mirror of
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125 lines
4.4 KiB
C++
125 lines
4.4 KiB
C++
///////////////////////////////////////////////////////////////////////////////////
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// Copyright (C) 2023 Jon Beniston, M7RCE <jon@beniston.com> //
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// //
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// This program is free software; you can redistribute it and/or modify //
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// it under the terms of the GNU General Public License as published by //
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// the Free Software Foundation as version 3 of the License, or //
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// (at your option) any later version. //
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// //
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// This program is distributed in the hope that it will be useful, //
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// but WITHOUT ANY WARRANTY; without even the implied warranty of //
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the //
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// GNU General Public License V3 for more details. //
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// //
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// You should have received a copy of the GNU General Public License //
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// along with this program. If not, see <http://www.gnu.org/licenses/>. //
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///////////////////////////////////////////////////////////////////////////////////
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#include <cmath>
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#include <QDebug>
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#include "spidprotocol.h"
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SPIDProtocol::SPIDProtocol() :
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m_spidStatusSent(false),
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m_spidSetSent(false),
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m_spidSetOutstanding(false)
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{
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}
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void SPIDProtocol::setAzimuthElevation(float azimuth, float elevation)
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{
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if (!m_spidSetSent && !m_spidStatusSent)
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{
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QByteArray cmd(13, (char)0);
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cmd[0] = 0x57; // Start
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int h = std::round((azimuth + 360.0f) * 2.0f);
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cmd[1] = 0x30 | (h / 1000);
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cmd[2] = 0x30 | ((h % 1000) / 100);
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cmd[3] = 0x30 | ((h % 100) / 10);
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cmd[4] = 0x30 | (h % 10);
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cmd[5] = 2; // 2 degree per impulse
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int v = std::round((elevation + 360.0f) * 2.0f);
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cmd[6] = 0x30 | (v / 1000);
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cmd[7] = 0x30 | ((v % 1000) / 100);
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cmd[8] = 0x30 | ((v % 100) / 10);
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cmd[9] = 0x30 | (v % 10);
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cmd[10] = 2; // 2 degree per impulse
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cmd[11] = 0x2f; // Set cmd
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cmd[12] = 0x20; // End
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m_device->write(cmd);
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m_spidSetSent = true;
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}
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else
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{
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qDebug() << "SPIDProtocol::setAzimuthElevation: Not sent, waiting for status reply";
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m_spidSetOutstanding = true;
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}
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ControllerProtocol::setAzimuthElevation(azimuth, elevation);
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}
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// Handle data received from controller
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void SPIDProtocol::readData()
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{
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char buf[1024];
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qint64 len;
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while (m_device->bytesAvailable() >= 12)
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{
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len = m_device->read(buf, 12);
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if ((len == 12) && (buf[0] == 0x57))
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{
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double az;
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double el;
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az = buf[1] * 100.0 + buf[2] * 10.0 + buf[3] + buf[4] / 10.0 - 360.0;
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el = buf[6] * 100.0 + buf[7] * 10.0 + buf[8] + buf[9] / 10.0 - 360.0;
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//qDebug() << "SPIDProtocol::readData read Az " << az << " El " << el;
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reportAzEl(az, el);
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if (m_spidStatusSent && m_spidSetSent) {
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qDebug() << "SPIDProtocol::readData - m_spidStatusSent and m_spidSetSent set simultaneously";
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}
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if (m_spidStatusSent) {
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m_spidStatusSent = false;
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}
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if (m_spidSetSent) {
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m_spidSetSent = false;
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}
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if (m_spidSetOutstanding)
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{
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m_spidSetOutstanding = false;
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setAzimuthElevation(m_lastAzimuth, m_lastElevation);
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}
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}
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else
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{
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QByteArray bytes(buf, (int)len);
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qWarning() << "SPIDProtocol::readData - unexpected SPID rot2prog response \"" << bytes.toHex() << "\"";
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reportError(QString("Unexpected SPID rot2prog response: %1").arg(bytes.toHex().data()));
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}
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}
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}
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// Request current Az/El from controller
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void SPIDProtocol::update()
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{
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// Don't send a new status command, if waiting for a previous reply
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if (!m_spidSetSent && !m_spidStatusSent)
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{
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// Status
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QByteArray cmd;
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cmd.append((char)0x57); // Start
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for (int i = 0; i < 10; i++) {
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cmd.append((char)0x0);
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}
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cmd.append((char)0x1f); // Status
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cmd.append((char)0x20); // End
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m_device->write(cmd);
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m_spidStatusSent = true;
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}
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}
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