/* -------------------------------------------------------------------------- */ /* - Protocol for LX200 command set telescope control - */ /* -------------------------------------------------------------------------- */ /* */ /* Copyright 2004-2012 John Kielkopf */ /* */ /* Distributed under the terms of the General Public License (see LICENSE) */ /* */ /* John Kielkopf (kielkopf@louisville.edu) */ /* */ /* Date: July 22, 2012 */ /* Version: 6.0 */ /* */ /* History: */ /* */ /* February 17, 2002 -- Version 1.00 */ /* These routines originated with lx200.c by */ /* Ken Shouse (kshouse@econtrols.com) */ /* as modified by Carlos Guirao (cguirao@eso.org). */ /* */ /* November 20, 2002 -- Version 1.10 */ /* Thanks to Peter McCullough for a correction to the routine for */ /* parsing declination. */ /* */ /* April 17, 2003 -- Version 2.00 */ /* New functions implemented following Peter McCullough's use */ /* of protocol.c in his cltel program. */ /* */ /* New in version 2.00 -- */ /* Control focus, fan, reticle, derotator */ /* Optional max slew rate at compile time */ /* Function to set slew rate in degrees/second */ /* Stop all NSEW motions */ /* Set time at LX200 */ /* */ /* August 13, 2005 -- Version 2.10 */ /* Updated for compatibility with new xmtel functions under development */ /* */ /* March 25, 2006 -- Version 3.0 */ /* New structure for implementing pointing corrections */ /* */ /* September 3, 2006 -- Version 3.0.4 */ /* Added null functions for alignment with other protocols */ /* */ /* September 12, 2008 -- Version 5.0 */ /* Modified to work with INDI version of xmtel */ /* */ /* June 26, 2010 -- Version 5.2.0 */ /* Modified for compatibility with current xmtel */ /* Some of the new xmtel functions remain unsupported with the LX200 */ /* Added serial port option to header */ /* */ /* October 10, 2011 -- Version 5.3.0 */ /* Added CenterGuide null function for compatibility with current xmtel */ /* */ /* February 27, 2012 -- Version 5.4.0 */ /* Offset handling moved to pointing routine */ /* Dynamic corrections added to pointing */ /* */ /* July 1, 2012 -- Version 6.0 */ /* Leapsecond incremented in protocol.h */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include "protocol.h" #define NULL_PTR(x) (x *)0 #ifndef TRUE #define TRUE 1 #endif #ifndef FALSE #define FALSE 0 #endif /* System variables and prototypes */ /* Telescope and mounting commands that may be called externally */ /* Interface control */ void ConnectTel(void); void DisconnectTel(void); int CheckConnectTel(void); /* Slew and track control */ void SetRate(int newRate); void StartSlew(int direction); void StopSlew(int direction); void StartTrack(void); void CenterGuide(double centerra, double centerdec, int raflag, int decflag, int pmodel); void StopTrack(void); void FullStop(void); /* Coordinates and time */ void GetTel(double *telra, double *teldec, int pmodel); int GoToCoords(double newRA, double newDec, int pmodel); int CheckGoTo(double desRA, double desDec, int pmodel); /* Slew limits */ int GetSlewStatus(void); int SetLimits(int limits); int GetLimits(int *limits); /* LX200 utilities -- not be used by XmTel */ double GetRA(void); double GetDec(void); void StopNSEW(void); void SetRALimits(double limitLower, double limitHigher); void SetDecLimits(double limitLower, double limitHigher); void Reticle(int reticle); int SetSlewRate(int slewRate); /* Instrumentation */ void Focus(int focuscmd, int focusspd); void Rotate(int rotatecmd, int rotatespd); void GetFocus(double *telfocus); void GetRotate(double *telrotate); void Fan(int fancmd); /* External variables and code shared with XmTel */ extern double LSTNow(void); extern double UTNow(void); extern double offsetra, offsetdec; extern