[Hamlib-commits] Hamlib -- Ham radio control libraries branch master updated. 12335d5c254af24950d67
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[Hamlib-commits] Hamlib -- Ham radio control libraries branch master updated. 12335d5c254af24950d678a797aef2661ebc4f9d
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From: Michael B. <mdb...@us...> - 2020-12-05 05:33:34
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- Log -----------------------------------------------------------------
commit 12335d5c254af24950d678a797aef2661ebc4f9d
Author: Michael Black W9MDB <mdb...@ya...>
Date: Fri Dec 4 23:32:32 2020 -0600
Fix SH command for ft891
https://github.com/Hamlib/Hamlib/issues/455
diff --git a/rigs/yaesu/newcat.c b/rigs/yaesu/newcat.c
index 27ac0fea..e112876f 100644
--- a/rigs/yaesu/newcat.c
+++ b/rigs/yaesu/newcat.c
@@ -7261,7 +7261,7 @@ int newcat_set_rx_bandwidth(RIG *rig, vfo_t vfo, rmode_t mode, pbwidth_t width)
} /* end else */
- if (is_ftdx101)
+ if (is_ftdx101 || is_ft891)
{
snprintf(priv->cmd_str, sizeof(priv->cmd_str), "SH%c0%02d;", main_sub_vfo, w);
}
diff --git a/rigs/yaesu/newcat.h b/rigs/yaesu/newcat.h
index 5c16c129..4443fd03 100644
--- a/rigs/yaesu/newcat.h
+++ b/rigs/yaesu/newcat.h
@@ -50,7 +50,7 @@
typedef char ncboolean;
/* shared function version */
-#define NEWCAT_VER "20201121"
+#define NEWCAT_VER "20201204"
/* Hopefully large enough for future use, 128 chars plus '\0' */
#define NEWCAT_DATA_LEN 129
commit 1f7ad94438cee9ea4eec5ec53fcdf5f1dd1c05a3
Merge: c4e1deb8 472293cd
Author: Michael Black <mdb...@ya...>
Date: Thu Dec 3 16:13:18 2020 -0600
Merge pull request #453 from mikaelnousiainen/rotator-speed-control-and-status
Rotator API: Add funcs/levels/parms, implement speed control, add status flags
commit 472293cd57d518f96879168d2e95388e2a22c7eb
Author: Mikael Nousiainen <mik...@ik...>
Date: Thu Dec 3 23:21:57 2020 +0200
Comments
diff --git a/include/hamlib/rotator.h b/include/hamlib/rotator.h
index 0cff2267..52f22f13 100644
--- a/include/hamlib/rotator.h
+++ b/include/hamlib/rotator.h
@@ -238,7 +238,7 @@ typedef enum {
*/
enum rot_level_e {
ROT_LEVEL_NONE = 0, /*!< '' -- No Level */
- ROT_LEVEL_SPEED = (1 << 0), /*!< \c SPEED -- Rotation speed, arg int (1-100) */
+ ROT_LEVEL_SPEED = (1 << 0), /*!< \c SPEED -- Rotation speed, arg int (default range 1-100 if not specified) */
ROT_LEVEL_63 = CONSTANT_64BIT_FLAG(63), /*!< \c Future use, last level */
};
diff --git a/rigs/dummy/dummy_common.h b/rigs/dummy/dummy_common.h
index 84c9bdc9..eba06538 100644
--- a/rigs/dummy/dummy_common.h
+++ b/rigs/dummy/dummy_common.h
@@ -1,5 +1,5 @@
/*
- * Hamlib Dummy backend - shard routines
+ * Hamlib Dummy backend - shared routines
* Copyright (c) 2020 by Mikael Nousiainen
*
*
commit 81a0c521e7a1c5979b9f25c40a8e247c52c96fce
Author: Mikael Nousiainen <mik...@ik...>
Date: Thu Dec 3 23:07:08 2020 +0200
Add support for ROT_LEVEL_SPEED level in rotator backends that support setting the rotator speed via the move command. Add azimuth-only and elevation-only versions of generic GS-232A and GS-232B backends.
diff --git a/include/hamlib/rotlist.h b/include/hamlib/rotlist.h
index 2dfd0120..5151013c 100644
--- a/include/hamlib/rotlist.h
+++ b/include/hamlib/rotlist.h
@@ -261,6 +261,10 @@
#define ROT_MODEL_GS232 ROT_MAKE_MODEL(ROT_GS232A, 6) /* Not A or B */
#define ROT_MODEL_LVB ROT_MAKE_MODEL(ROT_GS232A, 7)
#define ROT_MODEL_ST2 ROT_MAKE_MODEL(ROT_GS232A, 8)
+#define ROT_MODEL_GS232A_AZ ROT_MAKE_MODEL(ROT_GS232A, 9)
+#define ROT_MODEL_GS232A_EL ROT_MAKE_MODEL(ROT_GS232A, 10)
+#define ROT_MODEL_GS232B_AZ ROT_MAKE_MODEL(ROT_GS232A, 11)
+#define ROT_MODEL_GS232B_EL ROT_MAKE_MODEL(ROT_GS232A, 12)
/**
* \def ROT_MODEL_PCROTOR
diff --git a/rotators/easycomm/easycomm.c b/rotators/easycomm/easycomm.c
index 7e691e19..e2955c11 100644
--- a/rotators/easycomm/easycomm.c
+++ b/rotators/easycomm/easycomm.c
@@ -35,9 +35,12 @@
#include "serial.h"
#include "misc.h"
#include "register.h"
+#include "idx_builtin.h"
#include "easycomm.h"
+#define EASYCOMM3_LEVELS ROT_LEVEL_SPEED
+
/* ************************************************************************* */
/**
* easycomm_transaction
@@ -247,8 +250,7 @@ easycomm_rot_move(ROT *rot, int direction, int speed)
return RIG_OK;
}
-static int
-easycomm_rot_move_velocity(ROT *rot, int direction, int speed)
+static int easycomm_rot_move_velocity(ROT *rot, int direction, int speed)
{
struct rot_state *rs = &rot->state;
char cmdstr[24];
@@ -258,7 +260,7 @@ easycomm_rot_move_velocity(ROT *rot, int direction, int speed)
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
if (speed == ROT_SPEED_NOCHANGE) {
- easycomm_speed = ((rs->current_speed - 1) * 100);
+ easycomm_speed = rs->current_speed;
} else {
if (speed < 1 || speed > 100)
{
@@ -267,8 +269,8 @@ easycomm_rot_move_velocity(ROT *rot, int direction, int speed)
return -RIG_EINVAL;
}
- rs->current_speed = speed;
easycomm_speed = ((speed - 1) * 100);
+ rs->current_speed = easycomm_speed;
}
/* Speed for EasyComm 3 */
@@ -306,6 +308,49 @@ easycomm_rot_move_velocity(ROT *rot, int direction, int speed)
return RIG_OK;
}
+static int easycomm_rot_get_level(ROT *rot, setting_t level, value_t *val)
+{
+ struct rot_state *rs = &rot->state;
+
+ rig_debug(RIG_DEBUG_VERBOSE, "%s called: %s\n", __func__, rot_strlevel(level));
+
+ switch (level) {
+ case ROT_LEVEL_SPEED:
+ val->i = rs->current_speed;
+ break;
+ default:
+ return -RIG_ENAVAIL;
+ }
+
+ return RIG_OK;
+}
+
+
+static int easycomm_rot_set_level(ROT *rot, setting_t level, value_t val)
+{
+ struct rot_state *rs = &rot->state;
+
+ rig_debug(RIG_DEBUG_VERBOSE, "%s called: %s\n", __func__, rot_strlevel(level));
+
+ switch (level) {
+ case ROT_LEVEL_SPEED: {
+ int speed = val.i;
+ if (speed < 0) {
+ speed = 0;
+ } else if (speed > 9999) {
+ speed = 9999;
+ }
+
+ rs->current_speed = speed;
+ break;
+ }
+ default:
+ return -RIG_ENAVAIL;
+ }
+
+ return RIG_OK;
+}
+
/*
* Get Info
* returns the model name string
@@ -441,6 +486,19 @@ static int easycomm_rot_set_conf(ROT *rot, token_t token, const char *val)
return RIG_OK;
}
+
+static int easycomm_rot_init(ROT *rot)
+{
+ struct rot_state *rs = &rot->state;
+
+ rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
+
+ // Set default speed to half of maximum
+ rs->current_speed = 5000;
+
+ return RIG_OK;
+}
+
/* ************************************************************************* */
/*
* Easycomm rotator capabilities.
