k3ng_rotator_controller/k3ng_rotator_controller.ino

/* Arduino Rotator Controller

   Anthony Good
   K3NG
   anthony.good@gmail.com
  

  
   Code contributions, testing, ideas, bug fixes, hardware, support, encouragement, and/or bourbon provided by:
     John W3SA
     Gord VO1GPK
     Anthony M0UPU
     Pete VE5VA
     Marcin SP5IOU
     Hjalmar OZ1JHM
     Sverre LA3ZA
     Bent OZ1CT
     Erick WB6KCN
     Norm N3YKF
     Jan OK2ZAW
     Jim M0CKE
     Mike AD0CZ
     Paolo IT9IPQ
     Antonio IZ7DDA
     Johan PA3FPQ
     Jurgen PE1LWT
     Gianfranco IZ8EWD 
     Jasper PA2J
     Pablo EA4TX
     Máximo EA1DDO
     Matt VK5ZM
     ...and others
  
   Translations provided by
     Máximo EA1DDO
     Jan OK2ZAW
     Paolo IT9IPQ
     Ismael PY4PI
     Robert DL5ROB


   (If you contributed something and I forgot to put your name and call in here, *please* email me!)
  
 ***************************************************************************************************************
 *
 *  This program is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License
 *
 *                            http://creativecommons.org/licenses/by-nc-sa/3.0/
 *
 *                        http://creativecommons.org/licenses/by-nc-sa/3.0/legalcode
 *
 *
 ***************************************************************************************************************
  
  
  
  
                            All copyrights are the property of their respective owners
  
 
 
 Full documentation is currently located here: https://github.com/k3ng/k3ng_rotator_controller/wiki

      Rules for using this code:

          Rule #1: Read the documentation.
  
          Rule #2: Refer to rule #1.

          Rule #3: Help others.

          Rule #4: Have fun.

  
  New in this release:
  
   HH-12 encoder support 
   OPTION_PULSE_IGNORE_AMBIGUOUS_PULSES
   \P PWM command is now \W
   \P is Park command
   park_in_progress_pin  // goes high when a park has been initiated and rotation is in progress 
   parked_pin            // goes high when in a parked position 
    heading_reading_inhibit_pin 
    FEATURE_LIMIT_SENSE 
   #define az_limit_sense_pin 0  // input - low stops azimuthal rotation 
   #define el_limit_sense_pin 0  // input - low stops elevation rotation 
    \Axxx command - manually set azimuth, xxx = azimuth (FEATURE_AZ_POSITION_ROTARY_ENCODER or FEATURE_AZ_POSITION_PULSE_INPUT only) 
    \Bxxx command - manually set elevation, xxx = elevation (FEATURE_EL_POSITION_POTENTIOMETER or FEATURE_EL_POSITION_ROTARY_ENCODER only) 
    fixed bug with preset encoder start and kill button
    FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
    FEATURE_EL_POSITION_INCREMENTAL_ENCODER
    OPTION_INCREMENTAL_ENCODER_PULLUPS
   #define AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV 8000.0
   #define EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV 8000.0
    AZIMUTH_STARTING_POINT_DEFAULT and AZIMUTH_ROTATION_CAPABILITY_DEFAULT are now persistent
    Yaesu P35, P45, and Z commands no longer write to eeprom 
    control_port points to the hardware port for computer interface
    remote_unit_port points to the hardware port for interfacing to remote unit
    removed OPTION_SERIAL1, 2, 3, 4
    SS command: SS0 = control port, SS1 = remote unit port
    No longer need to manually uncomment hh12.h or object declarations
    No longer need to manually uncomment LiquidCrystal lcd() 
    No longer need to manually uncomment Adafruit_ADXL345 accel 
    No longer need to manually uncomment ADXL345 accel 
    No longer need to manually uncomment Adafruit_LSM303 lsm;
    No longer need to manually uncomment HMC5883L compass;
    FEATURE_4_BIT_LCD_DISPLAY 
    FEATURE_ADAFRUIT_I2C_LCD 
    FEATURE_YOURDUINO_I2C_LCD 
    FEATURE_RFROBOT_I2C_DISPLAY 
    No longer need to uncomment:
     FEATURE_LCD_DISPLAY 
     FEATURE_I2C_LCD 
     any include files 
    serial led duration now set by SERIAL_LED_TIME_MS
   #define CONTROL_PORT_MAPPED_TO &Serial  // change this line to map the control port to a different serial port (Serial1, Serial2, etc.) 
   #define REMOTE_PORT_MAPPED_TO &Serial1  // change this line to map the remote_unit port to a different serial port 
    start of remote unit pin control
    remote unit pin control (add 100 to a pin number define to map to remote unit pin) 
    FEATURE_CLOCK 
    FEATURE_MOON_TRACKING 
   #define DEFAULT_LATITUDE 40.889958 
   #define DEFAULT_LONGITUDE -75.585972 
  
   #define INTERNAL_CLOCK_CORRECTION 0.00145
  
    \C - show clock 
    \O - set clock \OYYYYMMDDHHmm 
    \Mx - x = 0: deactive moon tracking; x = 1: activate moon tracking 
    \Gxxxxxx - set coordinates via grid square (example: \GFN20EV) 
  
    Park is now deactivated when issuing a Yaesu command (other than C) or when doing manual rotation
    FEATURE_GPS
   #define GPS_PORT_MAPPED_TO &Serial2 
   #define GPS_PORT_BAUD_RATE 9600 
   #define SYNC_TIME_WITH_GPS 1 
   #define SYNC_COORDINATES_WITH_GPS 1 
   #define GPS_SYNC_PERIOD_SECONDS 10  // how long to consider internal clock syncronized after a GPS reading 
   #define GPS_VALID_FIX_AGE_MS 10000  // consider a GPS reading valid if the fix age is less than this 
    FEATURE_SUN_TRACKING 
      \Ux - x = 0: deactive sun tracking; x = 1: activate sun tracking  
    FEATURE_AZ_POSITION_INCREMENTAL_ENCODER & FEATURE_EL_POSITION_INCREMENTAL_ENCODER coding
    Updated debug output format
    \XS - calibration az and el to sun heading - there are calculation bugs
    fixed initialize_serial() compilaton error when neither yaesu or easycom protocol is selected in features
    fixed bugs in \XS and \XM
    \XS and\XM now working on all sensor types 
    moon_tracking_active_pin   
    sun_tracking_active_pin      
    moon_tracking_activate_line    
    sun_tracking_activate_line     
    moon_tracking_button  
    sun_tracking_button   
    \A azimuth calibration now also works with sensors other than rotary encoders and pulse input
    \B elevation calibration now also works with sensors other than rotary encoders and pulse input
    OPTION_BUTTON_RELEASE_NO_SLOWDOWN 
    Fixed God-awful bug that caused Arduino to crash when running FEATURE_GPS.  Note to self: never declare a char in a switch case.  It causes unpredicatable, unexplainable evil stuff to occur.
    Fixed bug with elevation PWM
     gps_sync pin - goes high when clock is GPS synchronized 
     FEATURE_RTC_PCF8583 
    \O command also programs realtime clocks now
    Fixed bug in PWM outputs when changing direction
    Ethernet now working with backslash commands, Yaesu commands, and Easycom commands
    Fixed bug in Easycom (non-standard) AZ and EL commands
    Ethernet remote unit slave support (slave only, master using ethernet not done yet)
    #define GPS_MIRROR_PORT &Serial3   
    OPTION_DISPLAY_SMALL_CLOCK
      #define LCD_SMALL_CLOCK_POSITION LEFT
    OPTION_DISPLAY_GPS_INDICATOR
      #define LCD_GPS_INDICATOR_POSITION RIGHT
    OPTION_DISPLAY_MOON_TRACKING_CONTINUOUSLY
      #define LCD_MOON_TRACKING_ROW 3
      #define LCD_MOON_TRACKING_UPDATE_INTERVAL 5000    
    OPTION_DISPLAY_SUN_TRACKING_CONTINUOUSLY
      #define LCD_SUN_TRACKING_ROW 4
      #define LCD_SUN_TRACKING_UPDATE_INTERVAL 5000  
    #define LCD_ROWS 4  
    fixed bug with Yourduino LCD display initialization (thanks PA3FPQ)
    added GPS counters to debug output
    FEATURE_POWER_SWITCH
      #define POWER_SWITCH_IDLE_TIMEOUT 15  (unit: minutes)
      #define power_switch 0
    OPTION_DISPLAY_MOON_OR_SUN_TRACKING_CONDITIONAL
      #define LCD_MOON_OR_SUN_TRACKING_CONDITIONAL_ROW 3
    OPTION_DISPLAY_BIG_CLOCK
    #define GPS_UPDATE_LATENCY_COMPENSATION_MS 200
    #define AZIMUTH_CALIBRATION_FROM_ARRAY {180,630} 
    #define AZIMUTH_CALIBRATION_TO_ARRAY {180,630}
    #define ELEVATION_CALIBRATION_FROM_ARRAY {-180,0,180}
    #define ELEVATION_CALIBRATION_TO_ARRAY {-180,0,180}
    #define rotate_cw_ccw  0
    #define az_stepper_motor_direction 0
    #define el_stepper_motor_direction 0
    bug fix for long clock display
    performance improvement for az / el display on LCD
    #define az_stepper_motor_pulse 0
    #define el_stepper_motor_pulse 0  
    OPTION_DISPLAY_ALT_HHMM_CLOCK_AND_MAIDENHEAD 
    #define LCD_SMALL_CLOCK_AND_MAIDENHEAD_POSITION 
    #define LCD_SMALL_CLOCK_AND_MAIDENHEAD_ROW 4 
    #define LCD_GPS_INDICATOR_ROW 1 
    OPTION_EXTERNAL_ANALOG_REFERENCE
    more debug_print conversion

    OPTION_DISPLAY_SMALL_CLOCK renamed to OPTION_DISPLAY_HHMM_CLOCK 
    LCD_SMALL_CLOCK_POSITION renamed to LCD_HHMM_CLOCK_POSITION 
    OPTION_DISPLAY_HHMMSS_CLOCK 
    OPTION_DISPLAY_DISABLE_DIRECTION_STATUS 
    OPTION_DISPLAY_SMALL_CLOCK_AND_MAIDENHEAD renamed to OPTION_DISPLAY_ALT_HHMM_CLOCK_AND_MAIDENHEAD 
    OPTION_DISPLAY_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD 

    #define LCD_HHMM_CLOCK_POSITION LEFT          //LEFT or RIGHT  
    #define LCD_HHMMSS_CLOCK_POSITION LEFT          //LEFT or RIGHT 
    #define LCD_ALT_HHMM_CLOCK_AND_MAIDENHEAD_POSITION LEFT 
    #define LCD_ALT_HHMM_CLOCK_AND_MAIDENHEAD_ROW 1 
    #define LCD_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD_POSITION LEFT 
    #define LCD_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD_ROW 1 

    OPTION_DISPLAY_DISABLE_DIRECTION_STATUS changed to OPTION_DISPLAY_DIRECTION_STATUS 
    worked on FEATURE_TWO_DECIMAL_PLACE_HEADINGS
    LANGUAGE_ENGLISH

    Easycom improvements - space and LF are now also command delimiters.  Also fixed bug with one decimal place.  Works with PSTRotator
    Fixed issue with LCD display updating when target az or target el was changed during rotation
    I2C_LCD_COLOR also applies to Yourduino LCD display

    HH-12 elevation bug fix

    FEATURE_MASTER_WITH_SERIAL_SLAVE
    FEATURE_MASTER_WITH_ETHERNET_SLAVE
    FEATURE_EL_POSITION_MEMSIC_2125  under development - not working yet

    fixed a bug with azimuth and elevation offset zeroing out first decimal place
    Ethernet master/slave link!
    #define ETHERNET_SLAVE_IP_ADDRESS 192,168,1,173
    #define ETHERNET_SLAVE_TCP_PORT 23
    #define ETHERNET_SLAVE_RECONNECT_TIME_MS 250

    Changed master/slave AZ and EL command result format: AZxxx.xxxxxx EL+xxx.xxxxxx
    Slave CL command

    OPTION_SYNC_MASTER_CLOCK_TO_SLAVE

    fixed "if (clock_status == SLAVE_SYNC) {clock_status = FREE_RUNNING;}" compile error

    OPTION_CLOCK_ALWAYS_HAVE_HOUR_LEADING_ZERO

    OPTION_DISABLE_HMC5883L_ERROR_CHECKING
    HARDWARE_EA4TX_ARS_USB
    HARDWARE_M0UPU
    rotator_hardware.h file
    rotator_features_ea4tx_ars_usb.h
    rotator_pins_ea4tx_ars_usb.h
    #define AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV 2000.0
    #define EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV 2000.0

    FEATURE_EL_POSITION_INCREMENTAL_ENCODER now does 360 degrees of rotation rather than 720

    OPTION_PRESET_ENCODER_0_360_DEGREES

    service_rotation() - fixed rollover bug with az and el slow down

    Fixed decimal place issue with Easycom AZ and EL query commands
    FEATURE_EL_POSITION_INCREMENTAL_ENCODER - fixed storage and retrieval of elevation in eeprom
    Bug fix - stop command wouldn't work when in slow down
    AZ_INITIALLY_IN_SLOW_DOWN_PWM
    EL_INITIALLY_IN_SLOW_DOWN_PWM 

    Fixed compilation error when FEATURE_JOYSTICK_CONTROL is activated and FEATURE_ELEVATION_CONTROL is disabled

    FEATURE_ANALOG_OUTPUT_PINS (rotator_features.h)   (documented 2015-04-16)
    FEATURE_AZ_POSITION_LSM303 is now FEATURE_AZ_POSITION_ADAFRUIT_LSM303 (rotator_features.h) (documented 2015-04-16)
    FEATURE_EL_POSITION_LSM303 is now FEATURE_EL_POSITION_ADAFRUIT_LSM303 (rotator_features.h) (documented 2015-04-16)
    LANGUAGE_CZECH (rotator_features.h) (documented)

    FEATURE_AZ_POSITION_POLOLU_LSM303 (rotator_features.h)  (code contributed by AD0CZ) (documented 2015-04-16)
    FEATURE_EL_POSITION_POLOLU_LSM303 (rotator_features.h)  (documented 2015-04-16)
    #define POLOLU_LSM_303_MIN_ARRAY {+59, +19, -731} (rotator_settings.h) (documented 2015-04-16)
    #define POLOLU_LSM_303_MAX_ARRAY {+909, +491, +14} (rotator_settings.h) (documented 2015-04-16)
    DEBUG_POLOLU_LSM303_CALIBRATION (rotator_features.h)

    bug fixed with brake_release() affecting elevation brake (thanks Paolo, IT9IPQ)

    LANGUAGE_ITALIAN code donated by Paolo, IT9IPQ
    OPTION_DISPLAY_VERSION_ON_STARTUP code provided by Paolo, IT9IPQ

    Fixed bug with LANGUAGE_CZECH (thanks Radek, OK2NMA)

    Change in Easycom response terminator (now uses whatever command terminator was sent to it)
    Easycom AZ EL command string response change to +xxx.xx +xxx.xx

    OPTION_HAMLIB_EASYCOM_AZ_EL_COMMAND_HACK
    LANGUAGE_PORTUGUESE_BRASIL (thanks Ismael, PY4PI)

    check_brake_release() bug fix

    configuration.az_stepper_motor_last_direction, configuration.az_stepper_motor_last_pin_state, configuration.el_stepper_motor_last_direction, configuration.el_stepper_motor_last_pin_state    
 
    OPTION_HAMLIB_EASYCOM_NO_TERMINATOR_CHARACTER_HACK ; HARDWARE_WB6KCN
    
    FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2

    AZ_INCREMENTAL_ENCODER_ZERO_PULSE_POSITION
    EL_INCREMENTAL_ENCODER_ZERO_PULSE_POSITION

    OPTION_BLINK_OVERLAP_LED and OPTION_OVERLAP_LED_BLINK_MS setting

    FEATURE_SUN_PUSHBUTTON_AZ_EL_CALIBRATION and FEATURE_MOON_PUSHBUTTON_AZ_EL_CALIBRATION; pin_sun_pushbutton_calibration, pin_moon_pushbutton_calibration

    Rolled FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2 into FEATURE_STEPPER_MOTOR

    Working on FEATURE_AUTOCORRECT

    Bug fix involving FEATURE_AZ_POSITION_HH12_AS5045_SSI and azimuth_offset (thanks Johan, PA3FPQ and Jurgen, PE1LWT)
    Bug fix - wasn't initializing rotate_cw_ccw (thanks Erick, WB6KCN)
    Bug fix with OPTION_DISPLAY_VERSION_ON_STARTUP and 2 row displays (thanks Gianfranco, IZ8EWD)
    OPTION_EL_PULSE_DEBOUNCE code - (thanks Gianfranco, IZ8EWD)
    #define EL_POSITION_PULSE_DEBOUNCE 500  // in ms

    OPTION_HH12_10_BIT_READINGS in hh12.h (thanks Johan PA3FPQ)

    Correction from Johan PA3FPQ on OPTION_HH12_10_BIT_READINGS

    #define BRAKE_ACTIVE_STATE HIGH
    #define BRAKE_INACTIVE_STATE LOW

    OPTION_SCANCON_2RMHF3600_INC_ENCODER - thanks Jasper, PA2J

    Fixed compile bug with OPTION_EL_MANUAL_ROTATE_LIMITS) when FEATURE_ELEVATION_CONTROL is not enabled

    Eliminated az_stepper_motor_direction and el_stepper_motor_direction.  Use rotate_* pins instead!

    Self-resetting functionality
    Fixed bug with OPTION_DISPLAY_DIRECTION_STATUS updating

    Improved the self reset with a non-blocking 5 second delay

    Added remote slave commands:
      RC - read coordinates (returns RCxx.xxxx -xxx.xxxx)
      GS - query GPS status (returns GS0 (no sync) or GS1 (sync))  

    OPTION_SYNC_MASTER_COORDINATES_TO_SLAVE 

    reset_pin

    Updated for Arduino 1.6.1

    Fixed compilation issue with FEATURE_ELEVATION_CORRECTION and Arduino 1.6.x

    OPTION_RESET_METHOD_JMP_ASM_0
    Change /E command to do setup() for system reset

    Fixed calculation issues with FEATURE_ELEVATION_CORRECTION
    Fixed bug with FEATURE_AZIMUTH_CORRECTION and FEATURE_ELEVATION_CORRECTION rounding off to nearest degree

    2.0.2015040401 Changed configuration.azimuth_offset to use raw_azimuth rather than azimuth for calculation

    2.0.2015040402 Fixed bug with compiling FEATURE_MASTER_WITH_ETHERNET_SLAVE without FEATURE_CLOCK

    2.0.2015050401 Fixed bug with WNW being display on LCD direction indicator rather than WSW (Thanks Radek, OK2NMA)

    2.0.2015051301
      Fixed bug with remote slave AZ and EL commands not returning decimal places (i.e. xxx.000000)
      Working on remote unit double backslash commands

    2.0.2015051901 LANGUAGE_GERMAN (Thanks Ronny, DM2RM)  (documented in wiki)

    2.0.2015052501
      Working on SEI Bus and A2 Encoders
      Working on remote unit double backslash commands

    2.0.2015061601  
      Working on converting over LCD display code to k3ngdisplay library
      #define DISPLAY_DEGREES_STRING "\xDF"
      last_az_incremental_encoder_position & az_incremental_encoder_position changed to long
      k3ng_remote_rotator_controller class

    2.0.2015070301
      Fixed compile error involving clock_temp_string in display code when compiling multiple clock display widgets is attempted  
      Still working on new display code and local/remote unit code

    2.0.2015070302
      FEATURE_AZ_POSITION_INCREMENTAL_ENCODER conversion to long data types (Thanks Daniel Cussen)

    2.0.2015070401
      gps_sync pin bug fixed  

    2.0.2015071201
      FEATURE_YWROBOT_I2C_DISPLAY (code provided by Máximo EA1DDO)

    2.0.2015071701  
      FEATURE_AZ_POSITION_INCREMENTAL_ENCODER code fixed (Thanks Daniel Cussen)

    2.0.2015090401
      Breaking out portions of ino file into .h files...
        #include "rotator_clock_and_gps.h"
        #include "rotator_command_processing.h" 
        #include "rotator_moon_and_sun.h"
        #include "rotator_ethernet.h"
        #include "rotator_stepper.h"

    2.0.2015090402
        #include "rotator_language.h"
        OPTION_SAVE_MEMORY_EXCLUDE_REMOTE_CMDS
        /?FS command - Full Status Report

    2.0.2015090601
      Updates to rotator_language.h
      Fixed k3ngdisplay.h / LiquidCrystal.h compilation problems with Arduino IDE
      Integrated DebugClass (debug.h and debug.cpp) contributed from Matt VK5ZM


    2.0.2015092001
      LANGUAGE_FRENCH (contributed by Marc-Andre, VE2EVN) 
      fixed issue with rotator_analog_az inferring with other pins if defined but not used 
      
  */

#define CODE_VERSION "2.0.2015092001"

#include <avr/pgmspace.h>
#include <EEPROM.h>
#include <math.h>
#include <avr/wdt.h>


#include "rotator_hardware.h"

#ifdef HARDWARE_EA4TX_ARS_USB
  #include "rotator_features_ea4tx_ars_usb.h"
#endif
#ifdef HARDWARE_WB6KCN
  #include "rotator_features_wb6kcn.h"
#endif
#ifdef HARDWARE_M0UPU
  #include "rotator_features_m0upu.h"
#endif
#ifdef HARDWARE_TEST
  #include "rotator_features_test.h"
#endif    
#if !defined(HARDWARE_CUSTOM)
  #include "rotator_features.h" 
#endif      
  
#include "rotator_dependencies.h"

#include "debug.h"

#ifdef FEATURE_4_BIT_LCD_DISPLAY
  #include <LiquidCrystal.h>  // required for classic 4 bit interface LCD display (FEATURE_4_BIT_LCD_DISPLAY)
#endif // FEATURE_4_BIT_LCD_DISPLAY

#if defined(FEATURE_ADAFRUIT_I2C_LCD)
  #include <Adafruit_MCP23017.h> // required for Adafruit I2C LCD display
  #include <Adafruit_RGBLCDShield.h> // required for Adafruit I2C LCD display
#endif

