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rc2800.c

/*
 *  Hamlib Rotator backend - M2 RC2800
 *
 *   This library is free software; you can redistribute it and/or modify
 *   it under the terms of the GNU Library General Public License as
 *   published by the Free Software Foundation; either version 2 of
 *   the License, or (at your option) any later version.
 *
 *   This program 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 Library General Public License for more details.
 *
 *   You should have received a copy of the GNU Library General Public
 *   License along with this library; if not, write to the Free Software
 *   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
 *
 */

#ifdef HAVE_CONFIG_H
#include "config.h"
#endif

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <math.h>
#include <ctype.h>

#include "hamlib/rotator.h"
#include "serial.h"
#include "misc.h"
#include "register.h"
#include "num_stdio.h"

#include "rc2800.h"

#define CR "\r"
#define LF "\x0a"

#define BUFSZ 128

/*
  The continuous output of some of the RC2800
  models can be a nuisance.  Even if we flush
  the input stream before sending the command,
  there may be partial sentence in the stream
  ahead of the data we want.

*/


/*
  rc2800_parse

  Parse output from the rotator controller

  We want to recognize the following sentences:
  A ERR=<n><cr>
  E ERR=<n><cr>
  A P=<ff.f> S=<n> <s><cr>
  E P=<ff.f> S=<n> <s><cr>
  A=<ff.f> S=<n> <s><cr>
  E=<ff.f> S=<n> <s><cr>
*/

static int rc2800_parse (char *s, char *device, float *value)
{
  int i, msgtype=0, errcode=0;

  rig_debug(RIG_DEBUG_TRACE, "%s: device return->%s", __func__, s);
  
  int len = strlen(s);
  if (len == 0)
    return -RIG_EPROTO;
  
  if (len > 7)
  {
    if (*s == 'A' || *s == 'E') 
    {
      *device = *s;
    
      if (!strncmp(s+2, "ERR=", 4))
      {
        msgtype=1;
        i = sscanf(s+6, "%d", &errcode);
      }
      else if (!strncmp(s+2, "P=", 2))
      {
        msgtype=2;
        i = num_sscanf(s+5, "%f", value);
      }
      else if (s[1] == '=')
      {
        msgtype=2;
        i = num_sscanf(s+2, "%f", value);
      }
    }
  }

  if (msgtype == 2)
  {
    rig_debug(RIG_DEBUG_TRACE, "%s: device=%c value=%3.1f\n", __func__, *device, *value);
    return RIG_OK;
  } 
  else if (msgtype == 1)
  {
    rig_debug(RIG_DEBUG_TRACE, "%s: driver error code %d\n", __func__, errcode);
    *device = ' ';
    return RIG_OK;
  } 
   
  return -RIG_EPROTO;
}


#if 0
int testmain ()
{
  rc2800_parse("A P=  98.1 S=9 MV");
  rc2800_parse("A P= 100.0 S=9 MV");
  rc2800_parse("E=43.7 S=9 M");
  rc2800_parse("E=42.8 S=9 S");
  rc2800_parse("E ERR=05");
  return 0;
}
#endif




/**
 * rc2800_transaction
 *
 * cmdstr - Command to be sent to the rig.
 * data - Buffer for reply string.  Can be NULL, indicating that no reply is
 *        is needed, but answer will still be read.
 * data_len - in: Size of buffer. It is the caller's responsibily to provide
 *            a large enough buffer for all possible replies for a command.
 *
 * returns:
 *   RIG_OK  -  if no error occured.
 *   RIG_EIO  -  if an I/O error occured while sending/receiving data.
 *   RIG_ETIMEOUT  -  if timeout expires without any characters received.
 */
static int
rc2800_transaction (ROT *rot, const char *cmdstr,
                    char *data, size_t data_len)
{
    struct rot_state *rs;
    int retval;
    int retry_read = 0;
    char replybuf[BUFSZ];

    rs = &rot->state;

transaction_write:

    serial_flush(&rs->rotport);

    if (cmdstr) {
        retval = write_block(&rs->rotport, cmdstr, strlen(cmdstr));
        if (retval != RIG_OK)
            goto transaction_quit;
    }

    /* Always read the reply to know whether the cmd went OK */
    if (!data)
        data = replybuf;
    if (!data_len)
        data_len = BUFSZ;