@@ -537,7 +595,7 @@ const struct rot_caps easycomm3_rot_caps =
ROT_MODEL(ROT_MODEL_EASYCOMM3),
.model_name = "EasycommIII",
.mfg_name = "Hamlib",
- .version = "20201118.0",
+ .version = "20201203.0",
.copyright = "LGPL",
.status = RIG_STATUS_ALPHA,
.rot_type = ROT_TYPE_OTHER,
@@ -560,7 +618,12 @@ const struct rot_caps easycomm3_rot_caps =
.priv = NULL, /* priv */
- .rot_init = NULL,
+ .has_get_level = EASYCOMM3_LEVELS,
+ .has_set_level = ROT_LEVEL_SET(EASYCOMM3_LEVELS),
+
+ .level_gran = { [ROT_LVL_SPEED] = { .min = { .i = 0 }, .max = { .i = 9999 }, .step = { .i = 1 } } },
+
+ .rot_init = easycomm_rot_init,
.rot_cleanup = NULL,
.rot_open = NULL,
.rot_close = NULL,
@@ -571,6 +634,8 @@ const struct rot_caps easycomm3_rot_caps =
.park = easycomm_rot_park,
.reset = easycomm_rot_reset,
.move = easycomm_rot_move_velocity,
+ .get_level = easycomm_rot_get_level,
+ .set_level = easycomm_rot_set_level,
.set_conf = easycomm_rot_set_conf,
.get_conf = easycomm_rot_get_conf,
.get_info = easycomm_rot_get_info,
diff --git a/rotators/ether6/ether6.c b/rotators/ether6/ether6.c
index 0e90275d..2a5c121a 100644
--- a/rotators/ether6/ether6.c
+++ b/rotators/ether6/ether6.c
@@ -35,12 +35,15 @@
#include "serial.h"
#include "misc.h"
#include "register.h"
+#include "idx_builtin.h"
#include "ether6.h"
#define CMD_MAX 32
#define BUF_MAX 64
+#define ETHER_LEVELS ROT_LEVEL_SPEED
+
/*
* Helper function with protocol return code parsing
*/
@@ -306,6 +309,51 @@ static int ether_rot_move(ROT *rot, int direction, int speed)
}
+static int ether_rot_get_level(ROT *rot, setting_t level, value_t *val)
+{
+ struct rot_state *rs = &rot->state;
+
+ rig_debug(RIG_DEBUG_VERBOSE, "%s called: %s\n", __func__, rot_strlevel(level));
+
+ switch (level) {
+ case ROT_LEVEL_SPEED:
+ val->i = rs->current_speed;
+ break;
+ default:
+ return -RIG_ENAVAIL;
+ }
+
+ return RIG_OK;
+}
+
+
+static int ether_rot_set_level(ROT *rot, setting_t level, value_t val)
+{
+ struct rot_state *rs = &rot->state;
+
+ rig_debug(RIG_DEBUG_VERBOSE, "%s called: %s\n", __func__, rot_strlevel(level));
+
+ switch (level) {
+ case ROT_LEVEL_SPEED: {
+ int speed = val.i;
+ if (speed < 1) {
+ speed = 1;
+ } else if (speed > 100) {
+ speed = 100;
+ }
+
+ rs->current_speed = speed;
+ break;
+ }
+ default:
+ return -RIG_ENAVAIL;
+ }
+
+ return RIG_OK;
+}
+
+
+
static const char *ether_rot_get_info(ROT *rot)
{
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
@@ -314,6 +362,18 @@ static const char *ether_rot_get_info(ROT *rot)
}
+static int ether_rot_init(ROT *rot)
+{
+ struct rot_state *rs = &rot->state;
+
+ rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
+
+ // Set default speed to half of maximum
+ rs->current_speed = 00;
+
+ return RIG_OK;
+}
+
/*
* Dummy rotator capabilities.
@@ -324,7 +384,7 @@ const struct rot_caps ether6_rot_caps =
ROT_MODEL(ROT_MODEL_ETHER6),
.model_name = "Ether6 (via ethernet)",
.mfg_name = "DG9OAA",
- .version = "20200106.0",
+ .version = "20201203.0",
.copyright = "LGPL",
.status = RIG_STATUS_BETA,
.rot_type = ROT_FLAG_AZIMUTH,
@@ -339,8 +399,13 @@ const struct rot_caps ether6_rot_caps =
.priv = NULL, /* priv */
- /* .rot_init = ether_rot_init, */
- /* .rot_cleanup = ether_rot_cleanup, */
+ .has_get_level = ETHER_LEVELS,
+ .has_set_level = ROT_LEVEL_SET(ETHER_LEVELS),
+
+ .level_gran = { [ROT_LVL_SPEED] = { .min = { .i = 0 }, .max = { .i = 9999 }, .step = { .i = 1 } } },
+
+ .rot_init = ether_rot_init,
+ .rot_cleanup = NULL,
.rot_open = ether_rot_open,
.rot_close = ether_rot_close,
@@ -351,6 +416,8 @@ const struct rot_caps ether6_rot_caps =
.stop = ether_rot_stop,
.reset = ether_rot_reset,
.move = ether_rot_move,
+ .get_level = ether_rot_get_level,
+ .set_level = ether_rot_set_level,
.get_info = ether_rot_get_info,
};
diff --git a/rotators/gs232a/gs232a.c b/rotators/gs232a/gs232a.c
index 29bf8dd7..9647e0f0 100644
--- a/rotators/gs232a/gs232a.c
+++ b/rotators/gs232a/gs232a.c
@@ -38,6 +38,7 @@
#include "serial.h"
#include "misc.h"
#include "register.h"
+#include "idx_builtin.h"
#include "gs232a.h"
@@ -46,6 +47,8 @@
#define BUFSZ 64
+#define GS232A_LEVELS ROT_LEVEL_SPEED
+
/**
* gs232a_transaction
*
@@ -236,36 +239,85 @@ gs232a_rot_stop(ROT *rot)
}
-static int
-gs232a_rot_move(ROT *rot, int direction, int speed)
+static int gs232a_rot_get_level(ROT *rot, setting_t level, value_t *val)
+{
+ struct rot_state *rs = &rot->state;
+
+ rig_debug(RIG_DEBUG_VERBOSE, "%s called: %s\n", __func__, rot_strlevel(level));
+
+ switch (level) {
+ case ROT_LEVEL_SPEED:
+ val->i = rs->current_speed;
+ break;
+ default:
+ return -RIG_ENAVAIL;
+ }
+
+ return RIG_OK;
+}
+
+
+static int gs232a_rot_set_level(ROT *rot, setting_t level, value_t val)
{
struct rot_state *rs = &rot->state;
char cmdstr[24];
int retval;
- unsigned x_speed;
+
+ rig_debug(RIG_DEBUG_VERBOSE, "%s called: %s\n", __func__, rot_strlevel(level));
+
+ switch (level) {
+ case ROT_LEVEL_SPEED: {
+ int speed = val.i;
+ if (speed < 1) {
+ speed = 1;
+ } else if (speed > 4) {
+ speed = 4;
+ }
+
+ /* between 1 (slowest) and 4 (fastest) */
+ sprintf(cmdstr, "X%u" EOM, speed);
+ retval = gs232a_transaction(rot, cmdstr, NULL, 0, 1);
+
+ if (retval != RIG_OK) {
+ return retval;
+ }
+
+ rs->current_speed = speed;
+ break;
+ }
+ default:
+ return -RIG_ENAVAIL;
+ }
+
+ return RIG_OK;
+}
+
+
+static int gs232a_rot_move(ROT *rot, int direction, int speed)
+{
+ char cmdstr[24];
+ int retval;
rig_debug(RIG_DEBUG_TRACE, "%s called %d %d\n", __func__,
direction, speed);
if (speed != ROT_SPEED_NOCHANGE) {
+ value_t gs232a_speed;
+
if (speed < 1 || speed > 100)
{
rig_debug(RIG_DEBUG_ERR, "%s: Invalid speed value (1-100)! (%d)\n", __func__, speed);
return -RIG_EINVAL;
}
- x_speed = (3 * speed) / 100 + 1;
+ gs232a_speed.i = (3 * speed) / 100 + 1;
- /* between 1 (slowest) and 4 (fastest) */
- sprintf(cmdstr, "X%u" EOM, x_speed);
- retval = gs232a_transaction(rot, cmdstr, NULL, 0, 1);
+ retval = gs232a_rot_set_level(rot, ROT_LEVEL_SPEED, gs232a_speed);
if (retval != RIG_OK)
{
return retval;
}
-
- rs->current_speed = speed;
}
switch (direction)
@@ -302,6 +354,20 @@ gs232a_rot_move(ROT *rot, int direction, int speed)
return RIG_OK;
}
+
+static int gs232a_rot_init(ROT *rot)
+{
+ struct rot_state *rs = &rot->state;
+
+ rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
+
+ // Set default speed to half of maximum
+ rs->current_speed = 3;
+
+ return RIG_OK;
+}
+
+
/* ************************************************************************* */
/*
* Generic GS23 rotator capabilities.