#if defined(FEATURE_YOURDUINO_I2C_LCD) || defined(FEATURE_RFROBOT_I2C_DISPLAY)
  #include <LiquidCrystal_I2C.h> // required for YourDuino.com or DFRobot I2C LCD display
#endif

#if defined(FEATURE_YOURDUINO_I2C_LCD)
  #include <LCD.h>   // required for YourDuino.com I2C LCD display
#endif  

#ifdef FEATURE_LCD_DISPLAY
 #include "k3ngdisplay.h"
#endif    

#ifdef FEATURE_WIRE_SUPPORT
  #include <Wire.h>  // required for FEATURE_I2C_LCD, any ADXL345 feature, FEATURE_AZ_POSITION_HMC5883L, FEATURE_EL_POSITION_ADAFRUIT_LSM303
#endif

#if defined(FEATURE_AZ_POSITION_HMC5883L)
  #include <HMC5883L.h> // required for HMC5883L digital compass support
#endif
#if defined(FEATURE_EL_POSITION_ADXL345_USING_ADAFRUIT_LIB) || defined(FEATURE_AZ_POSITION_ADAFRUIT_LSM303) || defined(FEATURE_EL_POSITION_ADAFRUIT_LSM303)
  #include <Adafruit_Sensor.h>    // required for any Adafruit sensor libraries
#endif
#if defined(FEATURE_EL_POSITION_ADXL345_USING_LOVE_ELECTRON_LIB)
  #include <ADXL345.h>  // required for elevation ADXL345 accelerometer using Love Electronics ADXL345 library
#endif
#if defined(FEATURE_EL_POSITION_ADXL345_USING_ADAFRUIT_LIB)
  #include <Adafruit_ADXL345_U.h>   // required for elevation ADXL345 accelerometer using Adafruit ADXL345 library (FEATURE_EL_POSITION_ADXL345_USING_ADAFRUIT_LIB)
#endif
#if defined(FEATURE_EL_POSITION_ADAFRUIT_LSM303) || defined(FEATURE_AZ_POSITION_ADAFRUIT_LSM303)
  #include <Adafruit_LSM303.h>     // required for azimuth and/or elevation using LSM303 compass and/or accelerometer
#endif
#ifdef FEATURE_AZ_POSITION_POLOLU_LSM303
  #include <LSM303.h>
#endif
#if defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING)
  #include "moon2.h"
#endif // defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING)
#ifdef FEATURE_SUN_TRACKING
  #include "sunpos.h"
#endif // FEATURE_SUN_TRACKING
#ifdef FEATURE_GPS
  #include "TinyGPS.h"
#endif // FEATURE_GPS
#ifdef FEATURE_RTC_DS1307
  #include "RTClib.h"
#endif // FEATURE_RTC_DS1307
#ifdef FEATURE_RTC_PCF8583
  #include "PCF8583.h"
#endif //FEATURE_RTC_PCF8583
#ifdef FEATURE_ETHERNET
  #include "SPI.h"
  #include "Ethernet.h"
#endif


#include "rotator.h"

#ifdef HARDWARE_EA4TX_ARS_USB
  #include "rotator_pins_ea4tx_ars_usb.h"
#endif
#ifdef HARDWARE_M0UPU
  #include "rotator_pins_m0upu.h"
#endif
#ifdef HARDWARE_WB6KCN
  #include "rotator_pins_wb6kcn.h"
#endif
#ifdef HARDWARE_TEST
  #include "rotator_pins_test.h"
#endif
#if !defined(HARDWARE_CUSTOM)
  #include "rotator_pins.h"
#endif

#ifdef HARDWARE_EA4TX_ARS_USB
  #include "rotator_settings_ea4tx_ars_usb.h"
#endif
#ifdef HARDWARE_WB6KCN
  #include "rotator_settings_wb6kcn.h"
#endif
#ifdef HARDWARE_M0UPU
  #include "rotator_settings_m0upu.h"
#endif
#ifdef HARDWARE_TEST
  #include "rotator_settings_test.h"
#endif      
#if !defined(HARDWARE_CUSTOM)
  #include "rotator_settings.h"
#endif

#ifdef FEATURE_STEPPER_MOTOR
  #include "TimerFive.h"
#endif











/*----------------------- variables -------------------------------------*/

byte incoming_serial_byte = 0;

byte reset_the_unit = 0;

#ifdef FEATURE_TWO_DECIMAL_PLACE_HEADINGS
  long azimuth = 0;
  long raw_azimuth = 0;
  long target_azimuth = 0;
  long target_raw_azimuth = 0;
  long azimuth_starting_point = AZIMUTH_STARTING_POINT_DEFAULT;
  long azimuth_rotation_capability = AZIMUTH_ROTATION_CAPABILITY_DEFAULT;
#else
  int azimuth = 0;
  int raw_azimuth = 0;
  int target_azimuth = 0;
  int target_raw_azimuth = 0;
  int azimuth_starting_point = AZIMUTH_STARTING_POINT_DEFAULT;
  int azimuth_rotation_capability = AZIMUTH_ROTATION_CAPABILITY_DEFAULT;
#endif




byte control_port_buffer[COMMAND_BUFFER_SIZE];
int control_port_buffer_index = 0;
byte az_state = IDLE;
byte debug_mode = DEFAULT_DEBUG_STATE;
int analog_az = 0;
unsigned long last_debug_output_time = 0;
unsigned long az_last_rotate_initiation = 0;
byte azimuth_button_was_pushed = 0;
byte brake_az_engaged = 0;
byte brake_el_engaged = 0;
byte configuration_dirty = 0;
unsigned long last_serial_receive_time = 0;

byte az_slowstart_active = AZ_SLOWSTART_DEFAULT;
byte az_slowdown_active = AZ_SLOWDOWN_DEFAULT;

byte az_request = 0;
int az_request_parm = 0;
byte az_request_queue_state = NONE;

unsigned long az_slowstart_start_time = 0;
byte az_slow_start_step = 0;
unsigned long az_last_step_time = 0;
byte az_slow_down_step = 0;
unsigned long az_timed_slow_down_start_time = 0;
byte backslash_command = 0;

struct config_t {
  byte magic_number;
  int analog_az_full_ccw;
  int analog_az_full_cw;
  int analog_el_0_degrees;
  int analog_el_max_elevation;
  float last_azimuth;
  float last_elevation;
  //int last_az_incremental_encoder_position;  
  long last_az_incremental_encoder_position;
  int last_el_incremental_encoder_position;
  float azimuth_offset;
  float elevation_offset;
  byte az_stepper_motor_last_pin_state;
  byte el_stepper_motor_last_pin_state;
  byte az_stepper_motor_last_direction;
  byte el_stepper_motor_last_direction;
} configuration;




#ifdef FEATURE_TIMED_BUFFER
  int timed_buffer_azimuths[TIMED_INTERVAL_ARRAY_SIZE];
  int timed_buffer_number_entries_loaded = 0;
  int timed_buffer_entry_pointer = 0;
  int timed_buffer_interval_value_seconds = 0;
  unsigned long last_timed_buffer_action_time = 0;
  byte timed_buffer_status = EMPTY;
#endif // FEATURE_TIMED_BUFFER

byte normal_az_speed_voltage = 0;
byte current_az_speed_voltage = 0;

#ifdef FEATURE_ELEVATION_CONTROL
  int elevation = 0;
  int target_elevation = 0;

  byte el_request = 0;
  int el_request_parm = 0;
  byte el_request_queue_state = NONE;
  byte el_slowstart_active = EL_SLOWSTART_DEFAULT;
  byte el_slowdown_active = EL_SLOWDOWN_DEFAULT;
  unsigned long el_slowstart_start_time = 0;
  byte el_slow_start_step = 0;
  unsigned long el_last_step_time = 0;
  byte el_slow_down_step = 0;
  unsigned long el_timed_slow_down_start_time = 0;
  byte normal_el_speed_voltage = 0;
  byte current_el_speed_voltage = 0;

  int display_elevation = 0;
  byte el_state = IDLE;
  int analog_el = 0;

  unsigned long el_last_rotate_initiation = 0;
  #ifdef FEATURE_TIMED_BUFFER
    int timed_buffer_elevations[TIMED_INTERVAL_ARRAY_SIZE];
  #endif // FEATURE_TIMED_BUFFER
  byte elevation_button_was_pushed = 0;
#endif // FEATURE_ELEVATION_CONTROL

#if defined(FEATURE_LCD_DISPLAY)
  byte push_lcd_update = 0;
#endif // FEATURE_LCD_DISPLAY

#ifdef FEATURE_ROTARY_ENCODER_SUPPORT
  #ifdef OPTION_ENCODER_HALF_STEP_MODE      // Use the half-step state table (emits a code at 00 and 11)
    const unsigned char ttable[6][4] = {
      { 0x3,  0x2,  0x1, 0x0  }, { 0x23, 0x0,  0x1, 0x0  },
      { 0x13, 0x2,  0x0, 0x0  }, { 0x3,  0x5,  0x4, 0x0  },
      { 0x3,  0x3,  0x4, 0x10 }, { 0x3,  0x5,  0x3, 0x20 }
    };
  #else                                      // Use the full-step state table (emits a code at 00 only)
    const unsigned char ttable[7][4] = {
      { 0x0, 0x2, 0x4, 0x0  }, { 0x3, 0x0, 0x1, 0x10 },
      { 0x3, 0x2, 0x0, 0x0  }, { 0x3, 0x2, 0x1, 0x0  },
      { 0x6, 0x0, 0x4, 0x0  }, { 0x6, 0x5, 0x0, 0x10 },
      { 0x6, 0x5, 0x4, 0x0  },
    };
  #endif // OPTION_ENCODER_HALF_STEP_MODE

  #ifdef FEATURE_AZ_PRESET_ENCODER            // Rotary Encoder State Tables
    #if defined(FEATURE_ONE_DECIMAL_PLACE_HEADINGS) || defined(FEATURE_TWO_DECIMAL_PLACE_HEADINGS)
      double az_encoder_raw_degrees = 0;
    #else
      int az_encoder_raw_degrees = 0;
    #endif
    volatile unsigned char az_encoder_state = 0;
    #ifdef FEATURE_EL_PRESET_ENCODER
      volatile unsigned char el_encoder_state = 0;
      #if defined(FEATURE_ONE_DECIMAL_PLACE_HEADINGS) || defined(FEATURE_TWO_DECIMAL_PLACE_HEADINGS)
        double el_encoder_degrees = 0;
      #else
        int el_encoder_degrees = 0;
      #endif
    #endif // FEATURE_EL_PRESET_ENCODER
    byte preset_encoders_state = ENCODER_IDLE;
  #endif // FEATURE_AZ_PRESET_ENCODER
#endif // FEATURE_ROTARY_ENCODER_SUPPORT

#ifdef DEBUG_PROFILE_LOOP_TIME
  float average_loop_time = 0;
#endif // DEBUG_PROFILE_LOOP_TIME

#ifdef FEATURE_AZ_POSITION_PULSE_INPUT
  volatile float az_position_pulse_input_azimuth = 0;
  volatile byte last_known_az_state = 0;
#endif // FEATURE_AZ_POSITION_PULSE_INPUT

#ifdef FEATURE_EL_POSITION_PULSE_INPUT
  volatile float el_position_pulse_input_elevation = 0;
  volatile byte last_known_el_state = 0;
  #ifdef OPTION_EL_PULSE_DEBOUNCE
    unsigned long last_el_pulse_debounce = 0;
  #endif //OPTION_EL_PULSE_DEBOUNCE
#endif // FEATURE_EL_POSITION_PULSE_INPUT

#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) 
  byte serial_read_event_flag[] = { 0, 0, 0, 0, 0 };
  byte control_port_buffer_carriage_return_flag = 0;
#endif

#if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
  byte remote_unit_port_buffer[COMMAND_BUFFER_SIZE];
  int remote_unit_port_buffer_index = 0;
  byte remote_unit_port_buffer_carriage_return_flag = 0;
  unsigned long serial1_last_receive_time = 0;
  byte remote_unit_command_submitted = 0;
  unsigned long last_remote_unit_command_time = 0;
  unsigned int remote_unit_command_timeouts = 0;
  unsigned int remote_unit_bad_results = 0;
  unsigned long remote_unit_good_results = 0;
  unsigned int remote_unit_incoming_buffer_timeouts = 0;
  byte remote_unit_command_results_available = 0;
  float remote_unit_command_result_float = 0;
  byte remote_port_rx_sniff = 0;
  byte remote_port_tx_sniff = 0;
  byte suspend_remote_commands = 0;
  #if defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE) && defined(FEATURE_CLOCK)
    byte clock_synced_to_remote = 0;
  #endif
#endif //FEATURE_MASTER_WITH_SERIAL_SLAVE


#ifdef DEBUG_POSITION_PULSE_INPUT
  // unsigned int az_position_pule_interrupt_handler_flag = 0;
  // unsigned int el_position_pule_interrupt_handler_flag = 0;
  volatile unsigned long az_pulse_counter = 0;
  volatile unsigned long el_pulse_counter = 0;
  volatile unsigned int az_pulse_counter_ambiguous = 0;
  volatile unsigned int el_pulse_counter_ambiguous = 0;
#endif // DEBUG_POSITION_PULSE_INPUT

#ifdef FEATURE_PARK
  byte park_status = NOT_PARKED;
  byte park_serial_initiated = 0;
#endif // FEATURE_PARK

#ifdef FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
  volatile long az_incremental_encoder_position = 0;
  volatile byte az_3_phase_encoder_last_phase_a_state = 0;
  volatile byte az_3_phase_encoder_last_phase_b_state = 0;
  #ifdef DEBUG_AZ_POSITION_INCREMENTAL_ENCODER
    volatile long az_position_incremental_encoder_interrupt = 0;
  #endif // DEBUG_AZ_POSITION_INCREMENTAL_ENCODER
#endif // FEATURE_AZ_POSITION_INCREMENTAL_ENCODER

#ifdef FEATURE_EL_POSITION_INCREMENTAL_ENCODER
  volatile long el_incremental_encoder_position = 0;
  volatile byte el_3_phase_encoder_last_phase_a_state = 0;
  volatile byte el_3_phase_encoder_last_phase_b_state = 0;
  #ifdef DEBUG_EL_POSITION_INCREMENTAL_ENCODER
    volatile long el_position_incremental_encoder_interrupt = 0;
  #endif // DEBUG_EL_POSITION_INCREMENTAL_ENCODER
#endif // FEATURE_EL_POSITION_INCREMENTAL_ENCODER

#ifdef FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
  volatile byte read_azimuth_lock = 0;
#endif

#ifdef FEATURE_EL_POSITION_INCREMENTAL_ENCODER
  volatile byte read_elevation_lock = 0;
#endif

#if defined(FEATURE_AZ_POSITION_INCREMENTAL_ENCODER) || defined(FEATURE_EL_POSITION_INCREMENTAL_ENCODER)
  volatile byte service_rotation_lock = 0;
#endif

#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION) || defined(FEATURE_CLOCK) || defined(UNDER_DEVELOPMENT_REMOTE_UNIT_COMMANDS)
  HardwareSerial * control_port;
#endif

#if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE)
  HardwareSerial * remote_unit_port;
#endif

#if defined(FEATURE_GPS)
  HardwareSerial * gps_port;
  #ifdef GPS_MIRROR_PORT
    HardwareSerial * (gps_mirror_port);
  #endif //GPS_MIRROR_PORT
#endif //defined(FEATURE_GPS)

#if defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING) || defined(FEATURE_CLOCK) || (defined(FEATURE_GPS) && defined(FEATURE_REMOTE_UNIT_SLAVE))
  double latitude = DEFAULT_LATITUDE;
  double longitude = DEFAULT_LONGITUDE;
#endif


#ifdef FEATURE_MOON_TRACKING
  byte moon_tracking_active = 0;
  byte moon_visible = 0;
  double moon_azimuth = 0;
  double moon_elevation = 0;
#endif // FEATURE_MOON_TRACKING

#ifdef FEATURE_SUN_TRACKING
  float sun_azimuth = 0;
  float sun_elevation = 0;
  cTime c_time;
  cLocation c_loc;
  cSunCoordinates c_sposn;
  byte sun_visible = 0;
  byte sun_tracking_active = 0;
#endif // FEATURE_SUN_TRACKING

#ifdef FEATURE_CLOCK
  unsigned long clock_years = 0;
  unsigned long clock_months = 0;
  unsigned long clock_days = 0;
  unsigned long clock_hours = 0;
  unsigned long clock_minutes = 0;
  unsigned long clock_seconds = 0;
  int clock_year_set = 2014;
  byte clock_month_set = 1;
  byte clock_day_set = 1;
  byte clock_sec_set = 0;
  unsigned long clock_hour_set = 0;
  unsigned long clock_min_set = 0;
  unsigned long millis_at_last_calibration = 0;
#endif // FEATURE_CLOCK

#if defined(FEATURE_GPS) || defined(FEATURE_RTC) || defined(FEATURE_CLOCK)
  byte clock_status = FREE_RUNNING;
#endif // defined(FEATURE_GPS) || defined(FEATURE_RTC)

#ifdef FEATURE_GPS
  byte gps_data_available = 0;
#endif // FEATURE_GPS

#ifdef FEATURE_ETHERNET
  byte mac[] = {ETHERNET_MAC_ADDRESS};
  IPAddress ip(ETHERNET_IP_ADDRESS);
  IPAddress gateway(ETHERNET_IP_GATEWAY);
  IPAddress subnet(ETHERNET_IP_SUBNET_MASK);
  EthernetClient ethernetclient0;
  EthernetServer ethernetserver0(ETHERNET_TCP_PORT_0);
  #ifdef ETHERNET_TCP_PORT_1
    EthernetClient ethernetclient1;
    EthernetServer ethernetserver1(ETHERNET_TCP_PORT_1);
  #endif //ETHERNET_TCP_PORT_1
  #ifdef FEATURE_MASTER_WITH_ETHERNET_SLAVE
    EthernetClient ethernetslavelinkclient0;
    IPAddress slave_unit_ip(ETHERNET_SLAVE_IP_ADDRESS);
    byte ethernetslavelinkclient0_state = ETHERNET_SLAVE_DISCONNECTED;
    unsigned int ethernet_slave_reconnects = 0;
  #endif //FEATURE_MASTER_WITH_ETHERNET_SLAVE
#endif //FEATURE_ETHERNET

#ifdef FEATURE_POWER_SWITCH
  unsigned long last_activity_time = 0;
#endif //FEATURE_POWER_SWITCH

#ifdef FEATURE_STEPPER_MOTOR
  volatile unsigned int az_stepper_freq_count = 0;
  #ifdef FEATURE_ELEVATION_CONTROL
    volatile unsigned int el_stepper_freq_count = 0;
  #endif //FEATURE_ELEVATION_CONTROL
  volatile unsigned long service_stepper_motor_pulse_pins_count = 0;
#endif //FEATURE_STEPPER_MOTOR

#ifdef FEATURE_AZIMUTH_CORRECTION
  float azimuth_calibration_from[]  = AZIMUTH_CALIBRATION_FROM_ARRAY;    
  float azimuth_calibration_to[]    = AZIMUTH_CALIBRATION_TO_ARRAY;
#endif // FEATURE_AZIMUTH_CORRECTION

#ifdef FEATURE_ELEVATION_CORRECTION
  float elevation_calibration_from[]  = ELEVATION_CALIBRATION_FROM_ARRAY;
  float elevation_calibration_to[]    = ELEVATION_CALIBRATION_TO_ARRAY;
#endif // FEATURE_ELEVATION_CORRECTION

#ifdef FEATURE_AUTOCORRECT
  byte autocorrect_state_az = AUTOCORRECT_INACTIVE;
  float autocorrect_az = 0;
  unsigned long autocorrect_az_submit_time = 0;
  #ifdef FEATURE_ELEVATION_CONTROL
    byte autocorrect_state_el = AUTOCORRECT_INACTIVE;
    float autocorrect_el = 0;
    unsigned long autocorrect_el_submit_time = 0;
  #endif //FEATURE_ELEVATION_CONTROL
#endif //FEATURE_AUTOCORRECT

#ifdef FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
  float az_a2_encoder = 0;
#endif //FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER

#ifdef FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
  float el_a2_encoder = 0;
#endif //FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER 

DebugClass debug;





#if defined(FEATURE_4_BIT_LCD_DISPLAY) || defined(FEATURE_ADAFRUIT_I2C_LCD) || defined(FEATURE_YOURDUINO_I2C_LCD) || defined(FEATURE_YWROBOT_I2C_DISPLAY)
  K3NGdisplay k3ngdisplay(LCD_COLUMNS,LCD_ROWS,LCD_UPDATE_TIME);
#endif   

#ifdef FEATURE_AZ_POSITION_HMC5883L
  HMC5883L compass;
#endif //FEATURE_AZ_POSITION_HMC5883L

#ifdef FEATURE_EL_POSITION_ADXL345_USING_LOVE_ELECTRON_LIB
  ADXL345 accel;
#endif //FEATURE_EL_POSITION_ADXL345_USING_LOVE_ELECTRON_LIB

#ifdef FEATURE_EL_POSITION_ADXL345_USING_ADAFRUIT_LIB
  Adafruit_ADXL345_Unified accel = Adafruit_ADXL345_Unified(12345);
#endif //FEATURE_EL_POSITION_ADXL345_USING_ADAFRUIT_LIB

#if defined(FEATURE_EL_POSITION_ADAFRUIT_LSM303) || defined(FEATURE_AZ_POSITION_ADAFRUIT_LSM303)
  Adafruit_LSM303 lsm;
#endif

#if defined(FEATURE_AZ_POSITION_POLOLU_LSM303) || defined(FEATURE_EL_POSITION_POLOLU_LSM303)
  LSM303 compass;
  LSM303::vector<int16_t> running_min = {32767, 32767, 32767}, running_max = {-32768, -32768, -32768};
  char report[80];
#endif //FEATURE_AZ_POSITION_POLOLU_LSM303

#ifdef FEATURE_AZ_POSITION_HH12_AS5045_SSI
  #include "hh12.h"
  hh12 azimuth_hh12;
#endif //FEATURE_AZ_POSITION_HH12_AS5045_SSI

#ifdef FEATURE_EL_POSITION_HH12_AS5045_SSI
  #include "hh12.h"
  hh12 elevation_hh12;
#endif //FEATURE_EL_POSITION_HH12_AS5045_SSI