    /* first reply is an echo */
    memset(data,0,data_len);
    retval = read_string(&rs->rotport, data, data_len, LF, strlen(LF));
    if (retval < 0) {
        if (retry_read++ < rot->state.rotport.retry)
            goto transaction_write;
        goto transaction_quit;
    }

    /* then comes the answer */
    memset(data,0,data_len);
    retval = read_string(&rs->rotport, data, data_len, LF, strlen(LF));
    if (retval < 0) {
        if (retry_read++ < rot->state.rotport.retry)
            goto transaction_write;
        goto transaction_quit;
    }

    retval = RIG_OK;
transaction_quit:
    return retval;
}


static int
rc2800_rot_set_position(ROT *rot, azimuth_t az, elevation_t el)
{
  char cmdstr[64];
  int retval1, retval2;
  
  rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el);
  
  num_sprintf(cmdstr, "A%3.1f"CR, az);
  retval1 = rc2800_transaction(rot, cmdstr, NULL, 0);

  /* do not overwhelm the MCU? */
  usleep(200*1000);

  num_sprintf(cmdstr, "E%3.1f"CR, el);
  retval2 = rc2800_transaction(rot, cmdstr, NULL, 0);

  if (retval1 == retval2)
    return retval1;
  return (retval1 != RIG_OK ? retval1 : retval2);
}

static int
rc2800_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
{
  char posbuf[32];
  int retval;
  char device;
  float value;

  rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);

  retval = rc2800_transaction(rot, "A" CR, posbuf, sizeof(posbuf));
  if (retval != RIG_OK || strlen(posbuf) < 5) {
    return retval < 0 ? retval : -RIG_EPROTO;
  }

  if (rc2800_parse(posbuf, &device, &value) == RIG_OK) {
    if (device == 'A')
      *az = (azimuth_t) value;
    else
      return -RIG_EPROTO;
  }

  retval = rc2800_transaction(rot, "E" CR, posbuf, sizeof(posbuf));

  if (retval != RIG_OK || strlen(posbuf) < 5) {
    return retval < 0 ? retval : -RIG_EPROTO;
  }

  if (rc2800_parse(posbuf, &device, &value) == RIG_OK) {
    if (device == 'E')
      *el = (elevation_t) value;
    else
      return -RIG_EPROTO;
  }

  rig_debug(RIG_DEBUG_TRACE, "%s: (az, el) = (%.1f, %.1f)\n",
            __func__, *az, *el);

  return RIG_OK;
}

static int
rc2800_rot_stop(ROT *rot)
{
  int retval;

  rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);

  /* TODO: check each return value (do we care?) */

  /* Stop AZ*/
  retval = rc2800_transaction(rot, "A" CR, NULL, 0); /* select AZ */
  retval = rc2800_transaction(rot, "S" CR, NULL, 0); /* STOP */
  
  /* do not overwhelm the MCU? */
  usleep(200*1000);

  /* Stop EL*/
  retval = rc2800_transaction(rot, "E" CR, NULL, 0); /* select EL */
  retval = rc2800_transaction(rot, "S" CR, NULL, 0); /* STOP */
  
  return retval;
}






/* ************************************************************************* */
/*
 * M2 RC2800 rotator capabilities.
 *
 * Protocol documentation: http://www.confluentdesigns.com/files/PdfFiles/devguide_24.pdf
 */

const struct rot_caps rc2800_rot_caps = {
  .rot_model =      ROT_MODEL_RC2800,
  .model_name =     "RC2800",
  .mfg_name =       "M2",
  .version =        "0.1",
  .copyright =        "LGPL",
  .status =         RIG_STATUS_BETA,
  .rot_type =       ROT_TYPE_AZEL,
  .port_type =      RIG_PORT_SERIAL,
  .serial_rate_min  = 9600,
  .serial_rate_max  = 9600,
  .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,
  .retry            = 3,

  .min_az =       0.0,
  .max_az =       360.0,
  .min_el =       0.0,
  .max_el =       180.0,

  .get_position = rc2800_rot_get_position,
  .set_position = rc2800_rot_set_position,
  .stop         = rc2800_rot_stop,
};

/* ************************************************************************* */

DECLARE_INITROT_BACKEND(m2)
{
  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __FUNCTION__);

  rot_register(&rc2800_rot_caps);

  return RIG_OK;
}

/* ************************************************************************* */
/* end of file */


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