kopia lustrzana https://github.com/Hamlib/Hamlib
342 wiersze
7.4 KiB
C
342 wiersze
7.4 KiB
C
/*
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* Hamlib backend library for the HD 1780 Intellirotor command set.
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*
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* hd1780.c - (C) Nate Bargmann 2003 (n0nb at arrl.net)
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* (C) Rob Frohne 2008 (kl7na at arrl.net)
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*
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* This shared library provides an API for communicating
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* via serial interface to a Heathkit HD 1780 Intellirotor.
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*
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* Heathkit is a trademark of Heath Company
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*
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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#include <hamlib/config.h>
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#include <stdio.h>
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#include <stdlib.h> /* Standard library definitions */
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#include <string.h> /* String function definitions */
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#include "hamlib/rotator.h"
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#include "serial.h"
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#include "misc.h"
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#include "register.h"
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#include "hd1780.h"
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/*
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* Private data structure
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*/
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struct hd1780_rot_priv_data
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{
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azimuth_t az;
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};
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/*
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* Private helper function prototypes
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*/
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static int hd1780_send_priv_cmd(ROT *rot, const char *cmd);
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/*
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* HD 1780 Intellirotor rotor capabilities
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*/
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const struct rot_caps hd1780_rot_caps =
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{
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ROT_MODEL(ROT_MODEL_HD1780),
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.model_name = "HD 1780 Intellirotor",
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.mfg_name = "Heathkit",
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.version = "20220109.0",
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.copyright = "LGPL",
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.status = RIG_STATUS_STABLE,
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.rot_type = ROT_TYPE_OTHER,
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.port_type = RIG_PORT_SERIAL,
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.serial_rate_min = 300,
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.serial_rate_max = 9600,
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.serial_data_bits = 8,
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.serial_stop_bits = 1,
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.serial_parity = RIG_PARITY_NONE,
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.serial_handshake = RIG_HANDSHAKE_NONE,
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.write_delay = 10,
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.post_write_delay = 500,
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.timeout = 60000,
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.retry = 0,
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.min_az = -180,
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.max_az = 180,
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.min_el = 0,
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.max_el = 0,
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.priv = NULL, /* priv */
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.rot_init = hd1780_rot_init,
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.rot_cleanup = hd1780_rot_cleanup,
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.set_position = hd1780_rot_set_position,
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.get_position = hd1780_rot_get_position,
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};
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/* ************************************
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*
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* API functions
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*
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* ************************************
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*/
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/*
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* Initialize data structures
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*/
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static int hd1780_rot_init(ROT *rot)
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{
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struct hd1780_rot_priv_data *priv;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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if (!rot)
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{
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return -RIG_EINVAL;
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}
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rot->state.priv = (struct hd1780_rot_priv_data *)
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calloc(1, sizeof(struct hd1780_rot_priv_data));
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if (!rot->state.priv)
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{
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return -RIG_ENOMEM;
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}
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priv = rot->state.priv;
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rot->state.rotport.type.rig = RIG_PORT_SERIAL;
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priv->az = 0;
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return RIG_OK;
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}
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/*
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* Clean up allocated memory structures
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*/
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static int hd1780_rot_cleanup(ROT *rot)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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if (!rot)
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{
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return -RIG_EINVAL;
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}
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if (rot->state.priv)
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{
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free(rot->state.priv);
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}
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rot->state.priv = NULL;
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return RIG_OK;
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}
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/*
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* Set position
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* HD 1780 protocol supports azimuth only--elevation is ignored
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* Range is converted to an integer string, 0 to 360 degrees
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*/
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static int hd1780_rot_set_position(ROT *rot, azimuth_t azimuth,
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elevation_t elevation)
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{
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struct rot_state *rs;
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char cmdstr[8];
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char execstr[5] = "\r", ok[3];
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int err;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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if (!rot)
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{
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return -RIG_EINVAL;
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}
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if (azimuth < hd1780_rot_caps.min_az || azimuth > hd1780_rot_caps.max_az)
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{
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return -RIG_EINVAL;
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}
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if (azimuth < 0) { azimuth = azimuth + 360; }
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SNPRINTF(cmdstr, sizeof(cmdstr), "%03.0f", azimuth); /* Target bearing */
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err = hd1780_send_priv_cmd(rot, cmdstr);
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if (err != RIG_OK)
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{
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return err;
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}
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err = hd1780_send_priv_cmd(rot, execstr); /* Execute command */
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if (err != RIG_OK)
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{
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return err;
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}
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/* We need to look for the <CR> +<LF> to signify that everything finished. The HD 1780
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* sends a <CR> when it is finished rotating.
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*/
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rs = &rot->state;
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err = read_block(&rs->rotport, (unsigned char *) ok, 2);
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if (err != 2)
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{
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return -RIG_ETRUNC;
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}
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if ((ok[0] != '\r') || (ok[1] != '\n'))
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{
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return -RIG_ETRUNC;
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}
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return RIG_OK;
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}
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/*
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* Get position
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* Returns current azimuth position in whole degrees.
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* Range returned from Rotor-EZ is an integer, 0 to 359 degrees
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* Elevation is set to 0
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*/
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static int hd1780_rot_get_position(ROT *rot, azimuth_t *azimuth,
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elevation_t *elevation)
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{
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struct rot_state *rs;
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char cmdstr[3] = "b\r";
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char az[7]; /* read azimuth string */
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char *p;
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azimuth_t tmp = 0;
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int err;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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if (!rot)
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{
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return -RIG_EINVAL;
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}
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err = hd1780_send_priv_cmd(rot, cmdstr);
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if (err != RIG_OK)
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{
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return err;
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}
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rs = &rot->state;
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err = read_block(&rs->rotport, (unsigned char *) az, AZ_READ_LEN);
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if (err != AZ_READ_LEN)
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{
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return -RIG_ETRUNC;
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}
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/*
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* HD 1780 returns a four octet string consisting of
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* three octets containing the rotor's position in degrees followed by a
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* space and a <CR> and a <LF>. The
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* space is ignored when passing the string to atof().
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*/
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az[4] = 0x00; /* NULL terminated string */
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p = az; /* for hd1780 */
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tmp = (azimuth_t)atof(p);
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rig_debug(RIG_DEBUG_TRACE, "%s: \"%s\" after conversion = %.1f\n",
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__func__, p, tmp);
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if (tmp < 0 || tmp > 359)
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{
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return -RIG_EINVAL;
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}
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*azimuth = tmp;
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*elevation = 0; /* assume aiming at the horizon */
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rig_debug(RIG_DEBUG_TRACE,
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"%s: azimuth = %.1f deg; elevation = %.1f deg\n",
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__func__, *azimuth, *elevation);
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return RIG_OK;
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}
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/*
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* Send command string to rotor.
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*
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* To make sure that the rotor is ready to take a command, we send it a <CR> and
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* it will normally reply with a ? <CR> <LF>. If you don't do this, using the
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* w: command of rotctl it is possible to get it out of sequence. This kind of
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* resets its command buffer before sending the command.
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*/
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static int hd1780_send_priv_cmd(ROT *rot, const char *cmdstr)
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{
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struct rot_state *rs;
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int err;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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if (!rot)
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{
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return -RIG_EINVAL;
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}
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rs = &rot->state;
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err = write_block(&rs->rotport, (unsigned char *) cmdstr, strlen(cmdstr));
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if (err != RIG_OK)
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{
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return err;
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}
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return RIG_OK;
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}
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/*
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* Initialize backend
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*/
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DECLARE_INITROT_BACKEND(heathkit)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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rot_register(&hd1780_rot_caps);
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return RIG_OK;
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}
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