double SiteLatitude; extern char telserial[32]; extern void PointingFromTel (double *telra1, double *teldec1, double telra0, double teldec0, int pmodel); extern void PointingToTel (double *telra0, double *teldec0, double telra1, double teldec1, int pmodel); /* LX200 local data */ static int focuscount; /* Used to keep a focus position count */ /* Communications variables and routines for internal use */ static int TelPortFD; static int TelConnectFlag = 0; typedef fd_set telfds; static int readn(int fd, char *ptr, int nbytes, int sec); static int writen(int fd, char *ptr, int nbytes); static int telstat(int fd,int sec,int usec); /* End of prototype and variable definitions */ /* Report on telescope connection status */ int CheckConnectTel(void) { if (TelConnectFlag == TRUE) { return TRUE; } else { return FALSE; } } /* Connect to the telescope serial interface */ void ConnectTel(void) { struct termios tty; char returnStr[128]; int numRead; if(TelConnectFlag != 0) return; /* Make the connection */ TelPortFD = open(telserial,O_RDWR); if(TelPortFD == -1) return; tcgetattr(TelPortFD,&tty); cfsetospeed(&tty, (speed_t) B9600); cfsetispeed(&tty, (speed_t) B9600); tty.c_cflag = (tty.c_cflag & ~CSIZE) | CS8; tty.c_iflag = IGNBRK; tty.c_lflag = 0; tty.c_oflag = 0; tty.c_cflag |= CLOCAL | CREAD; tty.c_cc[VMIN] = 1; tty.c_cc[VTIME] = 5; tty.c_iflag &= ~(IXON|IXOFF|IXANY); tty.c_cflag &= ~(PARENB | PARODD); tcsetattr(TelPortFD, TCSANOW, &tty); /* flush the input (read) buffer */ tcflush(TelPortFD,TCIOFLUSH); /* send a # to clean up */ writen(TelPortFD,"#",1); /* ask for local time to test connection */ writen(TelPortFD,"#:GL#",5); numRead=readn(TelPortFD,returnStr,9,1); returnStr[numRead] = '\0'; /* diagnostic test of local time */ /* printf("LocalTime: %d read %s\n",numRead,returnStr); */ if (numRead == 9) { TelConnectFlag = 1; /* Check precision on RA and toggle to high precision if needed */ writen(TelPortFD,"#:GR#",5); numRead = readn(TelPortFD,returnStr,9,1); if (numRead < 9) { writen(TelPortFD,"#:U#",4); usleep(250000.); } } } /* Set the speed for a motion command */ void SetRate(int newRate) { if(newRate == SLEW) writen(TelPortFD,"#:RS#",5); else if(newRate == FIND) writen(TelPortFD,"#:RM#",5); else if(newRate == CENTER) writen(TelPortFD,"#:RC#",5); else if(newRate == GUIDE) writen(TelPortFD,"#:RG#",5); } void StartSlew(int direction) { if(direction == NORTH) writen(TelPortFD,"#:Mn#",5); else if(direction == EAST) writen(TelPortFD,"#:Me#",5); else if(direction == SOUTH) writen(TelPortFD,"#:Ms#",5); else if(direction == WEST) writen(TelPortFD,"#:Mw#",5); } void StopSlew(int direction) { if(direction == NORTH) writen(TelPortFD,"#:Qn#",5); else if(direction == EAST) writen(TelPortFD,"#:Qe#",5); else if(direction == SOUTH) writen(TelPortFD,"#:Qs#",5); else if(direction == WEST) writen(TelPortFD,"#:Qw#",5); } void DisconnectTel(void) { /* printf("DisconnectTel\n"); */ if(TelConnectFlag == 1) close(TelPortFD); TelConnectFlag = 0; } /* Read the telescope right ascension */ double GetRA(void) { char returnStr[10]; double raHr,raMin,raSec,returnRA; int numRead; writen(TelPortFD,"#:GR#",5); numRead=readn(TelPortFD,returnStr,9,1); /* Most LX200's support high precision. */ /* ConnectTel tests the precision and tries to toggle to high precision. */ /* Low precision mode is not supported without modifying the following. */ returnStr[8] = '\0'; sscanf(returnStr,"%lf:%lf:%lf",&raHr,&raMin,&raSec); returnRA = raHr + raMin/60.0 + raSec/3600.0; return returnRA; } /* Read the telescope declination */ double GetDec(void) { char returnStr[10]; double decDeg,decMin,decSec,returnDec; int numRead; writen(TelPortFD,"#:GD#",5); numRead=readn(TelPortFD,returnStr,10,1); /* Most LX200's support high