gs232b_lib.h File Reference

GS-232B controller includes. More...

#include "support/configCosmos.h"
#include "math/mathlib.h"
#include "support/cosmos-errno.h"
#include "device/general/cssl_lib.h"
#include <stdio.h>

Include dependency graph for gs232b_lib.h:

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Go to the source code of this file.

Classes
struct	gs232b_state
	GS-232B state. More...

Macros
#define	GS232B_ID   1
#define	GS232B_BAUD   9600
#define	GS232B_BITS   8
#define	GS232B_PARITY   0
#define	GS232B_STOPBITS   1
#define	GS_STATE_STOWED   0
#define	GS_STATE_FIXED   1
#define	GS_STATE_SEEKING   2
#define	GS_STATE_TRACKING   3

Functions
int32_t	gs232b_connect (string dev)
int32_t	gs232b_disconnect ()
int32_t	gs232b_calibrate_offset (int32_t axis)
float	gs232b_get_az ()
float	gs232b_get_el ()
int32_t	gs232b_get_az_el (float &az, float &el)
float	gs232b_get_az_offset ()
float	gs232b_get_el_offset ()
void	gs232b_get_state (gs232b_state &state)
int32_t	gs232b_goto (float az, float el)
int32_t	gs232b_stop ()
int32_t	gs232b_az_speed (int32_t speed)
int32_t	gs232b_getdata (char *buf, int32_t buflen)
int32_t	gs232b_send (char *buf, bool force)
int32_t	gs232b_test ()
int32_t	gs232b_set_sensitivity (float sensitivity)

Detailed Description

GS-232B controller includes.

Contains definitions and functions for running a Yaesu GS-232B controller.

Macro Definition Documentation

#define GS232B_ID   1

#define GS232B_BAUD   9600

#define GS232B_BITS   8

#define GS232B_PARITY   0

#define GS232B_STOPBITS   1

#define GS_STATE_STOWED   0

#define GS_STATE_FIXED   1

#define GS_STATE_SEEKING   2

#define GS_STATE_TRACKING   3

Function Documentation

int32_t gs232b_connect

(

string

dev

)

Connects to a Yaesu GS-232B computer controller, which in turn drives a Yaesu G-5500 antenna controller.

Parameters

dev	pointer to a character string with the serial port it is connected to.

See also

cssl_start

cssl_open

cssl_setflowcontrol

{
    int32_t iretn;
    cssl_start();
    if (gs232b_serial != nullptr)
    {
        cssl_close(gs232b_serial);
        gs232b_serial = nullptr;
    }

    gs232b_serial = cssl_open(dev.c_str(), GS232B_BAUD, GS232B_BITS, GS232B_PARITY, GS232B_STOPBITS);
    if (gs232b_serial == nullptr)
    {
        return CSSL_ERROR_OPEN;
    }

    iretn = cssl_settimeout(gs232b_serial, 0, .5);
    if (iretn < 0)
    {
        return iretn;
    }

    iretn = gs232b_send((char *)"\r", true);
    if (iretn < 0)
    {
        return iretn;
    }
    char buf[100];
    iretn = gs232b_getdata(buf,100);
    if (iretn < 0)
    {
        return iretn;
    }
    iretn = gs232b_send((char *)"\r", true);
    if (iretn < 0)
    {
        return iretn;
    }
    iretn = gs232b_getdata(buf,100);
    if (iretn < 0)
    {
        return iretn;
    }
    if (buf[0] != '?' || buf[1] != '>')
    {
        return GS232B_ERROR_OPEN;
    }

    return 0;
}

int32_t gs232b_disconnect

(

)

Close currently open GS-232B.

{
    if (gs232b_serial == NULL)
        return (GS232B_ERROR_CLOSED);

    cssl_close(gs232b_serial);
    return 0;
}

int32_t gs232b_calibrate_offset

(

int32_t

axis

)

float gs232b_get_az

(

)

{
    char buf[20];
    gs232b_send((char *)"C\r",1);
    gs232b_getdata(buf,20);
    sscanf(buf,"AZ=%03f\r\n",&ant_state.currentaz);
    ant_state.currentaz = RADOF(ant_state.currentaz);
    return (ant_state.currentaz);
}

float gs232b_get_el

(

)

{
    char buf[20];
    gs232b_send((char *)"B\r",1);
    gs232b_getdata(buf,20);
    sscanf(buf,"EL=%03f\r\n",&ant_state.currentel);
    ant_state.currentel = RADOF(ant_state.currentel);
    return (ant_state.currentel);
}

int32_t gs232b_get_az_el	(	float &	az,
		float &	el
	)

{
    int32_t iretn = 0;
    char buf[40];

    iretn = gs232b_send((char *)"C2\r",1);
    iretn = gs232b_getdata(buf,40);
    if (iretn == 0)
    {
        iretn = gs232b_getdata(buf,40);
    }
    if (iretn)
    {
        sscanf(buf,"AZ=%03f  EL=%03f\r\n",&az,&el);
        az = RADOF(az);
        el = RADOF(el);
    }
    return iretn;
}

float gs232b_get_az_offset

(

)

{
    return (ant_state.az_offset);
}

float gs232b_get_el_offset

(

)

