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/**************************************************************
Celestron NexStar compatible telescope control library
(C)2013-2016 by Rumen G.Bogdanovski
***************************************************************/
#include <math.h>
#include <nexstar.h>
#include <nexstar_pec.h>
int pec_index_found(int dev) {
char res[2];
REQUIRE_VER(VER_AUX);
REQUIRE_VENDOR(VNDR_CELESTRON);
if (tc_pass_through_cmd(dev, 1, _TC_AXIS_RA_AZM, 0x18, 0, 0, 0, 1, res) < 0) {
return RC_FAILED;
}
if (res[0] == 0) return 0;
else return 1;
}
int pec_seek_index(int dev) {
char res;
REQUIRE_VER(VER_AUX);
REQUIRE_VENDOR(VNDR_CELESTRON);
if (tc_pass_through_cmd(dev, 1, _TC_AXIS_RA_AZM, 0x19, 0, 0, 0, 0, &res) < 0) {
return RC_FAILED;
}
return RC_OK;
}
int pec_record(int dev, char action) {
char res, cmd_id;
REQUIRE_VER(VER_AUX);
REQUIRE_VENDOR(VNDR_CELESTRON);
if (action == PEC_START) {
cmd_id = 0x0c; /* Start PEC record */
} else if (action == PEC_STOP) {
cmd_id = 0x16; /* Stop PEC record */
} else {
return RC_PARAMS;
}
if (tc_pass_through_cmd(dev, 1, _TC_AXIS_RA_AZM, cmd_id, 0, 0, 0, 0, &res) < 0) {
return RC_FAILED;
}
return RC_OK;
}
int pec_record_complete(int dev) {
char res[2];
REQUIRE_VER(VER_AUX);
REQUIRE_VENDOR(VNDR_CELESTRON);
if (tc_pass_through_cmd(dev, 1, _TC_AXIS_RA_AZM, 0x15, 0, 0, 0, 1, res) < 0) {
return RC_FAILED;
}
if (res[0] == 0) return 0;
else return 1;
}
int pec_playback(int dev, char action) {
char res;
REQUIRE_VER(VER_AUX);
REQUIRE_VENDOR(VNDR_CELESTRON);
if ((action != PEC_START) && (action != PEC_STOP)) {
return RC_PARAMS;
}
if (tc_pass_through_cmd(dev, 2, _TC_AXIS_RA_AZM, 0x0d, action, 0, 0, 0, &res) < 0) {
return RC_FAILED;
}
return RC_OK;
}
int pec_get_playback_index(int dev) {
char res[2];
REQUIRE_VER(VER_AUX);
REQUIRE_VENDOR(VNDR_CELESTRON);
if (tc_pass_through_cmd(dev, 1, _TC_AXIS_RA_AZM, 0x0e, 0, 0, 0, 1, res) < 0) {
return RC_FAILED;
}
return (unsigned char) res[0];
}
int pec_get_data_len(int dev) {
char res[2];
REQUIRE_VER(VER_AUX);
REQUIRE_VENDOR(VNDR_CELESTRON);
if (tc_pass_through_cmd(dev, 2, _TC_AXIS_RA_AZM, 0x30, 0x3f, 0, 0, 1, res) < 0) {
return RC_FAILED;
}
return (unsigned char) res[0];
}
int _pec_set_data(int dev, unsigned char index, char data) {
char res;
REQUIRE_VER(VER_AUX);
REQUIRE_VENDOR(VNDR_CELESTRON);
if (tc_pass_through_cmd(dev, 4, _TC_AXIS_RA_AZM, 0x31, 0x40+index, data, 0, 0, &res) < 0) {
return RC_FAILED;
}
return RC_OK;
}
/* on success the returned value should be threated as a signed char */
int _pec_get_data(int dev, unsigned char index) {
char res[2];
REQUIRE_VER(VER_AUX);
REQUIRE_VENDOR(VNDR_CELESTRON);
if (tc_pass_through_cmd(dev, 2, _TC_AXIS_RA_AZM, 0x30, 0x40+index, 0, 0, 1, res) < 0) {
return RC_FAILED;
}
return (unsigned char) res[0];
}
int pec_set_data(int dev, float *data, int len) {
int pec_len, i, rdiff;
float diff, current = 0;
pec_len = pec_get_data_len(dev);
if (pec_len < 0) {
return RC_FAILED;
}
if (pec_len != len) {
return RC_PARAMS;
}
for( i=0; i<pec_len; i++) {
diff = data[i] - current;
/* I have no idea why the values are different for positive and negative numbers
I thought the coefficient should be 0.0772 arcsec/unit as the resolution of
24bit number for 360 degrees. I tried to mach as best as I could the values
returned by Celestron's PECTool and I came up with this numbers... */
if (diff < 0) {
rdiff = (int)roundl(data[i] / 0.0845) - (int)roundl(current / 0.0845);
} else {
rdiff = (int)roundl(data[i] / 0.0774) - (int)roundl(current / 0.0774);
}
if ((rdiff > 127) || (rdiff < -127)) {
return RC_DATA;
}
if (_pec_set_data(dev, i, (char)rdiff) < 0) {
return RC_FAILED;
}
current = data[i];
}
if (pec_record(dev, PEC_STOP) < 0) {
return RC_FAILED;
}
return RC_OK;
}
int pec_get_data(int dev, float *data, const int max_len) {
int pec_len, i, diff;
float current = 0;
char rdata;
pec_len = pec_get_data_len(dev);
if (pec_len < 0) {
return RC_FAILED;
}
if (pec_len > max_len) {
return RC_PARAMS;
}
for (i = 0; i < pec_len; i++) {
diff = _pec_get_data(dev, i);
if (diff < 0) {
return RC_FAILED;
}
/* we need thedata as a signed char */
rdata = (char)diff;
/* I have no idea why the values are different for positive and negative numbers.
Pease se the note in pec_set_data()! */
if (rdata > 0) {
current += rdata * 0.0774;
} else {
current += rdata * 0.0845;
}
data[i] = current;
}
return pec_len;
}
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