precision, so */ /* ConnectTel tests the precision and tries to toggle to high precision. */ /* Low precision mode is not supported without modifying the following. */ /* Since the LX200 may return something other than ':' as a delimiter, */ /* we parse each piece. */ /* Thanks to cltel this now returns correct sign when decDeg = 0 */ returnStr[3] = returnStr[6] = returnStr[9]='\0'; sscanf(returnStr,"%lf",&decDeg); sscanf(returnStr+4,"%lf:",&decMin); sscanf(returnStr+7,"%lf",&decSec); returnDec = (double) fabs(decDeg) + decMin/60.0 + decSec/3600.0; if(returnStr[0] == '-') returnDec *= -1.; return returnDec; } /* Find the coordinates at which the telescope is pointing */ void GetTel(double *telra, double *teldec, int pmodel) { double telra0, teldec0, telra1, teldec1; /* Read the telescope RA */ telra0 = GetRA(); /* Read the telescope Dec */ teldec0 = GetDec(); /* Correct the coordinates that are reported by the telescope */ PointingFromTel(&telra1, &teldec1, telra0, teldec0, pmodel); /* Return corrected values */ *telra=telra1; *teldec=teldec1; return; } int GoToCoords(double newRA, double newDec, int pmodel) { double telra0, telra1, teldec0, teldec1; int raHr, raMin, raSec; int decDeg, decMin, decSec; double dms, hms, ms; char outputStr[32], inputStr[2048]; int returnVal; /* Where do we really want to go to? */ telra1 = newRA; teldec1 = newDec; /* Where will the telescope point to make this happen? */ PointingToTel(&telra0,&teldec0,telra1,teldec1,pmodel); /* Work with the telescope coordinates */ newRA = telra0; newDec = teldec0; /* In high precision mode, we must send hh:mm:ss and dd:mm:ss */ /* Allow for truncation if input is in seconds of arc */ hms = newRA; hms = hms + 0.5/3600.; raHr = (int) hms; ms = hms - (double) raHr; ms = ms*60.; raMin = (int) ms; raSec = (int) 60.*(ms - (double) raMin); sprintf(outputStr,"#:Sr %02d:%02d:%02d#\n",raHr,raMin,raSec); writen(TelPortFD,outputStr,15); if (readn(TelPortFD,inputStr,1,1) != 1 ) exit(0); if(inputStr[0] != '1') { fprintf(stderr,"Error setting object RA in GoToCoords!\n"); fprintf(stderr,"Tried to send command string %s\n",outputStr); fprintf(stderr,"Received string %s\n",inputStr); } if(newDec >= 0.0) { dms = newDec; dms = dms + 0.5/3600.; decDeg = (int) dms; ms = dms - (double) decDeg; ms = ms*60.; decMin = (int) ms; decSec = (int) 60.*(ms - (double) decMin); sprintf(outputStr,"#:Sd +%02d:%02d:%02d#\n",decDeg,decMin,decSec); } else { dms = -newDec; dms = dms + 0.5/3600.; decDeg = (int) dms; ms = dms - (double) decDeg; ms = ms*60.; decMin = (int) ms; decSec = (int) 60.*(ms - (double) decMin); sprintf(outputStr,"#:Sd -%02d:%02d:%02d#\n",decDeg,decMin,decSec); } writen(TelPortFD,outputStr,16); if (readn(TelPortFD,inputStr,1,1) != 1 ) { DisconnectTel(); return -1; } if(inputStr[0] != '1') { fprintf(stderr,"Error setting object Dec in GoToCoords!\n"); fprintf(stderr,"Tried to send command string %s\n",outputStr); fprintf(stderr,"Received string %s\n",inputStr); } writen(TelPortFD,"#:MS#",5); if (readn(TelPortFD,inputStr,1,5) != 1 ) { DisconnectTel(); return -1; } switch(inputStr[0]) { case '0': return 0; break; case '1': returnVal = 1; fprintf(stderr,"Object is below horizon in GoToCoords.\n"); break; case '2': returnVal = 2; fprintf(stderr,"Declination is above upper limit in GoToCoords.\n"); break; default: fprintf(stderr,"Unexpected return from command #:MS#\n"); return -1; break; } /* Look for '#' */ for (;;) { if ( readn(TelPortFD,inputStr,1,1) ) { if (inputStr[0] == '#') break; } else fprintf(stderr,"No acknowledgement from telescope after GoToCoords.