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Hamlib/rotators/ioptron/rot_ioptron.c

396 wiersze
10 KiB
C
Czysty Wina Historia

/*
* 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 <stdio.h>
#include <string.h>
#include <stddef.h>
#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 */
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