#ifdef FEATURE_GPS
  TinyGPS gps;
#endif //FEATURE_GPS

#ifdef FEATURE_RTC_DS1307
  RTC_DS1307 rtc;
#endif //FEATURE_RTC_DS1307

#ifdef FEATURE_RTC_PCF8583
  PCF8583 rtc(0xA0);
#endif //FEATURE_RTC_PCF8583

#ifdef HARDWARE_EA4TX_ARS_USB
  #undef LCD_COLUMNS
  #undef LCD_ROWS
  #define LCD_COLUMNS 16
  #define LCD_ROWS 2
#endif //HARDWARE_EA4TX_ARS_USB

#ifdef HARDWARE_M0UPU
  #undef LCD_ROWS
  #define LCD_ROWS 2
#endif //HARDWARE_M0UPU

#ifdef FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
  #define AZ_A2_ENCODER_RESOLUTION 32767 /*36000*/
  #define AZ_A2_ENCODER_ADDRESS 0x00
  #define AZ_QUERY_FREQUENCY_MS 250
  #define AZ_A2_ENCODER_MODE MODE_TWO_BYTE_POSITION /*|MODE_MULTITURN*/
#endif  //FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER

#ifdef FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
  #define EL_A2_ENCODER_RESOLUTION 32767 /*36000*/
  #define EL_A2_ENCODER_ADDRESS 0x00
  #define EL_QUERY_FREQUENCY_MS 250
  #define EL_A2_ENCODER_MODE MODE_MULTITURN /*|MODE_TWO_BYTE_POSITION*/
#endif  //FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER

#if defined(FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER) || defined(FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER)
  #include "sei_bus.h"
  SEIbus SEIbus1(&Serial1,9600,pin_sei_bus_busy,pin_sei_bus_send_receive);
  //             (Serial Port,Baud Rate,Busy Pin,Send/Receive Pin)
  #define SEI_BUS_COMMAND_TIMEOUT_MS 6000
#endif



//yyyyyyyyy

#include "rotator_clock_and_gps.h"
#include "rotator_command_processing.h" 
#include "rotator_moon_and_sun.h"
#include "rotator_ethernet.h"
#include "rotator_stepper.h"
#include "rotator_language.h"


/* ------------------ let's start doing some stuff now that we got the formalities out of the way --------------------*/

void setup() {

  delay(1000);

  initialize_serial();

  initialize_peripherals();

  read_settings_from_eeprom();

  initialize_pins();

  read_azimuth(0);

  initialize_display();

  initialize_rotary_encoders();

  initialize_interrupts();


} /* setup */

/*-------------------------- here's where the magic happens --------------------------------*/

void loop() {

  #ifdef DEBUG_LOOP
    debug.print("loop()\n");
    Serial.flush();
  #endif // DEBUG_LOOP

  check_serial();
  read_headings();

  #ifndef FEATURE_REMOTE_UNIT_SLAVE
    service_request_queue();
    service_rotation();
    az_check_operation_timeout();
    #ifdef FEATURE_TIMED_BUFFER
      check_timed_interval();
    #endif // FEATURE_TIMED_BUFFER
    read_headings();
    check_buttons();
    check_overlap();
    check_brake_release();
    #ifdef FEATURE_ELEVATION_CONTROL
      el_check_operation_timeout();
    #endif
  #endif // ndef FEATURE_REMOTE_UNIT_SLAVE

  //read_headings();

  #ifdef FEATURE_LCD_DISPLAY
    update_display();
  #endif


  #ifndef FEATURE_REMOTE_UNIT_SLAVE
    #ifdef OPTION_AZ_MANUAL_ROTATE_LIMITS
      check_az_manual_rotate_limit();
    #endif
    #if defined(OPTION_EL_MANUAL_ROTATE_LIMITS) && defined(FEATURE_ELEVATION_CONTROL)
      check_el_manual_rotate_limit();
    #endif

    check_az_speed_pot();

    #ifdef FEATURE_AZ_PRESET_ENCODER            // Rotary Encoder or Preset Selector
      check_preset_encoders();
    #else
      check_az_preset_potentiometer();
    #endif // FEATURE_AZ_PRESET_ENCODER
  #endif // ndef FEATURE_REMOTE_UNIT_SLAVE

  #ifdef DEBUG_DUMP
    output_debug();
  #endif //DEBUG_DUMP

  read_headings();

  #ifndef FEATURE_REMOTE_UNIT_SLAVE
    service_rotation();
  #endif  

  check_for_dirty_configuration();



  #ifdef DEBUG_PROFILE_LOOP_TIME
    profile_loop_time();
  #endif //DEBUG_PROFILE_LOOP_TIME

  #ifdef FEATURE_REMOTE_UNIT_SLAVE
    service_remote_unit_serial_buffer();
  #endif // FEATURE_REMOTE_UNIT_SLAVE

  #if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
    service_remote_communications_incoming_buffer();
  #endif // defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)

  #ifdef FEATURE_JOYSTICK_CONTROL
    check_joystick();
  #endif // FEATURE_JOYSTICK_CONTROL

  #ifdef FEATURE_ROTATION_INDICATOR_PIN
    service_rotation_indicator_pin();
  #endif // FEATURE_ROTATION_INDICATOR_PIN

  #ifdef FEATURE_PARK
    service_park();
  #endif // FEATURE_PARK

  #ifdef FEATURE_LIMIT_SENSE
    check_limit_sense();
  #endif // FEATURE_LIMIT_SENSE

  #ifdef FEATURE_MOON_TRACKING
    service_moon_tracking();
  #endif // FEATURE_MOON_TRACKING

  #ifdef FEATURE_SUN_TRACKING
    service_sun_tracking();
  #endif // FEATURE_SUN_TRACKING

  #ifdef FEATURE_GPS
    service_gps();
  #endif // FEATURE_GPS

  read_headings();

  #ifndef FEATURE_REMOTE_UNIT_SLAVE
    service_rotation();
  #endif  

  #ifdef FEATURE_RTC
    service_rtc();
  #endif // FEATURE_RTC

  #ifdef FEATURE_ETHERNET
    service_ethernet();
  #endif // FEATURE_ETHERNET

  #ifdef FEATURE_POWER_SWITCH
    service_power_switch();
  #endif //FEATURE_POWER_SWITCH

  #if defined(FEATURE_CLOCK) && defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE) && (defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE))
    sync_master_clock_to_slave();
  #endif

  #if defined(OPTION_SYNC_MASTER_COORDINATES_TO_SLAVE) && (defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE))
    sync_master_coordinates_to_slave();
  #endif


  service_blink_led();

  #ifdef FEATURE_ANALOG_OUTPUT_PINS
    service_analog_output_pins();
  #endif //FEATURE_ANALOG_OUTPUT_PINS


  #if defined(FEATURE_SUN_PUSHBUTTON_AZ_EL_CALIBRATION) && defined(FEATURE_SUN_TRACKING)
    check_sun_pushbutton_calibration();
  #endif //defined(FEATURE_SUN_PUSHBUTTON_AZ_EL_CALIBRATION) && defined(FEATURE_SUN_TRACKING)

  #if defined(FEATURE_MOON_PUSHBUTTON_AZ_EL_CALIBRATION) && defined(FEATURE_MOON_TRACKING)
    check_moon_pushbutton_calibration();
  #endif //defined(FEATURE_MOON_PUSHBUTTON_AZ_EL_CALIBRATION) && defined(FEATURE_MOON_TRACKING)

  #if defined(FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER) || defined(FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER)
    service_a2_encoders();
  #endif //defined(FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER) || defined(FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER)


  check_for_reset_flag();




} /* loop */
/* -------------------------------------- subroutines -----------------------------------------------
 
                                  Where the real work happens...
 
 */

#if defined(FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER) || defined(FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER)
  void service_a2_encoders(){
 
    static unsigned long last_sei_bus_command_submit_time = 0;
    static byte submitted_sei_bus_command = 0;
    static byte last_command_encoder_address = 0;
    static unsigned long last_encoder_queried_resolution = 0;

    float normalized_position = 0;

    #ifdef FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
      static byte executed_az_change_resolution = 0;
      static byte executed_az_change_mode_power_up = 0;
      static unsigned long last_az_position_query_time = 0;
      static byte az_a2_position_queried = 0;
    #endif //FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER

    #ifdef FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
      static byte executed_el_change_resolution = 0;
      static byte executed_el_change_mode_power_up = 0;
      static unsigned long last_el_position_query_time = 0;
      static byte el_a2_position_queried = 0;      
    #endif //FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER

    #ifdef DEBUG_A2_ENCODER_LOOPBACK_TEST
      static byte did_loopback_tests = 0;
      if (!did_loopback_tests){
        debug_mode = 1;
        #ifdef FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
          debug.print("service_a2_encoders: Starting az encoder loopback test...");
          if (SEIbus1.a2_encoder_loopback_test(AZ_A2_ENCODER_ADDRESS)){
            Serial.println("completed successfully!");
          } else {
            Serial.println("failed!");
          }
        #endif //FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
        #ifdef FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
          debug.print("service_a2_encoders: Starting el encoder loopback test...");
          if (SEIbus1.a2_encoder_loopback_test(EL_A2_ENCODER_ADDRESS)){
            Serial.println("completed successfully!");
          } else {
            Serial.println("failed!");
          }
        #endif //FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER 
        delay(1000);      
        did_loopback_tests = 1; 
      }
    #endif //DEBUG_A2_ENCODER_LOOPBACK_TEST


    // initializations
    #ifdef FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
      if ((!executed_az_change_resolution) && (SEIbus1.command_in_progress == 0) && (!submitted_sei_bus_command)) {
        if (SEIbus1.a2_encoder_change_resolution(AZ_A2_ENCODER_ADDRESS,AZ_A2_ENCODER_RESOLUTION)){
          submitted_sei_bus_command = 1;
          executed_az_change_resolution = 1;
          last_command_encoder_address = AZ_A2_ENCODER_ADDRESS;
          #ifdef DEBUG_A2_ENCODER
            debug.println("service_a2_encoders: a2_encoder_change_resolution submitted: az");
          #endif           
        } else {
          #ifdef DEBUG_A2_ENCODER
            debug.println("service_a2_encoders: a2_encoder_change_resolution unsuccesfully submitted: az");
          #endif
        }
        last_sei_bus_command_submit_time = millis();
      }
    #endif //FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER

    #ifdef FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
      if ((!executed_el_change_resolution) && (SEIbus1.command_in_progress == 0) && (!submitted_sei_bus_command)) {
        if (SEIbus1.a2_encoder_change_resolution(EL_A2_ENCODER_ADDRESS,EL_A2_ENCODER_RESOLUTION)){
          submitted_sei_bus_command = 1;
          executed_el_change_resolution = 1;
          last_command_encoder_address = EL_A2_ENCODER_ADDRESS;
          #ifdef DEBUG_A2_ENCODER
            debug.println("service_a2_encoders: a2_encoder_change_resolution submitted: el");
          #endif          
        } else {
          #ifdef DEBUG_A2_ENCODER
            debug.println("service_a2_encoders: a2_encoder_change_resolution unsuccesfully submitted: el");
          #endif
        }
        last_sei_bus_command_submit_time = millis();
      }
    #endif //FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER

    #ifdef FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
      if ((!executed_az_change_mode_power_up) && (SEIbus1.command_in_progress == 0) && (!submitted_sei_bus_command)) {
        if (SEIbus1.a2_encoder_change_mode_power_up(AZ_A2_ENCODER_ADDRESS,AZ_A2_ENCODER_MODE)){
          submitted_sei_bus_command = 1;
          executed_az_change_mode_power_up = 1;
          last_command_encoder_address = AZ_A2_ENCODER_ADDRESS;
          #ifdef DEBUG_A2_ENCODER
            debug.println("service_a2_encoders: a2_encoder_change_mode_power_up submitted: az");
          #endif             
        } else {
          #ifdef DEBUG_A2_ENCODER
            debug.println("service_a2_encoders: a2_encoder_change_mode_power_up unsuccesfully submitted: az");
          #endif  
        }
        last_sei_bus_command_submit_time = millis();
      }
    #endif //FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER

    #ifdef FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
      if ((!executed_el_change_mode_power_up) && (SEIbus1.command_in_progress == 0) && (!submitted_sei_bus_command)) {
        if (SEIbus1.a2_encoder_change_mode_power_up(EL_A2_ENCODER_ADDRESS,EL_A2_ENCODER_MODE)){
          submitted_sei_bus_command = 1;
          executed_el_change_mode_power_up = 1;
          last_command_encoder_address = EL_A2_ENCODER_ADDRESS;
          #ifdef DEBUG_A2_ENCODER
            debug.println("service_a2_encoders: a2_encoder_change_mode_power_up submitted: el");
          #endif           
        } else {
          #ifdef DEBUG_A2_ENCODER
            debug.println("service_a2_encoders: a2_encoder_change_mode_power_up unsuccesfully submitted: el");
          #endif  
        }
        last_sei_bus_command_submit_time = millis();
      }
    #endif //FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER


    // periodic position query
    #ifdef FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
      if (((millis() - last_az_position_query_time) >= AZ_QUERY_FREQUENCY_MS) && (SEIbus1.command_in_progress == 0) && (!submitted_sei_bus_command)) {
        if (SEIbus1.a2_encoder_read_position(AZ_A2_ENCODER_ADDRESS)){
          submitted_sei_bus_command = 1;
          last_command_encoder_address = AZ_A2_ENCODER_ADDRESS;
          last_encoder_queried_resolution = AZ_A2_ENCODER_RESOLUTION;
          az_a2_position_queried = 1;
          #ifdef DEBUG_A2_ENCODER
            debug.println("service_a2_encoders:  a2_encoder_read_position submitted: az");
          #endif           
        } else {
          #ifdef DEBUG_A2_ENCODER
            debug.println("service_a2_encoders:  a2_encoder_read_position unsuccesfully submitted: az");
          #endif 
        }
        last_sei_bus_command_submit_time = millis();
        last_az_position_query_time = millis();
      }      
    #endif //FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER

    #ifdef FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
      if (((millis() - last_el_position_query_time) >= EL_QUERY_FREQUENCY_MS) && (SEIbus1.command_in_progress == 0) && (!submitted_sei_bus_command)) {
        if (SEIbus1.a2_encoder_read_position(EL_A2_ENCODER_ADDRESS)){
          submitted_sei_bus_command = 1;
          last_command_encoder_address = EL_A2_ENCODER_ADDRESS;
          last_encoder_queried_resolution = EL_A2_ENCODER_RESOLUTION;
          el_a2_position_queried = 1;
          #ifdef DEBUG_A2_ENCODER
            debug.println("service_a2_encoders:  a2_encoder_read_position submitted: el");
          #endif           
        } else {
          #ifdef DEBUG_A2_ENCODER
            debug.println("service_a2_encoders:  a2_encoder_read_position unsuccesfully submitted: el");
          #endif 
        }
        last_sei_bus_command_submit_time = millis();
        last_el_position_query_time = millis();
      }      
    #endif //FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER

    SEIbus1.service();

    // if there are command results available, process them
    if ((SEIbus1.command_result_ready[last_command_encoder_address] == 1) && (submitted_sei_bus_command)){
      switch(SEIbus1.last_command[last_command_encoder_address]){
        #ifdef DEBUG_A2_ENCODER
          case SEI_BUS_A2_ENCODER_READ_FACTORY_INFO:
            debug.print("service_a2_encoders: Model:");
            debug.print(SEIbus1.model_number);
            debug.print(" Version:");
            debug.print(SEIbus1.version_number,2);
            debug.print(" Serial:");
            debug.print(SEIbus1.serial_number,0);
            debug.print(" ");
            debug.print(SEIbus1.year);
            debug.print("-");
            debug.print(SEIbus1.month);
            debug.print("-");
            debug.print(SEIbus1.day);    
            debug.println("");
            break;
          case SEI_BUS_A2_ENCODER_CMD_READ_POS_TIME_STATUS:
            debug.print("service_a2_encoders: Time: ");
            debug.print(SEIbus1.time,0);
            debug.println("");
          case SEI_BUS_A2_ENCODER_CMD_READ_POS_STATUS:
            debug.print("service_a2_encoders: Status: ");
            switch(SEIbus1.status & B11110000){
              case STATUS_NO_ERROR: debug.println("OK"); break;
              case STATUS_NOT_ENOUGH_LIGHT: debug.println("NOT_ENOUGH_LIGHT"); break;
              case STATUS_TOO_MUCH_LIGHT: debug.println("TOO_MUCH_LIGHT"); break;
              case STATUS_MISALIGNMENT_OR_DUST_1: debug.println("MISALIGNMENT_OR_DUST_1"); break;
              case STATUS_MISALIGNMENT_OR_DUST_2: debug.println("MISALIGNMENT_OR_DUST_2"); break;
              case STATUS_MISALIGNMENT_OR_DUST_3: debug.println("MISALIGNMENT_OR_DUST_3"); break;
              case STATUS_HARDWARE_PROBLEM: debug.println("HARDWARE_PROBLEM"); break;
              case STATUS_FAST_MODE_ERROR: debug.println("FAST_MODE_ERROR"); break;
              case STATUS_MULTITURN_NOT_INIT: debug.println("MULTITURN_NOT_INIT"); break;
            }
          case SEI_BUS_A2_ENCODER_READ_RESOLUTION:
            debug.print("service_a2_encoders: Resolution: ");
            debug.print(SEIbus1.resolution,0);
            debug.println("");
            break;
          case SEI_BUS_A2_ENCODER_CHANGE_RESOLUTION:
            debug.println("service_a2_encoders: Resolution set.");
            break;      
          case SEI_BUS_A2_ENCODER_READ_SERIAL_NUMBER:
            debug.print("service_a2_encoders: Serial number is ");
            debug.print(SEIbus1.serial_number,0);
            debug.println("");
            break;      
          case SEI_BUS_A2_ENCODER_SET_ABSOLUTE_POSITION:
            debug.println("service_a2_encoders: Set absolute position.");
            break;
          case SEI_BUS_A2_ENCODER_SET_ORIGIN:
            debug.println("service_a2_encoders: Set origin executed.");
            break;
          case SEI_BUS_A2_ENCODER_CHANGE_MODE_TEMPORARY:
            debug.println("service_a2_encoders: Changed mode temporarily.");
            break;
          case SEI_BUS_A2_ENCODER_CHANGE_MODE_POWER_UP:
            debug.println("service_a2_encoders: Changed power up mode.");
            break;      
          case SEI_BUS_A2_ENCODER_READ_MODE:
            debug.print("service_a2_encoders: Modes set: ");
            if (SEIbus1.mode & MODE_REVERSE){debug.print("MODE_REVERSE ");}
            if (SEIbus1.mode & MODE_STROBE){debug.print("MODE_STROBE ");}
            if (SEIbus1.mode & MODE_MULTITURN){debug.print("MODE_MULTITURN ");}
            if (SEIbus1.mode & MODE_TWO_BYTE_POSITION){debug.print("MODE_TWO_BYTE_POSITION ");}
            if (SEIbus1.mode & MODE_INCREMENTAL){debug.print("MODE_INCREMENTAL ");}
            if (SEIbus1.mode & MODE_DIVIDE_BY_256){debug.print("MODE_DIVIDE_BY_256 ");}
            debug.println("");
            break;
          case SEI_BUS_A2_ENCODER_RESET:
            debug.println("service_a2_encoders: Completed reset.");
            break;
        #endif //#DEBUG_A2_ENCODER
        
        case SEI_BUS_A2_ENCODER_CMD_READ_POS:
          #ifdef DEBUG_A2_ENCODER
            debug.print("service_a2_encoders: Position Raw: ");
            debug.print(SEIbus1.position,0);
            debug.print("\tNormalized: ");
            normalized_position = (SEIbus1.position/(float(last_encoder_queried_resolution)/360.0));
            debug.print(normalized_position,4);
            debug.print("\tRollover Compensated: ");
            normalized_position = (SEIbus1.position_rollover_compensated/(float(last_encoder_queried_resolution)/360.0));
            debug.print(normalized_position, 4);
            debug.println("");
          #endif //#DEBUG_A2_ENCODER

          #ifdef FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
            if (az_a2_position_queried){
              az_a2_encoder = (SEIbus1.position/(float(last_encoder_queried_resolution)/360.0));
              az_a2_position_queried = 0;
            }
          #endif //FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER

          #ifdef FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
            if (el_a2_position_queried){
              el_a2_encoder = (SEIbus1.position_rollover_compensated/(float(last_encoder_queried_resolution)/360.0));
              el_a2_position_queried = 0;
            }
          #endif //FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
          break;

        #ifdef DEBUG_A2_ENCODER
          default:
            debug.println("service_a2_encoders: Unknown command completed.");
            break;
        #endif //#DEBUG_A2_ENCODER  
      }

      submitted_sei_bus_command = 0;
    }


    // if a command has been in progress for awhile with no result, give up on the command
    if (((millis() - last_sei_bus_command_submit_time) > SEI_BUS_COMMAND_TIMEOUT_MS) && (submitted_sei_bus_command)) {
      submitted_sei_bus_command = 0;
      #ifdef DEBUG_A2_ENCODER
        debug.println("service_a2_encoders: command timeout");
      #endif         
    }

  }
#endif //#if defined(FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER) || defined(FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER)


// --------------------------------------------------------------

void read_headings(){

  #ifdef DEBUG_LOOP
    debug.print("read_headings()\n");
  #endif // DEBUG_LOOP

  read_azimuth(0);

  #ifdef FEATURE_ELEVATION_CONTROL
    read_elevation(0);
  #endif

}

// --------------------------------------------------------------

void service_blink_led(){


  #ifdef blink_led
  static unsigned long last_blink_led_transition = 0;
  static byte blink_led_status = 0;


  if (((millis() - last_blink_led_transition) >= 1000) && (blink_led != 0)) {
    if (blink_led_status) {
      digitalWriteEnhanced(blink_led, LOW);
      blink_led_status = 0;
    } else {
      digitalWriteEnhanced(blink_led, HIGH);
      blink_led_status = 1;
    }
    last_blink_led_transition = millis();
  }
  #endif // blink_led

  