@@ -312,7 +378,7 @@ const struct rot_caps gs23_rot_caps =
ROT_MODEL(ROT_MODEL_GS23),
.model_name = "GS-23",
.mfg_name = "Yaesu/Kenpro",
- .version = "20201202.0",
+ .version = "20201203.0",
.copyright = "LGPL",
.status = RIG_STATUS_STABLE,
.rot_type = ROT_TYPE_AZEL,
@@ -333,9 +399,17 @@ const struct rot_caps gs23_rot_caps =
.min_el = 0.0,
.max_el = 180.0,
+ .has_get_level = GS232A_LEVELS,
+ .has_set_level = ROT_LEVEL_SET(GS232A_LEVELS),
+
+ .level_gran = { [ROT_LVL_SPEED] = { .min = { .i = 1 }, .max = { .i = 4 }, .step = { .i = 1 } } },
+
+ .rot_init = gs232a_rot_init,
.get_position = gs232a_rot_get_position,
.set_position = gs232a_rot_set_position,
- .stop = gs232a_rot_stop,
+ .stop = gs232a_rot_stop,
+ .get_level = gs232a_rot_get_level,
+ .set_level = gs232a_rot_set_level,
};
/* ************************************************************************* */
@@ -348,7 +422,7 @@ const struct rot_caps gs232_rot_caps =
ROT_MODEL(ROT_MODEL_GS232),
.model_name = "GS-232",
.mfg_name = "Yaesu/Kenpro",
- .version = "20201202.0",
+ .version = "20201203.0",
.copyright = "LGPL",
.status = RIG_STATUS_STABLE,
.rot_type = ROT_TYPE_AZEL,
@@ -369,9 +443,17 @@ const struct rot_caps gs232_rot_caps =
.min_el = 0.0,
.max_el = 180.0,
+ .has_get_level = GS232A_LEVELS,
+ .has_set_level = ROT_LEVEL_SET(GS232A_LEVELS),
+
+ .level_gran = { [ROT_LVL_SPEED] = { .min = { .i = 1 }, .max = { .i = 4 }, .step = { .i = 1 } } },
+
+ .rot_init = gs232a_rot_init,
.get_position = gs232a_rot_get_position,
.set_position = gs232a_rot_set_position,
- .stop = gs232a_rot_stop,
+ .stop = gs232a_rot_stop,
+ .get_level = gs232a_rot_get_level,
+ .set_level = gs232a_rot_set_level,
};
/* ************************************************************************* */
@@ -384,10 +466,10 @@ const struct rot_caps gs232a_rot_caps =
ROT_MODEL(ROT_MODEL_GS232A),
.model_name = "GS-232A",
.mfg_name = "Yaesu",
- .version = "20201205.0",
+ .version = "20201203.0",
.copyright = "LGPL",
.status = RIG_STATUS_BETA,
- .rot_type = ROT_TYPE_OTHER,
+ .rot_type = ROT_TYPE_AZEL,
.port_type = RIG_PORT_SERIAL,
.serial_rate_min = 150,
.serial_rate_max = 9600,
@@ -405,26 +487,125 @@ const struct rot_caps gs232a_rot_caps =
.min_el = 0.0,
.max_el = 180.0, /* requires G-5400B, G-5600B, G-5500, or G-500/G-550 */
+ .has_get_level = GS232A_LEVELS,
+ .has_set_level = ROT_LEVEL_SET(GS232A_LEVELS),
+
+ .level_gran = { [ROT_LVL_SPEED] = { .min = { .i = 1 }, .max = { .i = 4 }, .step = { .i = 1 } } },
+
+ .rot_init = gs232a_rot_init,
.get_position = gs232a_rot_get_position,
.set_position = gs232a_rot_set_position,
- .stop = gs232a_rot_stop,
+ .stop = gs232a_rot_stop,
.move = gs232a_rot_move,
+ .get_level = gs232a_rot_get_level,
+ .set_level = gs232a_rot_set_level,
};
/* ************************************************************************* */
+/*
+ * Generic GS232A azimuth rotator capabilities.
+ */
+const struct rot_caps gs232a_az_rot_caps =
+{
+ ROT_MODEL(ROT_MODEL_GS232A_AZ),
+ .model_name = "GS-232A azimuth",
+ .mfg_name = "Yaesu",
+ .version = "20201203.0",
+ .copyright = "LGPL",
+ .status = RIG_STATUS_BETA,
+ .rot_type = ROT_TYPE_AZIMUTH,
+ .port_type = RIG_PORT_SERIAL,
+ .serial_rate_min = 150,
+ .serial_rate_max = 9600,
+ .serial_data_bits = 8,
+ .serial_stop_bits = 1,
+ .serial_parity = RIG_PARITY_NONE,
+ .serial_handshake = RIG_HANDSHAKE_NONE,
+ .write_delay = 0,
+ .post_write_delay = 50,
+ .timeout = 400,
+ .retry = 3,
+ .min_az = -180.0,
+ .max_az = 450.0, /* vary according to rotator type */
+ .min_el = 0.0,
+ .max_el = 0.0,
+
+ .rot_init = gs232a_rot_init,
+ .has_get_level = GS232A_LEVELS,
+ .has_set_level = ROT_LEVEL_SET(GS232A_LEVELS),
+ .level_gran = { [ROT_LVL_SPEED] = { .min = { .i = 1 }, .max = { .i = 4 }, .step = { .i = 1 } } },
+
+ .get_position = gs232a_rot_get_position,
+ .set_position = gs232a_rot_set_position,
+ .stop = gs232a_rot_stop,
+ .move = gs232a_rot_move,
+ .get_level = gs232a_rot_get_level,
+ .set_level = gs232a_rot_set_level,
+};
+/* ************************************************************************* */
+/*
+ * Generic GS232A elevation rotator capabilities.
+ */
+
+const struct rot_caps gs232a_el_rot_caps =
+{
+ ROT_MODEL(ROT_MODEL_GS232A_EL),
+ .model_name = "GS-232A elevation",
+ .mfg_name = "Yaesu",
+ .version = "20201203.0",
+ .copyright = "LGPL",
+ .status = RIG_STATUS_BETA,
+ .rot_type = ROT_TYPE_ELEVATION,
+ .port_type = RIG_PORT_SERIAL,
+ .serial_rate_min = 150,
+ .serial_rate_max = 9600,
+ .serial_data_bits = 8,
+ .serial_stop_bits = 1,
+ .serial_parity = RIG_PARITY_NONE,
+ .serial_handshake = RIG_HANDSHAKE_NONE,
+ .write_delay = 0,
+ .post_write_delay = 50,
+ .timeout = 400,
+ .retry = 3,
+
+ .min_az = 0.0,
+ .max_az = 0.0,
+ .min_el = 0.0,
+ .max_el = 180.0, /* requires G-5400B, G-5600B, G-5500, or G-500/G-550 */
+
+ .has_get_level = GS232A_LEVELS,
+ .has_set_level = ROT_LEVEL_SET(GS232A_LEVELS),
+
+ .level_gran = { [ROT_LVL_SPEED] = { .min = { .i = 1 }, .max = { .i = 4 }, .step = { .i = 1 } } },
+
+ .rot_init = gs232a_rot_init,
+ .get_position = gs232a_rot_get_position,
+ .set_position = gs232a_rot_set_position,
+ .stop = gs232a_rot_stop,
+ .move = gs232a_rot_move,
+ .get_level = gs232a_rot_get_level,
+ .set_level = gs232a_rot_set_level,
+};
+
+/* ************************************************************************* */
+
DECLARE_INITROT_BACKEND(gs232a)
{
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
rot_register(&gs232a_rot_caps);
+ rot_register(&gs232a_az_rot_caps);
+ rot_register(&gs232a_el_rot_caps);
rot_register(&gs232_generic_rot_caps);
rot_register(&gs232b_rot_caps);
+ rot_register(&gs232b_az_rot_caps);
+ rot_register(&gs232b_el_rot_caps);
rot_register(&f1tetracker_rot_caps);
rot_register(&gs23_rot_caps);
rot_register(&gs232_rot_caps);
diff --git a/rotators/gs232a/gs232a.h b/rotators/gs232a/gs232a.h
index c6c84053..681fbc85 100644
--- a/rotators/gs232a/gs232a.h
+++ b/rotators/gs232a/gs232a.h
@@ -23,8 +23,12 @@
#define _ROT_GS232A_H 1
extern const struct rot_caps gs232a_rot_caps;
+extern const struct rot_caps gs232a_az_rot_caps;
+extern const struct rot_caps gs232a_el_rot_caps;
extern const struct rot_caps gs232_generic_rot_caps;
extern const struct rot_caps gs232b_rot_caps;
+extern const struct rot_caps gs232b_az_rot_caps;
+extern const struct rot_caps gs232b_el_rot_caps;
extern const struct rot_caps f1tetracker_rot_caps;
extern const struct rot_caps gs23_rot_caps;
extern const struct rot_caps gs232_rot_caps;
diff --git a/rotators/gs232a/gs232b.c b/rotators/gs232a/gs232b.c
index a9f0f28c..8a5bf593 100644
--- a/rotators/gs232a/gs232b.c
+++ b/rotators/gs232a/gs232b.c
@@ -27,26 +27,22 @@
// cppcheck-suppress *
#include <stdio.h>
// cppcheck-suppress *
-#include <stdlib.h>
-// cppcheck-suppress *
#include <string.h> /* String function definitions */
// cppcheck-suppress *
-#include <unistd.h> /* UNIX standard function definitions */
-// cppcheck-suppress *
#include <math.h>
#include "hamlib/rotator.h"
#include "serial.h"
#include "misc.h"
-#include "register.h"
-
-#include "gs232a.h"
+#include "idx_builtin.h"
#define EOM "\r"
#define REPLY_EOM "\n"
#define BUFSZ 64
+#define GS232B_LEVELS ROT_LEVEL_SPEED
+
/**
* gs232b_transaction
*
@@ -274,36 +270,85 @@ gs232b_rot_stop(ROT *rot)
}
-static int
-gs232b_rot_move(ROT *rot, int direction, int speed)
+static int gs232b_rot_get_level(ROT *rot, setting_t level, value_t *val)
+{
+ struct rot_state *rs = &rot->state;
+
+ rig_debug(RIG_DEBUG_VERBOSE, "%s called: %s\n", __func__, rot_strlevel(level));
+
+ switch (level) {
+ case ROT_LEVEL_SPEED:
+ val->i = rs->current_speed;
+ break;
+ default:
+ return -RIG_ENAVAIL;
+ }
+
+ return RIG_OK;
+}
+
+
+static int gs232b_rot_set_level(ROT *rot, setting_t level, value_t val)
{
struct rot_state *rs = &rot->state;
char cmdstr[24];
int retval;
- unsigned x_speed;
+
+ rig_debug(RIG_DEBUG_VERBOSE, "%s called: %s\n", __func__, rot_strlevel(level));
+
+ switch (level) {
+ case ROT_LEVEL_SPEED: {
+ int speed = val.i;
+ if (speed < 1) {
+ speed = 1;
+ } else if (speed > 4) {
+ speed = 4;
+ }
+
+ /* between 1 (slowest) and 4 (fastest) */
+ sprintf(cmdstr, "X%u" EOM, speed);
+ retval = gs232b_transaction(rot, cmdstr, NULL, 0, 1);
+
+ if (retval != RIG_OK) {
+ return retval;
+ }
+
+ rs->current_speed = speed;
+ break;
+ }
+ default:
+ return -RIG_ENAVAIL;
+ }
+
+ return RIG_OK;
+}
+
+
+static int gs232b_rot_move(ROT *rot, int direction, int speed)
+{
+ char cmdstr[24];
+ int retval;
rig_debug(RIG_DEBUG_TRACE, "%s called %d %d\n", __func__,
direction, speed);
if (speed != ROT_SPEED_NOCHANGE) {
+ value_t gs232b_speed;
+
if (speed < 1 || speed > 100)
{
rig_debug(RIG_DEBUG_ERR, "%s: Invalid speed value (1-100)! (%d)\n", __func__, speed);
return -RIG_EINVAL;
}
- x_speed = (3 * speed) / 100 + 1;
+ gs232b_speed.i = (3 * speed) / 100 + 1;
- /* between 1 (slowest) and 4 (fastest) */
- sprintf(cmdstr, "X%u" EOM, x_speed);
- retval = gs232b_transaction(rot, cmdstr, NULL, 0, 1);
+ retval = gs232b_rot_set_level(rot, ROT_LEVEL_SPEED, gs232b_speed);
if (retval != RIG_OK)
{
return retval;
}
-
- rs->current_speed = speed;
}
switch (direction)
@@ -340,6 +385,20 @@ gs232b_rot_move(ROT *rot, int direction, int speed)
return RIG_OK;
}
+
+static int gs232b_rot_init(ROT *rot)
+{
+ struct rot_state *rs = &rot->state;
+
+ rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
+
+ // Set default speed to half of maximum
+ rs->current_speed = 3;
+
+ return RIG_OK;
+}
+
+
/* ************************************************************************* */
/*
* Generic GS232B rotator capabilities.
