kopia lustrzana https://github.com/Hamlib/Hamlib
577 wiersze
16 KiB
C
577 wiersze
16 KiB
C
/*
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* Hamlib Rotator backend - SPID Rot1Prog & Rot2Prog
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* Copyright (c) 2009-2011 by Norvald H. Ryeng, LA6YKA
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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>
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#include <string.h>
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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 "spid.h"
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#define TOK_AZRES 1
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#define TOK_ELRES 2
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struct spid_rot2prog_priv_data
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{
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int az_resolution;
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int el_resolution;
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};
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static int spid_rot_init(ROT *rot)
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{
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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if (!rot || !rot->caps)
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{
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return -RIG_EINVAL;
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}
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if (rot->caps->rot_model == ROT_MODEL_SPID_ROT2PROG ||
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rot->caps->rot_model == ROT_MODEL_SPID_MD01_ROT2PROG)
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{
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struct spid_rot2prog_priv_data *priv;
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priv = (struct spid_rot2prog_priv_data *)calloc(1, sizeof(struct
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spid_rot2prog_priv_data));
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if (!priv)
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{
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return -RIG_ENOMEM;
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}
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rot->state.priv = (void *)priv;
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priv->az_resolution = 0;
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priv->el_resolution = 0;
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}
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return RIG_OK;
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}
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static int spid_rot_cleanup(ROT *rot)
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{
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rig_debug(RIG_DEBUG_TRACE, "%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 && (rot->caps->rot_model == ROT_MODEL_SPID_ROT2PROG ||
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rot->caps->rot_model == ROT_MODEL_SPID_MD01_ROT2PROG))
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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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static int spid_get_conf2(ROT *rot, token_t token, char *val, int val_len)
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{
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struct spid_rot2prog_priv_data *priv = (struct spid_rot2prog_priv_data *)
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rot->state.priv;
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rig_debug(RIG_DEBUG_TRACE, "%s called %d\n", __func__, (int)token);
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if (rot->caps->rot_model != ROT_MODEL_SPID_ROT2PROG &&
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rot->caps->rot_model != ROT_MODEL_SPID_MD01_ROT2PROG)
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{
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return -RIG_EINVAL;
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}
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switch (token)
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{
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case TOK_AZRES:
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SNPRINTF(val, val_len, "%d", priv->az_resolution);
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break;
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case TOK_ELRES:
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SNPRINTF(val, val_len, "%d", priv->el_resolution);
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break;
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default:
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return -RIG_EINVAL;
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}
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return RIG_OK;
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}
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static int spid_get_conf(ROT *rot, token_t token, char *val)
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{
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return spid_get_conf2(rot, token, val, 128);
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}
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static int spid_set_conf(ROT *rot, token_t token, const char *val)
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{
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struct spid_rot2prog_priv_data *priv = (struct spid_rot2prog_priv_data *)
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rot->state.priv;
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rig_debug(RIG_DEBUG_TRACE, "%s: called %d=%s\n", __func__, (int)token, val);
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if (rot->caps->rot_model != ROT_MODEL_SPID_ROT2PROG &&
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rot->caps->rot_model != ROT_MODEL_SPID_MD01_ROT2PROG)
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{
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return -RIG_EINVAL;
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}
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switch (token)
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{
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case TOK_AZRES:
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priv->az_resolution = atoi(val);
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break;
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case TOK_ELRES:
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priv->el_resolution = atoi(val);
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break;
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default:
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return -RIG_EINVAL;
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}
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return RIG_OK;
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}
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static int spid_rot1prog_rot_set_position(ROT *rot, azimuth_t az,
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elevation_t el)
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{
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struct rot_state *rs = &rot->state;
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int retval;
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char cmdstr[13];
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unsigned int u_az;
