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Hamlib/easycomm/easycomm.c

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13 KiB
C
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/*
* Hamlib Rotator backend - Easycom
* Copyright (c) 2001-2003 by Stephane Fillod
* Contributed by Francois Retief <fgretief@sun.ac.za>
* Copyright (c) 2014 by Alexander Schultze <alexschultze@gmail.com>
*
*
* 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
*
*/
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
#include <stdio.h>
#include <stdlib.h>
#include <string.h> /* String function definitions */
#include <unistd.h> /* UNIX standard function definitions */
#include <math.h>
#include "hamlib/rotator.h"
#include "serial.h"
#include "misc.h"
#include "register.h"
#include "easycomm.h"
/* ************************************************************************* */
/**
* easycomm_transaction
*
* Assumes rot!=NULL and cmdstr!=NULL
*
* cmdstr - string to send to rotator
* data - buffer for reply string
* data_len - (input) Maximum size of buffer
* (output) Number of bytes read.
*/
static int
easycomm_transaction (ROT *rot, const char *cmdstr, char *data, size_t data_len)
{
struct rot_state *rs;
int retval;
rig_debug(RIG_DEBUG_TRACE, "%s called: %s\n", __FUNCTION__, cmdstr);
if (!rot )
return -RIG_EINVAL;
rs = &rot->state;
serial_flush(&rs->rotport);
retval = write_block(&rs->rotport, cmdstr, strlen(cmdstr));
if (retval != RIG_OK) {
goto transaction_quit;
}
if (data == NULL || data_len <= 0)
return RIG_OK; /* don't want a reply */
memset(data,0,data_len);
retval = read_string(&rs->rotport, data, data_len, "\n", 1);
if (retval < 0) {
rig_debug(RIG_DEBUG_TRACE, "%s read_string failed with status %d\n", __FUNCTION__, retval);
goto transaction_quit;
} else {
rig_debug(RIG_DEBUG_TRACE, "%s read_string: %s\n", __FUNCTION__, data);
retval = RIG_OK;
}
transaction_quit:
return retval;
}
/* ************************************************************************* */
static int
easycomm_rot_set_position(ROT *rot, azimuth_t az, elevation_t el)
{
char cmdstr[64];
int retval;
rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __FUNCTION__, az, el);
sprintf(cmdstr, "AZ%.1f EL%.1f UP000 XXX DN000 XXX\n", az, el);
retval = easycomm_transaction(rot, cmdstr, NULL, 0);
if (retval != RIG_OK) {
return retval;
}
/* TODO: Error processing */
return RIG_OK;
}
static int
easycomm_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
{
char cmdstr[16], ackbuf[32];
int retval;
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __FUNCTION__);
sprintf(cmdstr, "AZ EL \n");
retval = easycomm_transaction(rot, cmdstr, ackbuf, sizeof(ackbuf));
if (retval != RIG_OK) {
rig_debug(RIG_DEBUG_TRACE, "%s got error: %d\n", __FUNCTION__, retval);
return retval;
}
/* Parse parse string to extract AZ,EL values */
rig_debug(RIG_DEBUG_TRACE, "%s got response: %s\n", __FUNCTION__, ackbuf);
retval = sscanf(ackbuf, "AZ%f EL%f", az, el);
if (retval != 2) {
rig_debug(RIG_DEBUG_ERR, "%s: unknown response (%s)\n", __FUNCTION__, ackbuf);
return -RIG_ERJCTED;
}
return RIG_OK;
}
static int
easycomm_rot_stop(ROT *rot)
{
char ackbuf[32];
int retval;
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __FUNCTION__);
retval = easycomm_transaction(rot, "SA SE \n", ackbuf, sizeof(ackbuf));
if (retval != RIG_OK)
return retval;
/* TODO: error processing */
return RIG_OK;
}
static int
easycomm_rot_reset(ROT *rot, rot_reset_t rst)
{
char ackbuf[32];
int retval;
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __FUNCTION__);
retval = easycomm_transaction(rot, "RESET\n", ackbuf, sizeof(ackbuf));
if (retval != RIG_OK) /* Custom command (not in Easycomm) */
return retval;
return RIG_OK;
}
static int
easycomm_rot_park(ROT *rot)
{
char ackbuf[32];
int retval;
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __FUNCTION__);
retval = easycomm_transaction(rot, "PARK\n", ackbuf, sizeof(ackbuf));
if (retval != RIG_OK) /* Custom command (not in Easycomm) */
return retval;
return RIG_OK;
}
static int
easycomm_rot_move(ROT *rot, int direction, int speed)
