| 1 | /*
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| 2 | Temma INDI driver
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| 3 | Copyright (C) 2004 Francois Meyer (dulle @ free.fr)
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| 4 | Remi Petitdemange for the temma protocol
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| 5 | Reference site is http://dulle.free.fr/alidade/indi.php
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| 6 |
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| 7 | This library is free software; you can redistribute it and/or
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| 8 | modify it under the terms of the GNU Lesser General Public
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| 9 | License as published by the Free Software Foundation; either
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| 10 | version 2.1 of the License, or (at your option) any later version.
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| 11 |
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| 12 | This library is distributed in the hope that it will be useful,
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| 13 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 14 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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| 15 | Lesser General Public License for more details.
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| 16 |
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| 17 | You should have received a copy of the GNU Lesser General Public
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| 18 | License along with this library; if not, write to the Free Software
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| 19 | Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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| 20 |
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| 21 | */
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| 22 |
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| 23 | #ifndef TEMMADRIVER_H
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| 24 | #define TEMMADRIVER_H
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| 25 | #define VERSION "Temma indi driver Ver 0.0, fm-2004/10/09"
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| 26 | #if 0
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| 27 | bit definition for M message : slew speed and parameters
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| 28 | #endif
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| 29 | #define HS 0x01 /* high speed */
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| 30 | #define RR 0x02 /* RA right */
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| 31 | #define RL 0x04 /* RA left */
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| 32 | #define DU 0x08 /* DEC up */
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| 33 | #define DD 0x10 /* DEC down */
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| 34 | #define EN 0x20 /* ENC on */
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| 35 | #define BB 0x40 /* Always set */
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| 36 | #if 0
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| 37 | (HS|RR|EN|BB)
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| 38 | #endif
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| 39 | #define HRAD (M_PI/12)
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| 40 | #define DEGRAD (M_PI/180)
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| 41 | #define TEMMA_TIMEOUT 1 /* FD timeout in seconds */
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| 42 |
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| 43 | /* error codes */
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| 44 | #define SUCCESS (2) /* return value for successful read */
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| 45 | #define ETIMEOUT (-2) /* timeout */
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| 46 | #define EREAD (-3) /* error reading from port */
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| 47 | #define EWRITE (-4) /* error writing to port */
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| 48 | #define ECOMMAND (-5) /* unexpected answer */
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| 49 | /* Definitions */
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| 50 |
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| 51 | #define mydev "Temma" /* Device name */
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| 52 | #define MAIN_GROUP "Main Control" /* Group name */
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| 53 | #define COMM_GROUP "Communication" /* Group name */
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| 54 | #define MOVE_GROUP "Movement Control"
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| 55 | #define DATETIME_GROUP "Date/Time/Location"
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| 56 |
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| 57 | #define SLEWSW OnCoordSetS[0].s
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| 58 | #define SYNCSW OnCoordSetS[1].s
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| 59 | #define TRACKSW OnCoordSetS[2].s
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| 60 | #define POWSW (power[0].s==ISS_ON)
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| 61 |
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| 62 | #define SLEWRATE 1 /* slew rate, degrees/s */
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| 63 | #define POLLMS 1000 /* poll period, ms */
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| 64 |
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| 65 | #define latitude geo[0].value /* scope's current rads. */
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| 66 | #define longitude geo[1].value /* scope's current rads. */
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| 67 | #define currentUTC UTC[0].value /* scope's current rads. */
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| 68 | #define currentLST STime[0].value /* scope's current rads. */
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| 69 | #define currentRA eq[0].value /* scope's current RA, rads. */
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| 70 | #define currentDec eq[1].value /* scope's current Dec, rads. */
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| 71 | #define temmaRA eqtem[0].value /* scope's current RA, rads. */
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| 72 | #define temmaDec eqtem[1].value /* scope's current Dec, rads. */
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| 73 |
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| 74 |
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| 75 | int openPort(const char *portID);
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| 76 | int portRead(char *buf, int nbytes, int timeout);
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| 77 | int portWrite(char * buf);
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| 78 | int TemmareadOut(int timeout);
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| 79 | static void mountInit(void);
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| 80 | void ISGetProperties (const char *dev);
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| 81 | void ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n);
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| 82 | void ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n);
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| 83 | void ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n);
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| 84 | double calcLST(char *strlst);