} /* service_blink_led */


// --------------------------------------------------------------
void check_for_reset_flag(){

  static unsigned long detected_reset_flag_time = 0;

  if (reset_the_unit){
    if (detected_reset_flag_time == 0){
      detected_reset_flag_time = millis();
    } else {
      if ((millis()-detected_reset_flag_time) > 5000){  // let things run for 5 seconds


        #ifdef reset_pin
        digitalWrite(reset_pin,HIGH);
        #else // reset_pin

        #ifdef OPTION_RESET_METHOD_JMP_ASM_0
        asm volatile ("  jmp 0"); // reboot!     // doesn't work on Arduino Mega but works on SainSmart Mega.
        //wdt_enable(WDTO_30MS); while(1) {};  //doesn't work on Mega
        #else //OPTION_RESET_METHOD_JMP_ASM_0
        setup();
        reset_the_unit = 0;
        #endif //OPTION_RESET_METHOD_JMP_ASM_0
        
        #endif //reset_pin
      }
    }
  }

}

// --------------------------------------------------------------
#ifdef DEBUG_PROFILE_LOOP_TIME
void profile_loop_time(){

  static unsigned long last_time = 0;
  static unsigned long last_print_time = 0;


  average_loop_time = (average_loop_time + (millis() - last_time)) / 2.0;
  last_time = millis();

  if (debug_mode) {
    if ((millis() - last_print_time) > 1000) {
      debug.print("avg loop time: ");
      debug.print(average_loop_time, 2);
      debug.println("");
      last_print_time = millis();
    }
  }


} /* profile_loop_time */

#endif //DEBUG_PROFILE_LOOP_TIME
// --------------------------------------------------------------
void check_az_speed_pot() {

  static unsigned long last_pot_check_time = 0;
  int pot_read = 0;
  byte new_azimuth_speed_voltage = 0;


  if (az_speed_pot /*&& azimuth_speed_voltage*/ && ((millis() - last_pot_check_time) > 500)) {
    pot_read = analogReadEnhanced(az_speed_pot);
    new_azimuth_speed_voltage = map(pot_read, SPEED_POT_LOW, SPEED_POT_HIGH, SPEED_POT_LOW_MAP, SPEED_POT_HIGH_MAP);
    if (new_azimuth_speed_voltage != normal_az_speed_voltage) {
      #ifdef DEBUG_AZ_SPEED_POT
        if (debug_mode) {
          debug.print("check_az_speed_pot: normal_az_speed_voltage: ");
          debug.print(normal_az_speed_voltage);
          debug.print(" new_azimuth_speed_voltage:");
          debug.print(new_azimuth_speed_voltage);
          debug.println("");
        }
      #endif // DEBUG_AZ_SPEED_POT
      normal_az_speed_voltage = new_azimuth_speed_voltage;
      update_az_variable_outputs(normal_az_speed_voltage);
      #if defined(OPTION_EL_SPEED_FOLLOWS_AZ_SPEED) && defined(FEATURE_ELEVATION_CONTROL)
        normal_el_speed_voltage = new_azimuth_speed_voltage;
        update_el_variable_outputs(normal_el_speed_voltage);
      #endif // OPTION_EL_SPEED_FOLLOWS_AZ_SPEED
    }
    last_pot_check_time = millis();
  }

} /* check_az_speed_pot */
// --------------------------------------------------------------
void check_az_preset_potentiometer() {


  byte check_pot = 0;
  static unsigned long last_pot_check_time = 0;
  static int last_pot_read = 9999;
  int pot_read = 0;
  int new_pot_azimuth = 0;
  byte button_read = 0;
  static byte pot_changed_waiting = 0;

  if (az_preset_pot) {
    if (last_pot_read == 9999) {  // initialize last_pot_read the first time we hit this subroutine
      last_pot_read = analogReadEnhanced(az_preset_pot);
    }

    if (!pot_changed_waiting) {
      if (preset_start_button) { // if we have a preset start button, check it
        button_read = digitalReadEnhanced(preset_start_button);
        if (button_read == BUTTON_ACTIVE_STATE) {
          check_pot = 1;
        }
      } else {  // if not, check the pot every 500 mS
        if ((millis() - last_pot_check_time) < 250) {
          check_pot = 1;
        }
      }
      if (check_pot) {
        pot_read = analogReadEnhanced(az_preset_pot);
        new_pot_azimuth = map(pot_read, AZ_PRESET_POT_FULL_CW, AZ_PRESET_POT_FULL_CCW, AZ_PRESET_POT_FULL_CW_MAP, AZ_PRESET_POT_FULL_CCW_MAP);
        if ((abs(last_pot_read - pot_read) > 4) && (abs(new_pot_azimuth - (raw_azimuth / HEADING_MULTIPLIER)) > AZIMUTH_TOLERANCE)) {
          pot_changed_waiting = 1;
          #ifdef DEBUG_AZ_PRESET_POT
          if (debug_mode) {
            debug.println("check_az_preset_potentiometer: in pot_changed_waiting");
          }
          #endif // DEBUG_AZ_PRESET_POT
          last_pot_read = pot_read;
        }
      }
      last_pot_check_time = millis();
    } else {  // we're in pot change mode
      pot_read = analogReadEnhanced(az_preset_pot);
      if (abs(pot_read - last_pot_read) > 3) {  // if the pot has changed, reset the timer
        last_pot_check_time = millis();
        last_pot_read = pot_read;
      } else {
        if ((millis() - last_pot_check_time) >= 250) {  // has it been awhile since the last pot change?
          new_pot_azimuth = map(pot_read, AZ_PRESET_POT_FULL_CW, AZ_PRESET_POT_FULL_CCW, AZ_PRESET_POT_FULL_CW_MAP, AZ_PRESET_POT_FULL_CCW_MAP);
          #ifdef DEBUG_AZ_PRESET_POT
          if (debug_mode) {
            debug.print("check_az_preset_potentiometer: pot change - current raw_azimuth: ");
            debug.print(raw_azimuth / HEADING_MULTIPLIER,0);
            debug.print(" new_azimuth: ");
            debug.print(new_pot_azimuth);
            debug.println("");
          }
          #endif // DEBUG_AZ_PRESET_POT
          submit_request(AZ, REQUEST_AZIMUTH_RAW, new_pot_azimuth * HEADING_MULTIPLIER, 44);
          pot_changed_waiting = 0;
          last_pot_read = pot_read;
          last_pot_check_time = millis();
        }
      }
    }
  } // if (az_preset_pot)
} /* check_az_preset_potentiometer */
// --------------------------------------------------------------

void initialize_rotary_encoders(){


  #ifdef DEBUG_LOOP
    debug.print("initialize_rotary_encoders()\n");
    Serial.flush();
  #endif // DEBUG_LOOP

  #ifdef FEATURE_AZ_PRESET_ENCODER
  pinModeEnhanced(az_rotary_preset_pin1, INPUT);
  pinModeEnhanced(az_rotary_preset_pin2, INPUT);
  az_encoder_raw_degrees = raw_azimuth;
  #ifdef OPTION_ENCODER_ENABLE_PULLUPS
  digitalWriteEnhanced(az_rotary_preset_pin1, HIGH);
  digitalWriteEnhanced(az_rotary_preset_pin2, HIGH);
  #endif // OPTION_ENCODER_ENABLE_PULLUPS
  #endif // FEATURE_AZ_PRESET_ENCODER


  #if defined(FEATURE_EL_PRESET_ENCODER) && defined(FEATURE_ELEVATION_CONTROL)
  pinModeEnhanced(el_rotary_preset_pin1, INPUT);
  pinModeEnhanced(el_rotary_preset_pin2, INPUT);
  el_encoder_degrees = elevation;
  #ifdef OPTION_ENCODER_ENABLE_PULLUPS
  digitalWriteEnhanced(el_rotary_preset_pin1, HIGH);
  digitalWriteEnhanced(el_rotary_preset_pin2, HIGH);
  #endif // OPTION_ENCODER_ENABLE_PULLUPS
  #endif // defined(FEATURE_EL_PRESET_ENCODER) && defined(FEATURE_ELEVATION_CONTROL)

  #ifdef FEATURE_AZ_POSITION_ROTARY_ENCODER
  pinModeEnhanced(az_rotary_position_pin1, INPUT);
  pinModeEnhanced(az_rotary_position_pin2, INPUT);
  #ifdef OPTION_ENCODER_ENABLE_PULLUPS
  digitalWriteEnhanced(az_rotary_position_pin1, HIGH);
  digitalWriteEnhanced(az_rotary_position_pin2, HIGH);
  #endif // OPTION_ENCODER_ENABLE_PULLUPS
  #endif // FEATURE_AZ_POSITION_ROTARY_ENCODER


  #ifdef FEATURE_EL_POSITION_ROTARY_ENCODER
  pinModeEnhanced(el_rotary_position_pin1, INPUT);
  pinModeEnhanced(el_rotary_position_pin2, INPUT);
  #ifdef OPTION_ENCODER_ENABLE_PULLUPS
  digitalWriteEnhanced(el_rotary_position_pin1, HIGH);
  digitalWriteEnhanced(el_rotary_position_pin2, HIGH);
  #endif // OPTION_ENCODER_ENABLE_PULLUPS
  #endif // FEATURE_EL_POSITION_ROTARY_ENCODER


  #ifdef FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
    pinMode(az_incremental_encoder_pin_phase_a, INPUT);
    pinMode(az_incremental_encoder_pin_phase_b, INPUT);
    pinMode(az_incremental_encoder_pin_phase_z, INPUT);
    #ifdef OPTION_INCREMENTAL_ENCODER_PULLUPS
      digitalWrite(az_incremental_encoder_pin_phase_a, HIGH);
      digitalWrite(az_incremental_encoder_pin_phase_b, HIGH);
      digitalWrite(az_incremental_encoder_pin_phase_z, HIGH);
    #endif // OPTION_INCREMENTAL_ENCODER_PULLUPS
    attachInterrupt(AZ_POSITION_INCREMENTAL_ENCODER_A_PIN_INTERRUPT, az_position_incremental_encoder_interrupt_handler, CHANGE);
    attachInterrupt(AZ_POSITION_INCREMENTAL_ENCODER_B_PIN_INTERRUPT, az_position_incremental_encoder_interrupt_handler, CHANGE);
    delay(250);
    az_3_phase_encoder_last_phase_a_state = digitalRead(az_incremental_encoder_pin_phase_a);
    az_3_phase_encoder_last_phase_b_state = digitalRead(az_incremental_encoder_pin_phase_b);
  #endif // FEATURE_AZ_POSITION_INCREMENTAL_ENCODER

  #if defined(FEATURE_EL_POSITION_INCREMENTAL_ENCODER) && defined(FEATURE_ELEVATION_CONTROL)
  pinMode(el_incremental_encoder_pin_phase_a, INPUT);
  pinMode(el_incremental_encoder_pin_phase_b, INPUT);
  pinMode(el_incremental_encoder_pin_phase_z, INPUT);
  #ifdef OPTION_INCREMENTAL_ENCODER_PULLUPS
  digitalWrite(el_incremental_encoder_pin_phase_a, HIGH);
  digitalWrite(el_incremental_encoder_pin_phase_b, HIGH);
  digitalWrite(el_incremental_encoder_pin_phase_z, HIGH);
  #endif // OPTION_INCREMENTAL_ENCODER_PULLUPS
  attachInterrupt(EL_POSITION_INCREMENTAL_ENCODER_A_PIN_INTERRUPT, el_position_incremental_encoder_interrupt_handler, CHANGE);
  attachInterrupt(EL_POSITION_INCREMENTAL_ENCODER_B_PIN_INTERRUPT, el_position_incremental_encoder_interrupt_handler, CHANGE);
  delay(250);
  el_3_phase_encoder_last_phase_a_state = digitalRead(el_incremental_encoder_pin_phase_a);
  el_3_phase_encoder_last_phase_b_state = digitalRead(el_incremental_encoder_pin_phase_b);
  #endif // defined(FEATURE_EL_POSITION_INCREMENTAL_ENCODER) && defined(FEATURE_ELEVATION_CONTROL)

} /* initialize_rotary_encoders */


// --------------------------------------------------------------
#ifdef FEATURE_AZ_PRESET_ENCODER
void check_preset_encoders(){

  static unsigned long last_encoder_change_time = 0;
  byte button_read = HIGH;
  byte number_columns = 0;
  static byte submit_encoder_change = 0;
  static unsigned long last_preset_start_button_start = 0;
  static unsigned long last_preset_start_button_kill = 0;
  static unsigned long last_encoder_move = 0;

  #ifdef FEATURE_AZ_PRESET_ENCODER
  static unsigned long az_timestamp[5];
  #endif // FEATURE_AZ_PRESET_ENCODER

  #ifdef FEATURE_EL_PRESET_ENCODER
  static unsigned long el_timestamp[5];
  #endif // FEATURE_EL_PRESET_ENCODER

  #ifdef FEATURE_AZ_PRESET_ENCODER
  az_encoder_state = ttable[az_encoder_state & 0xf][((digitalReadEnhanced(az_rotary_preset_pin2) << 1) | digitalReadEnhanced(az_rotary_preset_pin1))];
  unsigned char az_encoder_result = az_encoder_state & 0x30;
  #ifdef DEBUG_PRESET_ENCODERS
  static byte last_az_rotary_preset_pin1 = 0;
  static byte last_az_rotary_preset_pin2 = 0;

  if ((debug_mode) && (( last_az_rotary_preset_pin1 != digitalReadEnhanced(az_rotary_preset_pin1)) || ( last_az_rotary_preset_pin2 != digitalReadEnhanced(az_rotary_preset_pin2)))) {
    debug.print("check_preset_encoders: az_rotary_preset_pin1: ");
    debug.print(digitalReadEnhanced(az_rotary_preset_pin1));
    debug.print(" az_rotary_preset_pin2: ");
    debug.print(digitalReadEnhanced(az_rotary_preset_pin2));
    debug.print(" encoder_result: ");
    debug.print(az_encoder_result);
    debug.println("");
  }
  last_az_rotary_preset_pin1 = digitalReadEnhanced(az_rotary_preset_pin1);
  last_az_rotary_preset_pin2 = digitalReadEnhanced(az_rotary_preset_pin2);
  #endif // DEBUG_PRESET_ENCODERS

  #endif // FEATURE_AZ_PRESET_ENCODER

  #ifdef FEATURE_EL_PRESET_ENCODER
  el_encoder_state = ttable[el_encoder_state & 0xf][((digitalReadEnhanced(el_rotary_preset_pin2) << 1) | digitalReadEnhanced(el_rotary_preset_pin1))];
  unsigned char el_encoder_result = el_encoder_state & 0x30;
  #endif // FEATURE_EL_PRESET_ENCODER

  #ifdef FEATURE_AZ_PRESET_ENCODER
  if (az_encoder_result) {                                 // If rotary encoder modified
    az_timestamp[0] = az_timestamp[1];                     // Encoder step timer
    az_timestamp[1] = az_timestamp[2];
    az_timestamp[2] = az_timestamp[3];
    az_timestamp[3] = az_timestamp[4];
    az_timestamp[4] = millis();

    last_encoder_move = millis();


    #ifdef DEBUG_PRESET_ENCODERS
    char tempchar[12] = "";
    if (debug_mode) {
      debug.print("check_preset_encoders: az_timestamps:");
      for (int y = 0; y < 5; y++) {
        debug.print(" ");
        dtostrf(az_timestamp[y],0,0,tempchar);
        debug.print(tempchar);
      }
      debug.println("");
    }
    #endif // DEBUG_PRESET_ENCODERS

    unsigned long az_elapsed_time = (az_timestamp[4] - az_timestamp[0]); // Encoder step time difference for 10's step

    #ifdef OPTION_PRESET_ENCODER_RELATIVE_CHANGE
    if ((preset_encoders_state == ENCODER_IDLE) || (preset_encoders_state == ENCODER_EL_PENDING)) {
      if (az_request_queue_state == IN_PROGRESS_TO_TARGET) {
        az_encoder_raw_degrees = target_raw_azimuth;
      } else {
        az_encoder_raw_degrees = raw_azimuth;
      }
    }
    #endif // OPTION_PRESET_ENCODER_RELATIVE_CHANGE

    // bbbbbb

    #ifndef OPTION_PRESET_ENCODER_0_360_DEGREES
    if (az_encoder_result == DIR_CW) {
      #ifdef DEBUG_PRESET_ENCODERS
      debug.print("check_preset_encoders: az CW");
      #endif // DEBUG_PRESET_ENCODERS
      if (az_elapsed_time < 250 /* mSec */) {
        az_encoder_raw_degrees += (5 * HEADING_MULTIPLIER);
      } else { az_encoder_raw_degrees += (1 * HEADING_MULTIPLIER); };                                                                                      // Single deg increase unless encoder turned quickly then 10's step
      // if (az_encoder_raw_degrees >=(360*HEADING_MULTIPLIER)) {az_encoder_raw_degrees -= (360*HEADING_MULTIPLIER);};
      if (az_encoder_raw_degrees > ((azimuth_starting_point + azimuth_rotation_capability) * HEADING_MULTIPLIER)) {
        az_encoder_raw_degrees =
          ((azimuth_starting_point * HEADING_MULTIPLIER)
           /* + ((azimuth_starting_point+azimuth_rotation_capability)*HEADING_MULTIPLIER) - az_encoder_raw_degrees*/);
      }
    }
    if (az_encoder_result == DIR_CCW) {
      #ifdef DEBUG_PRESET_ENCODERS
      debug.print("check_preset_encoders: az CCW");
      #endif // DEBUG_PRESET_ENCODERS
      if (az_elapsed_time < 250 /* mSec */) {
        az_encoder_raw_degrees -= (5 * HEADING_MULTIPLIER);
      } else { az_encoder_raw_degrees -= (1 * HEADING_MULTIPLIER); };                                                                                       // Single deg decrease unless encoder turned quickly then 10's step
      // if (az_encoder_raw_degrees < 0) {az_encoder_raw_degrees = (360*HEADING_MULTIPLIER);};
      if (az_encoder_raw_degrees < (azimuth_starting_point * HEADING_MULTIPLIER)) {
        az_encoder_raw_degrees = (((azimuth_starting_point + azimuth_rotation_capability) * HEADING_MULTIPLIER)
                                  /*- (az_encoder_raw_degrees-(azimuth_starting_point*HEADING_MULTIPLIER))*/);
      }
    }
    #else //ndef OPTION_PRESET_ENCODER_0_360_DEGREES
    if (az_encoder_result == DIR_CW) {
      #ifdef DEBUG_PRESET_ENCODERS
      debug.print("check_preset_encoders: az CW");
      #endif // DEBUG_PRESET_ENCODERS
      if (az_elapsed_time < 250) {  // Single deg increase unless encoder turned quickly then 10's step
        az_encoder_raw_degrees += (5 * HEADING_MULTIPLIER);
      } else {
        az_encoder_raw_degrees += (1 * HEADING_MULTIPLIER);
      }                                                                                   
      if (az_encoder_raw_degrees > (360 * HEADING_MULTIPLIER)) {
        //az_encoder_raw_degrees = (360 * HEADING_MULTIPLIER);
        az_encoder_raw_degrees = 0;
      //} else {
       // if (az_encoder_raw_degrees < 0) {
       //   az_encoder_raw_degrees = 0;
       // }
      }
    }
    if (az_encoder_result == DIR_CCW) {
      #ifdef DEBUG_PRESET_ENCODERS
      debug.print("check_preset_encoders: az CCW");
      #endif // DEBUG_PRESET_ENCODERS
      if (az_elapsed_time < 250) {  // Single deg decrease unless encoder turned quickly then 10's step
        az_encoder_raw_degrees -= (5 * HEADING_MULTIPLIER);
      } else { 
        az_encoder_raw_degrees -= (1 * HEADING_MULTIPLIER); 
      }                                                                                       
      //if (az_encoder_raw_degrees > (360 * HEADING_MULTIPLIER)) {
      //  az_encoder_raw_degrees = (360 * HEADING_MULTIPLIER);
      //} else {
        if (az_encoder_raw_degrees < 0) {
          //az_encoder_raw_degrees = 0;
          az_encoder_raw_degrees = 359 * HEADING_MULTIPLIER;
        }
      //}
    }
    #endif //ndef OPTION_PRESET_ENCODER_0_360_DEGREES

    last_encoder_change_time = millis();     // Encoder Check Timer

    if (preset_encoders_state == ENCODER_IDLE) {
      preset_encoders_state = ENCODER_AZ_PENDING;
    } else {
      if (preset_encoders_state == ENCODER_EL_PENDING) {
        preset_encoders_state = ENCODER_AZ_EL_PENDING;
      }
    }

    #ifdef DEBUG_PRESET_ENCODERS
    debug.print("check_preset_encoders: az target: ");
    dtostrf((az_encoder_raw_degrees / HEADING_MULTIPLIER),0,1,tempchar);
    debug.println(tempchar);
    #endif // DEBUG_PRESET_ENCODERS

  } // if (az_encoder_result)
  #endif // FEATURE_AZ_PRESET_ENCODER

  #ifdef FEATURE_EL_PRESET_ENCODER

  #ifdef OPTION_PRESET_ENCODER_RELATIVE_CHANGE
  if ((preset_encoders_state == ENCODER_IDLE) || (preset_encoders_state == ENCODER_AZ_PENDING)) {
    if (el_request_queue_state == IN_PROGRESS_TO_TARGET) {
      el_encoder_degrees = target_elevation;
    } else {
      el_encoder_degrees = elevation;
    }
  }
    #endif // OPTION_PRESET_ENCODER_RELATIVE_CHANGE

  if (el_encoder_result) {                                 // If rotary encoder modified
    el_timestamp[0] = el_timestamp[1];                     // Encoder step timer
    el_timestamp[1] = el_timestamp[2];
    el_timestamp[2] = el_timestamp[3];
    el_timestamp[3] = el_timestamp[4];
    el_timestamp[4] = millis();

    last_encoder_move = millis();

    unsigned long el_elapsed_time = (el_timestamp[4] - el_timestamp[0]); // Encoder step time difference for 10's step

    if (el_encoder_result == DIR_CW) {                      // Rotary Encoder CW 0 - 359 Deg
      #ifdef DEBUG_PRESET_ENCODERS
      debug.println("check_preset_encoders: el CW");
      #endif // DEBUG_PRESET_ENCODERS
      if (el_elapsed_time < 250) {
        el_encoder_degrees += (5 * HEADING_MULTIPLIER);
      } else { el_encoder_degrees += (1 * HEADING_MULTIPLIER); };                                                                       // Single deg increase unless encoder turned quickly then 10's step
      if (el_encoder_degrees > (180 * HEADING_MULTIPLIER)) {
        el_encoder_degrees = (180 * HEADING_MULTIPLIER);
      }
      ;
    }
    if (el_encoder_result == DIR_CCW) {
      #ifdef DEBUG_PRESET_ENCODERS
      debug.println("check_preset_encoders: el CCW");
      #endif // DEBUG_PRESET_ENCODERS
      // Rotary Encoder CCW 359 - 0 Deg
      if (el_elapsed_time < 250) {
        el_encoder_degrees -= (5 * HEADING_MULTIPLIER);
      } else { el_encoder_degrees -= (1 * HEADING_MULTIPLIER); };                                                                        // Single deg decrease unless encoder turned quickly then 10's step
      if (el_encoder_degrees < 0) {
        el_encoder_degrees = 0;
      }
      ;
    }
    last_encoder_change_time = millis();     // Encoder Check Timer

    if (preset_encoders_state == ENCODER_IDLE) {
      preset_encoders_state = ENCODER_EL_PENDING;
    } else {
      if (preset_encoders_state == ENCODER_AZ_PENDING) {
        preset_encoders_state = ENCODER_AZ_EL_PENDING;
      }
    }