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rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el);
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u_az = 360 + az;
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cmdstr[0] = 0x57; /* S */
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cmdstr[1] = 0x30 + u_az / 100; /* H1 */
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cmdstr[2] = 0x30 + (u_az % 100) / 10; /* H2 */
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cmdstr[3] = 0x30 + (u_az % 10); /* H3 */
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cmdstr[4] = 0x30; /* H4 */
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cmdstr[5] = 0x00; /* PH */
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cmdstr[6] = 0x00; /* V1 */
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cmdstr[7] = 0x00; /* V2 */
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cmdstr[8] = 0x00; /* V3 */
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cmdstr[9] = 0x00; /* V4 */
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cmdstr[10] = 0x00; /* PV */
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cmdstr[11] = 0x2F; /* K */
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cmdstr[12] = 0x20; /* END */
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retval = write_block(&rs->rotport, (unsigned char *) cmdstr, 13);
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if (retval != RIG_OK)
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{
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return retval;
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}
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return RIG_OK;
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}
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static int spid_rot2prog_rot_set_position(ROT *rot, azimuth_t az,
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elevation_t el)
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{
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struct rot_state *rs = &rot->state;
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struct spid_rot2prog_priv_data *priv = (struct spid_rot2prog_priv_data *)
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rs->priv;
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int retval;
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int retry_read = 0;
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char cmdstr[13];
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unsigned int u_az, u_el;
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rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el);
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if (!priv->az_resolution || !priv->el_resolution)
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{
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do
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{
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retval = write_block(&rs->rotport,
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(unsigned char *) "\x57\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1F\x20", 13);
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if (retval != RIG_OK)
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{
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return retval;
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}
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memset(cmdstr, 0, 12);
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retval = read_block(&rs->rotport, (unsigned char *) cmdstr, 12);
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}
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while (retval < 0 && retry_read++ < rot->state.rotport.retry);
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if (retval < 0)
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{
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return retval;
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}
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}
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else
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{
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cmdstr[5] = priv->az_resolution; /* PH */
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cmdstr[10] = priv->el_resolution; /* PV */
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}
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u_az = cmdstr[5] * (360 + az);
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u_el = cmdstr[10] * (360 + el);
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cmdstr[0] = 0x57; /* S */
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cmdstr[1] = 0x30 + u_az / 1000; /* H1 */
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cmdstr[2] = 0x30 + (u_az % 1000) / 100; /* H2 */
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cmdstr[3] = 0x30 + (u_az % 100) / 10; /* H3 */
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cmdstr[4] = 0x30 + (u_az % 10); /* H4 */
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cmdstr[6] = 0x30 + u_el / 1000; /* V1 */
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cmdstr[7] = 0x30 + (u_el % 1000) / 100; /* V2 */
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cmdstr[8] = 0x30 + (u_el % 100) / 10; /* V3 */
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cmdstr[9] = 0x30 + (u_el % 10); /* V4 */
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cmdstr[11] = 0x2F; /* K */
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cmdstr[12] = 0x20; /* END */
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retval = write_block(&rs->rotport, (unsigned char *) cmdstr, 13);
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if (retval != RIG_OK)
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{
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return retval;
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}
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/* Unlike the original Rot2Prog, MD-01 and MD-02 return the position
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after receiving the set position command. */
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if (rot->caps->rot_model == ROT_MODEL_SPID_MD01_ROT2PROG)
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{
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retry_read = 0;
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do
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{
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retval = read_block(&rs->rotport, (unsigned char *) cmdstr, 12);
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}
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while ((retval < 0) && (retry_read++ < rot->state.rotport.retry));
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}
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return RIG_OK;
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}
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static int spid_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
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{
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struct rot_state *rs = &rot->state;
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int retval;
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int retry_read = 0;
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char posbuf[12];
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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do
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{
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retval = write_block(&rs->rotport,
