Ryan Malloy
780de4fe2b
HAL 0.0.00 kills the search task via the OS task manager (os -> kill Search) rather than the ngsearch submenu used by HAL 2.05. Boot signal is NoGPS only. Source: saveitforparts/Travler_Rotor upstream repo. CLAUDE.md now includes firmware variant comparison table, full command reference, NVS indices, RS-485 pinout, and cable wiring notes.
117 lines
4.4 KiB
Markdown
117 lines
4.4 KiB
Markdown
# Winegard Trav'ler
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Control a Winegard Trav'ler motorized satellite dish via RS-485 for amateur radio satellite tracking.
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## Project
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- **Package:** `travler-rotor` (installed via `uv sync`)
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- **CLI entry point:** `travler-rotor` (init / serve / pos / move)
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- **Source layout:** `src/travler_rotor/` (src-layout)
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- **Original upstream:** `Trav-ler-Rotor-For-HAL-2.05/` — Gabe Emerson's scripts, kept as reference (do not modify)
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## Build & Lint
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```bash
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uv sync # Install deps + package
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uv run ruff check src/ # Lint
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uv run ruff format --check src/ # Format check
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uv run travler-rotor --help # CLI smoke test
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```
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## Architecture
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```
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protocol.py — FirmwareProtocol ABC + HAL205Protocol / HAL000Protocol
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Serial I/O owned here. Each firmware version is a subclass.
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leapfrog.py — Pure function: apply_leapfrog(target, current) -> adjusted
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Predictive overshoot to compensate for mechanical motor lag.
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antenna.py — TravlerAntenna: high-level control wrapping protocol + leapfrog
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This is what consumers (CLI, rotctld, future MCP server) call.
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rotctld.py — RotctldServer: Hamlib rotctld TCP protocol (p/P/S/_/q)
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Bridges Gpredict to the antenna.
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cli.py — Click CLI with init/serve/pos/move subcommands
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```
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## Firmware Variants
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Three known Winegard dish variants exist (Gabe Emerson / saveitforparts):
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| Detail | HAL 0.0.00 | HAL 2.05.003 | Trav'ler Pro |
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|--------|-----------|-------------|-------------|
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| **Repo** | saveitforparts/Travler_Rotor | saveitforparts/Trav-ler-Rotor-For-HAL-2.05 | saveitforparts/Travler-Pro-Rotor |
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| **Connection** | RS-485 / RJ-25 | RS-485 / RJ-25 | USB A-to-A |
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| **Motor submenu** | `mot` | `motor` | `mot` |
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| **Search kill** | `os` -> `kill Search` -> `q` | `ngsearch` -> `s` -> `q` | `os` -> `kill Search` |
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| **Boot signal** | `NoGPS` | `NoGPS` or `No LNB Voltage` | undocumented |
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| **Max elevation** | 90 deg | 90 deg | 75 deg (hardware limit) |
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| **Tested model** | LG-2112 | LG-2112 | SK2DISH |
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Related: saveitforparts/Carryout-Rotor (Winegard Carryout, HAL 1.00.065, very similar commands).
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## Hardware Protocol Notes
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- RS-485 serial, 57600 baud, 8N1 (via USB-to-RS232 + DTECH RS232-to-RS485 + RJ-25)
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- Motor commands: `a <motor_id> <degrees>` (0=azimuth, 1=elevation)
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- Position query: `a` (in motor submenu) returns `AZ = <val> EL = <val> SK = <val>`
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- Two motor control methods:
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- `a <id> <deg>` — queues command, waits for current motor to stop before next
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- `g <az> <el> <sk>` — immediate move, aborts on any new keystroke
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- Elevation floor: HAL 2.05 unreliable below 15 degrees with direct motor commands
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- Cable wrap limit: usually 360 or 455 degrees, dish reverses at limit
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### RS-485 Pinout (RJ-25, bottom view, tip up)
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| Pin | Function |
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|-----|----------|
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| 1 | GND |
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| 2 | T/R- |
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| 3 | T/R+ |
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| 4 | RXD- |
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| 5 | RXD+ |
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| 6 | Not used |
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### Firmware Console Commands
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```
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? — list available commands
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motor / mot — enter motor submenu (firmware-dependent)
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a — show position (in motor submenu)
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a <id> <deg> — move motor to absolute position
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g <az> <el> — go to AZ/EL (aborts on new input)
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q — exit current submenu
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os — enter OS submenu
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tasks — list running tasks
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kill <name> — kill a named task (e.g. "kill Search")
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ngsearch — enter search submenu (HAL 2.05 only)
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s — stop search
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nvs — enter non-volatile storage submenu
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e <idx> — read NVS value
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e <idx> <v> — write NVS value
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s — save changes
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reboot — reboot firmware
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```
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### Known NVS Indices
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| Index | Setting |
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|-------|---------|
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| 102 | Max elevation |
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| 125 | Search minimum elevation |
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| 127 | Safe minimum elevation |
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### IDU/ODU Cable Wiring (if cut)
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Top row: Green, Yellow, Orange. Bottom row: Red, Brown, Black.
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### Power
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48-52VDC power supply for the IDU. The internal coax supplies 14-18VDC bias — do not connect 5V equipment without bypassing the power injector.
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## Known Bugs (from upstream)
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- Leap-frog elevation bug: original `travler_rotor.py` lines 98-105 modify `target_az` instead of `target_el`. Fixed in `leapfrog.py`. See `docs/bugs.md`.
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## Testing
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No hardware-in-the-loop tests yet. Protocol implementations can be mocked for unit testing — `FirmwareProtocol` is an ABC with clear method contracts.
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