    #ifdef DEBUG_PRESET_ENCODERS
      debug.print("check_preset_encoders: el target: ");
      char tempchar[16];
      dtostrf(el_encoder_degrees / HEADING_MULTIPLIER,0,1,tempchar);
      debug.println(tempchar);
    #endif // DEBUG_PRESET_ENCODERS


  } // if (el_encoder_result)


  #endif // FEATURE_EL_PRESET_ENCODER

  if ((preset_encoders_state != ENCODER_IDLE) && (!submit_encoder_change)) { // Check button or timer
    if (preset_start_button) {                                               // if we have a preset start button, check it
      button_read = digitalReadEnhanced(preset_start_button);
      if (button_read == BUTTON_ACTIVE_STATE) {
        submit_encoder_change = 1;
        last_preset_start_button_start = millis();

        #ifdef DEBUG_PRESET_ENCODERS
        debug.println("check_preset_encoders: preset_start_button submit_encoder_change");
        #endif // DEBUG_PRESET_ENCODERS
      }
    } else {
      if ((millis() - last_encoder_change_time) > 2000) {       // if enc not changed for more than 2 sec, rotate to target
        #ifdef DEBUG_PRESET_ENCODERS
        debug.println("check_preset_encoders: timer submit_encoder_change");
        #endif // DEBUG_PRESET_ENCODERS
        submit_encoder_change = 1;
      }
    }
  } // if (!enc_changed_waiting)


  if (preset_start_button) {                                         // if we have a preset start button, check it
    button_read = digitalReadEnhanced(preset_start_button);
    if ((button_read == BUTTON_ACTIVE_STATE) && (!submit_encoder_change) && ((millis() - last_preset_start_button_start) > 250)
        && ((millis() - last_preset_start_button_kill) > 250) && (preset_encoders_state == ENCODER_IDLE)) {
      #ifdef DEBUG_PRESET_ENCODERS
      debug.println("check_preset_encoders: preset button kill");
      #endif // DEBUG_PRESET_ENCODERS
      #ifdef FEATURE_AZ_PRESET_ENCODER
      if (az_state != IDLE) {
        submit_request(AZ, REQUEST_KILL, 0, 45);
      }
      #endif // FEATURE_AZ_PRESET_ENCODER
      #if defined(FEATURE_EL_PRESET_ENCODER) && defined(FEATURE_ELEVATION_CONTROL)
      if (el_state != IDLE) {
        submit_request(EL, REQUEST_KILL, 0, 46);
      }
      #endif // defined(FEATURE_EL_PRESET_ENCODER) && defined(FEATURE_ELEVATION_CONTROL)
      last_preset_start_button_kill = millis();
    }
  }

  if ((submit_encoder_change) && (button_read == BUTTON_INACTIVE_STATE)) {
    #ifdef DEBUG_PRESET_ENCODERS
    debug.println("check_preset_encoders: submit_encoder_change ");
    #endif // DEBUG_PRESET_ENCODERS


    if ((preset_encoders_state == ENCODER_AZ_PENDING) || (preset_encoders_state == ENCODER_AZ_EL_PENDING)) {
      #ifndef OPTION_PRESET_ENCODER_0_360_DEGREES
      submit_request(AZ, REQUEST_AZIMUTH_RAW, az_encoder_raw_degrees, 47);
      #else
      submit_request(AZ, REQUEST_AZIMUTH, az_encoder_raw_degrees, 47);
      #endif //ndef OPTION_PRESET_ENCODER_0_360_DEGREES
    }

    #ifdef FEATURE_EL_PRESET_ENCODER
    if ((preset_encoders_state == ENCODER_EL_PENDING) || (preset_encoders_state == ENCODER_AZ_EL_PENDING)) {
      submit_request(EL, REQUEST_ELEVATION, el_encoder_degrees, 48);
    }
    #endif // FEATURE_EL_PRESET_ENCODER

    preset_encoders_state = ENCODER_IDLE;
    submit_encoder_change = 0;
  } // if (submit_encoder_change)

  if ((preset_start_button) && (preset_encoders_state != ENCODER_IDLE) && ((millis() - last_encoder_move) > ENCODER_PRESET_TIMEOUT)) { // timeout if we have a preset start button
    preset_encoders_state = ENCODER_IDLE;
    #ifdef FEATURE_LCD_DISPLAY
    push_lcd_update = 1;                     // push an LCD update
    #endif // FEATURE_LCD_DISPLAY
  }

} /* check_preset_encoders */

#endif // FEATURE_AZ_PRESET_ENCODER

// --------------------------------------------------------------

#ifdef OPTION_AZ_MANUAL_ROTATE_LIMITS
void check_az_manual_rotate_limit() {

  if ((current_az_state() == ROTATING_CCW) && (raw_azimuth <= (AZ_MANUAL_ROTATE_CCW_LIMIT * HEADING_MULTIPLIER))) {
    #ifdef DEBUG_AZ_MANUAL_ROTATE_LIMITS
    debug.print("check_az_manual_rotate_limit: stopping - hit AZ_MANUAL_ROTATE_CCW_LIMIT of ");
    debug.print(AZ_MANUAL_ROTATE_CCW_LIMIT);
    debug.println("");
    #endif // DEBUG_AZ_MANUAL_ROTATE_LIMITS
    submit_request(AZ, REQUEST_KILL, 0, 49);
  }
  if ((current_az_state() == ROTATING_CW) && (raw_azimuth >= (AZ_MANUAL_ROTATE_CW_LIMIT * HEADING_MULTIPLIER))) {
    #ifdef DEBUG_AZ_MANUAL_ROTATE_LIMITS
    debug.print("check_az_manual_rotate_limit: stopping - hit AZ_MANUAL_ROTATE_CW_LIMIT of ");
    debug.print(AZ_MANUAL_ROTATE_CW_LIMIT);
    debug.println("");
    #endif // DEBUG_AZ_MANUAL_ROTATE_LIMITS
    submit_request(AZ, REQUEST_KILL, 0, 50);
  }
} /* check_az_manual_rotate_limit */
#endif // #ifdef OPTION_AZ_MANUAL_ROTATE_LIMITS

// --------------------------------------------------------------

#if defined(OPTION_EL_MANUAL_ROTATE_LIMITS) && defined(FEATURE_ELEVATION_CONTROL)
void check_el_manual_rotate_limit() {

  if ((current_el_state() == ROTATING_DOWN) && (elevation <= (EL_MANUAL_ROTATE_DOWN_LIMIT * HEADING_MULTIPLIER))) {
    #ifdef DEBUG_EL_MANUAL_ROTATE_LIMITS
    debug.print("check_el_manual_rotate_limit: stopping - hit EL_MANUAL_ROTATE_DOWN_LIMIT of ");
    debug.print(EL_MANUAL_ROTATE_DOWN_LIMIT);
    debug.println("");
    #endif // DEBUG_EL_MANUAL_ROTATE_LIMITS
    submit_request(EL, REQUEST_KILL, 0, 51);
  }
  if ((current_el_state() == ROTATING_UP) && (elevation >= (EL_MANUAL_ROTATE_UP_LIMIT * HEADING_MULTIPLIER))) {
    #ifdef DEBUG_EL_MANUAL_ROTATE_LIMITS
    debug.print("check_el_manual_rotate_limit: stopping - hit EL_MANUAL_ROTATE_UP_LIMIT of ");
    debug.print(EL_MANUAL_ROTATE_UP_LIMIT);
    debug.println("");
    #endif // DEBUG_EL_MANUAL_ROTATE_LIMITS
    submit_request(EL, REQUEST_KILL, 0, 52);
  }
} /* check_el_manual_rotate_limit */
#endif // #ifdef OPTION_EL_MANUAL_ROTATE_LIMITS


// --------------------------------------------------------------
void check_brake_release() {


  static byte in_az_brake_release_delay = 0;
  static unsigned long az_brake_delay_start_time = 0;

  #ifdef FEATURE_ELEVATION_CONTROL
  static byte in_el_brake_release_delay = 0;
  static unsigned long el_brake_delay_start_time = 0;
  #endif // FEATURE_ELEVATION_CONTROL

  if ((az_state == IDLE) && (brake_az_engaged)) {
    if (in_az_brake_release_delay) {
      if ((millis() - az_brake_delay_start_time) > AZ_BRAKE_DELAY) {
        brake_release(AZ, BRAKE_RELEASE_OFF);
        in_az_brake_release_delay = 0;
      }
    } else {
      az_brake_delay_start_time = millis();
      in_az_brake_release_delay = 1;
    }
  }

  if ((az_state != IDLE) && (brake_az_engaged)) {in_az_brake_release_delay = 0;}

  #ifdef FEATURE_ELEVATION_CONTROL
  if ((el_state == IDLE) && (brake_el_engaged)) {
    if (in_el_brake_release_delay) {
      if ((millis() - el_brake_delay_start_time) > EL_BRAKE_DELAY) {
        brake_release(EL, BRAKE_RELEASE_OFF);
        in_el_brake_release_delay = 0;
      }
    } else {
      el_brake_delay_start_time = millis();
      in_el_brake_release_delay = 1;
    }
  }

  if ((el_state != IDLE) && (brake_el_engaged)) {in_el_brake_release_delay = 0;}  
  #endif // FEATURE_ELEVATION_CONTROL

} /* check_brake_release */

// --------------------------------------------------------------
void brake_release(byte az_or_el, byte operation){

  if (az_or_el == AZ) {
    if (brake_az) {
      if (operation == BRAKE_RELEASE_ON) {
        digitalWriteEnhanced(brake_az, BRAKE_ACTIVE_STATE);
        brake_az_engaged = 1;
        #ifdef DEBUG_BRAKE
        debug.println("brake_release: brake_az BRAKE_RELEASE_ON");
        #endif // DEBUG_BRAKE
      } else {
        digitalWriteEnhanced(brake_az, BRAKE_INACTIVE_STATE);
        brake_az_engaged = 0;
        #ifdef DEBUG_BRAKE
        debug.println("brake_release: brake_az BRAKE_RELEASE_OFF");
        #endif // DEBUG_BRAKE
      }
    }
  } else {
    #ifdef FEATURE_ELEVATION_CONTROL
    if (operation == BRAKE_RELEASE_ON) { 
      if (brake_el) {
        digitalWriteEnhanced(brake_el, BRAKE_ACTIVE_STATE);
        brake_el_engaged = 1;
        #ifdef DEBUG_BRAKE
        debug.println("brake_release: brake_el BRAKE_RELEASE_ON");
        #endif // DEBUG_BRAKE
      } else {
        digitalWriteEnhanced(brake_el, BRAKE_INACTIVE_STATE);
        brake_el_engaged = 0;
        #ifdef DEBUG_BRAKE
        debug.println("brake_release: brake_el BRAKE_RELEASE_OFF");
        #endif // DEBUG_BRAKE
      }
    }
    #endif // FEATURE_ELEVATION_CONTROL
  }
} /* brake_release */

// --------------------------------------------------------------
void check_overlap(){

  static byte overlap_led_status = 0;
  static unsigned long last_check_time;
  #ifdef OPTION_BLINK_OVERLAP_LED
  static unsigned long last_overlap_led_transition = 0;
  static byte blink_status = 0;
  #endif //OPTION_BLINK_OVERLAP_LED

  if ((overlap_led) && ((millis() - last_check_time) > 500)) {
    // if ((analog_az > (500*HEADING_MULTIPLIER)) && (azimuth > (ANALOG_AZ_OVERLAP_DEGREES*HEADING_MULTIPLIER)) && (!overlap_led_status)) {
    if ((raw_azimuth > (ANALOG_AZ_OVERLAP_DEGREES * HEADING_MULTIPLIER)) && (!overlap_led_status)) {
      digitalWriteEnhanced(overlap_led, HIGH);
      overlap_led_status = 1;
      #ifdef OPTION_BLINK_OVERLAP_LED
      last_overlap_led_transition = millis();
      blink_status = 1;
      #endif //OPTION_BLINK_OVERLAP_LED
      #ifdef DEBUG_OVERLAP
      debug.println("check_overlap: in overlap");
      #endif // DEBUG_OVERLAP
    } else {
      // if (((analog_az < (500*HEADING_MULTIPLIER)) || (azimuth < (ANALOG_AZ_OVERLAP_DEGREES*HEADING_MULTIPLIER))) && (overlap_led_status)) {
      if ((raw_azimuth < (ANALOG_AZ_OVERLAP_DEGREES * HEADING_MULTIPLIER)) && (overlap_led_status)) {
        digitalWriteEnhanced(overlap_led, LOW);
        overlap_led_status = 0;
        #ifdef DEBUG_OVERLAP
        debug.println("check_overlap: overlap off");
        #endif // DEBUG_OVERLAP
      }
    }
    last_check_time = millis();

  }

  #ifdef OPTION_BLINK_OVERLAP_LED
  if ((overlap_led_status) && ((millis() - last_overlap_led_transition) >= OPTION_OVERLAP_LED_BLINK_MS)){
    if (blink_status){
      digitalWriteEnhanced(overlap_led, LOW);
      blink_status = 0;
    } else {
      digitalWriteEnhanced(overlap_led, HIGH);
      blink_status = 1;
    }
    last_overlap_led_transition = millis();
  }
  #endif //OPTION_BLINK_OVERLAP_LED

} /* check_overlap */



// --------------------------------------------------------------
void clear_command_buffer(){

  control_port_buffer_index = 0;
  control_port_buffer[0] = 0;


}




// --------------------------------------------------------------
#ifdef FEATURE_REMOTE_UNIT_SLAVE
void service_remote_unit_serial_buffer(){

// Goody 2015-03-09 - this may be dead code - all done in check_serial() and proces_remote_slave_command?

/*
 *
 * This implements a protocol for host unit to remote unit communications
 *
 *
 * Remote Slave Unit Protocol Reference
 *
 *  PG - ping
 *  AZ - read azimuth
 *  EL - read elevation
 *  DOxx - digital pin initialize as output;
 *  DIxx - digital pin initialize as input
 *  DPxx - digital pin initialize as input with pullup
 *  DRxx - digital pin read
 *  DLxx - digital pin write low
 *  DHxx - digital pin write high
 *  DTxxyyyy - digital pin tone output
 *  NTxx - no tone
 *  ARxx - analog pin read
 *  AWxxyyy - analog pin write
 *  SWxy - serial write byte
 *  SDx - deactivate serial read event; x = port #
 *  SSxyyyyyy... - serial write sting; x = port #, yyyy = string of characters to send
 *  SAx - activate serial read event; x = port #
 *  RB - reboot
 *
 * Responses
 *
 *  ER - report an error (remote to host only)
 *  EV - report an event (remote to host only)
 *  OK - report success (remote to host only)
 *  CS - report a cold start (remote to host only)
 *
 * Error Codes
 *
 *  ER01 - Serial port buffer timeout
 *  ER02 - Command syntax error
 *
 * Events
 *
 *  EVSxy - Serial port read event; x = serial port number, y = byte returned
 *
 *
 */


  static String command_string; // changed to static 2013-03-27
  byte command_good = 0;

  if (control_port_buffer_carriage_return_flag) {

    if (control_port_buffer_index < 3) {
      control_port->println(F("ER02"));  // we don't have enough characters - syntax error
    } else {
      command_string = String(char(toupper(control_port_buffer[0]))) + String(char(toupper(control_port_buffer[1])));

      #ifdef DEBUG_SERVICE_SERIAL_BUFFER
      debug.print("serial_serial_buffer: command_string: ");
      debug.print(command_string);
      debug.print("$ control_port_buffer_index: ");
      debug.print(control_port_buffer_index);
      debug.println("");
      #endif // DEBUG_SERVICE_SERIAL_BUFFER

      if ((command_string == "SS") && (control_port_buffer[2] > 47) && (control_port_buffer[2] < 53)) { // this is a variable length command
        command_good = 1;
        for (byte x = 3; x < control_port_buffer_index; x++) {
          switch (control_port_buffer[2] - 48) {
            case 0: control_port->write(control_port_buffer[x]); break;
            #if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE)
            case 1: remote_unit_port->write(control_port_buffer[x]); break;
            #endif
          }
        }
      }

      if (control_port_buffer_index == 3) {

        if (command_string == "PG") {
          control_port->println(F("PG")); command_good = 1;
        }                                                                        // PG - ping
        if (command_string == "RB") {
          wdt_enable(WDTO_30MS); while (1) {
          }
        }                                                                        // RB - reboot
        if (command_string == "AZ") {
          control_port->print(F("AZ"));
          if (raw_azimuth < 1000) {
            control_port->print("0");
          }
          if (raw_azimuth < 100) {
            control_port->print("0");
          }
          if (raw_azimuth < 10) {
            control_port->print("0");
          }
          control_port->println(raw_azimuth);
          command_good = 1;
        }
        #ifdef FEATURE_ELEVATION_CONTROL
        if (command_string == "EL") {
          control_port->print(F("EL"));
          if (elevation >= 0) {
            control_port->print("+");
          } else {
            control_port->print("-");
          }
          if (abs(elevation) < 1000) {
            control_port->print("0");
          }
          if (abs(elevation) < 100) {
            control_port->print("0");
          }
          if (abs(elevation) < 10) {
            control_port->print("0");
          }
          control_port->println(abs(elevation));
          command_good = 1;
        }
          #endif // FEATURE_ELEVATION_CONTROL
      } // end of three byte commands



      if (control_port_buffer_index == 4) {
        if ((command_string == "SA") & (control_port_buffer[2] > 47) && (control_port_buffer[2] < 53)) {
          serial_read_event_flag[control_port_buffer[2] - 48] = 1;
          command_good = 1;
          control_port->println("OK");
        }
        if ((command_string == "SD") & (control_port_buffer[2] > 47) && (control_port_buffer[2] < 53)) {
          serial_read_event_flag[control_port_buffer[2] - 48] = 0;
          command_good = 1;
          control_port->println("OK");
        }