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(unsigned char *) "\x57\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1F\x20", 13);
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if (retval != RIG_OK)
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{
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return retval;
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}
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memset(posbuf, 0, 12);
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if (rot->caps->rot_model == ROT_MODEL_SPID_ROT1PROG)
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{
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retval = read_block(&rs->rotport, (unsigned char *) posbuf, 5);
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}
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else if (rot->caps->rot_model == ROT_MODEL_SPID_ROT2PROG ||
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rot->caps->rot_model == ROT_MODEL_SPID_MD01_ROT2PROG)
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{
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retval = read_block(&rs->rotport, (unsigned char *) posbuf, 12);
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}
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else
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{
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retval = -RIG_EINVAL;
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}
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}
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while (retval < 0 && retry_read++ < rot->state.rotport.retry);
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if (retval < 0)
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{
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return retval;
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}
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*az = posbuf[1] * 100;
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*az += posbuf[2] * 10;
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*az += posbuf[3];
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if (rot->caps->rot_model == ROT_MODEL_SPID_ROT2PROG ||
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rot->caps->rot_model == ROT_MODEL_SPID_MD01_ROT2PROG)
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{
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*az += posbuf[4] / 10.0;
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}
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*az -= 360;
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*el = 0.0;
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if (rot->caps->rot_model == ROT_MODEL_SPID_ROT2PROG ||
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rot->caps->rot_model == ROT_MODEL_SPID_MD01_ROT2PROG)
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{
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*el = posbuf[6] * 100;
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*el += posbuf[7] * 10;
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*el += posbuf[8];
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*el += posbuf[9] / 10.0;
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*el -= 360;
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}
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rig_debug(RIG_DEBUG_TRACE, "%s: (az, el) = (%.1f, %.1f)\n",
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__func__, *az, *el);
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return RIG_OK;
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}
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static int spid_rot_stop(ROT *rot)
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{
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struct rot_state *rs = &rot->state;
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int retval;
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int retry_read = 0;
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char posbuf[12];
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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do
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{
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retval = write_block(&rs->rotport,
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(unsigned char *) "\x57\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0F\x20", 13);
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if (retval != RIG_OK)
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{
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return retval;
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}
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memset(posbuf, 0, 12);
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if (rot->caps->rot_model == ROT_MODEL_SPID_ROT1PROG)
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{
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retval = read_block(&rs->rotport, (unsigned char *) posbuf, 5);
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}
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else if (rot->caps->rot_model == ROT_MODEL_SPID_ROT2PROG ||
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rot->caps->rot_model == ROT_MODEL_SPID_MD01_ROT2PROG)
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{
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retval = read_block(&rs->rotport, (unsigned char *) posbuf, 12);
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}
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}
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while (retval < 0 && retry_read++ < rot->state.rotport.retry);
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if (retval < 0)
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{
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return retval;
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}
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return RIG_OK;
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}
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static int spid_md01_rot2prog_rot_move(ROT *rot, int direction, int speed)
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{
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struct rot_state *rs = &rot->state;
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char dir = 0x00;
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int retval;
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char cmdstr[13];
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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switch (direction)
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{
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case ROT_MOVE_UP:
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dir = 0x04;
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break;
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case ROT_MOVE_DOWN:
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dir = 0x08;
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break;
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case ROT_MOVE_LEFT:
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dir = 0x01;
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break;
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case ROT_MOVE_RIGHT:
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dir = 0x02;
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break;
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}
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cmdstr[0] = 0x57; /* S */