\n"); return -1; } return returnVal; } /* Test whether the destination was reached */ int CheckGoTo(double desRA, double desDec, int pmodel) { double telra0, telra1, teldec0, teldec1; double errorRA, errorDec, nowRA, nowDec; /* Where do we really want to go to? */ telra1 = desRA; teldec1 = desDec; /* Where will the telescope point to make this happen? */ PointingToTel(&telra0,&teldec0,telra1,teldec1,pmodel); /* Work with the telescope coordinates */ desRA = telra0; desDec = teldec0; nowRA=GetRA(); errorRA = nowRA - desRA; nowDec=GetDec(); errorDec = nowDec - desDec; /* For 2 minute of arc precision */ /*if( fabs(raError) > 1.0/(15.0*30.0) || fabs(decError) > 1.0/30.0)*/ /* For 6 minute of arc precision */ if( fabs(errorRA) > (0.1/15.) || fabs(errorDec) > 0.1) { return (0); } else { return (1); } } /* Set lower and upper RA limits to protect hardware */ void SetRALimits(double limitLower, double limitHigher) { } /* Set lower and upper dec limits to protect hardware */ void SetDecLimits(double limitLower, double limitHigher) { int min, max; char outputStr[32], inputStr[2048]; min = (int) limitLower; max = (int) limitHigher; sprintf(outputStr,"#:So %02d#\n",min); writen(TelPortFD,outputStr,9); if (readn(TelPortFD,inputStr,1,1) != 1 ) { fprintf(stderr,"Unable to set Dec lower limit\n"); } sprintf(outputStr,"#:Sh %02d#\n",max); writen(TelPortFD,outputStr,8); if (readn(TelPortFD,inputStr,1,1) != 1 ) { fprintf(stderr,"Unable to set Dec upper limit\n"); } } /* Set slew speed */ int SetSlewRate(int slewRate) { char outputStr[32], inputStr[2048]; if(slewRate > 1 && slewRate <= 4) { sprintf(outputStr,"#:Sw %1d#\n",slewRate); writen(TelPortFD,outputStr,8); if (readn(TelPortFD,inputStr,1,1) != 1 ) fprintf(stderr,"Error: no response to set Slew Rate to %1d deg/sec.\n",slewRate); else { printf("Slew Rate set to %1d deg/sec\n",slewRate); return 1; } } printf("Invalid Slew Rate: %1d deg/sec, must be 2 to 4 deg/sec \n",slewRate); return 0; } /* Stop all motion */ void StopNSEW(void) { writen(TelPortFD,"#:Qn#",5); writen(TelPortFD,"#:Qe#",5); writen(TelPortFD,"#:Qs#",5); writen(TelPortFD,"#:Qw#",5); } /* Run the focus using focuscmd */ /* Unlike most focus protocols for xmtel this one uses the drive controller */ /* The LX200 has fast and slow defined, so we have only two states */ /* Focus count is maintained by timing because the LX200 does not encode focus */ void Focus(int focuscmd, int focusspd) { static int focusflag; static double focustime; if ( focuscmd == FOCUSCMDOUT ) { focusflag = 1; focustime = UTNow(); if ( focusspd > FOCUSSPD1 ) { writen(TelPortFD,"#:FF#",5); } else { writen(TelPortFD,"#:FS#",5); } writen(TelPortFD,"#:F+#",5); return; } if ( focuscmd == FOCUSCMDIN ) { focusflag = -1; focustime = UTNow(); if ( focusspd > FOCUSSPD1 ) { writen(TelPortFD,"#:FF#",5); } else { writen(TelPortFD,"#:FS#",5); } writen(TelPortFD,"#:F-#",5); return; } if ( focuscmd == FOCUSCMDOFF ) { if (focusflag != 0) { /* Focus is in motion so we note the time and then stop it */ /* Keep track of count as number of seconds at slowest speed */ focustime = UTNow() - focustime; /* Send the command */ writen(TelPortFD,"#:F0#",5) ; /* Just in case the UT clock rolled over one day while focusing */ /* Try to trap the error but ... */ /* for very short focustime roundoff error may give negative */ /* values instead of zero. We trap those cases. */ if ( focustime < 0. ) { if ( focustime < -23.9 ) { focustime = focustime + 24.; } focustime = 0.; } /* Count time in tenths of seconds to get the focus change */ /* This is to give more feedback to the observer but */ /* UTNow does not pick up fractions of a second so least count is 10 */ focustime = focustime*36000.; if ( focusflag == -1 ) { focuscount = focuscount - focusspd * ( (int) focustime); } if ( focusflag == 1 ) { focuscount = focuscount + focusspd * ( (int) focustime); } focusflag = 0; } if ( focusflag == 0 ) { /* Focus motion is already stopped so there is nothing to do */ } } } /* Adjust the rotation */ /* LX200 rotator compensates for sidereal motion in an alt-az mounting */ void Rotate(int rotatecmd, int rotatespd) { if ( rotatecmd != ROTATECMDOFF) { if ( rotatespd == ROTATESPDSIDEREAL ) { writen(TelPortFD,"#:r+#",5); } } else if ( rotatecmd == ROTATECMDOFF ) { writen(TelPortFD,"#:r-#",5); } else { fprintf(stderr,"Unsupported rotation request for LX200.