      }


      if (control_port_buffer_index == 5) {
        if (command_string == "SW") { // Serial Write command
          switch (control_port_buffer[2]) {
            case '0': control_port->write(control_port_buffer[3]); command_good = 1; break;
            #if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE)
            case '1': remote_unit_port->write(control_port_buffer[3]); command_good = 1; break;
            #endif
          }
        }

        if (command_string == "DO") {
          if ((((control_port_buffer[2] > 47) && (control_port_buffer[2] < 58)) || (toupper(control_port_buffer[2]) == 'A')) && (control_port_buffer[3] > 47) && (control_port_buffer[3] < 58)) {
            command_good = 1;
            byte pin_value = 0;
            if (toupper(control_port_buffer[2]) == 'A') {
              pin_value = get_analog_pin(control_port_buffer[3] - 48);
            } else {
              pin_value = ((control_port_buffer[2] - 48) * 10) + (control_port_buffer[3] - 48);
            }
            #ifdef DEBUG_SERVICE_SERIAL_BUFFER
              debug.print("service_serial_buffer: pin_value: ");
              debug.print(pin_value);
              debug.println("");
            #endif // DEBUG_SERVICE_SERIAL_BUFFER
            control_port->println("OK");
            pinModeEnhanced(pin_value, OUTPUT);
          }
        }

        if (command_string == "DH") {
          if ((((control_port_buffer[2] > 47) && (control_port_buffer[2] < 58)) || (toupper(control_port_buffer[2]) == 'A')) && (control_port_buffer[3] > 47) && (control_port_buffer[3] < 58)) {
            command_good = 1;
            byte pin_value = 0;
            if (toupper(control_port_buffer[2]) == 'A') {
              pin_value = get_analog_pin(control_port_buffer[3] - 48);
            } else {
              pin_value = ((control_port_buffer[2] - 48) * 10) + (control_port_buffer[3] - 48);
            }
            digitalWriteEnhanced(pin_value, HIGH);
            control_port->println("OK");
          }
        }

        if (command_string == "DL") {
          if ((((control_port_buffer[2] > 47) && (control_port_buffer[2] < 58)) || (toupper(control_port_buffer[2]) == 'A')) && (control_port_buffer[3] > 47) && (control_port_buffer[3] < 58)) {
            command_good = 1;
            byte pin_value = 0;
            if (toupper(control_port_buffer[2]) == 'A') {
              pin_value = get_analog_pin(control_port_buffer[3] - 48);
            } else {
              pin_value = ((control_port_buffer[2] - 48) * 10) + (control_port_buffer[3] - 48);
            }
            digitalWriteEnhanced(pin_value, LOW);
            control_port->println("OK");
          }
        }

        if (command_string == "DI") {
          if ((((control_port_buffer[2] > 47) && (control_port_buffer[2] < 58)) || (toupper(control_port_buffer[2]) == 'A')) && (control_port_buffer[3] > 47) && (control_port_buffer[3] < 58)) {
            command_good = 1;
            byte pin_value = 0;
            if (toupper(control_port_buffer[2]) == 'A') {
              pin_value = get_analog_pin(control_port_buffer[3] - 48);
            } else {
              pin_value = ((control_port_buffer[2] - 48) * 10) + (control_port_buffer[3] - 48);
            }
            pinModeEnhanced(pin_value, INPUT);
            control_port->println("OK");
          }
        }

        if (command_string == "DP") {
          if ((((control_port_buffer[2] > 47) && (control_port_buffer[2] < 58)) || (toupper(control_port_buffer[2]) == 'A')) && (control_port_buffer[3] > 47) && (control_port_buffer[3] < 58)) {
            command_good = 1;
            byte pin_value = 0;
            if (toupper(control_port_buffer[2]) == 'A') {
              pin_value = get_analog_pin(control_port_buffer[3] - 48);
            } else {
              pin_value = ((control_port_buffer[2] - 48) * 10) + (control_port_buffer[3] - 48);
            }
            // pinModeEnhanced(pin_value,INPUT_PULLUP);
            pinModeEnhanced(pin_value, INPUT);
            digitalWriteEnhanced(pin_value, HIGH);
            control_port->println("OK");
          }
        }

        if (command_string == "DR") {
          if ((((control_port_buffer[2] > 47) && (control_port_buffer[2] < 58)) || (toupper(control_port_buffer[2]) == 'A')) && (control_port_buffer[3] > 47) && (control_port_buffer[3] < 58)) {
            command_good = 1;
            byte pin_value = 0;
            if (toupper(control_port_buffer[2]) == 'A') {
              pin_value = get_analog_pin(control_port_buffer[3] - 48);
            } else {
              pin_value = ((control_port_buffer[2] - 48) * 10) + (control_port_buffer[3] - 48);
            }
            byte pin_read = digitalReadEnhanced(pin_value);
            control_port->print("DR");
            control_port->write(control_port_buffer[2]);
            control_port->write(control_port_buffer[3]);
            if (pin_read) {
              control_port->println("1");
            } else {
              control_port->println("0");
            }
          }
        }
        if (command_string == "AR") {
          if ((((control_port_buffer[2] > 47) && (control_port_buffer[2] < 58)) || (toupper(control_port_buffer[2]) == 'A')) && (control_port_buffer[3] > 47) && (control_port_buffer[3] < 58)) {
            command_good = 1;
            byte pin_value = 0;
            if (toupper(control_port_buffer[2]) == 'A') {
              pin_value = get_analog_pin(control_port_buffer[3] - 48);
            } else {
              pin_value = ((control_port_buffer[2] - 48) * 10) + (control_port_buffer[3] - 48);
            }
            int pin_read = analogReadEnhanced(pin_value);
            control_port->print("AR");
            control_port->write(control_port_buffer[2]);
            control_port->write(control_port_buffer[3]);
            if (pin_read < 1000) {
              control_port->print("0");
            }
            if (pin_read < 100) {
              control_port->print("0");
            }
            if (pin_read < 10) {
              control_port->print("0");
            }
            control_port->println(pin_read);
          }
        }

        if (command_string == "NT") {
          if ((((control_port_buffer[2] > 47) && (control_port_buffer[2] < 58)) || (toupper(control_port_buffer[2]) == 'A')) && (control_port_buffer[3] > 47) && (control_port_buffer[3] < 58)) {
            command_good = 1;
            byte pin_value = 0;
            if (toupper(control_port_buffer[2]) == 'A') {
              pin_value = get_analog_pin(control_port_buffer[3] - 48);
            } else {
              pin_value = ((control_port_buffer[2] - 48) * 10) + (control_port_buffer[3] - 48);
            }
            noTone(pin_value);
            control_port->println("OK");
          }
        }

      } // if (control_port_buffer_index == 5)

      if (control_port_buffer_index == 8) {
        if (command_string == "AW") {
          if ((((control_port_buffer[2] > 47) && (control_port_buffer[2] < 58)) || (toupper(control_port_buffer[2]) == 'A')) && (control_port_buffer[3] > 47) && (control_port_buffer[3] < 58)) {
            byte pin_value = 0;
            if (toupper(control_port_buffer[2]) == 'A') {
              pin_value = get_analog_pin(control_port_buffer[3] - 48);
            } else {
              pin_value = ((control_port_buffer[2] - 48) * 10) + (control_port_buffer[3] - 48);
            }
            int write_value = ((control_port_buffer[4] - 48) * 100) + ((control_port_buffer[5] - 48) * 10) + (control_port_buffer[6] - 48);
            if ((write_value >= 0) && (write_value < 256)) {
              analogWriteEnhanced(pin_value, write_value);
              control_port->println("OK");
              command_good = 1;
            }
          }
        }
      }

      if (control_port_buffer_index == 9) {
        if (command_string == "DT") {
          if ((((control_port_buffer[2] > 47) && (control_port_buffer[2] < 58)) || (toupper(control_port_buffer[2]) == 'A')) && (control_port_buffer[3] > 47) && (control_port_buffer[3] < 58)) {
            byte pin_value = 0;
            if (toupper(control_port_buffer[2]) == 'A') {
              pin_value = get_analog_pin(control_port_buffer[3] - 48);
            } else {
              pin_value = ((control_port_buffer[2] - 48) * 10) + (control_port_buffer[3] - 48);
            }
            int write_value = ((control_port_buffer[4] - 48) * 1000) + ((control_port_buffer[5] - 48) * 100) + ((control_port_buffer[6] - 48) * 10) + (control_port_buffer[7] - 48);
            if ((write_value >= 0) && (write_value <= 9999)) {
              tone(pin_value, write_value);
              control_port->println("OK");
              command_good = 1;
            }
          }
        }
      }


      if (!command_good) {
        control_port->println(F("ER02"));
      }
    }
    control_port_buffer_carriage_return_flag = 0;
    control_port_buffer_index = 0;
  } else {
    if (((millis() - last_serial_receive_time) > REMOTE_BUFFER_TIMEOUT_MS) && control_port_buffer_index) {
      control_port->println(F("ER01"));
      control_port_buffer_index = 0;
    }
  }



} /* service_remote_unit_serial_buffer */

      #endif // FEATURE_REMOTE_UNIT_SLAVE
// --------------------------------------------------------------
void check_serial(){

  #ifdef DEBUG_LOOP
    debug.print("check_serial\n");
    Serial.flush();
  #endif // DEBUG_LOOP    

  static unsigned long serial_led_time = 0;
  float tempfloat = 0;
  char return_string[100] = ""; 

  #if !defined(FEATURE_AZ_POSITION_ROTARY_ENCODER) && !defined(FEATURE_AZ_POSITION_PULSE_INPUT)
    long place_multiplier = 0;
    byte decimalplace = 0;
  #endif

  #ifdef FEATURE_CLOCK
    int temp_year = 0;
    byte temp_month = 0;
    byte temp_day = 0;
    byte temp_minute = 0;
    byte temp_hour = 0;
  #endif // FEATURE_CLOCK

  #if defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING)
    char grid[10] = "";
    byte hit_error = 0;
  #endif // defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING)

  #if defined(FEATURE_AZ_POSITION_ROTARY_ENCODER) || defined(FEATURE_AZ_POSITION_PULSE_INPUT)
    int new_azimuth = 9999;
  #endif

  #ifdef FEATURE_ELEVATION_CONTROL
    #if defined(FEATURE_EL_POSITION_ROTARY_ENCODER) || defined(FEATURE_EL_POSITION_PULSE_INPUT)
      int new_elevation = 9999;
    #endif // FEATURE_ELEVATION_CONTROL
  #endif // defined(FEATURE_AZ_POSITION_ROTARY_ENCODER) || defined(FEATURE_AZ_POSITION_PULSE_INPUT)


  #if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION) || defined(UNDER_DEVELOPMENT_REMOTE_UNIT_COMMANDS)

  if ((serial_led) && (serial_led_time != 0) && ((millis() - serial_led_time) > SERIAL_LED_TIME_MS)) {
    digitalWriteEnhanced(serial_led, LOW);
    serial_led_time = 0;
  }

  if (control_port->available()) {
    if (serial_led) {
      digitalWriteEnhanced(serial_led, HIGH);                      // blink the LED just to say we got something
      serial_led_time = millis();
    }

    #ifdef FEATURE_POWER_SWITCH
      last_activity_time = millis();
    #endif //FEATURE_POWER_SWITCH

    #ifdef DEBUG_SERIAL
      int control_port_available = control_port->available();
    #endif // DEBUG_SERIAL

    incoming_serial_byte = control_port->read();
    last_serial_receive_time = millis();

    #ifdef DEBUG_SERIAL
      debug.print("check_serial: control_port: ");
      debug.print(control_port_available);
      debug.print(":");
      debug.print(incoming_serial_byte);
      debug.println("");
    #endif // DEBUG_SERIAL


    if ((incoming_serial_byte > 96) && (incoming_serial_byte < 123)) {  // uppercase it
      incoming_serial_byte = incoming_serial_byte - 32;
    }                                                                                                                    


    #ifdef FEATURE_EASYCOM_EMULATION   //Easycom uses spaces, linefeeds, and carriage returns as command delimiters----------

        // Easycom only

        if ((control_port_buffer[0] == '\\') or (control_port_buffer[0] == '/') or ((control_port_buffer_index == 0) && ((incoming_serial_byte == '\\') || (incoming_serial_byte == '/')))) {
          // if it's a backslash command add it to the buffer if it's not a line feed or carriage return
          if ((incoming_serial_byte != 10) && (incoming_serial_byte != 13)) { 
            control_port_buffer[control_port_buffer_index] = incoming_serial_byte;
            control_port_buffer_index++;
          }
        } else {
          // if it's an easycom command add it to the buffer if it's not a line feed, carriage return, or space
          if ((incoming_serial_byte != 10) && (incoming_serial_byte != 13) && (incoming_serial_byte != 32)) { 
            control_port_buffer[control_port_buffer_index] = incoming_serial_byte;
            control_port_buffer_index++;
          }
        }

        // if it is an Easycom command and we have a space, line feed, or carriage return, process it
        if (((incoming_serial_byte == 10) || (incoming_serial_byte == 13) || (incoming_serial_byte == 32)) && (control_port_buffer[0] != '\\') && (control_port_buffer[0] != '/')){
          #if defined(OPTION_HAMLIB_EASYCOM_AZ_EL_COMMAND_HACK) && defined(FEATURE_ELEVATION_CONTROL)
              if ((control_port_buffer[0]=='A') && (control_port_buffer[1]=='Z') && (control_port_buffer_index == 2)){
                unsigned long start_time_hack = millis();
                if (!control_port->available()){
                  while (((millis() - start_time_hack) < 200) && (!control_port->available())){}  // wait 200 mS for something else to pop up on the serial port
                }
                if (control_port->available()){ // is there also 'EL ' waiting for us in the buffer?
                  start_time_hack = millis();
                  while ( (control_port->available()) && ((millis() - start_time_hack) < 200) ) {
                    control_port->read();
                  }
                  control_port_buffer[0] = 'Z';
                  process_easycom_command(control_port_buffer,1,CONTROL_PORT0,return_string);
                  //control_port->println(return_string); 
                  control_port->print(return_string);
                  #ifndef OPTION_HAMLIB_EASYCOM_NO_TERMINATOR_CHARACTER_HACK
                    control_port->write(incoming_serial_byte);
                  #endif //OPTION_HAMLIB_EASYCOM_NO_TERMINATOR_CHARACTER_HACK       
                } else {  // we got just a bare AZ command
                  process_easycom_command(control_port_buffer,control_port_buffer_index,CONTROL_PORT0,return_string);
                  //control_port->println(return_string); 
                  control_port->print(return_string);
                  #ifndef OPTION_HAMLIB_EASYCOM_NO_TERMINATOR_CHARACTER_HACK
                    control_port->write(incoming_serial_byte);
                  #endif //OPTION_HAMLIB_EASYCOM_NO_TERMINATOR_CHARACTER_HACK 
                }
              } else {

                if (control_port_buffer_index > 1){
                  process_easycom_command(control_port_buffer,control_port_buffer_index,CONTROL_PORT0,return_string);
                  //control_port->println(return_string);
                  control_port->print(return_string);
                  #ifndef OPTION_HAMLIB_EASYCOM_NO_TERMINATOR_CHARACTER_HACK
                    control_port->write(incoming_serial_byte);
                  #endif //OPTION_HAMLIB_EASYCOM_NO_TERMINATOR_CHARACTER_HACK 
                }

              }
          #else //defined(OPTION_HAMLIB_EASYCOM_AZ_EL_COMMAND_HACK) && defined(FEATURE_ELEVATION_CONTROL)
            if (control_port_buffer_index > 1){
              process_easycom_command(control_port_buffer,control_port_buffer_index,CONTROL_PORT0,return_string);
              //control_port->println(return_string); 
              control_port->print(return_string);
              #ifndef OPTION_HAMLIB_EASYCOM_NO_TERMINATOR_CHARACTER_HACK
                control_port->write(incoming_serial_byte);
              #endif //OPTION_HAMLIB_EASYCOM_NO_TERMINATOR_CHARACTER_HACK 
            }
          #endif //defined(OPTION_HAMLIB_EASYCOM_AZ_EL_COMMAND_HACK) && defined(FEATURE_ELEVATION_CONTROL)
          clear_command_buffer();
        } else {
          // if it is a backslash command, process it if we have a carriage return
          if ((incoming_serial_byte == 13) && ((control_port_buffer[0] == '\\') or (control_port_buffer[0] == '/'))){
            process_backslash_command(control_port_buffer, control_port_buffer_index, CONTROL_PORT0, return_string);
            control_port->println(return_string);
            clear_command_buffer();
          }
        }


    #else //FEATURE_EASYCOM_EMULATION ------------------------------------------------------
        // Yaesu, Remote Slave
        if ((incoming_serial_byte != 10) && (incoming_serial_byte != 13)) { // add it to the buffer if it's not a line feed or carriage return
          control_port_buffer[control_port_buffer_index] = incoming_serial_byte;
          control_port_buffer_index++;
        }

        if (incoming_serial_byte == 13) {  // do we have a carriage return?
          if ((control_port_buffer[0] == '\\') or (control_port_buffer[0] == '/')) {
            process_backslash_command(control_port_buffer, control_port_buffer_index, CONTROL_PORT0, return_string);
          } else {
            #ifdef FEATURE_YAESU_EMULATION
              process_yaesu_command(control_port_buffer,control_port_buffer_index,CONTROL_PORT0,return_string);
            #endif //FEATURE_YAESU_EMULATION

            #ifdef FEATURE_REMOTE_UNIT_SLAVE
              process_remote_slave_command(control_port_buffer,control_port_buffer_index,CONTROL_PORT0,return_string);
            #endif //FEATURE_REMOTE_UNIT_SLAVE
          }  
          control_port->println(return_string);
          clear_command_buffer();
        }

    #endif //FEATURE_EASYCOM_EMULATION--------------------------



  } // if (control_port->available())
  #endif // defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)


  // remote unit port servicing
  #if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE)
      if (remote_unit_port->available()) {
        incoming_serial_byte = remote_unit_port->read();

        #if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
            // if (serial_read_event_flag[1]) {
            //   control_port->print("EVS1");
            //   control_port->write(incoming_serial_byte);
            //   control_port->println();
            // }
            if (remote_port_rx_sniff) {
              control_port->write(incoming_serial_byte);
            }
        #endif //defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)

        if ((incoming_serial_byte != 10) && (remote_unit_port_buffer_index < COMMAND_BUFFER_SIZE)) {
          // incoming_serial_byte = toupper(incoming_serial_byte);
          remote_unit_port_buffer[remote_unit_port_buffer_index] = incoming_serial_byte;
          remote_unit_port_buffer_index++;
          if ((incoming_serial_byte == 13) || (remote_unit_port_buffer_index == COMMAND_BUFFER_SIZE)) {
            remote_unit_port_buffer_carriage_return_flag = 1;
          }
        }
        serial1_last_receive_time = millis();

      }
  #endif // defined(FEATURE_MASTER_WITH_SERIAL_SLAVE)


  #ifdef FEATURE_GPS
    if (gps_port->available()) {
      byte gps_port_read = gps_port->read();
      #ifdef GPS_MIRROR_PORT
        gps_mirror_port->write(gps_port_read);
      #endif //GPS_MIRROR_PORT
      #ifdef DEBUG_GPS_SERIAL
        debug.print(gps_port_read);
        //port_flush();    
      #endif //DEBUG_GPS_SERIAL
      if (gps.encode(gps_port_read)) {
        gps_data_available = 1;
      }
    }
  #endif // FEATURE_GPS

  #if defined(GPS_MIRROR_PORT) && defined(FEATURE_GPS)
    if (gps_mirror_port->available()) {
      gps_port->write(gps_mirror_port->read());
    }
  #endif //defined(GPS_MIRROR_PORT) && defined(FEATURE_GPS)


} /* check_serial */


// --------------------------------------------------------------
void check_buttons(){

  #ifdef FEATURE_ADAFRUIT_BUTTONS
  int buttons = 0;
  buttons = lcd.readButtons();

  if (buttons & BUTTON_RIGHT) {
  #else
  if (button_cw && (digitalReadEnhanced(button_cw) == BUTTON_ACTIVE_STATE)) {
  #endif // FEATURE_ADAFRUIT_BUTTONS
    if (azimuth_button_was_pushed == 0) {
    #ifdef DEBUG_BUTTONS
      debug.println("check_buttons: button_cw pushed");
    #endif // DEBUG_BUTTONS
    #ifdef OPTION_AZ_MANUAL_ROTATE_LIMITS
    if (raw_azimuth < (AZ_MANUAL_ROTATE_CW_LIMIT * HEADING_MULTIPLIER)) {
      #endif
      submit_request(AZ, REQUEST_CW, 0, 61);
      azimuth_button_was_pushed = 1;
      #ifdef OPTION_AZ_MANUAL_ROTATE_LIMITS
    } else {
      #ifdef DEBUG_BUTTONS
      debug.println("check_buttons: exceeded AZ_MANUAL_ROTATE_CW_LIMIT");
      #endif // DEBUG_BUTTONS
    }
      #endif
    }

  } else {
    #ifdef FEATURE_ADAFRUIT_BUTTONS
    if (buttons & BUTTON_LEFT) {
    #else
    if (button_ccw && (digitalReadEnhanced(button_ccw) == BUTTON_ACTIVE_STATE)) {
    #endif // FEATURE_ADAFRUIT_BUTTONS
    if (azimuth_button_was_pushed == 0) {
    #ifdef DEBUG_BUTTONS
    debug.println("check_buttons: button_ccw pushed");
    #endif // DEBUG_BUTTONS  
    #ifdef OPTION_AZ_MANUAL_ROTATE_LIMITS
        if (raw_azimuth > (AZ_MANUAL_ROTATE_CCW_LIMIT * HEADING_MULTIPLIER)) {
      #endif
        submit_request(AZ, REQUEST_CCW, 0, 62);
        azimuth_button_was_pushed = 1;
      #ifdef OPTION_AZ_MANUAL_ROTATE_LIMITS
      } else {
        #ifdef DEBUG_BUTTONS
        debug.println("check_buttons: exceeded AZ_MANUAL_ROTATE_CCW_LIMIT");
        #endif // DEBUG_BUTTONS
      }
      #endif // OPTION_AZ_MANUAL_ROTATE_LIMITS
      }
    }
  }

#ifdef FEATURE_ADAFRUIT_BUTTONS
  if ((azimuth_button_was_pushed) && (!(buttons & 0x12))) {
    #ifdef DEBUG_BUTTONS
    debug.println("check_buttons: no button depressed");
    #endif // DEBUG_BUTTONS
    submit_request(AZ, REQUEST_STOP, 0, 63);
    azimuth_button_was_pushed = 0;
  }

#else
  if ((azimuth_button_was_pushed) && (digitalReadEnhanced(button_ccw) == BUTTON_INACTIVE_STATE) && (digitalReadEnhanced(button_cw) == BUTTON_INACTIVE_STATE)) {
    delay(200);
    if ((digitalReadEnhanced(button_ccw) == BUTTON_INACTIVE_STATE) && (digitalReadEnhanced(button_cw) == BUTTON_INACTIVE_STATE)) {
    #ifdef DEBUG_BUTTONS
    debug.println("check_buttons: no AZ button depressed");
    #endif // DEBUG_BUTTONS
    #ifndef OPTION_BUTTON_RELEASE_NO_SLOWDOWN
    submit_request(AZ, REQUEST_STOP, 0, 64);
    #else
    submit_request(AZ, REQUEST_KILL, 0, 65);
    #endif // OPTION_BUTTON_RELEASE_NO_SLOWDOWN
    azimuth_button_was_pushed = 0;
    }
  }
#endif // FEATURE_ADAFRUIT_BUTTONS

#ifdef FEATURE_ELEVATION_CONTROL
#ifdef FEATURE_ADAFRUIT_BUTTONS
  if (buttons & 0x08) {
  #else
  if (button_up && (digitalReadEnhanced(button_up) == BUTTON_ACTIVE_STATE)) {
  #endif // FEATURE_ADAFRUIT_BUTTONS
    if (elevation_button_was_pushed == 0) {
      submit_request(EL, REQUEST_UP, 0, 66);
      elevation_button_was_pushed = 1;
      #ifdef DEBUG_BUTTONS
      debug.println("check_buttons: button_up pushed");
      #endif // DEBUG_BUTTONS  
    }

  } else {
    #ifdef FEATURE_ADAFRUIT_BUTTONS
    if (buttons & 0x04) {
    #else
    if (button_down && (digitalReadEnhanced(button_down) == BUTTON_ACTIVE_STATE)) {
    #endif // FEATURE_ADAFRUIT_BUTTONS
      if (elevation_button_was_pushed == 0) {
        submit_request(EL, REQUEST_DOWN, 0, 67);
        elevation_button_was_pushed = 1;
      #ifdef DEBUG_BUTTONS
      debug.println("check_buttons: button_down pushed");
      #endif // DEBUG_BUTTONS    
      }
    }
  }

#ifdef FEATURE_ADAFRUIT_BUTTONS
  if ((elevation_button_was_pushed) && (!(buttons & 0x0C))) {
  #ifdef DEBUG_BUTTONS
  debug.println("check_buttons: no EL button depressed");
  #endif // DEBUG_BUTTONS
  #ifndef OPTION_BUTTON_RELEASE_NO_SLOWDOWN
    submit_request(EL, REQUEST_STOP, 0, 68);
  #else
    submit_request(EL, REQUEST_KILL, 0, 69);
  #endif // OPTION_BUTTON_RELEASE_NO_SLOWDOWN
    elevation_button_was_pushed = 0;
  }