@@ -350,10 +409,10 @@ const struct rot_caps gs232b_rot_caps =
ROT_MODEL(ROT_MODEL_GS232B),
.model_name = "GS-232B",
.mfg_name = "Yaesu",
- .version = "20201202.0",
+ .version = "20201203.0",
.copyright = "LGPL",
.status = RIG_STATUS_STABLE,
- .rot_type = ROT_TYPE_OTHER,
+ .rot_type = ROT_TYPE_AZEL,
.port_type = RIG_PORT_SERIAL,
.serial_rate_min = 1200,
.serial_rate_max = 9600,
@@ -371,10 +430,110 @@ const struct rot_caps gs232b_rot_caps =
.min_el = 0.0,
.max_el = 180.0, /* requires G-5400B, G-5600B, G-5500, or G-500/G-550 */
+ .has_get_level = GS232B_LEVELS,
+ .has_set_level = ROT_LEVEL_SET(GS232B_LEVELS),
+
+ .level_gran = { [ROT_LVL_SPEED] = { .min = { .i = 1 }, .max = { .i = 4 }, .step = { .i = 1 } } },
+
+ .rot_init = gs232b_rot_init,
+ .get_position = gs232b_rot_get_position,
+ .set_position = gs232b_rot_set_position,
+ .stop = gs232b_rot_stop,
+ .move = gs232b_rot_move,
+ .get_level = gs232b_rot_get_level,
+ .set_level = gs232b_rot_set_level,
+};
+
+
+/* ************************************************************************* */
+/*
+ * Generic GS232B azimuth rotator capabilities.
+ */
+
+const struct rot_caps gs232b_az_rot_caps =
+{
+ ROT_MODEL(ROT_MODEL_GS232B_AZ),
+ .model_name = "GS-232B azimuth",
+ .mfg_name = "Yaesu",
+ .version = "20201203.0",
+ .copyright = "LGPL",
+ .status = RIG_STATUS_STABLE,
+ .rot_type = ROT_TYPE_AZIMUTH,
+ .port_type = RIG_PORT_SERIAL,
+ .serial_rate_min = 1200,
+ .serial_rate_max = 9600,
+ .serial_data_bits = 8,
+ .serial_stop_bits = 1,
+ .serial_parity = RIG_PARITY_NONE,
+ .serial_handshake = RIG_HANDSHAKE_NONE,
+ .write_delay = 0,
+ .post_write_delay = 50,
+ .timeout = 400,
+ .retry = 3,
+
+ .min_az = -180.0,
+ .max_az = 450.0, /* vary according to rotator type */
+ .min_el = 0.0,
+ .max_el = 0.0,
+
+ .has_get_level = GS232B_LEVELS,
+ .has_set_level = ROT_LEVEL_SET(GS232B_LEVELS),
+
+ .level_gran = { [ROT_LVL_SPEED] = { .min = { .i = 1 }, .max = { .i = 4 }, .step = { .i = 1 } } },
+
+ .rot_init = gs232b_rot_init,
+ .get_position = gs232b_rot_get_position,
+ .set_position = gs232b_rot_set_position,
+ .stop = gs232b_rot_stop,
+ .move = gs232b_rot_move,
+ .get_level = gs232b_rot_get_level,
+ .set_level = gs232b_rot_set_level,
+};
+
+
+/* ************************************************************************* */
+/*
+ * Generic GS232B elevation rotator capabilities.
+ */
+
+const struct rot_caps gs232b_el_rot_caps =
+{
+ ROT_MODEL(ROT_MODEL_GS232B_EL),
+ .model_name = "GS-232B elevation",
+ .mfg_name = "Yaesu",
+ .version = "20201203.0",
+ .copyright = "LGPL",
+ .status = RIG_STATUS_STABLE,
+ .rot_type = ROT_TYPE_ELEVATION,
+ .port_type = RIG_PORT_SERIAL,
+ .serial_rate_min = 1200,
+ .serial_rate_max = 9600,
+ .serial_data_bits = 8,
+ .serial_stop_bits = 1,
+ .serial_parity = RIG_PARITY_NONE,
+ .serial_handshake = RIG_HANDSHAKE_NONE,
+ .write_delay = 0,
+ .post_write_delay = 50,
+ .timeout = 400,
+ .retry = 3,
+
+ .min_az = 0.0,
+ .max_az = 0.0,
+ .min_el = 0.0,
+ .max_el = 180.0, /* requires G-5400B, G-5600B, G-5500, or G-500/G-550 */
+
+ .has_get_level = GS232B_LEVELS,
+ .has_set_level = ROT_LEVEL_SET(GS232B_LEVELS),
+
+ .level_gran = { [ROT_LVL_SPEED] = { .min = { .i = 1 }, .max = { .i = 4 }, .step = { .i = 1 } } },
+
+ .rot_init = gs232b_rot_init,
.get_position = gs232b_rot_get_position,
.set_position = gs232b_rot_set_position,
.stop = gs232b_rot_stop,
.move = gs232b_rot_move,
+ .get_level = gs232b_rot_get_level,
+ .set_level = gs232b_rot_set_level,
};
/* end of file */
commit 457211a7e353d3c5d7a93d606afb5d680ef18a10
Author: Mikael Nousiainen <mik...@ik...>
Date: Thu Dec 3 21:40:34 2020 +0200
Add get_status command for rotator status flags. Add missing rotator caps in dumpcaps output.