\n"); } } /* Control the fan */ /* LX200 fan has only one speed */ void Fan(int fancmd) { if ( fancmd != FANCMDOFF ) { writen(TelPortFD,"#:f+#",5); } else if ( fancmd == FANCMDOFF ) { writen(TelPortFD,"#:f-#",5); } } /* Control the reticle function using predefined values */ /* XmTel does not use this */ void Reticle(int reticle) { #define BRIGHTER 16 /* increase */ #define DIMMER 8 /* decrease */ #define BLINK0 0 /* no blinking */ #define BLINK1 1 /* blink rate 1 */ #define BLINK2 2 /* blink rate 2 */ #define BLINK3 4 /* blink rate 3 */ if ( reticle == BRIGHTER) writen(TelPortFD,"#:B+#",5); else if ( reticle == DIMMER ) writen(TelPortFD,"#:B-#",5); else if ( reticle == BLINK0 ) writen(TelPortFD,"#:B0#",5); else if ( reticle == BLINK1 ) writen(TelPortFD,"#:B1#",5); else if ( reticle == BLINK2 ) writen(TelPortFD,"#:B2#",5); else if ( reticle == BLINK3 ) writen(TelPortFD,"#:B3#",5); } /* Tracking on/off utilities */ /* Start tracking if it is not on */ void StartTrack(void) { } /* Use high resolution encoder to improve tracking */ void CenterGuide(double centerra, double centerdec, int raflag, int decflag, int pmodel) { } /* Stop tracking if it is on */ void StopTrack(void) { } /* Stop all motion */ void FullStop(void) { } /* Serial port utilities */ static int writen(fd, ptr, nbytes) int fd; char *ptr; int nbytes; { int nleft, nwritten; nleft = nbytes; while (nleft > 0) { nwritten = write (fd, ptr, nleft); if (nwritten <=0 ) break; nleft -= nwritten; ptr += nwritten; } return (nbytes - nleft); } static int readn(fd, ptr, nbytes, sec) int fd; char *ptr; int nbytes; int sec; { int stat; int nleft, nread; nleft = nbytes; while (nleft > 0) { stat = telstat(fd,sec,0); if (stat <= 0 ) break; nread = read (fd, ptr, nleft); /* printf("readn: %d read\n", nread); */ if (nread <= 0) break; nleft -= nread; ptr += nread; } return (nbytes - nleft); } /* * Examines the read status of a file descriptor. * The timeout (sec, usec) specifies a maximum interval to * wait for data to be available in the descriptor. * To effect a poll, the timeout (sec, usec) should be 0. * Returns non-negative value on data available. * 0 indicates that the time limit referred by timeout expired. * On failure, it returns -1 and errno is set to indicate the * error. */ static int telstat(fd,sec,usec) register int fd, sec, usec; { int ret; int width; struct timeval timeout; telfds readfds; memset((char *)&readfds,0,sizeof(readfds)); FD_SET(fd, &readfds); width = fd+1; timeout.tv_sec = sec; timeout.tv_usec = usec; ret = select(width,&readfds,NULL_PTR(telfds),NULL_PTR(telfds),&timeout); return(ret); } /* LX200 unsupported functions */ /* Return a flag indicating whether a slew is now in progress */ int GetSlewStatus(void) { /* Always return a no-slew state */ return (0); } /* Set slew limits control off or on */ int SetLimits(int limits) { return (0); } /* Get status of slew limits control */ int GetLimits(int *limits) { *limits = 0; return (0); } /* Control the dew heater */ void Heater(int heatercmd) { } /* Report the focus setting */ void GetFocus(double *telfocus) { *telfocus = (double) focuscount; } /* Report the rotation setting */ void GetRotate(double *telrotate) { } /* Report the temperature */ void GetTemperature(double *teltemperature) { }