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| 85 | int TemmaConnect(const char *device) ;
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| 86 | int TemmaDisconnect(void) ;
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| 87 | int set_CometTracking(int RArate, int DECrate);
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| 88 | int TemmaabortSlew(void) ;
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| 89 | int do_TemmaGOTO(void) ;
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| 90 | int extractRA(char *buf);
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| 91 | int extractDEC(char *buf);
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| 92 | int get_TemmaCurrentpos(char *buffer);
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| 93 | int set_TemmaCurrentpos(void) ;
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| 94 | int do_TemmaSLEW(char mode);
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| 95 | int get_TemmaVERSION(char *buffer);
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| 96 | int get_TemmaGOTOstatus(char *buffer);
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| 97 | int get_TemmaBOTHcorrspeed(char *buffer);
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| 98 | int get_TemmaDECcorrspeed(char *buffer);
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| 99 | int set_TemmaDECcorrspeed(char *buffer);
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| 100 | int get_TemmaRAcorrspeed(char *buffer);
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| 101 | int set_TemmaRAcorrspeed(char *buffer);
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| 102 | int get_TemmaLatitude(char *buffer);
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| 103 | int set_TemmaLatitude(char *buffer);
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| 104 | int get_TemmaLST(char *buffer);
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| 105 | int set_TemmaLST(char *buffer);
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| 106 | int set_TemmaStandbyState(int on);
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| 107 | int get_TemmaStandbyState(unsigned char *buffer);
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| 108 | int get_TemmaCometTracking(char *buffer);
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| 109 | int set_TemmaCometTracking(char *buffer);
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| 110 | int set_TemmaSolarRate(void);
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| 111 | int set_TemmaStellarRate(void);
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| 112 | int switch_Temmamountside(void);
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| 113 |
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| 114 | static void disconnectMount (void);
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| 115 | static void connectMount (void);
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| 116 | static void readMountcurrentpos (void *);
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| 117 |
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| 118 | /***************************/
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| 119 | /* RA motor control switch */
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| 120 | /***************************/
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| 121 | static ISwitch RAmotor[] = {
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| 122 | {"RUN", "On", ISS_OFF, 0, 0},
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| 123 | {"STOP", "Off", ISS_ON, 0, 0} };
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| 124 |
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| 125 | static ISwitchVectorProperty RAmotorSw = {
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| 126 | mydev, "RA motor", "RA motor", MOVE_GROUP, IP_RW, ISR_ATMOST1,
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| 127 | 0, IPS_IDLE, RAmotor, NARRAY(RAmotor), "", 0};
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| 128 |
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| 129 | /*****************************/
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| 130 | /* Track mode control switch */
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| 131 | /*****************************/
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| 132 | static ISwitch trackmode[] = {
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| 133 | {"Sidereal", "Sidereal", ISS_ON, 0, 0},
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| 134 | {"Lunar", "Lunar", ISS_OFF, 0, 0},
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| 135 | {"Comet", "Comet", ISS_OFF, 0, 0}, };
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| 136 |
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| 137 | static ISwitchVectorProperty trackmodeSw = {
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| 138 | mydev, "Tracking mode", "Tracking mode", MOVE_GROUP, IP_RW, ISR_1OFMANY,
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| 139 | 0, IPS_IDLE, trackmode, NARRAY(trackmode), "", 0};
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| 140 |
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| 141 | /*****************************/
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| 142 | /* Power control switch */
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| 143 | /*****************************/
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| 144 | static ISwitch power[] = {
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| 145 | {"CONNECT", "On", ISS_OFF, 0, 0}, {"DISCONNECT", "Off", ISS_ON, 0, 0}, };
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| 146 |
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| 147 | static ISwitchVectorProperty powSw = {
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| 148 | mydev, "CONNECTION", "Connection", MAIN_GROUP, IP_RW, ISR_ATMOST1,
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| 149 | 0, IPS_IDLE, power, NARRAY(power), "", 0};
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| 150 |
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| 151 | /*******************************/
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| 152 | /* Temma version text property */
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| 153 | /*******************************/
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| 154 | static IText TemmaVersionT[] = {{"VERSION", "Version", 0, 0, 0, 0}};
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| 155 | static ITextVectorProperty TemmaVersion = {
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| 156 | mydev, "VERSION", "Temma version", COMM_GROUP, IP_RO, 0,
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| 157 | IPS_OK, TemmaVersionT, NARRAY(TemmaVersionT), "", 0};
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| 158 |
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| 159 |
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| 160 | /*******************************/
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| 161 | /* Driver notes text property */
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| 162 | /*******************************/
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| 163 | static IText TemmaNoteT[] = {{"Note", "", 0, 0, 0, 0}, {"Feedback", "", 0, 0,0 ,0}};
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| 164 | static ITextVectorProperty TemmaNoteTP = { mydev, "Temma Driver", "", MAIN_GROUP, IP_RO, 0, IPS_OK, TemmaNoteT, NARRAY(TemmaNoteT), "", 0};
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| 165 |
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| 166 | /*******************************/
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| 167 | /* Port names text property */