diff --git a/include/hamlib/amplifier.h b/include/hamlib/amplifier.h
index 7d61cea8..b7af885d 100644
--- a/include/hamlib/amplifier.h
+++ b/include/hamlib/amplifier.h
@@ -397,6 +397,10 @@ extern HAMLIB_EXPORT(const char *) amp_strlevel(setting_t);
extern HAMLIB_EXPORT(const struct confparams *)
rig_ext_lookup HAMLIB_PARAMS((RIG *rig,
const char *name));
+
+extern HAMLIB_EXPORT(setting_t) amp_parse_level(const char *s);
+extern HAMLIB_EXPORT(const char *) amp_strlevel(setting_t);
+
//! @endcond
diff --git a/include/hamlib/rig.h b/include/hamlib/rig.h
index 47696121..b8c4832f 100644
--- a/include/hamlib/rig.h
+++ b/include/hamlib/rig.h
@@ -2787,16 +2787,6 @@ extern HAMLIB_EXPORT(scan_t) rig_parse_scan(const char *s);
extern HAMLIB_EXPORT(rptr_shift_t) rig_parse_rptr_shift(const char *s);
extern HAMLIB_EXPORT(chan_type_t) rig_parse_mtype(const char *s);
-extern HAMLIB_EXPORT(setting_t) rot_parse_func(const char *s);
-extern HAMLIB_EXPORT(setting_t) rot_parse_level(const char *s);
-extern HAMLIB_EXPORT(setting_t) rot_parse_parm(const char *s);
-extern HAMLIB_EXPORT(const char *) rot_strfunc(setting_t);
-extern HAMLIB_EXPORT(const char *) rot_strlevel(setting_t);
-extern HAMLIB_EXPORT(const char *) rot_strparm(setting_t);
-
-extern HAMLIB_EXPORT(setting_t) amp_parse_level(const char *s);
-extern HAMLIB_EXPORT(const char *) amp_strlevel(setting_t);
-
extern HAMLIB_EXPORT(const char *) rig_license HAMLIB_PARAMS(());
extern HAMLIB_EXPORT(const char *) rig_version HAMLIB_PARAMS(());
extern HAMLIB_EXPORT(const char *) rig_copyright HAMLIB_PARAMS(());
diff --git a/include/hamlib/rotator.h b/include/hamlib/rotator.h
index 4a38bf87..0cff2267 100644
--- a/include/hamlib/rotator.h
+++ b/include/hamlib/rotator.h
@@ -200,20 +200,27 @@ typedef enum {
* \brief Rotator status flags
*/
typedef enum {
- ROT_STATUS_BUSY = (1 << 1), /*!< Rotator is busy, not accepting commands */
- ROT_STATUS_MOVING = (1 << 2), /*!< Rotator is currently moving (direction type not specified) */
- ROT_STATUS_MOVING_AZ = (1 << 3), /*!< Azimuth rotator is currently moving */
- ROT_STATUS_MOVING_EL = (1 << 4), /*!< Elevation rotator is currently moving */
- ROT_STATUS_UP_LIMIT = (1 << 5), /*!< The elevation rotator has reached its limit to move up */
- ROT_STATUS_DOWN_LIMIT = (1 << 6), /*!< The elevation rotator has reached its limit to move down */
- ROT_STATUS_LEFT_LIMIT = (1 << 7), /*!< The azimuth rotator has reached its limit to move left (CCW) */
- ROT_STATUS_RIGHT_LIMIT = (1 << 8), /*!< The azimuth rotator has reached its limit to move right (CW) */
- ROT_STATUS_UP_OVERLAP = (1 << 9), /*!< The elevation rotator has rotated up past 360 degrees */
- ROT_STATUS_DOWN_OVERLAP = (1 << 10), /*!< The elevation rotator has rotated down past 0 degrees */
- ROT_STATUS_LEFT_OVERLAP = (1 << 11), /*!< The azimuth rotator has rotated left (CCW) past 0 degrees */
- ROT_STATUS_RIGHT_OVERLAP = (1 << 12), /*!< The azimuth rotator has rotated right (CW) past 360 degrees */
+ ROT_STATUS_NONE = 0,
+ ROT_STATUS_BUSY = (1 << 0), /*!< Rotator is busy, not accepting commands */
+ ROT_STATUS_MOVING = (1 << 1), /*!< Rotator is currently moving (direction type not specified) */
+ ROT_STATUS_MOVING_AZ = (1 << 2), /*!< Azimuth rotator is currently moving (direction not specified) */
+ ROT_STATUS_MOVING_LEFT = (1 << 3), /*!< Azimuth rotator is currently moving left */
+ ROT_STATUS_MOVING_RIGHT = (1 << 4), /*!< Azimuth rotator is currently moving right */
+ ROT_STATUS_MOVING_EL = (1 << 5), /*!< Elevation rotator is currently moving (direction not specified) */
+ ROT_STATUS_MOVING_UP = (1 << 6), /*!< Elevation rotator is currently moving up */
+ ROT_STATUS_MOVING_DOWN = (1 << 7), /*!< Elevation rotator is currently moving down */
+ ROT_STATUS_LIMIT_UP = (1 << 8), /*!< The elevation rotator has reached its limit to move up */
+ ROT_STATUS_LIMIT_DOWN = (1 << 9), /*!< The elevation rotator has reached its limit to move down */
+ ROT_STATUS_LIMIT_LEFT = (1 << 10), /*!< The azimuth rotator has reached its limit to move left (CCW) */
+ ROT_STATUS_LIMIT_RIGHT = (1 << 11), /*!< The azimuth rotator has reached its limit to move right (CW) */
+ ROT_STATUS_OVERLAP_UP = (1 << 12), /*!< The elevation rotator has rotated up past 360 degrees */
+ ROT_STATUS_OVERLAP_DOWN = (1 << 13), /*!< The elevation rotator has rotated down past 0 degrees */
+ ROT_STATUS_OVERLAP_LEFT = (1 << 14), /*!< The azimuth rotator has rotated left (CCW) past 0 degrees */
+ ROT_STATUS_OVERLAP_RIGHT = (1 << 16), /*!< The azimuth rotator has rotated right (CW) past 360 degrees */
} rot_status_t;
+#define ROT_STATUS_N(n) (1u<<(n))
+
/**
* \brief Macro for not changing the rotator speed with move() function
@@ -339,6 +346,8 @@ struct rot_caps {
setting_t has_get_parm; /*!< List of get parm */
setting_t has_set_parm; /*!< List of set parm */
+ rot_status_t has_status; /*!< Supported status flags */
+
gran_t level_gran[RIG_SETTING_MAX]; /*!< level granularity (i.e. steps) */
gran_t parm_gran[RIG_SETTING_MAX]; /*!< parm granularity (i.e. steps) */
@@ -409,12 +418,9 @@ struct rot_caps {
int (*set_ext_parm)(ROT *rot, token_t token, value_t val);
int (*get_ext_parm)(ROT *rot, token_t token, value_t *val);
- const char *macro_name; /*!< Macro name. */
+ int (*get_status)(ROT *rot, rot_status_t *status);
- rot_status_t status_caps; /*!< Supported status flags */
-
- rot_status_t (*get_status)(ROT *rot);
- /* more to come... */
+ const char *macro_name; /*!< Macro name. */
};
//! @endcond
@@ -449,6 +455,8 @@ struct rot_state {
setting_t has_get_parm; /*!< List of get parm */
setting_t has_set_parm; /*!< List of set parm */
+ rot_status_t has_status; /*!< Supported status flags */
+
gran_t level_gran[RIG_SETTING_MAX]; /*!< level granularity */
gran_t parm_gran[RIG_SETTING_MAX]; /*!< parm granularity */
@@ -614,6 +622,10 @@ rot_get_ext_parm HAMLIB_PARAMS((ROT *rig,
extern HAMLIB_EXPORT(const char *)
rot_get_info HAMLIB_PARAMS((ROT *rot));
+extern HAMLIB_EXPORT(int)
+rot_get_status HAMLIB_PARAMS((ROT *rot,
+ rot_status_t *status));
+
extern HAMLIB_EXPORT(int)
rot_register HAMLIB_PARAMS((const struct rot_caps *caps));
@@ -734,6 +746,14 @@ dmmm2dec HAMLIB_PARAMS((int degrees,
double seconds,
int sw));
+extern HAMLIB_EXPORT(setting_t) rot_parse_func(const char *s);
+extern HAMLIB_EXPORT(setting_t) rot_parse_level(const char *s);
+extern HAMLIB_EXPORT(setting_t) rot_parse_parm(const char *s);
+extern HAMLIB_EXPORT(const char *) rot_strfunc(setting_t);
+extern HAMLIB_EXPORT(const char *) rot_strlevel(setting_t);
+extern HAMLIB_EXPORT(const char *) rot_strparm(setting_t);
+extern HAMLIB_EXPORT(const char *) rot_strstatus(rot_status_t);
+
//! @endcond
/**
diff --git a/rigs/dummy/rot_dummy.c b/rigs/dummy/rot_dummy.c
index 5cd31783..d5b8b994 100644
--- a/rigs/dummy/rot_dummy.c
+++ b/rigs/dummy/rot_dummy.c
@@ -39,6 +39,10 @@
#define DUMMY_ROT_LEVEL ROT_LEVEL_SPEED
#define DUMMY_ROT_PARM 0
+#define DUMMY_ROT_STATUS (ROT_STATUS_MOVING | ROT_STATUS_MOVING_AZ | ROT_STATUS_MOVING_LEFT | ROT_STATUS_MOVING_RIGHT | \
+ ROT_STATUS_MOVING_EL | ROT_STATUS_MOVING_UP | ROT_STATUS_MOVING_DOWN | \
+ ROT_STATUS_LIMIT_UP | ROT_STATUS_LIMIT_DOWN | ROT_STATUS_LIMIT_LEFT | ROT_STATUS_LIMIT_RIGHT)
+
struct dummy_rot_priv_data
{
azimuth_t az;
@@ -47,6 +51,7 @@ struct dummy_rot_priv_data
struct timeval tv; /* time last az/el update */
