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void DvbStream::gotoX( double angle )
{
	double latitude = dvbDevice->usalsLatitude;
	double longitude = dvbDevice->usalsLongitude;
	double P, Ue, Us, az, x, el, Azimuth, USALS=0.0;
	int CMD1=0x00, CMD2=0x00;
	int DecimalLookup[10] = { 0x00, 0x02, 0x03, 0x05, 0x06, 0x08, 0x0A, 0x0B, 0x0D, 0x0E };

	P = latitude*TO_RADS;           // Earth Station Latitude
	Ue = longitude*TO_RADS;           // Earth Station Longitude
	Us = angle*TO_RADS;          // Satellite Longitude

	az = M_PI+atan( tan( Us-Ue )/sin( P ) );
	x = acos( cos(Us-Ue)*cos(P) );
	el = atan( ( cos( x )-0.1513 )/sin( x ) );
	Azimuth = atan( ( -cos(el)*sin(az) )/( sin(el)*cos(P)-cos(el)*sin(P)*cos(az)) )* TO_DEC;

	if ( Azimuth>0.0 )
		CMD1 = 0xE0;    // East
	else
		CMD1 = 0xD0;      // West

	USALS = fabs( Azimuth );

	while (USALS > 16) {
		CMD1++;
		USALS-= 16;
	}
	while (USALS >= 1.0) {
		CMD2+=0x10;
		USALS--;
	}
	USALS*= 10.0;
	int rd = (int)USALS;
	USALS-= rd;
	if ( USALS>0.5 )
		++rd;
	CMD2+= DecimalLookup[rd];

	rotorCommand( 12, CMD1, CMD2 );
}



void DvbStream::rotorCommand( int cmd, int n1, int n2, int n3 )
{
	struct dvb_diseqc_master_cmd cmds[] = {
		{ { 0xe0, 0x31, 0x60, 0x00, 0x00, 0x00 }, 3 },  //0 Stop Positioner movement
		{ { 0xe0, 0x31, 0x63, 0x00, 0x00, 0x00 }, 3 },  //1 Disable Limits
		{ { 0xe0, 0x31, 0x66, 0x00, 0x00, 0x00 }, 3 },  //2 Set East Limit
		{ { 0xe0, 0x31, 0x67, 0x00, 0x00, 0x00 }, 3 },  //3 Set West Limit
		{ { 0xe0, 0x31, 0x68, 0x00, 0x00, 0x00 }, 4 },  //4 Drive Motor East continously
		{ { 0xe0, 0x31, 0x68,256-n1,0x00, 0x00 }, 4 },  //5 Drive Motor East nn steps
		{ { 0xe0, 0x31, 0x69,256-n1,0x00, 0x00 }, 4 },  //6 Drive Motor West nn steps
		{ { 0xe0, 0x31, 0x69, 0x00, 0x00, 0x00 }, 4 },  //7 Drive Motor West continously
		{ { 0xe0, 0x31, 0x6a, n1, 0x00, 0x00 }, 4 },  //8 Store nn
		{ { 0xe0, 0x31, 0x6b, n1, 0x00, 0x00 }, 4 },   //9 Goto nn
		{ { 0xe0, 0x31, 0x6f, n1, n2, n3 }, 4}, //10 Recalculate Position
		{ { 0xe0, 0x31, 0x6a, 0x00, 0x00, 0x00 }, 4 },  //11 Enable Limits
		{ { 0xe0, 0x31, 0x6e, n1, n2, 0x00 }, 5 },   //12 Gotoxx
		{ { 0xe0, 0x10, 0x38, 0xF4, 0x00, 0x00 }, 4 }    //13 User
	};
	
	usleep(15*1000);
	if ( ioctl( fdFrontend, FE_DISEQC_SEND_MASTER_CMD, &cmds[cmd] ) )
		perror("Rotor : FE_DISEQC_SEND_MASTER_CMD failed");
	usleep(15*1000);
}