#else
  if ((elevation_button_was_pushed) && (digitalReadEnhanced(button_up) == BUTTON_INACTIVE_STATE) && (digitalReadEnhanced(button_down) == BUTTON_INACTIVE_STATE)) {
    delay(200);
    if ((digitalReadEnhanced(button_up) == BUTTON_INACTIVE_STATE) && (digitalReadEnhanced(button_down) == BUTTON_INACTIVE_STATE)) {
    #ifdef DEBUG_BUTTONS
    debug.println("check_buttons: no EL button depressed");
    #endif // DEBUG_BUTTONS
    #ifndef OPTION_BUTTON_RELEASE_NO_SLOWDOWN
      submit_request(EL, REQUEST_STOP, 0, 70);
    #else
      submit_request(EL, REQUEST_KILL, 0, 71);
    #endif // OPTION_BUTTON_RELEASE_NO_SLOWDOWN
      elevation_button_was_pushed = 0;
    }
  }
#endif // FEATURE_ADAFRUIT_BUTTONS

#endif // FEATURE_ELEVATION_CONTROL


#ifdef FEATURE_PARK
  static byte park_button_pushed = 0;
  static unsigned long last_time_park_button_pushed = 0;

  if (button_park) {
    if ((digitalReadEnhanced(button_park) == BUTTON_ACTIVE_STATE)) {
      park_button_pushed = 1;
      last_time_park_button_pushed = millis();
    #ifdef DEBUG_BUTTONS
    debug.println("check_buttons: button_park pushed");
    #endif // DEBUG_BUTTONS   
    } else {
      if ((park_button_pushed) && ((millis() - last_time_park_button_pushed) >= 250)) {
        if (park_status != PARK_INITIATED) {
          #ifdef DEBUG_BUTTONS
          debug.println("check_buttons: executing park");
          #endif // DEBUG_BUTTONS
          initiate_park();
        } else {
          #ifdef DEBUG_BUTTONS
          debug.println("check_buttons: park aborted");
          #endif // DEBUG_BUTTONS
          submit_request(AZ, REQUEST_KILL, 0, 72);
            #ifdef FEATURE_ELEVATION_CONTROL
          submit_request(EL, REQUEST_KILL, 0, 73);
            #endif // FEATURE_ELEVATION_CONTROL
        }
        park_button_pushed = 0;
      }
    }

  }

    #endif /* ifdef FEATURE_PARK */


  if (button_stop) {
    if ((digitalReadEnhanced(button_stop) == BUTTON_ACTIVE_STATE)) {
      #ifdef DEBUG_BUTTONS
      debug.println("check_buttons: button_stop pushed");
      #endif // DEBUG_BUTTONS      
      #ifndef OPTION_BUTTON_RELEASE_NO_SLOWDOWN
      submit_request(AZ, REQUEST_STOP, 0, 74);
      #else
      submit_request(AZ, REQUEST_KILL, 0, 75);
      #endif // OPTION_BUTTON_RELEASE_NO_SLOWDOWN
      #ifdef FEATURE_ELEVATION_CONTROL
      #ifndef OPTION_BUTTON_RELEASE_NO_SLOWDOWN
      submit_request(EL, REQUEST_STOP, 0, 76);
      #else
      submit_request(EL, REQUEST_KILL, 0, 77);
      #endif // OPTION_BUTTON_RELEASE_NO_SLOWDOWN
      #endif // FEATURE_ELEVATION_CONTROL
    }
  }

  #ifdef FEATURE_MOON_TRACKING
  static byte moon_tracking_button_pushed = 0;
  static unsigned long last_time_moon_tracking_button_pushed = 0;
  if (moon_tracking_button) {
    if ((digitalReadEnhanced(moon_tracking_button) == BUTTON_ACTIVE_STATE)) {
      moon_tracking_button_pushed = 1;
      last_time_moon_tracking_button_pushed = millis();
      #ifdef DEBUG_BUTTONS
      debug.println("check_buttons: moon_tracking_button pushed");
      #endif // DEBUG_BUTTONS
    } else {
      if ((moon_tracking_button_pushed) && ((millis() - last_time_moon_tracking_button_pushed) >= 250)) {
        if (!moon_tracking_active) {
          #ifdef DEBUG_BUTTONS
          debug.println("check_buttons: moon tracking on");
          #endif // DEBUG_BUTTONS
          moon_tracking_active = 1;
          #ifdef FEATURE_SUN_TRACKING
          sun_tracking_active = 0;
          #endif // FEATURE_SUN_TRACKING          
        } else {
          #ifdef DEBUG_BUTTONS
           debug.println("check_buttons: moon tracking off");
          #endif // DEBUG_BUTTONS
          moon_tracking_active = 0;
        }
        moon_tracking_button_pushed = 0;
      }
    }
  }
  #endif // FEATURE_MOON_TRACKING

  #ifdef FEATURE_SUN_TRACKING
  static byte sun_tracking_button_pushed = 0;
  static unsigned long last_time_sun_tracking_button_pushed = 0;
  if (sun_tracking_button) {
    if ((digitalReadEnhanced(sun_tracking_button) == BUTTON_ACTIVE_STATE)) {
      sun_tracking_button_pushed = 1;
      last_time_sun_tracking_button_pushed = millis();
      #ifdef DEBUG_BUTTONS
      debug.println("check_buttons: sun_tracking_button pushed");
      #endif // DEBUG_BUTTONS
    } else {
      if ((sun_tracking_button_pushed) && ((millis() - last_time_sun_tracking_button_pushed) >= 250)) {
        if (!sun_tracking_active) {
          #ifdef DEBUG_BUTTONS
          debug.println("check_buttons: sun tracking on");
          #endif // DEBUG_BUTTONS
          sun_tracking_active = 1;
          #ifdef FEATURE_MOON_TRACKING
          moon_tracking_active = 0;
          #endif // FEATURE_MOON_TRACKING          
        } else {
          #ifdef DEBUG_BUTTONS
          debug.print("check_buttons: sun tracking off");
          #endif // DEBUG_BUTTONS
          sun_tracking_active = 0;
        }
        sun_tracking_button_pushed = 0;
      }
    }
  }
  #endif // FEATURE_SUN_TRACKING

} /* check_buttons */
// --------------------------------------------------------------
#ifdef FEATURE_LCD_DISPLAY
char * idle_status(){


  #ifdef OPTION_DISPLAY_DIRECTION_STATUS
  return azimuth_direction(azimuth);
  #endif //OPTION_DISPLAY_DIRECTION_STATUS

  return("");



}


#endif //FEATURE_LCD_DISPLAY
// --------------------------------------------------------------

#if defined(FEATURE_LCD_DISPLAY) && defined(OPTION_DISPLAY_DIRECTION_STATUS)  
char * azimuth_direction(int azimuth_in){

  azimuth_in = azimuth_in / HEADING_MULTIPLIER;



  if (azimuth_in > 348) {
    return N_STRING;
  }
  if (azimuth_in > 326) {
    return NNW_STRING;
  }
  if (azimuth_in > 303) {
    return NW_STRING;
  }
  if (azimuth_in > 281) {
    return WNW_STRING;
  }
  if (azimuth_in > 258) {
    return W_STRING;
  }
  if (azimuth_in > 236) {
    return WSW_STRING;
  }
  if (azimuth_in > 213) {
    return SW_STRING;
  }
  if (azimuth_in > 191) {
    return SSW_STRING;
  }
  if (azimuth_in > 168) {
    return S_STRING;
  }
  if (azimuth_in > 146) {
    return SSE_STRING;
  }
  if (azimuth_in > 123) {
    return SE_STRING;
  }
  if (azimuth_in > 101) {
    return ESE_STRING;
  }
  if (azimuth_in > 78) {
    return E_STRING;
  }
  if (azimuth_in > 56) {
    return ENE_STRING;
  }
  if (azimuth_in > 33) {
    return NE_STRING;
  }
  if (azimuth_in > 11) {
    return NNE_STRING;
  }
  return N_STRING;

} /* azimuth_direction */
#endif /* ifdef FEATURE_LCD_DISPLAY */

// --------------------------------------------------------------
#if defined(FEATURE_LCD_DISPLAY)
void update_display(){

    
  byte force_display_update_now = 0;
  char workstring[32] = "";
  char workstring2[32] = "";
  byte row_override[LCD_ROWS];

  for (int x = 0;x < LCD_ROWS;x++){row_override[x] = 0;}

  k3ngdisplay.clear_pending_buffer();



  // OPTION_DISPLAY_DIRECTION_STATUS - azimuth direction display ***********************************************************************************
  #if defined(OPTION_DISPLAY_DIRECTION_STATUS)   
  strcpy(workstring,azimuth_direction(azimuth));  // TODO - add left/right/center
  k3ngdisplay.print_center_fixed_field_size(workstring,LCD_DIRECTION_ROW-1,LCD_STATUS_FIELD_SIZE);
  #endif //defined(OPTION_DISPLAY_DIRECTION_STATUS)


  // OPTION_DISPLAY_HEADING - show heading ***********************************************************************************
  #if defined(OPTION_DISPLAY_HEADING)
    #if !defined(FEATURE_ELEVATION_CONTROL)                    // ---------------- az only -----------------------------------
      strcpy(workstring,AZIMUTH_STRING);
      dtostrf(azimuth / LCD_HEADING_MULTIPLIER, 1, LCD_DECIMAL_PLACES, workstring2);
      #ifdef OPTION_LCD_HEADING_FIELD_FIXED_DECIMAL_PLACE
        if ((azimuth/ LCD_HEADING_MULTIPLIER) < 100){strcat(workstring," ");}
        if ((azimuth/ LCD_HEADING_MULTIPLIER) < 10){strcat(workstring," ");}  
      #endif //OPTION_LCD_HEADING_FIELD_FIXED_DECIMAL_PLACE    
      strcat(workstring,workstring2);
      strcat(workstring,DISPLAY_DEGREES_STRING);
      k3ngdisplay.print_center_fixed_field_size(workstring,LCD_HEADING_ROW-1,LCD_HEADING_FIELD_SIZE);
    #else                                                       // --------------------az & el---------------------------------
      #if defined(FEATURE_ONE_DECIMAL_PLACE_HEADINGS) || defined(FEATURE_TWO_DECIMAL_PLACE_HEADINGS)
        if ((azimuth >= 1000) && (elevation >= 1000)) {
          strcpy(workstring,AZ_STRING);
        } else {
          strcpy(workstring,AZ_SPACE_STRING);
        }
      #else
        strcpy(workstring,AZ_SPACE_STRING);
      #endif // efined(FEATURE_ONE_DECIMAL_PLACE_HEADINGS) || defined(FEATURE_TWO_DECIMAL_PLACE_HEADINGS)
      dtostrf(azimuth/ LCD_HEADING_MULTIPLIER, 3, LCD_DECIMAL_PLACES, workstring2);
      #ifdef OPTION_LCD_HEADING_FIELD_FIXED_DECIMAL_PLACE
        if ((azimuth/ LCD_HEADING_MULTIPLIER) < 100){strcat(workstring," ");}
        if ((azimuth/ LCD_HEADING_MULTIPLIER) < 10){strcat(workstring," ");}
      #endif //OPTION_LCD_HEADING_FIELD_FIXED_DECIMAL_PLACE
      strcat(workstring,workstring2);
      #if !defined(FEATURE_ONE_DECIMAL_PLACE_HEADINGS) && !defined(FEATURE_TWO_DECIMAL_PLACE_HEADINGS)
        if (LCD_COLUMNS > 14) {
          strcat(workstring.DISPLAY_DEGREES_STRING);
        }
      #else
        if ((LCD_COLUMNS > 18) || ((azimuth < 100) && (elevation < 100))) {
          strcat(workstring,DISPLAY_DEGREES_STRING);
        }
      #endif
      #if defined(FEATURE_ONE_DECIMAL_PLACE_HEADINGS) || defined(FEATURE_TWO_DECIMAL_PLACE_HEADINGS)
        if ((elevation >= 1000) && (azimuth >= 1000)) {
          strcat(workstring,SPACE_EL_STRING);
        } else {
          strcat(workstring,SPACE_EL_SPACE_STRING);
        }
      #else
        strcat(workstring,SPACE_EL_SPACE_STRING);
      #endif // defined(FEATURE_ONE_DECIMAL_PLACE_HEADINGS) || defined(FEATURE_TWO_DECIMAL_PLACE_HEADINGS)
      dtostrf(elevation / LCD_HEADING_MULTIPLIER, 1, LCD_DECIMAL_PLACES, workstring2);
      #ifdef OPTION_LCD_HEADING_FIELD_FIXED_DECIMAL_PLACE
        if ((elevation/ LCD_HEADING_MULTIPLIER) < 100){strcat(workstring," ");}
        if ((elevation/ LCD_HEADING_MULTIPLIER) < 10){strcat(workstring," ");}    
      #endif //OPTION_LCD_HEADING_FIELD_FIXED_DECIMAL_PLACE  
      strcat(workstring,workstring2);
      #if !defined(FEATURE_ONE_DECIMAL_PLACE_HEADINGS) && !defined(FEATURE_TWO_DECIMAL_PLACE_HEADINGS)
        if (LCD_COLUMNS > 14) {
          strcat(workstring,DISPLAY_DEGREES_STRING);
        }
      #else
        if ((LCD_COLUMNS > 18) || ((azimuth < 100) && (elevation < 100))) {
          strcat(workstring,DISPLAY_DEGREES_STRING);
        }
      #endif
      k3ngdisplay.print_center_fixed_field_size(workstring,LCD_HEADING_ROW-1,LCD_HEADING_FIELD_SIZE);    
    #endif // FEATURE_ELEVATION_CONTROL
  #endif //defined(OPTION_DISPLAY_HEADING)  


  // OPTION_DISPLAY_STATUS***********************************************************************************
  #if defined(OPTION_DISPLAY_STATUS)
    #if !defined(FEATURE_ELEVATION_CONTROL) // ---------------- az only ----------------------------------------------
      if (az_state != IDLE) {
        if (az_request_queue_state == IN_PROGRESS_TO_TARGET) { 
          if (current_az_state() == ROTATING_CW) {
            strcpy(workstring,CW_STRING);
          } else {
            strcpy(workstring,CCW_STRING);
          }
          strcat(workstring," ");
          dtostrf(target_azimuth / LCD_HEADING_MULTIPLIER, 1, LCD_DECIMAL_PLACES, workstring2);
          strcat(workstring,workstring2);
          strcat(workstring,DISPLAY_DEGREES_STRING);
        } else {
          if (current_az_state() == ROTATING_CW) {
            strcpy(workstring,CW_STRING);
          } else {
            strcpy(workstring,CCW_STRING);
          }
        }
        k3ngdisplay.print_center_fixed_field_size(workstring,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
        row_override[LCD_STATUS_ROW] = 1;
      }

      #if defined(FEATURE_PARK)
        static byte last_park_status = NOT_PARKED;
        static unsigned long last_park_message_update_time = 0;
        static byte park_message_in_effect = 0;
        if (park_status != last_park_status){
          switch(park_status){
            case PARKED: 
              k3ngdisplay.print_center_fixed_field_size(PARKED_STRING,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
              row_override[LCD_STATUS_ROW] = 1;
              park_message_in_effect = 1;
              break;              
            case PARK_INITIATED:
              k3ngdisplay.print_center_fixed_field_size(PARKING_STRING,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
              row_override[LCD_STATUS_ROW] = 1;
              park_message_in_effect = 1;
              break;
            case NOT_PARKED: 
              park_message_in_effect = 0;
              break;
          }
          last_park_status = park_status;
          last_park_message_update_time = millis();
        }
       
        if (park_message_in_effect){
          if ((millis() - last_park_message_update_time) > PARKING_STATUS_DISPLAY_TIME_MS){
            park_message_in_effect = 0;
          } else {
            row_override[LCD_STATUS_ROW] = 1;
            switch(park_status){
              case PARKED: 
                k3ngdisplay.print_center_fixed_field_size(PARKED_STRING,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);                
                break;              
              case PARK_INITIATED:
                k3ngdisplay.print_center_fixed_field_size(PARKING_STRING,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
                break;
            }
          }
        }
      #endif // FEATURE_PARK

//zzzzzz
        
      #ifdef FEATURE_AZ_PRESET_ENCODER 
        float target = 0; 
        if (preset_encoders_state == ENCODER_AZ_PENDING) {
          target = az_encoder_raw_degrees;
          if (target > (359 * LCD_HEADING_MULTIPLIER)) {
            target = target - (360 * LCD_HEADING_MULTIPLIER);
          }
          if (target > (359 * LCD_HEADING_MULTIPLIER)) {
            target = target - (360 * LCD_HEADING_MULTIPLIER);
          }
          strcpy(workstring,TARGET_STRING);
          dtostrf(target / LCD_HEADING_MULTIPLIER, 1, LCD_DECIMAL_PLACES, workstring2);
          strcat(workstring,workstring2);
          strcat(workstring,DISPLAY_DEGREES_STRING);
          k3ngdisplay.print_center_fixed_field_size(workstring,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
          row_override[LCD_STATUS_ROW] = 1;
        }
      #endif //FEATURE_AZ_PRESET_ENCODER

    #else                          // az & el ----------------------------------------------------------------------------



      strcpy(workstring,"");
      if (az_state != IDLE) {
        if (az_request_queue_state == IN_PROGRESS_TO_TARGET) { 
          if (current_az_state() == ROTATING_CW) {
            strcat(workstring,CW_STRING);
          } else {
            strcat(workstring,CCW_STRING);
          }
          strcat(workstring," ");
          dtostrf(target_azimuth / LCD_HEADING_MULTIPLIER, 1, LCD_DECIMAL_PLACES, workstring2);
          strcat(workstring,workstring2);
          strcat(workstring,DISPLAY_DEGREES_STRING);
          row_override[LCD_STATUS_ROW] = 1;
        } else {
          if (current_az_state() == ROTATING_CW) {
            strcpy(workstring,CW_STRING);
          } else {
            strcpy(workstring,CCW_STRING);
          }
        }        
      }
      if (el_state != IDLE) {
        if (az_state != IDLE){
          strcat(workstring," ");
        }
        if (el_request_queue_state == IN_PROGRESS_TO_TARGET) { 
          if (current_az_state() == ROTATING_UP) {
            strcat(workstring,UP_STRING);
          } else {
            strcat(workstring,DOWN_STRING);
          }
          strcat(workstring," ");
          dtostrf(target_elevation / LCD_HEADING_MULTIPLIER, 1, LCD_DECIMAL_PLACES, workstring2);
          strcat(workstring,workstring2);
          strcat(workstring,DISPLAY_DEGREES_STRING);
          row_override[LCD_STATUS_ROW] = 1;
        } else {
          if (current_el_state() == ROTATING_UP) {
            strcat(workstring,UP_STRING);
          } else {
            strcat(workstring,DOWN_STRING);
          }
        }        
      }

      if ((az_state != IDLE) || (el_state != IDLE)){ 
        k3ngdisplay.print_center_fixed_field_size(workstring,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
      } //<added

      #if defined(FEATURE_PARK)
        static byte last_park_status = NOT_PARKED;
        static unsigned long last_park_message_update_time = 0;
        static byte park_message_in_effect = 0;
        if (park_status != last_park_status){
          switch(park_status){
            case PARKED: 
              k3ngdisplay.print_center_fixed_field_size(PARKED_STRING,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
              row_override[LCD_STATUS_ROW] = 1;
              park_message_in_effect = 1;
              break;              
            case PARK_INITIATED:
              k3ngdisplay.print_center_fixed_field_size(PARKING_STRING,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
              row_override[LCD_STATUS_ROW] = 1;
              park_message_in_effect = 1;
              break;
            case NOT_PARKED: 
              park_message_in_effect = 0;
              break;
          }
          last_park_status = park_status;
          last_park_message_update_time = millis();
        }
       
        if (park_message_in_effect){
          if ((millis() - last_park_message_update_time) > PARKING_STATUS_DISPLAY_TIME_MS){
            park_message_in_effect = 0;
          } else {
            row_override[LCD_STATUS_ROW] = 1;
            switch(park_status){
              case PARKED: 
                k3ngdisplay.print_center_fixed_field_size(PARKED_STRING,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);                
                break;              
              case PARK_INITIATED:
                k3ngdisplay.print_center_fixed_field_size(PARKING_STRING,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
                break;
            }
          }
        }
      #endif // FEATURE_PARK

      #if defined(FEATURE_AZ_PRESET_ENCODER) && !defined(FEATURE_EL_PRESET_ENCODER)
        float target = 0; 
        if (preset_encoders_state == ENCODER_AZ_PENDING) {
            target = az_encoder_raw_degrees;
          if (target > (359 * LCD_HEADING_MULTIPLIER)) {
            target = target - (360 * LCD_HEADING_MULTIPLIER);
          }
          if (target > (359 * LCD_HEADING_MULTIPLIER)) {
            target = target - (360 * LCD_HEADING_MULTIPLIER);
          }
          strcpy(workstring,TARGET_STRING);
          dtostrf(target / LCD_HEADING_MULTIPLIER, 1, LCD_DECIMAL_PLACES, workstring2);
          strcat(workstring,workstring2);
          strcat(workstring,DISPLAY_DEGREES_STRING);
          k3ngdisplay.print_center_fixed_field_size(workstring,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
          row_override[LCD_STATUS_ROW] = 1;
        }
      #endif //defined(FEATURE_AZ_PRESET_ENCODER) && !defined(FEATURE_EL_PRESET_ENCODER) 