azimuth_t target_az;
elevation_t target_el;
+ rot_status_t status;
setting_t funcs;
value_t levels[RIG_SETTING_MAX];
@@ -254,27 +259,13 @@ static int dummy_rot_set_position(ROT *rot, azimuth_t az, elevation_t el)
return RIG_OK;
}
-
-/*
- * Get position of rotor, simulating slow rotation
- */
-static int dummy_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
+static void dummy_rot_simulate_rotation(ROT *rot)
{
- struct dummy_rot_priv_data *priv = (struct dummy_rot_priv_data *)
+ struct dummy_rot_priv_data *priv = (struct dummy_rot_priv_data *)
rot->state.priv;
struct timeval tv;
unsigned elapsed; /* ms */
- rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
-
- if (priv->az == priv->target_az &&
- priv->el == priv->target_el)
- {
- *az = priv->az;
- *el = priv->el;
- return RIG_OK;
- }
-
gettimeofday(&tv, NULL);
elapsed = (tv.tv_sec - priv->tv.tv_sec) * 1000 +
@@ -289,16 +280,19 @@ static int dummy_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
{
/* target reached */
priv->az = priv->target_az;
+ priv->status &= ~(ROT_STATUS_MOVING_AZ | ROT_STATUS_MOVING_LEFT | ROT_STATUS_MOVING_RIGHT);
}
else
{
if (priv->az < priv->target_az)
{
priv->az += (azimuth_t)elapsed * DEG_PER_MS;
+ priv->status |= ROT_STATUS_MOVING_AZ | ROT_STATUS_MOVING_RIGHT;
}
else
{
priv->az -= (azimuth_t)elapsed * DEG_PER_MS;
+ priv->status |= ROT_STATUS_MOVING_AZ | ROT_STATUS_MOVING_LEFT;
}
}
@@ -306,23 +300,54 @@ static int dummy_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
{
/* target reached */
priv->el = priv->target_el;
+ priv->status &= ~(ROT_STATUS_MOVING_EL | ROT_STATUS_MOVING_UP | ROT_STATUS_MOVING_DOWN);
}
else
{
if (priv->el < priv->target_el)
{
priv->el += (elevation_t)elapsed * DEG_PER_MS;
+ priv->status |= ROT_STATUS_MOVING_EL | ROT_STATUS_MOVING_UP;
}
else
{
priv->el -= (elevation_t)elapsed * DEG_PER_MS;
+ priv->status |= ROT_STATUS_MOVING_EL | ROT_STATUS_MOVING_DOWN;
}
}
- *az = priv->az;
- *el = priv->el;
+ if (priv->status & (ROT_STATUS_MOVING_AZ | ROT_STATUS_MOVING_EL)) {
+ priv->status |= ROT_STATUS_MOVING;
+ } else {
+ priv->status &= ~(ROT_STATUS_MOVING);
+ }
priv->tv = tv;
+}
+
+
+/*
+ * Get position of rotor, simulating slow rotation
+ */
+static int dummy_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
+{
+ struct dummy_rot_priv_data *priv = (struct dummy_rot_priv_data *)
+ rot->state.priv;
+
+ rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
+
+ if (priv->az == priv->target_az &&
+ priv->el == priv->target_el)
+ {
+ *az = priv->az;
+ *el = priv->el;
+ return RIG_OK;
+ }
+
+ dummy_rot_simulate_rotation(rot);
+
+ *az = priv->az;
+ *el = priv->el;
return RIG_OK;
}
@@ -839,16 +864,27 @@ static int dummy_get_ext_parm(ROT *rot, token_t token, value_t *val)
}
+static int dummy_rot_get_status(ROT *rot, rot_status_t *status)
+{
+ struct dummy_rot_priv_data *priv = (struct dummy_rot_priv_data *)rot->state.priv;
+
+ dummy_rot_simulate_rotation(rot);
+
+ *status = priv->status;
+
+ return RIG_OK;
+}
+
+
/*
* Dummy rotator capabilities.
*/
-
const struct rot_caps dummy_rot_caps =
{
ROT_MODEL(ROT_MODEL_DUMMY),
.model_name = "Dummy",
.mfg_name = "Hamlib",
- .version = "20201202.0",
+ .version = "20201203.0",
.copyright = "LGPL",
.status = RIG_STATUS_STABLE,
.rot_type = ROT_TYPE_AZEL,
@@ -875,6 +911,8 @@ const struct rot_caps dummy_rot_caps =
.extparms = dummy_ext_parms,
.cfgparams = dummy_cfg_params,
+ .has_status = DUMMY_ROT_STATUS,
+
.rot_init = dummy_rot_init,
.rot_cleanup = dummy_rot_cleanup,
.rot_open = dummy_rot_open,
@@ -904,7 +942,8 @@ const struct rot_caps dummy_rot_caps =
.set_ext_parm = dummy_set_ext_parm,
.get_ext_parm = dummy_get_ext_parm,
- .get_info = dummy_rot_get_info,
+ .get_info = dummy_rot_get_info,
+ .get_status = dummy_rot_get_status,
};
DECLARE_INITROT_BACKEND(dummy)
diff --git a/src/misc.c b/src/misc.c
index 4893acf9..a4564035 100644
--- a/src/misc.c
+++ b/src/misc.c
@@ -48,7 +48,6 @@
# include <sys/time.h>
#endif
-#include <unistd.h>
#include <math.h>
#include <hamlib/rig.h>
@@ -1759,6 +1758,54 @@ int HAMLIB_API rig_flush(hamlib_port_t *port)
return serial_flush(port); // we must be on serial port
}
+
+static struct
+{
+ rot_status_t status;
+ const char *str;
+} rot_status_str[] =
+{
+ { ROT_STATUS_BUSY, "BUSY" },
+ { ROT_STATUS_MOVING, "MOVING" },
+ { ROT_STATUS_MOVING_AZ, "MOVING_AZ" },
+ { ROT_STATUS_MOVING_LEFT, "MOVING_LEFT" },
+ { ROT_STATUS_MOVING_RIGHT, "MOVING_RIGHT" },
+ { ROT_STATUS_MOVING_EL, "MOVING_EL" },
+ { ROT_STATUS_MOVING_UP, "MOVING_UP" },
+ { ROT_STATUS_MOVING_DOWN, "MOVING_DOWN" },
+ { ROT_STATUS_LIMIT_UP, "LIMIT_UP" },
+ { ROT_STATUS_LIMIT_DOWN, "LIMIT_DOWN" },
+ { ROT_STATUS_LIMIT_LEFT, "LIMIT_LEFT" },
+ { ROT_STATUS_LIMIT_RIGHT, "LIMIT_RIGHT" },
+ { ROT_STATUS_OVERLAP_UP, "OVERLAP_UP" },
+ { ROT_STATUS_OVERLAP_DOWN, "OVERLAP_DOWN" },
+ { ROT_STATUS_OVERLAP_LEFT, "OVERLAP_LEFT" },
+ { ROT_STATUS_OVERLAP_RIGHT, "OVERLAP_RIGHT" },
+ { 0xffffff, "" },
+};
+
+
+/**
+ * \brief Convert enum ROT_STATUS_... to a string
+ * \param status ROT_STATUS_...
+ * \return the corresponding string value
+ */
+const char *HAMLIB_API rot_strstatus(rot_status_t status)
+{
+ int i;
+
+ for (i = 0 ; rot_status_str[i].str[0] != '\0'; i++)
+ {
+ if (status == rot_status_str[i].status)
+ {
+ return rot_status_str[i].str;
+ }
+ }
+
+ return "";
+}
+
+
//! @endcond
/** @} */
diff --git a/src/rotator.c b/src/rotator.c
index 9e687ef7..8cb36a7e 100644
--- a/src/rotator.c
+++ b/src/rotator.c
@@ -283,6 +283,8 @@ ROT *HAMLIB_API rot_init(rot_model_t rot_model)
rs->has_get_parm = caps->has_get_parm;
rs->has_set_parm = caps->has_set_parm;
+ rs->has_status = caps->has_status;
+
memcpy(rs->level_gran, caps->level_gran, sizeof(gran_t)*RIG_SETTING_MAX);
memcpy(rs->parm_gran, caps->parm_gran, sizeof(gran_t)*RIG_SETTING_MAX);
@@ -597,6 +599,9 @@ int HAMLIB_API rot_set_position(ROT *rot,
return -RIG_EINVAL;
}
+ azimuth += rot->state.az_offset;
+ elevation += rot->state.el_offset;
+
caps = rot->caps;
rs = &rot->state;
@@ -648,6 +653,8 @@ int HAMLIB_API rot_get_position(ROT *rot,
{
const struct rot_caps *caps;
const struct rot_state *rs;
+ azimuth_t az;
+ elevation_t el;
int retval;
rot_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
@@ -665,19 +672,21 @@ int HAMLIB_API rot_get_position(ROT *rot,
return -RIG_ENAVAIL;
}
- retval = caps->get_position(rot, azimuth, elevation);
+ retval = caps->get_position(rot, &az, &el);
if (retval != RIG_OK) { return retval; }
- rot_debug(RIG_DEBUG_VERBOSE, "%s: got az=%.2f, el=%.2f\n", __func__, *azimuth,
- *elevation);
+ rot_debug(RIG_DEBUG_VERBOSE, "%s: got az=%.2f, el=%.2f\n", __func__, az, el);
if (rs->south_zero)
{
- *azimuth += *azimuth >= 180 ? -180 : 180;
- rot_debug(RIG_DEBUG_VERBOSE, "%s: south adj to az=%.2f\n", __func__, *azimuth);
+ az += az >= 180 ? -180 : 180;
+ rot_debug(RIG_DEBUG_VERBOSE, "%s: south adj to az=%.2f\n", __func__, az);
}
+ *azimuth = az - rot->state.az_offset;
+ *elevation = el - rot->state.el_offset;
+
return RIG_OK;
}
@@ -841,4 +850,33 @@ const char *HAMLIB_API rot_get_info(ROT *rot)
return rot->caps->get_info(rot);
}
+
+/**
+ * \brief get status flags from the rotator
+ * \param rot The rot handle
+ * \param status a pointer to a rot_status_t variable that will receive the status flags
+ *
+ * Gets the active status flags from the rotator.