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cmdstr[1] = dir; /* H1 */
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cmdstr[2] = 0x00; /* H2 */
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cmdstr[3] = 0x00; /* H3 */
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cmdstr[4] = 0x00; /* H4 */
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cmdstr[6] = 0x00; /* V1 */
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cmdstr[7] = 0x00; /* V2 */
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cmdstr[8] = 0x00; /* V3 */
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cmdstr[9] = 0x00; /* V4 */
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cmdstr[11] = 0x14; /* K */
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cmdstr[12] = 0x20; /* END */
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/* The rotator must be stopped before changing directions. Since
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we don't know which direction we're already moving in (if
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moving at all), always send the stop command first. */
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spid_rot_stop(rot);
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retval = write_block(&rs->rotport, (unsigned char *) cmdstr, 13);
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return retval;
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}
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const struct confparams spid_cfg_params[] =
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{
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{
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TOK_AZRES, "az_resolution", "Azimuth resolution", "Number of pulses per degree, 0 = auto sense",
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"0", RIG_CONF_NUMERIC, { .n = { 0, 0xff, 1 } }
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},
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{
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TOK_ELRES, "el_resolution", "Eleveation resolution", "Number of pulses per degree, 0 = auto sense",
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"0", RIG_CONF_NUMERIC, { .n = { 0, 0xff, 1 } }
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},
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{ RIG_CONF_END, NULL, }
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};
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const struct rot_caps spid_rot1prog_rot_caps =
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{
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ROT_MODEL(ROT_MODEL_SPID_ROT1PROG),
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.model_name = "Rot1Prog",
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.mfg_name = "SPID",
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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_AZIMUTH,
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.port_type = RIG_PORT_SERIAL,
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.serial_rate_min = 1200,
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.serial_rate_max = 1200,
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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 = 0,
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.post_write_delay = 300,
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.timeout = 400,
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.retry = 3,
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.min_az = -180.0,
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.max_az = 540.0,
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.min_el = 0.0,
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.max_el = 0.0,
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.cfgparams = spid_cfg_params,
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.get_conf = spid_get_conf,
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.get_conf2 = spid_get_conf2,
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.set_conf = spid_set_conf,
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.rot_init = spid_rot_init,
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.rot_cleanup = spid_rot_cleanup,
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.get_position = spid_rot_get_position,
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.set_position = spid_rot1prog_rot_set_position,
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.stop = spid_rot_stop,
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};
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const struct rot_caps spid_rot2prog_rot_caps =
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{
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ROT_MODEL(ROT_MODEL_SPID_ROT2PROG),
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.model_name = "Rot2Prog",
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.mfg_name = "SPID",
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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_AZEL,
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.port_type = RIG_PORT_SERIAL,
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.serial_rate_min = 600,
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.serial_rate_max = 600,
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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 = 0,
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.post_write_delay = 300,
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.timeout = 400,
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.retry = 3,
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.min_az = -180.0,
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.max_az = 540.0,
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.min_el = -20.0,
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.max_el = 210.0,
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.cfgparams = spid_cfg_params,
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.get_conf = spid_get_conf,
|
|
.set_conf = spid_set_conf,
|
|
.get_conf2 = spid_get_conf2,
|
|
|
|
.rot_init = spid_rot_init,
|
|
.rot_cleanup = spid_rot_cleanup,
|
|
.get_position = spid_rot_get_position,
|
|
.set_position = spid_rot2prog_rot_set_position,
|
|
.stop = spid_rot_stop,
|
|
};
|
|
|
|
const struct rot_caps spid_md01_rot2prog_rot_caps =
|
|
{
|
|
ROT_MODEL(ROT_MODEL_SPID_MD01_ROT2PROG),
|
|
.model_name = "MD-01/02 (ROT2 mode)",
|
|
.mfg_name = "SPID",
|
|
.version = "20220109.0",
|
|
.copyright = "LGPL",
|
|
.status = RIG_STATUS_STABLE,
|
|
.rot_type = ROT_TYPE_AZEL,
|
|
.port_type = RIG_PORT_SERIAL,
|
|
.serial_rate_min = 600,
|
|
.serial_rate_max = 460800,
|
|
.serial_data_bits = 8,
|
|
.serial_stop_bits = 1,
|
|
.serial_parity = RIG_PARITY_NONE,
|
|
.serial_handshake = RIG_HANDSHAKE_NONE,
|
|
.write_delay = 0,
|
|
.post_write_delay = 300,
|
|
.timeout = 400,
|
|
.retry = 3,
|
|
|
|
.min_az = -180.0,
|
|
.max_az = 540.0,
|
|
.min_el = -20.0,
|
|
.max_el = 210.0,
|
|
|
|
.cfgparams = spid_cfg_params,
|
|
.get_conf = spid_get_conf,
|
|
.get_conf2 = spid_get_conf2,
|
|
.set_conf = spid_set_conf,
|
|
|
|
.rot_init = spid_rot_init,
|
|
.rot_cleanup = spid_rot_cleanup,
|
|
.get_position = spid_rot_get_position,
|
|
.set_position = spid_rot2prog_rot_set_position,
|
|
.move = spid_md01_rot2prog_rot_move,
|
|
.stop = spid_rot_stop,
|
|
};
|
|
|
|
DECLARE_INITROT_BACKEND(spid)
|
|
{
|
|
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
|
|
|
|
rot_register(&spid_rot1prog_rot_caps);
|
|
rot_register(&spid_rot2prog_rot_caps);
|
|
rot_register(&spid_md01_rot2prog_rot_caps);
|
|
|
|
return RIG_OK;
|
|
}
|