1 /*
2 * Hamlib Rotator backend - Celestron
3 * Copyright (c) 2011 by Stephane Fillod
4 *
5 * This library is free software; you can redistribute it and/or
6 * modify it under the terms of the GNU Lesser General Public
7 * License as published by the Free Software Foundation; either
8 * version 2.1 of the License, or (at your option) any later version.
9 *
10 * This library is distributed in the hope that it will be useful,
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
13 * Lesser General Public License for more details.
14 *
15 * You should have received a copy of the GNU Lesser General Public
16 * License along with this library; if not, write to the Free Software
17 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
18 *
19 */
20
21 #ifdef HAVE_CONFIG_H
22 #include "config.h"
23 #endif
24
25 #include <stdio.h>
26 #include <stdlib.h>
27 #include <string.h>
28 #include <unistd.h>
29 #include <math.h>
30 #include <ctype.h>
31
32 #include "hamlib/rotator.h"
33 #include "serial.h"
34 #include "misc.h"
35 #include "register.h"
36
37 #include "celestron.h"
38
39 #define ACK "#"
40
41 #define BUFSZ 128
42
43 /**
44 * celestron_transaction
45 *
46 * cmdstr - Command to be sent to the rig.
47 * data - Buffer for reply string. Can be NULL, indicating that no reply is
48 * is needed, but answer will still be read.
49 * data_len - in: Size of buffer. It is the caller's responsibily to provide
50 * a large enough buffer for all possible replies for a command.
51 *
52 * returns:
53 * RIG_OK - if no error occurred.
54 * RIG_EIO - if an I/O error occurred while sending/receiving data.
55 * RIG_ETIMEOUT - if timeout expires without any characters received.
56 */
57 static int
celestron_transaction(ROT * rot,const char * cmdstr,char * data,size_t data_len)58 celestron_transaction(ROT *rot, const char *cmdstr,
59 char *data, size_t data_len)
60 {
61 struct rot_state *rs;
62 int retval;
63 int retry_read = 0;
64 char replybuf[BUFSZ];
65
66 rs = &rot->state;
67
68 transaction_write:
69
70 rig_flush(&rs->rotport);
71
72 if (cmdstr)
73 {
74 retval = write_block(&rs->rotport, cmdstr, strlen(cmdstr));
75
76 if (retval != RIG_OK)
77 {
78 goto transaction_quit;
79 }
80 }
81
82 /* Always read the reply to know whether the cmd went OK */
83 if (!data)
84 {
85 data = replybuf;
86 }
87
88 if (!data_len)
89 {
90 data_len = BUFSZ;
91 }
92
93 /* the answer */
94 memset(data, 0, data_len);
95 retval = read_string(&rs->rotport, data, data_len, ACK, strlen(ACK));
96
97 if (retval < 0)
98 {
99 if (retry_read++ < rot->state.rotport.retry)
100 {
101 goto transaction_write;
102 }
103
104 goto transaction_quit;
105 }
106
107 /* check for acknowledge */
108 if (retval < 1 || data[retval - 1] != '#')
109 {
110 rig_debug(RIG_DEBUG_ERR, "%s: unexpected response, len %d: '%s'\n", __func__,
111 retval, data);
112 return -RIG_EPROTO;
113 }
114
115 data[retval - 1] = '\0';
116
117 retval = RIG_OK;
118 transaction_quit:
119 return retval;
120 }
121
122
123 static int
celestron_set_position(ROT * rot,azimuth_t az,elevation_t el)124 celestron_set_position(ROT *rot, azimuth_t az, elevation_t el)
125 {
126 char cmdstr[32];
127 int retval;
128
129 rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el);
130
131 /*
132 Note: if the telescope has not been aligned, the RA/DEC values will not be meaningful and the AZM-ALT values will
133 be relative to where the telescope was powered on. After alignment, RA/DEC values will reflect the actual sky,
134 azimuth will be indexed to North equals 0 and altitude will be indexed with 0 equal to the orientation where the optical
135 tube is perpendicular to the azimuth axis.