{
char cmdstr[24], ackbuf[32];
int retval;
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __FUNCTION__);
/* For EasyComm 1/2/3 */
switch (direction) {
case ROT_MOVE_UP: /* Elevation increase */
sprintf(cmdstr, "MU\n");
break;
case ROT_MOVE_DOWN: /* Elevation decrease */
sprintf(cmdstr, "MD\n");
break;
case ROT_MOVE_LEFT: /* Azimuth decrease */
sprintf(cmdstr, "ML\n");
break;
case ROT_MOVE_RIGHT: /* Azimuth increase */
sprintf(cmdstr, "MR\n");
break;
default:
rig_debug(RIG_DEBUG_ERR,"%s: Invalid direction value! (%d)\n", __FUNCTION__, direction);
return -RIG_EINVAL;
}
retval = easycomm_transaction(rot, cmdstr, ackbuf, sizeof(ackbuf));
if (retval != RIG_OK)
return retval;
return RIG_OK;
}
static int
easycomm_rot_move_velocity(ROT *rot, int direction, int speed)
{
char cmdstr[24], ackbuf[32];
int retval;
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __FUNCTION__);
if(speed<0 && speed>9999) {
rig_debug(RIG_DEBUG_ERR,"%s: Invalid speed value!(0-9999) (%d)\n", __FUNCTION__, speed);
return -RIG_EINVAL;
}
/* Speed for EasyComm 3 */
switch (direction) {
case ROT_MOVE_UP: /* Elevation increase */
sprintf(cmdstr, "VU%04d\n", speed);
break;
case ROT_MOVE_DOWN: /* Elevation decrease */
sprintf(cmdstr, "VD%04d\n", speed);
break;
case ROT_MOVE_LEFT: /* Azimuth decrease */
sprintf(cmdstr, "VL%04d\n", speed);
break;
case ROT_MOVE_RIGHT: /* Azimuth increase */
sprintf(cmdstr, "VR%04d\n", speed);
break;
default:
rig_debug(RIG_DEBUG_ERR,"%s: Invalid direction value! (%d)\n", __FUNCTION__, direction);
return -RIG_EINVAL;
}
retval = easycomm_transaction(rot, cmdstr, ackbuf, sizeof(ackbuf));
if (retval != RIG_OK)
return retval;
return RIG_OK;
}
/*
* Get Info
* returns the model name string
*/
static const char * easycomm_rot_get_info(ROT *rot)
{
const struct rot_caps *rc;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
if (!rot)
return (const char *)-RIG_EINVAL;
rc = rot->caps;
return rc->model_name;
}
/*
* Receive status / configuration / output
*
* For configuration registers, *val must contain string of register e.g. '0'-'f'
*/
static int easycomm_rot_get_conf(ROT *rot, token_t token, char *val) {
char cmdstr[16], ackbuf[32];
int retval;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
rig_debug(RIG_DEBUG_TRACE, "%s: token = %d", __func__, token);
if (!rot)
return -RIG_EINVAL;
switch(token) {
case TOK_GET_STATUS:
sprintf(cmdstr, "GS\n;");
break;
case TOK_GET_ERRORS:
sprintf(cmdstr, "GE\n;");
break;
case TOK_GET_INPUT:
sprintf(cmdstr, "IP\n;");
break;
case TOK_GET_ANALOG_INPUT:
sprintf(cmdstr, "AN\n;");
break;
case TOK_GET_VERSION:
sprintf(cmdstr, "VE\n;");
break;
case TOK_GET_CONFIG:
sprintf(cmdstr, "CR %c\n;",*val);
break;
default:
return -RIG_EINVAL;
}
rig_debug(RIG_DEBUG_TRACE, "%s: cmdstr = %s, *val = %c\n", __func__, cmdstr, *val);
retval = easycomm_transaction(rot, cmdstr, ackbuf, sizeof(ackbuf));
if (retval != RIG_OK) {
rig_debug(RIG_DEBUG_TRACE, "%s got error: %d\n", __FUNCTION__, retval);
return retval;
}
rig_debug(RIG_DEBUG_TRACE, "%s got response: %s\n", __FUNCTION__, ackbuf);
/* Return given string at correct position*/
val = &ackbuf[2]; /* CCxxxxxx */
return RIG_OK;
}
/*
* Set configuration
*
* For configuration registers, *val must contain char of register e.g. '0'-'f' followed by setting
* e.g. x,yyyyy
*/
static int easycomm_rot_set_conf(ROT *rot, token_t token, const char *val) {
char cmdstr[16], ackbuf[32];
int retval;
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
rig_debug(RIG_DEBUG_TRACE, "%s: token = %d", __func__, token);
if (!rot)
return -RIG_EINVAL;
switch(token) {
case TOK_SET_CONFIG:
sprintf(cmdstr, "CW%s\n;",val);
break;
default:
return -RIG_EINVAL;
}
rig_debug(RIG_DEBUG_TRACE, "%s: cmdstr = %s, *val = %c\n", __func__, cmdstr, *val);
retval = easycomm_transaction(rot, cmdstr, ackbuf, sizeof(ackbuf));
if (retval != RIG_OK) {
rig_debug(RIG_DEBUG_TRACE, "%s got error: %d\n", __FUNCTION__, retval);
return retval;
}
return RIG_OK;
}
/* ************************************************************************* */
/*
* Easycomm rotator capabilities.
