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hd1780.c

/*
 * Hamlib backend library for the HD 1780 Intellirotor command set.
 *
 * hd1780.c - (C) Nate Bargmann 2003 (n0nb at arrl.net)
 *            (C) Rob Frohne 2008 (kl7na at arrl.net)
 *
 * This shared library provides an API for communicating
 * via serial interface to a Heathkit HD 1780 Intellirotor.
 *
 * Heathkit is a trademark of Heath Company
 * 
 *
 *    
 *
 *  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 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., 59 Temple Place, Suite 330, Boston, MA 02111-1307  USA
 *
 */

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

#include <stdio.h>
#include <stdlib.h>             /* Standard library definitions */
#include <string.h>             /* String function definitions */
#include <unistd.h>             /* UNIX standard function definitions */

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

#include "hd1780.h"


/*
 * Private data structure
 */
struct hd1780_rot_priv_data {
  azimuth_t az;
};

/*
 * Private helper function prototypes
 */

static int hd1780_send_priv_cmd(ROT *rot, const char *cmd);


/*
 * HD 1780 Intellirotor rotor capabilities
 */

const struct rot_caps hd1780_rot_caps = {
  .rot_model =          ROT_MODEL_HD1780,
  .model_name =         "HD 1780 Intellirotor",
  .mfg_name =           "Heathkit",
  .version =            "0.1",
  .copyright =            "LGPL",
  .status =             RIG_STATUS_BETA,
  .rot_type =           ROT_TYPE_OTHER,
  .port_type =          RIG_PORT_SERIAL,
  .serial_rate_min =    300,
  .serial_rate_max =    9600,
  .serial_data_bits =   8,
  .serial_stop_bits =   1,
  .serial_parity =      RIG_PARITY_NONE,
  .serial_handshake =   RIG_HANDSHAKE_NONE,
  .write_delay =        10,
  .post_write_delay =   500,
  .timeout =            60000,
  .retry =              0,
      
  .min_az =               0,
  .max_az =               360,
  .min_el =               0,
  .max_el =               0,

  .priv =  NULL,  /* priv */

  .rot_init =           hd1780_rot_init,
  .rot_cleanup =        hd1780_rot_cleanup,
  .set_position =       hd1780_rot_set_position,
  .get_position =       hd1780_rot_get_position,
};


/* ************************************
 *
 * API functions
 *
 * ************************************
 */


/*
 * Initialize data structures
 */

static int hd1780_rot_init(ROT *rot) {
  struct hd1780_rot_priv_data *priv;

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

  if (!rot)
    return -RIG_EINVAL;

  priv = (struct hd1780_rot_priv_data*)
    malloc(sizeof(struct hd1780_rot_priv_data));

  if (!priv)
    return -RIG_ENOMEM;
  rot->state.priv = (void*)priv;

  rot->state.rotport.type.rig = RIG_PORT_SERIAL;

  priv->az = 0;

  return RIG_OK;
}

/*
 * Clean up allocated memory structures
 */

static int hd1780_rot_cleanup(ROT *rot) {

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

  if (!rot)
    return -RIG_EINVAL;

  if (rot->state.priv)
      free(rot->state.priv);
  rot->state.priv = NULL;

  return RIG_OK;
}


/*
 * Set position
 * HD 1780 protocol supports azimuth only--elevation is ignored
 * Range is converted to an integer string, 0 to 360 degrees
 */

static int hd1780_rot_set_position(ROT *rot, azimuth_t azimuth, elevation_t elevation) {
  struct rot_state *rs;
  char cmdstr[8];
  char execstr[5] = "\r", ok[3];
  int err;

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

  if (!rot)
    return -RIG_EINVAL;

  if (azimuth < 0 || azimuth > 360)
    return -RIG_EINVAL;

      
  sprintf(cmdstr, "%03.0f", azimuth);    /* Target bearing */
  err = hd1780_send_priv_cmd(rot, cmdstr);
  if (err != RIG_OK)
    return err;

  err = hd1780_send_priv_cmd(rot, execstr); /* Execute command */
  if (err != RIG_OK)
    return err;

/* We need to look for the <CR> +<LF> to signify that everything finished.  The HD 1780
 * sends a <CR> when it is finished rotating.
 */
  rs = &rot->state;
  err = read_block(&rs->rotport, ok, 2);
  if (err != 2)
    return -RIG_ETRUNC;
  if ((ok[0] != '\r')||(ok[1] != '\n'))
      return -RIG_ETRUNC;

      
  return RIG_OK;
}


/*
 * Get position
 * Returns current azimuth position in whole degrees.
 * Range returned from Rotor-EZ is an integer, 0 to 359 degrees
 * Elevation is set to 0
 */

static int hd1780_rot_get_position(ROT *rot, azimuth_t *azimuth, elevation_t *elevation) {
  struct rot_state *rs;
  char cmdstr[3] = "b\r";
  char az[7];          /* read azimuth string */
  char *p;
  azimuth_t tmp = 0;
  int err;

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

  if (!rot)
    return -RIG_EINVAL;

  err = hd1780_send_priv_cmd(rot, cmdstr);
  if (err != RIG_OK)
    return err;

  rs = &rot->state;
  err = read_block(&rs->rotport, az, AZ_READ_LEN);
  if (err != AZ_READ_LEN)
    return -RIG_ETRUNC;

  /*
   * HD 1780 returns a four octet string consisting of 
   * three octets containing the rotor's position in degrees followed by a 
   * space and a <CR> and a <LF>.  The
   * space is ignored when passing the string to atof().
   */
  az[4] = 0x00;                 /* NULL terminated string */
  p = az; /* for hd1780 */
  tmp = (azimuth_t)atof(p);
  rig_debug(RIG_DEBUG_TRACE, "%s: \"%s\" after conversion = %.1f\n",
            __func__, p, tmp);

  if (tmp < 0 || tmp > 359)
    return -RIG_EINVAL;

  *azimuth = tmp;
  *elevation = 0;               /* assume aiming at the horizon */
 
  rig_debug(RIG_DEBUG_TRACE,
            "%s: azimuth = %.1f deg; elevation = %.1f deg\n",
            __func__, *azimuth, *elevation);

  return RIG_OK;
}



/*
 * Send command string to rotor.
 *
 * To make sure that the rotor is ready to take a command, we send it a <CR> and
 * it will normally reply with a ? <CR> <LF>.  If you don't do this, using the
 * w: command of rotctl it is possible to get it out of sequence.  This kind of
 * resets its command buffer before sending the command.
 */

static int hd1780_send_priv_cmd(ROT *rot, const char *cmdstr) {
  struct rot_state *rs;
  int err;

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

  if (!rot)
    return -RIG_EINVAL;
      
  rs = &rot->state;
      
  err = write_block(&rs->rotport, cmdstr, strlen(cmdstr));
  if (err != RIG_OK)
    return err;

  return RIG_OK;
}


/*
 * Initialize backend
 */

DECLARE_INITROT_BACKEND(heathkit)
{
  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);

  rot_register(&hd1780_rot_caps);
  
  return RIG_OK;
}



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