136 */
137
138 sprintf(cmdstr, "B%04X,%04X",
139 (unsigned)((az / 360.) * 65535),
140 (unsigned)((el / 360.) * 65535));
141
142 retval = celestron_transaction(rot, cmdstr, NULL, 0);
143
144 return retval;
145 }
146
147 static int
celestron_get_position(ROT * rot,azimuth_t * az,elevation_t * el)148 celestron_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
149 {
150 char posbuf[32];
151 int retval;
152 unsigned w;
153
154 rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
155
156 /* Get Azm-Alt */
157 retval = celestron_transaction(rot, "Z", posbuf, sizeof(posbuf));
158
159 if (retval != RIG_OK || strlen(posbuf) < 9 || posbuf[4] != ',')
160 {
161 return retval < 0 ? retval : -RIG_EPROTO;
162 }
163
164 if (sscanf(posbuf, "%04X", &w) != 1)
165 {
166 return -RIG_EPROTO;
167 }
168
169 *az = ((azimuth_t)w * 360.) / 65536.;
170
171 if (sscanf(posbuf + 5, "%04X", &w) != 1)
172 {
173 return -RIG_EPROTO;
174 }
175
176 *el = ((elevation_t)w * 360.) / 65536.;
177
178 rig_debug(RIG_DEBUG_TRACE, "%s: (az, el) = (%.1f, %.1f)\n",
179 __func__, *az, *el);
180
181 return RIG_OK;
182 }
183
184 static int
celestron_stop(ROT * rot)185 celestron_stop(ROT *rot)
186 {
187 int retval;
188
189 rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
190
191 /* Cancel Goto */
192 retval = celestron_transaction(rot, "M", NULL, 0);
193
194 return retval;
195 }
196
197 static const char *
celestron_get_info(ROT * rot)198 celestron_get_info(ROT *rot)
199 {
200 static char info[16];
201 char str[8];
202
203 rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
204
205 if (celestron_transaction(rot, "V", str, sizeof(str)) != RIG_OK)
206 {
207 return NULL;
208 }
209
210 sprintf(info, "V%c.%c", str[0], str[1]);
211
212 return info;
213 }
214
215
216
217 /* ************************************************************************* */
218 /*
219 * Celestron Nexstar telescope(rotator) capabilities.
220 *
221 * Protocol documentation:
222 * from Celestron:
223 * http://www.celestron.com/c3/images/files/downloads/1154108406_nexstarcommprot.pdf
224 * from Orion Teletrack Az-G:
225 * http://content.telescope.com/rsc/img/catalog/product/instructions/29295.pdf
226 */
227
228 const struct rot_caps nexstar_rot_caps =
229 {
230 ROT_MODEL(ROT_MODEL_NEXSTAR),
231 .model_name = "NexStar", // Any Celestron starting with version 1.2
232 .mfg_name = "Celestron",
233 .version = "20110821.0",
234 .copyright = "LGPL",
235 .status = RIG_STATUS_UNTESTED,
236 .rot_type = ROT_TYPE_AZEL,
237 .port_type = RIG_PORT_SERIAL,
238 .serial_rate_min = 9600,
239 .serial_rate_max = 9600,
240 .serial_data_bits = 8,
241 .serial_stop_bits = 1,
242 .serial_parity = RIG_PARITY_NONE,
243 .serial_handshake = RIG_HANDSHAKE_NONE,
244 .write_delay = 0,
245 .post_write_delay = 0,
246 .timeout = 3500, /* worst case scenario */
247 .retry = 1,
248
249 .min_az = 0.0,
250 .max_az = 360.0,
251 .min_el = 0.0,
252 .max_el = 180.0,
253
254 .get_position = celestron_get_position,
255 .set_position = celestron_set_position,
256 .stop = celestron_stop,
257 .get_info = celestron_get_info,
258 };
259
260 /* ************************************************************************* */
261
DECLARE_INITROT_BACKEND(celestron)262 DECLARE_INITROT_BACKEND(celestron)
263 {
264 rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
265
266 rot_register(&nexstar_rot_caps);
267
268 return RIG_OK;
269 }
270
271 /* ************************************************************************* */
272 /* end of file */
273
274