*/
/** EasycommI implement essentially only the set position function, but
* I included the stop command too. The radio control tags is only included
* as dummy entries because the spec require them.
*/
const struct rot_caps easycomm1_rot_caps = {
.rot_model = ROT_MODEL_EASYCOMM1,
.model_name = "EasycommI",
.mfg_name = "Hamlib",
.version = "0.4",
.copyright = "LGPL",
.status = RIG_STATUS_BETA,
.rot_type = ROT_TYPE_OTHER,
.port_type = RIG_PORT_SERIAL,
.serial_rate_min = 9600,
.serial_rate_max = 19200,
.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 = 200,
.retry = 3,
.min_az = 0.0,
.max_az = 360.0,
.min_el = 0.0,
.max_el = 180.0,
.priv = NULL, /* priv */
.set_position = easycomm_rot_set_position,
.stop = easycomm_rot_stop,
.get_info = easycomm_rot_get_info,
};
/* EasycommII implement most of the functions. Again the radio tags
* is only dummy values.
*/
const struct rot_caps easycomm2_rot_caps = {
.rot_model = ROT_MODEL_EASYCOMM2,
.model_name = "EasycommII",
.mfg_name = "Hamlib",
.version = "0.4",
.copyright = "LGPL",
.status = RIG_STATUS_BETA,
.rot_type = ROT_TYPE_OTHER,
.port_type = RIG_PORT_SERIAL,
.serial_rate_min = 9600,
.serial_rate_max = 19200,
.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 = 200,
.retry = 3,
.min_az = 0.0,
.max_az = 360.0,
.min_el = 0.0,
.max_el = 180.0,
.priv = NULL, /* priv */
.rot_init = NULL,
.rot_cleanup = NULL,
.rot_open = NULL,
.rot_close = NULL,
.get_position = easycomm_rot_get_position,
.set_position = easycomm_rot_set_position,
.stop = easycomm_rot_stop,
.park = easycomm_rot_park,
.reset = easycomm_rot_reset,
.move = easycomm_rot_move,
.set_conf = easycomm_rot_set_conf,
.get_conf = easycomm_rot_get_conf,
.get_info = easycomm_rot_get_info,
};
/* EasycommIII provides changes Moving functions and info.
*/
const struct rot_caps easycomm3_rot_caps = {
.rot_model = ROT_MODEL_EASYCOMM3,
.model_name = "EasycommIII",
.mfg_name = "Hamlib",
.version = "0.4",
.copyright = "LGPL",
.status = RIG_STATUS_ALPHA,
.rot_type = ROT_TYPE_OTHER,
.port_type = RIG_PORT_SERIAL,
.serial_rate_min = 9600,
.serial_rate_max = 19200,
.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 = 200,
.retry = 3,
.min_az = 0.0,
.max_az = 360.0,
.min_el = 0.0,
.max_el = 180.0,
.priv = NULL, /* priv */
.rot_init = NULL,
.rot_cleanup = NULL,
.rot_open = NULL,
.rot_close = NULL,
.get_position = easycomm_rot_get_position,
.set_position = easycomm_rot_set_position,
.stop = easycomm_rot_stop,
.park = easycomm_rot_park,
.reset = easycomm_rot_reset,
.move = easycomm_rot_move_velocity,
.set_conf = easycomm_rot_set_conf,
.get_conf = easycomm_rot_get_conf,
.get_info = easycomm_rot_get_info,
};
/* ************************************************************************* */
DECLARE_INITROT_BACKEND(easycomm)
{
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __FUNCTION__);
rot_register(&easycomm1_rot_caps);
rot_register(&easycomm2_rot_caps);
rot_register(&easycomm3_rot_caps);
return RIG_OK;
}
/* ************************************************************************* */
/* end of file */
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