Yes, probably the best known is FLDigi, which also does other digital modes. Another good one for windows is Ham Radio Deluxe. You can get the final release of version 5 for free, or there is the new version 6, which is commercial, but has a 30 day trial available. Both of these can be linked digitally to Hamsphere - built in stuff with linux, or a combination of VoiceMeeter and Eltima on windows. For automatic control of the rig, you would need to buy the Interface Adapter from the HS4 shop, which would let you set up a rigCat interface.