+ *
+ * \return RIG_OK if the operation has been successful, otherwise
+ * a negative value if an error occurred (in which case, cause is
+ * set appropriately).
+ */
+int HAMLIB_API rot_get_status(ROT *rot, rot_status_t *status)
+{
+ rot_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
+
+ if (CHECK_ROT_ARG(rot))
+ {
+ return -RIG_EINVAL;
+ }
+
+ if (rot->caps->get_status == NULL)
+ {
+ return -RIG_ENAVAIL;
+ }
+
+ return rot->caps->get_status(rot, status);
+}
+
/*! @} */
diff --git a/tests/dumpcaps_rot.c b/tests/dumpcaps_rot.c
index 0f8def4f..90cfd7c7 100644
--- a/tests/dumpcaps_rot.c
+++ b/tests/dumpcaps_rot.c
@@ -146,6 +146,17 @@ int dumpcaps_rot(ROT *rot, FILE *fout)
"Post Write delay:\t%dmS\n",
caps->post_write_delay);
+ if (rot->state.has_status != 0)
+ {
+ rot_sprintf_status(prntbuf, rot->state.has_status);
+ }
+ else
+ {
+ strcpy(prntbuf, "None\n");
+ }
+
+ fprintf(fout, "Status flags: %s\n", prntbuf);
+
rot_sprintf_func(prntbuf, caps->has_get_func);
fprintf(fout, "Get functions: %s\n", prntbuf);
@@ -223,7 +234,16 @@ int dumpcaps_rot(ROT *rot, FILE *fout)
fprintf(fout, "Can Park:\t\t%c\n", caps->park != NULL ? 'Y' : 'N');
fprintf(fout, "Can Reset:\t\t%c\n", caps->reset != NULL ? 'Y' : 'N');
fprintf(fout, "Can Move:\t\t%c\n", caps->move != NULL ? 'Y' : 'N');
+
fprintf(fout, "Can get Info:\t\t%c\n", caps->get_info != NULL ? 'Y' : 'N');
+ fprintf(fout, "Can get Status:\t\t%c\n", caps->get_status != NULL ? 'Y' : 'N');
+
+ fprintf(fout, "Can set Func:\t%c\n", caps->set_func != NULL ? 'Y' : 'N');
+ fprintf(fout, "Can get Func:\t%c\n", caps->get_func != NULL ? 'Y' : 'N');
+ fprintf(fout, "Can set Level:\t%c\n", caps->set_level != NULL ? 'Y' : 'N');
+ fprintf(fout, "Can get Level:\t%c\n", caps->get_level != NULL ? 'Y' : 'N');
+ fprintf(fout, "Can set Param:\t%c\n", caps->set_parm != NULL ? 'Y' : 'N');
+ fprintf(fout, "Can get Param:\t%c\n", caps->get_parm != NULL ? 'Y' : 'N');
fprintf(fout, "\nOverall backend warnings: %d\n", backend_warnings);
diff --git a/tests/rotctl_parse.c b/tests/rotctl_parse.c
index 2e500d76..9b45e593 100644
--- a/tests/rotctl_parse.c
+++ b/tests/rotctl_parse.c
@@ -187,6 +187,7 @@ declare_proto_rot(get_func);
declare_proto_rot(set_parm);
declare_proto_rot(get_parm);
declare_proto_rot(get_info);
+declare_proto_rot(get_status);
declare_proto_rot(inter_set_conf); /* interactive mode set_conf */
declare_proto_rot(send_cmd);
declare_proto_rot(dump_state);
@@ -224,6 +225,7 @@ struct test_table test_list[] =
{ 'x', "get_parm", ACTION(get_parm), ARG_IN1 | ARG_OUT2, "Parm", "Parm Value" },
{ 'C', "set_conf", ACTION(inter_set_conf), ARG_IN, "Token", "Value" },
{ '_', "get_info", ACTION(get_info), ARG_OUT, "Info" },
+ { 's', "get_status", ACTION(get_status), ARG_OUT, "Status flags" },
{ 'w', "send_cmd", ACTION(send_cmd), ARG_IN1 | ARG_IN_LINE | ARG_OUT2, "Cmd", "Reply" },
{ '1', "dump_caps", ACTION(dump_caps), },
{ 0x8f, "dump_state", ACTION(dump_state), ARG_OUT },
@@ -1729,7 +1731,7 @@ declare_proto_rot(set_position)
CHKSCN1ARG(sscanf(arg1, "%f", &az));
CHKSCN1ARG(sscanf(arg2, "%f", &el));
- return rot_set_position(rot, az + rot->state.az_offset, el);
+ return rot_set_position(rot, az, el);
}
@@ -1742,8 +1744,6 @@ declare_proto_rot(get_position)
status = rot_get_position(rot, &az, &el);
- az -= rot->state.az_offset;
-
if (status != RIG_OK)
{
return status;
@@ -1809,6 +1809,32 @@ declare_proto_rot(get_info)
}
+/* 's' */
+declare_proto_rot(get_status)
+{
+ int result;
+ rot_status_t status;
+ char s[SPRINTF_MAX_SIZE];
+
+ result = rot_get_status(rot, &status);
+
+ if (result != RIG_OK)
+ {
+ return result;
+ }
+
+ if ((interactive && prompt) || (interactive && !prompt && ext_resp))
+ {
+ fprintf(fout, "%s: ", cmd->arg1);
+ }
+
+ rot_sprintf_status(s, status);
+ fprintf(fout, "%s%c", s, resp_sep);
+
+ return RIG_OK;
+}
+
+
/* 'M' */
declare_proto_rot(move)
{
diff --git a/tests/sprintflst.c b/tests/sprintflst.c
index 3782aee9..2416df3a 100644
--- a/tests/sprintflst.c
+++ b/tests/sprintflst.c
@@ -665,6 +665,33 @@ int rig_sprintf_scan(char *str, scan_t rscan)
}
+int rot_sprintf_status(char *str, rot_status_t status)
+{
+ int i, len = 0;
+
+ rig_debug(RIG_DEBUG_TRACE, "%s: status=%08x\n", __func__, status);
+ *str = '\0';
+
+ if (status == ROT_STATUS_NONE)
+ {
+ return 0;
+ }
+
+ for (i = 0; i < 32; i++)
+ {
+ const char *sv;
+ sv = rot_strstatus(status & ROT_STATUS_N(i));
+
+ if (sv && sv[0] && (strstr(sv, "None") == 0))
+ {
+ len += sprintf(str + len, "%s ", sv);
+ }
+ }
+
+ return len;
+}
+
+
char *get_rig_conf_type(enum rig_conf_e type)
{
switch (type)
diff --git a/tests/sprintflst.h b/tests/sprintflst.h
index 5fa2c624..2b74f404 100644
--- a/tests/sprintflst.h
+++ b/tests/sprintflst.h
@@ -23,6 +23,7 @@
#define _SPRINTFLST_H 1
#include <hamlib/rig.h>
+#include <hamlib/rotator.h>
#define SPRINTF_MAX_SIZE 512
@@ -45,6 +46,7 @@ extern int rig_sprintf_parm_gran(char *str, setting_t parm, const gran_t *gran);
extern int rot_sprintf_parm_gran(char *str, setting_t parm, const gran_t *gran);
extern int rig_sprintf_vfop(char *str, vfo_op_t op);
extern int rig_sprintf_scan(char *str, scan_t rscan);
+extern int rot_sprintf_status(char *str, rot_status_t status);
extern char *get_rig_conf_type(enum rig_conf_e type);
int print_ext_param(const struct confparams *cfp, rig_ptr_t ptr);
commit a661bee28394a9b19d3c4ab87aec36b8fe21a0ea
Author: Mikael Nousiainen <mik...@ik...>
Date: Wed Dec 2 22:35:38 2020 +0200
Add rotator funcs/levels/parms to rotator caps dump
diff --git a/rigs/dummy/rot_dummy.c b/rigs/dummy/rot_dummy.c
index 8fd9c370..5cd31783 100644
--- a/rigs/dummy/rot_dummy.c
+++ b/rigs/dummy/rot_dummy.c
@@ -31,6 +31,7 @@
#include "hamlib/rotator.h"
#include "dummy_common.h"
#include "register.h"
+#include "idx_builtin.h"
#include "rot_dummy.h"
@@ -847,7 +848,7 @@ const struct rot_caps dummy_rot_caps =
ROT_MODEL(ROT_MODEL_DUMMY),
.model_name = "Dummy",
.mfg_name = "Hamlib",
- .version = "20200310.0",
+ .version = "20201202.0",
.copyright = "LGPL",
.status = RIG_STATUS_STABLE,
.rot_type = ROT_TYPE_AZEL,
@@ -867,7 +868,7 @@ const struct rot_caps dummy_rot_caps =
.has_get_parm = DUMMY_ROT_PARM,
.has_set_parm = ROT_PARM_SET(DUMMY_ROT_PARM),
- .level_gran = { [ROT_LEVEL_SPEED] = { .min = { .i = 1 }, .max = { .i = 4 }, .step = { .i = 1 } } },
+ .level_gran = { [ROT_LVL_SPEED] = { .min = { .i = 1 }, .max = { .i = 4 }, .step = { .i = 1 } } },
.extlevels = dummy_ext_levels,
.extfuncs = dummy_ext_funcs,