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| 168 | /*******************************/
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| 169 | static IText PortT[] = {{"PORT", "Port", 0, 0, 0, 0}};
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| 170 | static ITextVectorProperty Port = {
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| 171 | mydev, "DEVICE_PORT", "Ports", COMM_GROUP,
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| 172 | IP_RW, 0, IPS_OK, PortT, NARRAY(PortT), "", 0};
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| 173 |
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| 174 | /*******************************/
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| 175 | /* EQUATORIAL_COORD RW property */
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| 176 | /*******************************/
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| 177 | static INumber eq[] = {
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| 178 | {"RA" ,"RA H:M:S" , "%10.6m", 0, 24, 0, 0, 0, 0, 0},
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| 179 | {"DEC", "Dec D:M:S", "%10.6m", -90, 90, 0, 0, 0, 0, 0}
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| 180 | };
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| 181 | static INumberVectorProperty eqNum = {
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| 182 | mydev, "EQUATORIAL_EOD_COORD", "Equatorial JNow",
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| 183 | MAIN_GROUP , IP_RW, 0, IPS_IDLE, eq, NARRAY(eq), "", 0};
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| 184 |
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| 185 | /*******************************/
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| 186 | /* MOUNT_COORD RO property */
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| 187 | /*******************************/
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| 188 | static INumber eqtem[] = {
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| 189 | {"RA", "RA H:M:S", "%10.6m", 0, 24, 0, 0, 0, 0, 0},
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| 190 | {"DEC", "Dec D:M:S", "%10.6m", -90, 90, 0, 0, 0, 0, 0}
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| 191 | };
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| 192 | static INumberVectorProperty eqTemma = {
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| 193 | mydev, "Temma", "Mount coordinates",
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| 194 | MAIN_GROUP , IP_RO, 0, IPS_IDLE, eqtem, NARRAY(eqtem), "", 0};
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| 195 |
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| 196 |
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| 197 | /* Traccking correction parameters (i.e. to track comets) */
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| 198 | static INumber comet[] = {
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| 199 | {"RAcorrspeed","Comet RA motion arcmin/day","%+5d",-21541,21541,0,0,0,0,0},
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| 200 | {"DECcor rspeed", "Comet DEC motion arcmin/day", "%+4d", -600, 600,0, 0., 0, 0, 0}
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| 201 | };
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| 202 |
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| 203 | static INumberVectorProperty cometNum = {
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| 204 | mydev, "COMET_TRACKING", "Comet tracking parameters",
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| 205 | MOVE_GROUP, IP_RW, 0, IPS_IDLE, comet, NARRAY(comet), "", 0};
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| 206 |
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| 207 | /* Date & Time */
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| 208 | static INumber UTC[] = {
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| 209 | {"UTC", "UTC", "%10.6m" , 0.,0.,0.,0., 0, 0, 0}};
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| 210 | INumberVectorProperty Time = {
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| 211 | mydev, "TIME_UTC", "UTC Time", DATETIME_GROUP,
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| 212 | IP_RW, 0, IPS_IDLE, UTC, NARRAY(UTC), "", 0};
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| 213 |
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| 214 | static INumber STime[] = {
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| 215 | {"LST", "Sidereal time", "%10.6m" ,
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| 216 | 0.,0.,0.,0., 0, 0, 0}};
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| 217 |
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| 218 | INumberVectorProperty SDTime = {
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| 219 | mydev, "TIME_LST", "Sidereal Time",
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| 220 | DATETIME_GROUP, IP_RW, 0, IPS_IDLE,
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| 221 | STime, NARRAY(STime), "", 0};
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| 222 |
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| 223 | static ISwitch OnCoordSetS[] = {
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| 224 | {"SLEW", "Goto", ISS_OFF, 0, 0 },
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| 225 | {"SYNC", "Sync", ISS_ON, 0 , 0},
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| 226 | {"TRACK", "Track", ISS_OFF, 0, 0 }};
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| 227 |
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| 228 | static ISwitchVectorProperty OnCoordSetSw = {
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| 229 | mydev, "ON_COORD_SET", "On Set",
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| 230 | MAIN_GROUP, IP_RW, ISR_1OFMANY, 0,
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| 231 | IPS_IDLE, OnCoordSetS, NARRAY(OnCoordSetS), "", 0};
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| 232 |
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| 233 |
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| 234 |
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| 235 | static ISwitch abortSlewS[] = {
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| 236 | {"ABORT", "Abort", ISS_OFF, 0, 0 }};
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| 237 | static ISwitchVectorProperty abortSlewSw = {
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| 238 | mydev, "ABORT_MOTION", "******* ABORT GOTO *********",
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| 239 | MAIN_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE,
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| 240 | abortSlewS, NARRAY(abortSlewS), "", 0};
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| 241 |
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| 242 | /* geographic location */
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| 243 | static INumber geo[] = {
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| 244 | {"LAT", "Lat. D:M:S +N", "%10.6m", -90., 90., 0., 0., 0, 0, 0},
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| 245 | {"LONG", "Long. D:M:S +E", "%10.6m", 0., 360., 0., 0., 0, 0, 0} };
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| 246 |
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| 247 | static INumberVectorProperty geoNum = {
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| 248 | mydev, "GEOGRAPHIC_COORD", "Geographic Location",
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| 249 | DATETIME_GROUP, IP_RW, 0., IPS_IDLE,
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| 250 | geo, NARRAY(geo), "", 0};
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| 251 |
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| 252 | #endif
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