 0x 0x 0x 0x 20 (hex)
S: Start byte. This is always 0x57 ('W')
H1-H4: Azimuth as byte values
PH: Azimuth resolution in pulses per degree (controller setting)
V1-V4: Elevation as byte values
PV: Elevation resolution in pulses per degree (controller setting)
END: End byte. This is always 0x20 (space)
Positions are decoded using the following formulas:
az = H1 * 100 + H2 * 10 + H3 + H4 / 10 - 360
el = V1 * 100 + V2 * 10 + V3 + V4 / 10 - 360
The PH and PV values in the response packet reflect the settings of
the rotator controller. The Rot2Prog supports the following
resolutions (always the same for azimuth and elevation):
1 deg/pulse: PH=0x01, PV=0x01
0.5 deg/pulse: PH=0x02, PV=0x02
0.25 deg/pulse: PH=0x04, PV=0x04
STOP COMMAND
------------
The stop command stops the rotator immediately in the current
position and returns the current position. (The position returned does
not seem to be entirely correct, often off by a degree or two.)
The H1-H4, PH, V1-V4 and PV fields are ignored, so only the S, K and
END fields are used. E.g.:
Command:
-----------------------------------------------------------------
| S | H1 | H2 | H3 | H4 | PH | V1 | V2 | V3 | V4 | PV | K | END |
-----------------------------------------------------------------
| 57| 00 | 00 | 00 | 00 | 00 | 00 | 00 | 00 | 00 | 00 | 0F| 20 | (hex)
-----------------------------------------------------------------
Rotator stops
Rot1Prog response:
--------------------------
| S | H1 | H2 | H3 | END |
--------------------------
| 57| 03 | 07 | 02 | 20 | (hex)
--------------------------
az=372-360=12
Rot2Prog response:
-------------------------------------------------------------
| S | H1 | H2 | H3 | H4 | PH | V1 | V2 | V3 | V4 | PV | END |
-------------------------------------------------------------
| 57| 03 | 07 | 02 | 05 | 02 | 03 | 09 | 04 | 00 | 02 | 20 | (hex)
-------------------------------------------------------------
az=372.5-360=12.5, el=394.0-360=34.0
PH=PV=0x02 (pulse for each 0.5 deg)
STATUS COMMAND
--------------
The status command returns the current position of the antenna.
The H1-H4, PH, V1-V4 and PV fields are ignored, so only the S, K and
END fields are used. E.g.:
Command:
-----------------------------------------------------------------
| S | H1 | H2 | H3 | H4 | PH | V1 | V2 | V3 | V4 | PV | K | END |
-----------------------------------------------------------------
| 57| 00 | 00 | 00 | 00 | 00 | 00 | 00 | 00 | 00 | 00 | 1F| 20 | (hex)
-----------------------------------------------------------------
Rot1Prog response:
--------------------------
| S | H1 | H2 | H3 | END |
--------------------------
| 57| 03 | 07 | 02 | 20 | (hex)
--------------------------
az=372-360=12
Rot2Prog response:
-------------------------------------------------------------
| S | H1 | H2 | H3 | H4 | PH | V1 | V2 | V3 | V4 | PV | END |
-------------------------------------------------------------
| 57| 03 | 07 | 02 | 05 | 02 | 03 | 09 | 04 | 00 | 02 | 20 | (hex)
-------------------------------------------------------------
az=372.5-360=12.5, el=394.0-360=34.0
PH=PV=0x02 (pulse for each 0.5 deg)
Status commands can be issued while the rotator is moving and will
always return the current position.
SET COMMAND
-----------
The set command tells the rotator to turn to a specific
position. The controller does not send a response to this command.
Azimuth and elevation is calculated as number of pulses, with a +360
degree offset (so that negative position can be encoded with positive
numbers).
Rot1Prog supports only whole degree positions:
H = 360 + az
Rot2Prog supports different resolutions:
H = PH * (360 + az)
V = PV * (360 + el)
H1-H4 and V1-V4 are these numbers encoded as ASCII (0x30-0x39,
i.e. '0'-'9').
E.g., when pointing a Rot1Prog to azimuth 123:
H = 360 + 123 = 483
-----------------------------------------------------------------
| S | H1 | H2 | H3 | H4 | PH | V1 | V2 | V3 | V4 | PV | K | END |
-----------------------------------------------------------------
| 57| 34 | 38 | 33 | 30 | 00 | 00 | 00 | 00 | 00 | 00 | 2F| 20 | (hex)
-----------------------------------------------------------------
Note that H4 is not used and always set to 0x30.
E.g., when pointing a Rot2Prog to azimuth 123.5, elevation 77.0 when the
rotator sends one pulse per 0.5 degree (PH=PV=2):
H = 2 * (360 + 123.5) = 967
V = 2 * (360 + 77.0) = 874
-----------------------------------------------------------------
| S | H1 | H2 | H3 | H4 | PH | V1 | V2 | V3 | V4 | PV | K | END |
-----------------------------------------------------------------
| 57| 30 | 39 | 36 | 37 | 02 | 30 | 38 | 37 | 34 | 02 | 2F| 20 | (hex)
-----------------------------------------------------------------
The PH and PV values sent are ignored. The values used by the rotator
control unit are set by choosing resolution in the setup
menu. Luckily, these values can be read using the status command
(Rot2Prog only).
Note that H1-H4 is interpreted differently by Rot1Prog and Rot2Prog in
the set command:
Rot1Prog Rot2Prog
H1 *100 *1000
H2 *10 *100
H3 *1 *10
H4 *0 *1
Rot1Prog does not use H4 and uses H1 for houndres, while Rot2Prog uses
H4 for ones and H1 for thousands.
SEE ALSO
--------
http://alfaradio.ca/downloads/program_info/
AUTHOR
------
Norvald H. Ryeng, LA6YKA
norvald@ryeng.name
2009-05-21, updated 2011-01-29
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