diff --git a/src/idx_builtin.h b/src/idx_builtin.h
index d52b2779..220246fa 100644
--- a/src/idx_builtin.h
+++ b/src/idx_builtin.h
@@ -23,6 +23,7 @@
#define _IDX_BUILTIN_H 1
#include <hamlib/rig.h>
+#include <hamlib/rotator.h>
/*
* only for Hamlib internal use (backend caps)
@@ -185,5 +186,9 @@
#define PARM_BAT setting2idx_builtin(RIG_PARM_BAT)
#define PARM_KEYLIGHT setting2idx_builtin(RIG_PARM_KEYLIGHT)
+/* Rotator levels */
+
+#define ROT_LVL_SPEED setting2idx_builtin(ROT_LEVEL_SPEED)
+
#endif /* _IDX_BUILTIN_H */
diff --git a/tests/dumpcaps.c b/tests/dumpcaps.c
index 5617f8c1..2a27f5d0 100644
--- a/tests/dumpcaps.c
+++ b/tests/dumpcaps.c
@@ -33,12 +33,15 @@
#include "sprintflst.h"
#include "rigctl_parse.h"
-static int print_ext(RIG *rig, const struct confparams *cfp, rig_ptr_t ptr);
void range_print(FILE *fout, const struct freq_range_list range_list[], int rx);
int range_sanity_check(const struct freq_range_list range_list[], int rx);
int ts_sanity_check(const struct tuning_step_list tuning_step[]);
static void dump_chan_caps(const channel_cap_t *chan, FILE *fout);
+static int print_ext(RIG *rig, const struct confparams *cfp, rig_ptr_t ptr)
+{
+ return print_ext_param(cfp, ptr);
+}
/*
* the rig may be in rig_init state, but not opened
@@ -832,41 +835,6 @@ int dumpcaps(RIG *rig, FILE *fout)
return backend_warnings;
}
-static int print_ext(RIG *rig, const struct confparams *cfp, rig_ptr_t ptr)
-{
- int i;
- fprintf((FILE *)ptr, "\t%s\n", cfp->name);
- fprintf((FILE *)ptr, "\t\tType: %s\n", get_rig_conf_type(cfp->type));
- fprintf((FILE *)ptr, "\t\tDefault: %s\n", cfp->dflt != NULL ? cfp->dflt : "");
- fprintf((FILE *)ptr, "\t\tLabel: %s\n", cfp->label != NULL ? cfp->label : "");
- fprintf((FILE *)ptr, "\t\tTooltip: %s\n",
- cfp->tooltip != NULL ? cfp->tooltip : "");
-
- switch (cfp->type)
- {
- case RIG_CONF_NUMERIC:
- fprintf((FILE *)ptr, "\t\tRange: %g..%g/%g\n", cfp->u.n.min, cfp->u.n.max,
- cfp->u.n.step);
- break;
-
- case RIG_CONF_COMBO:
- fprintf((FILE *)ptr, "\t\tValues:");
-
- for (i = 0; i < RIG_COMBO_MAX && cfp->u.c.combostr[i] != NULL; i++)
- {
- fprintf((FILE *)ptr, " %d=\"%s\"", i, cfp->u.c.combostr[i]);
- }
-
- fprintf((FILE *)ptr, "\n");
- break;
-
- default:
- break;
- }
-
- return 1; /* process them all */
-}
-
void range_print(FILE *fout, const struct freq_range_list range_list[], int rx)
{
int i;
diff --git a/tests/dumpcaps_rot.c b/tests/dumpcaps_rot.c
index bc0b98b9..0f8def4f 100644
--- a/tests/dumpcaps_rot.c
+++ b/tests/dumpcaps_rot.c
@@ -34,6 +34,11 @@
#include "rotctl_parse.h"
+static int print_ext(ROT *rot, const struct confparams *cfp, rig_ptr_t ptr)
+{
+ return print_ext_param(cfp, ptr);
+}
+
/*
* the rot may be in rot_init state, but not opened
*/
@@ -41,6 +46,7 @@ int dumpcaps_rot(ROT *rot, FILE *fout)
{
const struct rot_caps *caps;
int backend_warnings = 0;
+ static char prntbuf[1024];
if (!rot || !rot->caps)
{
@@ -140,6 +146,51 @@ int dumpcaps_rot(ROT *rot, FILE *fout)
"Post Write delay:\t%dmS\n",
caps->post_write_delay);
+ rot_sprintf_func(prntbuf, caps->has_get_func);
+ fprintf(fout, "Get functions: %s\n", prntbuf);
+
+ rot_sprintf_func(prntbuf, caps->has_set_func);
+ fprintf(fout, "Set functions: %s\n", prntbuf);
+
+ fprintf(fout, "Extra functions:\n");
+ rot_ext_func_foreach(rot, print_ext, fout);
+
+ rot_sprintf_level_gran(prntbuf, caps->has_get_level, caps->level_gran);
+ fprintf(fout, "Get level: %s\n", prntbuf);
+
+ if ((caps->has_get_level & RIG_LEVEL_SQLSTAT))
+ {
+ fprintf(fout, "Warning--backend uses deprecated SQLSTAT level!\n");
+ backend_warnings++;
+ }
+
+ rot_sprintf_level_gran(prntbuf, caps->has_set_level, caps->level_gran);
+ fprintf(fout, "Set level: %s\n", prntbuf);
+
+ if (caps->has_set_level & ROT_LEVEL_READONLY_LIST)
+ {
+ fprintf(fout, "Warning--backend can set readonly levels!\n");
+ backend_warnings++;
+ }
+
+ fprintf(fout, "Extra levels:\n");
+ rot_ext_level_foreach(rot, print_ext, fout);
+
+ rot_sprintf_parm_gran(prntbuf, caps->has_get_parm, caps->parm_gran);
+ fprintf(fout, "Get parameters: %s\n", prntbuf);
+
+ rot_sprintf_parm_gran(prntbuf, caps->has_set_parm, caps->parm_gran);
+ fprintf(fout, "Set parameters: %s\n", prntbuf);
+
+ if (caps->has_set_parm & ROT_PARM_READONLY_LIST)
+ {
+ fprintf(fout, "Warning--backend can set readonly parms!\n");
+ backend_warnings++;
+ }
+
+ fprintf(fout, "Extra parameters:\n");
+ rot_ext_parm_foreach(rot, print_ext, fout);
+
fprintf(fout, "Min Azimuth:\t\t%.2f\n", caps->min_az);
fprintf(fout, "Max Azimuth:\t\t%.2f\n", caps->max_az);
diff --git a/tests/sprintflst.c b/tests/sprintflst.c
index 181d769f..3782aee9 100644
--- a/tests/sprintflst.c
+++ b/tests/sprintflst.c
@@ -690,3 +690,38 @@ char *get_rig_conf_type(enum rig_conf_e type)
return "UNKNOWN";
}
+
+int print_ext_param(const struct confparams *cfp, rig_ptr_t ptr)
+{
+ int i;
+ fprintf((FILE *)ptr, "\t%s\n", cfp->name);
+ fprintf((FILE *)ptr, "\t\tType: %s\n", get_rig_conf_type(cfp->type));
+ fprintf((FILE *)ptr, "\t\tDefault: %s\n", cfp->dflt != NULL ? cfp->dflt : "");
+ fprintf((FILE *)ptr, "\t\tLabel: %s\n", cfp->label != NULL ? cfp->label : "");
+ fprintf((FILE *)ptr, "\t\tTooltip: %s\n",
+ cfp->tooltip != NULL ? cfp->tooltip : "");
+
+ switch (cfp->type)
+ {
+ case RIG_CONF_NUMERIC:
+ fprintf((FILE *)ptr, "\t\tRange: %g..%g/%g\n", cfp->u.n.min, cfp->u.n.max,
+ cfp->u.n.step);
+ break;
+
+ case RIG_CONF_COMBO:
+ fprintf((FILE *)ptr, "\t\tValues:");
+
+ for (i = 0; i < RIG_COMBO_MAX && cfp->u.c.combostr[i] != NULL; i++)
+ {
+ fprintf((FILE *)ptr, " %d=\"%s\"", i, cfp->u.c.combostr[i]);
+ }
+
+ fprintf((FILE *)ptr, "\n");
+ break;
+
+ default:
+ break;
+ }
+
+ return 1; /* process them all */
+}
diff --git a/tests/sprintflst.h b/tests/sprintflst.h
index a1f14217..5fa2c624 100644
--- a/tests/sprintflst.h
+++ b/tests/sprintflst.h
@@ -46,6 +46,7 @@ extern int rot_sprintf_parm_gran(char *str, setting_t parm, const gran_t *gran);
extern int rig_sprintf_vfop(char *str, vfo_op_t op);
extern int rig_sprintf_scan(char *str, scan_t rscan);
extern char *get_rig_conf_type(enum rig_conf_e type);
+int print_ext_param(const struct confparams *cfp, rig_ptr_t ptr);
__END_DECLS
commit bb315270bf18a41be59aeadf129088fa41253e76
Merge: a48f1499 e49dc2e1
Author: Mikael Nousiainen <mik...@ik...>
Date: Wed Dec 2 21:46:23 2020 +0200
Merge branch 'master' into rotator-speed-control-and-status
diff -...
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