{
    return (ant_state.el_offset);
}

void gs232b_get_state

(

gs232b_state &

state

)

{
    state = ant_state;
}

int32_t gs232b_goto	(	float	az,
		float	el
	)

{
    int32_t iretn;
    char out[50];
    static int32_t taz = 500;
    static int32_t tel = 500;
    int32_t iaz, iel;

    if (az < 0 || az > RADOF(450))
    {
        az = fixangle(az);
    }

    if (el < 0)
    {
        el = 0.;
    }
    else if (el > DPI)
    {
        el = DPI;
    }

    iretn = gs232b_get_az_el(ant_state.currentaz,ant_state.currentel);
    if (iretn < 0)
    {
        return iretn;
    }

    //  if (az < DPI2 && az < ant_state.currentaz)
    //  {
    //      az += D2PI;
    //  }
    //  else if (az > D2PI && az > ant_state.currentaz)
    //  {
    //      az -= D2PI;
    //  }
    
//  mel = .001+(el+ant_state.currentel)/2.;
//  del = el-ant_state.currentel;
//  daz = (az-ant_state.currentaz)/cos(mel);
    float daz = az - ant_state.currentaz;
    float del = el - ant_state.currentel;
    float sep = sqrt(daz*daz+del*del);

    //  printf("az: %7.2f-%7.2f el: %7.2f-%7.2f sep: %8.3f \n",DEGOF(ant_state.currentaz),DEGOF(az),DEGOF(ant_state.currentel),DEGOF(el),DEGOF(sep));
    if (sep > ant_state.sensitivity)
    {
        ant_state.targetaz = az;
        ant_state.targetel = el;
        switch ((int)(4.5*sep/DPI))
        {
        case 0:
            break;
        case 1:
            gs232b_send((char *)"X1\r", true);
            break;
        case 2:
            gs232b_send((char *)"X2\r", true);
            break;
        case 3:
            gs232b_send((char *)"X3\r", true);
            break;
        case 4:
        default:
            gs232b_send((char *)"X4\r", true);
            break;
        }
        iaz = (int)(DEGOF(az)+.5);
        iel = (int)(DEGOF(el)+.5);
        if (iaz != taz || iel != tel)
        {
            sprintf(out,"W%03d %03d\r",iaz,iel);
            gs232b_send(out, true);
            taz = iaz;
            tel = iel;
        }
    }
    return 0;
}

int32_t gs232b_stop

(

)

Routine to stop current action. Whatever the current command is, it will cancelled before completeion.

Returns

0 or negative error.

{
    int32_t iretn;

    iretn = gs232b_send((char *)"S\r", true);

    return iretn;
}

int32_t gs232b_az_speed

(

int32_t

speed

)

{
    int32_t iretn;
    char out[50];

    if (speed < 1 || speed > 4)
        return (GS232B_ERROR_OUTOFRANGE);
    sprintf(out,"X%1d\r",speed);
    iretn = gs232b_send(out, true);
    if (iretn < 0)
    {
        return iretn;
    }
    else
    {
        return (speed);
    }
}

int32_t gs232b_getdata	(	char *	buf,
		int32_t	buflen
	)

Routine to use in blocking mode. Reads the serial port until a New Line is received, then returns entire buffer.

Parameters

buf	Pointer to a char buffer
buflen	32 bit signed integer indicating the maximum size of the buffer

Returns

32 bit signed integer containing the number of bytes read.

{
    int32_t i,j;

    i = 0;
//  while ((j=cssl_getdata(gs232b_serial,(uint8_t *)&buf[i],buflen-i)))
//  {
//      if (j < 0)
//      {
//          return j;
//      }
//      else
//      {
//          i += j;
//          if (buf[i-1] == '\n')
//              break;
//      }
//  }
//  buf[i] = 0;
//  return (i);

    while ((j=cssl_getchar(gs232b_serial)) >= 0)
    {
        buf[i++] = j;
        if (j == '\n' || i == buflen)
        {
            break;
        }
    }
    if (j >= 0)
    {
        buf[i] = 0;
        return (i);
    }
    else
    {
        return j;
    }
}

int32_t gs232b_send	(	char *	buf,
		bool	force
	)

{
    int32_t iretn = 0;
    static char lastbuf[256];

    iretn = gs232b_test();
    if (iretn < 0)
    {
        return iretn;
    }

    if (strlen(buf) && (strcmp(lastbuf,buf) || force))
    {
        iretn = cssl_putstring(gs232b_serial,buf);
        strncpy(lastbuf,buf,256);
    }

    return iretn;
}

int32_t gs232b_test

(

)

{
    int32_t iretn;

    iretn = cssl_putchar(gs232b_serial, '\r');
    if (iretn < 0)
    {
        return iretn;
    }

    char buf[100];
    iretn = gs232b_getdata(buf,100);
    if (iretn < 0)
    {
        return iretn;
    }
    if (buf[0] != '?' || buf[1] != '>')
    {
        return GS232B_ERROR_SEND;
    }

    return 0;
}

int32_t gs232b_set_sensitivity

(

float

sensitivity

)

{
    ant_state.sensitivity = sensitivity;
    return 0;
}