//zzzzz

      #if defined(FEATURE_AZ_PRESET_ENCODER) && defined(FEATURE_EL_PRESET_ENCODER)  
        float target = az_encoder_raw_degrees;
        if (target > (359 * LCD_HEADING_MULTIPLIER)) {
          target = target - (360 * LCD_HEADING_MULTIPLIER);
        }
        if (target > (359 * LCD_HEADING_MULTIPLIER)) {
          target = target - (360 * LCD_HEADING_MULTIPLIER);
        }

        if (preset_encoders_state != ENCODER_IDLE) {
          switch (preset_encoders_state) {
            case ENCODER_AZ_PENDING:
              strcpy(workstring,AZ_TARGET_STRING);
              dtostrf(target / LCD_HEADING_MULTIPLIER, 1, LCD_DECIMAL_PLACES, workstring2);
              strcat(workstring,workstring2);
              strcat(workstring,DISPLAY_DEGREES_STRING);
              k3ngdisplay.print_center_fixed_field_size(workstring,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
              row_override[LCD_STATUS_ROW] = 1;
              break;
            case ENCODER_EL_PENDING:
              strcpy(workstring,EL_TARGET_STRING);
              dtostrf(el_encoder_degrees / LCD_HEADING_MULTIPLIER, 1, LCD_DECIMAL_PLACES, workstring2);
              strcat(workstring,workstring2);
              strcat(workstring,DISPLAY_DEGREES_STRING);
              k3ngdisplay.print_center_fixed_field_size(workstring,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
              row_override[LCD_STATUS_ROW] = 1;
              break;
            case ENCODER_AZ_EL_PENDING:
              strcpy(workstring,TARGET_STRING);
              dtostrf(target / LCD_HEADING_MULTIPLIER, 1, LCD_DECIMAL_PLACES, workstring2);
              strcat(workstring,workstring2);
              strcat(workstring,DISPLAY_DEGREES_STRING);
              strcat(workstring," ");
              dtostrf(el_encoder_degrees / LCD_HEADING_MULTIPLIER, 1, LCD_DECIMAL_PLACES, workstring2);
              strcat(workstring,workstring2);
              strcat(workstring,DISPLAY_DEGREES_STRING);              
              k3ngdisplay.print_center_fixed_field_size(workstring,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
              row_override[LCD_STATUS_ROW] = 1;
              break;
          } // switch 
        } //if (preset_encoders_state != ENCODER_IDLE)
      #endif  //defined(FEATURE_AZ_PRESET_ENCODER) && !defined(FEATURE_EL_PRESET_ENCODER)
/*
*/
    #endif //!defined(FEATURE_ELEVATION_CONTROL)

  #endif //defined(OPTION_DISPLAY_STATUS)

  // OPTION_DISPLAY_HHMMSS_CLOCK **************************************************************************************************
  #if defined(OPTION_DISPLAY_HHMMSS_CLOCK) && defined(FEATURE_CLOCK)

    static int last_clock_seconds = 0;

    if (!row_override[LCD_HHMMSS_CLOCK_ROW]){
      update_time();
      #ifdef OPTION_CLOCK_ALWAYS_HAVE_HOUR_LEADING_ZERO
        if (clock_hours < 10) {
          strcat(workstring, "0");
        }    
        dtostrf(clock_hours, 0, 0, workstring2);
        strcat(workstring,workstring2);    
      #else    
        dtostrf(clock_hours, 0, 0, workstring2);
        strcpy(workstring,workstring2);
      #endif //OPTION_CLOCK_ALWAYS_HAVE_HOUR_LEADING_ZERO
      strcat(workstring,":");
      if (clock_minutes < 10) {
        strcat(workstring, "0");
      }
      dtostrf(clock_minutes, 0, 0, workstring2);
      strcat(workstring,workstring2);
      strcat(workstring,":");
      if (clock_seconds < 10) {
        strcat(workstring, "0");
      }
      dtostrf(clock_seconds, 0, 0, workstring2);
      strcat(workstring,workstring2);
      if (LCD_HHMMSS_CLOCK_POSITION == LEFT){
        k3ngdisplay.print_left_fixed_field_size(workstring,LCD_HHMMSS_CLOCK_ROW-1,8);
      } 
      if (LCD_HHMMSS_CLOCK_POSITION == RIGHT){
        k3ngdisplay.print_right_fixed_field_size(workstring,LCD_HHMMSS_CLOCK_ROW-1,8);
      }
      if (LCD_HHMMSS_CLOCK_POSITION == CENTER){
        k3ngdisplay.print_center_fixed_field_size(workstring,LCD_HHMMSS_CLOCK_ROW-1,8);
      }    
      if (last_clock_seconds != clock_seconds) {force_display_update_now = 1;}
      last_clock_seconds = clock_seconds;
    }
  #endif //defined(OPTION_DISPLAY_HHMMSS_CLOCK) && defined(FEATURE_CLOCK)

  // OPTION_DISPLAY_HHMM_CLOCK **************************************************************************************************
  #if defined(OPTION_DISPLAY_HHMM_CLOCK) && defined(FEATURE_CLOCK)
    if (!row_override[LCD_HHMM_CLOCK_ROW]){
      update_time();
      #ifdef OPTION_CLOCK_ALWAYS_HAVE_HOUR_LEADING_ZERO
        if (clock_hours < 10) {
          strcat(workstring, "0");
        }    
        dtostrf(clock_hours, 0, 0, workstring2);
        strcat(workstring,workstring2);    
      #else    
        dtostrf(clock_hours, 0, 0, workstring2);
        strcpy(workstring,workstring2);
      #endif //OPTION_CLOCK_ALWAYS_HAVE_HOUR_LEADING_ZERO
      strcat(workstring,":");
      if (clock_minutes < 10) {
        strcat(workstring, "0");
      }
      dtostrf(clock_minutes, 0, 0, workstring2);
      strcat(workstring,workstring2);
      if (LCD_HHMM_CLOCK_POSITION == LEFT){
        k3ngdisplay.print_left_fixed_field_size(workstring,LCD_HHMM_CLOCK_ROW-1,5);
      }
      if (LCD_HHMM_CLOCK_POSITION == RIGHT){
        k3ngdisplay.print_right_fixed_field_size(workstring,LCD_HHMM_CLOCK_ROW-1,5);
      }
      if (LCD_HHMM_CLOCK_POSITION == CENTER){
        k3ngdisplay.print_center_fixed_field_size(workstring,LCD_HHMM_CLOCK_ROW-1,5);
      } 
    }   
  #endif //defined(OPTION_DISPLAY_HHMM_CLOCK) && defined(FEATURE_CLOCK)

  // OPTION_DISPLAY_GPS_INDICATOR ********************************************************************
  #if defined(OPTION_DISPLAY_GPS_INDICATOR) && defined(FEATURE_GPS) && defined(FEATURE_CLOCK)
    if (((clock_status == GPS_SYNC) || (clock_status == SLAVE_SYNC_GPS)) && (!row_override[LCD_GPS_INDICATOR_ROW])){
      if (LCD_GPS_INDICATOR_POSITION == LEFT){
        k3ngdisplay.print_left_fixed_field_size(GPS_STRING,LCD_GPS_INDICATOR_ROW-1,3);
      }
      if (LCD_GPS_INDICATOR_POSITION == RIGHT){
        k3ngdisplay.print_right_fixed_field_size(GPS_STRING,LCD_GPS_INDICATOR_ROW-1,3);
      }
      if (LCD_GPS_INDICATOR_POSITION == CENTER){
        k3ngdisplay.print_center_fixed_field_size(GPS_STRING,LCD_GPS_INDICATOR_ROW-1,3);
      }            
    }
  #endif //defined(OPTION_DISPLAY_GPS_INDICATOR) && defined(FEATURE_GPS)  && defined(FEATURE_CLOCK)


  // OPTION_DISPLAY_MOON_TRACKING_CONTINUOUSLY *************************************************************
  #if defined(OPTION_DISPLAY_MOON_TRACKING_CONTINUOUSLY) && defined(FEATURE_MOON_TRACKING)

    static unsigned long last_moon_tracking_check_time = 0;

    if (!row_override[LCD_MOON_TRACKING_ROW]){
      if (((millis()-last_moon_tracking_check_time) > LCD_MOON_TRACKING_UPDATE_INTERVAL)) {  
        update_moon_position();
        last_moon_tracking_check_time = millis();
      }
      strcpy(workstring,"");
      if (moon_tracking_active){
        if (moon_visible){
          strcat(workstring,TRACKING_ACTIVE_CHAR);
        } else {
          strcat(workstring,TRACKING_INACTIVE_CHAR);
        }
      }
      strcat(workstring,MOON_STRING);
      dtostrf(moon_azimuth,0,LCD_DECIMAL_PLACES,workstring2);
      strcat(workstring,workstring2);
      if ((LCD_COLUMNS>16) && ((moon_azimuth < 100) || (abs(moon_elevation)<100))) {strcat(workstring,DISPLAY_DEGREES_STRING);}
      strcat(workstring," ");
      dtostrf(moon_elevation,0,LCD_DECIMAL_PLACES,workstring2);
      strcat(workstring,workstring2);
      if ((LCD_COLUMNS>16) && ((moon_azimuth < 100) || (abs(moon_elevation)<100))) {strcat(workstring,DISPLAY_DEGREES_STRING);}
      if (moon_tracking_active){
        if (moon_visible){
          strcat(workstring,TRACKING_ACTIVE_CHAR);
        } else {
          strcat(workstring,TRACKING_INACTIVE_CHAR);
        }
      }
      k3ngdisplay.print_center_fixed_field_size(workstring,LCD_MOON_TRACKING_ROW-1,LCD_COLUMNS); 
    }
  #endif //defined(OPTION_DISPLAY_MOON_TRACKING_CONTINUOUSLY) && defined(FEATURE_MOON_TRACKING)

  // OPTION_DISPLAY_SUN_TRACKING_CONTINUOUSLY **********************************************************
  #if defined(OPTION_DISPLAY_SUN_TRACKING_CONTINUOUSLY) && defined(FEATURE_SUN_TRACKING)

  static unsigned long last_sun_tracking_check_time = 0;

  if (!row_override[LCD_SUN_TRACKING_ROW]){
    if ((millis()-last_sun_tracking_check_time) > LCD_SUN_TRACKING_UPDATE_INTERVAL) {  
      update_sun_position();
      last_sun_tracking_check_time = millis();
    }
    strcpy(workstring,"");
    if (sun_tracking_active){
      if (sun_visible){
        strcat(workstring,TRACKING_ACTIVE_CHAR);
      } else {
        strcat(workstring,TRACKING_INACTIVE_CHAR);
      }
    }
    strcat(workstring,SUN_STRING);
    dtostrf(sun_azimuth,0,LCD_DECIMAL_PLACES,workstring2);
    strcat(workstring,workstring2);
    if ((LCD_COLUMNS>16) && ((sun_azimuth < 100) || (abs(sun_elevation)<100))) {strcat(workstring,DISPLAY_DEGREES_STRING);}
    strcat(workstring," ");
    dtostrf(sun_elevation,0,LCD_DECIMAL_PLACES,workstring2);
    strcat(workstring,workstring2);
    if ((LCD_COLUMNS>16) && ((sun_azimuth < 100) || (abs(sun_elevation)<100))) {strcat(workstring,DISPLAY_DEGREES_STRING);}
    if (sun_tracking_active){
      if (sun_visible){
        strcat(workstring,TRACKING_ACTIVE_CHAR);
      } else {
        strcat(workstring,TRACKING_INACTIVE_CHAR);
      }
    }
    k3ngdisplay.print_center_fixed_field_size(workstring,LCD_SUN_TRACKING_ROW-1,LCD_COLUMNS);
  }
  #endif //defined(OPTION_DISPLAY_SUN_TRACKING_CONTINUOUSLY) && defined(FEATURE_SUN_TRACKING)


// OPTION_DISPLAY_ALT_HHMM_CLOCK_AND_MAIDENHEAD ****************************************************
  #if defined(OPTION_DISPLAY_ALT_HHMM_CLOCK_AND_MAIDENHEAD) && defined(FEATURE_CLOCK)

  static byte displaying_clock = 1;
  static unsigned long last_hhmm_clock_maidenhead_switch_time = 0;


  if (!row_override[LCD_ALT_HHMM_CLOCK_AND_MAIDENHEAD_ROW]){
    if ((millis()-last_hhmm_clock_maidenhead_switch_time) > 5000){
      if (displaying_clock){
        displaying_clock = 0;
      } else {
        displaying_clock = 1;
      }
      last_hhmm_clock_maidenhead_switch_time = millis();
    }
    if (displaying_clock){
      update_time();
      strcpy(workstring, "");
      #ifdef OPTION_CLOCK_ALWAYS_HAVE_HOUR_LEADING_ZERO
      if (clock_hours < 10) {
        strcpy(workstring, "0");
      }    
      dtostrf(clock_hours, 0, 0, workstring2);
      strcat(workstring,workstring2);    
      #else          
      dtostrf(clock_hours, 0, 0, workstring2);
      strcpy(workstring,workstring2);
      #endif //OPTION_CLOCK_ALWAYS_HAVE_HOUR_LEADING_ZERO
      strcat(workstring,":");
      if (clock_minutes < 10) {
        strcat(workstring, "0");
      }
      dtostrf(clock_minutes, 0, 0, workstring2);
      strcat(workstring,workstring2);
      switch (LCD_ALT_HHMM_CLOCK_AND_MAIDENHEAD_POSITION){
        case LEFT: k3ngdisplay.print_left_fixed_field_size(workstring,LCD_ALT_HHMM_CLOCK_AND_MAIDENHEAD_ROW-1,6); break;
        case RIGHT: k3ngdisplay.print_right_fixed_field_size(workstring,LCD_ALT_HHMM_CLOCK_AND_MAIDENHEAD_ROW-1,6); break;
        case CENTER: k3ngdisplay.print_center_fixed_field_size(workstring,LCD_ALT_HHMM_CLOCK_AND_MAIDENHEAD_ROW-1,6); break;
      }
    } else {
      switch (LCD_ALT_HHMM_CLOCK_AND_MAIDENHEAD_POSITION){
        case LEFT: k3ngdisplay.print_left_fixed_field_size(coordinates_to_maidenhead(latitude,longitude),LCD_ALT_HHMM_CLOCK_AND_MAIDENHEAD_ROW-1,6); break;
        case RIGHT: k3ngdisplay.print_right_fixed_field_size(coordinates_to_maidenhead(latitude,longitude),LCD_ALT_HHMM_CLOCK_AND_MAIDENHEAD_ROW-1,6); break;
        case CENTER: k3ngdisplay.print_center_fixed_field_size(coordinates_to_maidenhead(latitude,longitude),LCD_ALT_HHMM_CLOCK_AND_MAIDENHEAD_ROW-1,6); break;
      } 
    }
  }
  #endif //defined(OPTION_DISPLAY_ALT_HHMM_CLOCK_AND_MAIDENHEAD) && defined(FEATURE_CLOCK)

  // OPTION_DISPLAY_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD **********************************************************************
  #if defined(OPTION_DISPLAY_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD) && defined(FEATURE_CLOCK)

    static int last_clock_seconds = 0;

    if (!row_override[LCD_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD_ROW]){    
      update_time();
      #ifdef OPTION_CLOCK_ALWAYS_HAVE_HOUR_LEADING_ZERO
        if (clock_hours < 10) {
          strcat(workstring, "0");
        }    
        dtostrf(clock_hours, 0, 0, workstring2);
        strcat(workstring,workstring2);    
      #else    
        dtostrf(clock_hours, 0, 0, workstring2);
        strcpy(workstring,workstring2);
      #endif //OPTION_CLOCK_ALWAYS_HAVE_HOUR_LEADING_ZERO
      strcat(workstring,":");
      if (clock_minutes < 10) {
        strcat(workstring, "0");
      }
      dtostrf(clock_minutes, 0, 0, workstring2);
      strcat(workstring,workstring2);
      strcat(workstring,":");
      if (clock_seconds < 10) {
        strcat(workstring, "0");
      }
      dtostrf(clock_seconds, 0, 0, workstring2);
      strcat(workstring,workstring2);
      strcat(workstring," ");
      strcat(workstring,coordinates_to_maidenhead(latitude,longitude));
      switch(LCD_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD_POSITION){
        case LEFT: k3ngdisplay.print_left_fixed_field_size(workstring,LCD_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD_ROW-1,LCD_COLUMNS); break;
        case RIGHT: k3ngdisplay.print_right_fixed_field_size(workstring,LCD_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD_ROW-1,LCD_COLUMNS); break;
        case CENTER: k3ngdisplay.print_center_fixed_field_size(workstring,LCD_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD_ROW-1,LCD_COLUMNS); break;
      }
      if (last_clock_seconds != clock_seconds) {force_display_update_now = 1;}
      last_clock_seconds = clock_seconds;
    }

  #endif //defined(OPTION_DISPLAY_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD) && defined(FEATURE_CLOCK)

  // OPTION_DISPLAY_MOON_OR_SUN_TRACKING_CONDITIONAL *******************************************************
  #ifdef OPTION_DISPLAY_MOON_OR_SUN_TRACKING_CONDITIONAL

    //  moon tracking ----
    #ifdef FEATURE_MOON_TRACKING

      static unsigned long last_moon_tracking_check_time = 0;

      if ((!row_override[LCD_MOON_OR_SUN_TRACKING_CONDITIONAL_ROW])  && (moon_tracking_active)) {
        if (((millis()-last_moon_tracking_check_time) > LCD_MOON_TRACKING_UPDATE_INTERVAL)) {  
          update_moon_position();
          last_moon_tracking_check_time = millis();
        }
        if (moon_visible){
          strcpy(workstring,TRACKING_ACTIVE_CHAR);
        } else {
          strcpy(workstring,TRACKING_INACTIVE_CHAR);
        }
        strcat(workstring,MOON_STRING);
        dtostrf(moon_azimuth,0,LCD_DECIMAL_PLACES,workstring2);
        strcat(workstring,workstring2);
        if ((LCD_COLUMNS>16) && ((moon_azimuth < 100) || (abs(moon_elevation)<100))) {strcat(workstring,DISPLAY_DEGREES_STRING);}
        strcat(workstring," ");
        dtostrf(moon_elevation,0,LCD_DECIMAL_PLACES,workstring2);
        strcat(workstring,workstring2);
        if ((LCD_COLUMNS>16) && ((moon_azimuth < 100) || (abs(moon_elevation)<100))) {strcat(workstring,DISPLAY_DEGREES_STRING);}
        if (moon_visible){
          strcat(workstring,TRACKING_ACTIVE_CHAR);
        } else {
          strcat(workstring,TRACKING_INACTIVE_CHAR);
        }
        k3ngdisplay.print_center_fixed_field_size(workstring,LCD_MOON_OR_SUN_TRACKING_CONDITIONAL_ROW-1,LCD_COLUMNS); 
      }
    #endif //FEATURE_MOON_TRACKING


    //  sun tracking ----
    #ifdef FEATURE_SUN_TRACKING
      static unsigned long last_sun_tracking_check_time = 0;

      if ((!row_override[LCD_MOON_OR_SUN_TRACKING_CONDITIONAL_ROW]) && (sun_tracking_active)){
        if ((millis()-last_sun_tracking_check_time) > LCD_SUN_TRACKING_UPDATE_INTERVAL) {  
          update_sun_position();
          last_sun_tracking_check_time = millis();
        }
        if (sun_visible){
          strcpy(workstring,TRACKING_ACTIVE_CHAR);
        } else {
          strcpy(workstring,TRACKING_INACTIVE_CHAR);
        }
        strcat(workstring,SUN_STRING);
        dtostrf(sun_azimuth,0,LCD_DECIMAL_PLACES,workstring2);
        strcat(workstring,workstring2);
        if ((LCD_COLUMNS>16) && ((sun_azimuth < 100) || (abs(sun_elevation)<100))) {strcat(workstring,DISPLAY_DEGREES_STRING);}
        strcat(workstring," ");
        dtostrf(sun_elevation,0,LCD_DECIMAL_PLACES,workstring2);
        strcat(workstring,workstring2);
        if ((LCD_COLUMNS>16) && ((sun_azimuth < 100) || (abs(sun_elevation)<100))) {strcat(workstring,DISPLAY_DEGREES_STRING);}
        if (sun_visible){
          strcat(workstring,TRACKING_ACTIVE_CHAR);
        } else {
          strcat(workstring,TRACKING_INACTIVE_CHAR);
        }
        k3ngdisplay.print_center_fixed_field_size(workstring,LCD_MOON_OR_SUN_TRACKING_CONDITIONAL_ROW-1,LCD_COLUMNS);
      }

    #endif //FEATURE_SUN_TRACKING

  #endif //OPTION_DISPLAY_MOON_OR_SUN_TRACKING_CONDITIONAL


  // OPTION_DISPLAY_BIG_CLOCK **********************************************************
  #if defined(OPTION_DISPLAY_BIG_CLOCK) && defined(FEATURE_CLOCK)

    static byte big_clock_last_clock_seconds = 0;
  
    if (!row_override[LCD_BIG_CLOCK_ROW]){    
      update_time();
      k3ngdisplay.print_center_entire_row(clock_string(),LCD_BIG_CLOCK_ROW-1,0);
      if (big_clock_last_clock_seconds != clock_seconds) {
        force_display_update_now = 1;
        big_clock_last_clock_seconds = clock_seconds;
      }
    }
  #endif //defined(OPTION_DISPLAY_BIG_CLOCK) && defined(FEATURE_CLOCK)



// TODO: develop status row with HH:MM time, rotation status, direction, and GPS status?

// TODO: FEATURE_PARK {done, need to test}, FEATURE_AZ_PRESET_ENCODER and FEATURE_EL_PRESET_ENCODER in status widget {done, need to test}
  

//zzzzzz



  // do it ! ************************************
  k3ngdisplay.service(force_display_update_now);
  //force_display_update_now = 0;


}  
#endif // defined(FEATURE_LCD_DISPLAY) 


// --------------------------------------------------------------
#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
void get_keystroke(){
  while (control_port->available() == 0) {
  }
  while (control_port->available() > 0)
    incoming_serial_byte = control_port->read();
}
#endif // defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)

// --------------------------------------------------------------
#ifdef FEATURE_YAESU_EMULATION
void print_wrote_to_memory(){

  control_port->println(F("Wrote to memory"));

}

#endif // FEATURE_YAESU_EMULATION
// --------------------------------------------------------------
#ifdef FEATURE_YAESU_EMULATION
void clear_serial_buffer(){

  delay(200);
  while (control_port->available()) incoming_serial_byte = control_port->read();
}

#endif // FEATURE_YAESU_EMULATION
// --------------------------------------------------------------
void read_settings_from_eeprom(){

  byte * p = (byte *)(void *)&configuration;
  unsigned int i;
  int ee = 0;

  for (i = 0; i < sizeof(configuration); i++) {
    *p++ = EEPROM.read(ee++);
  }

  if (configuration.magic_number == EEPROM_MAGIC_NUMBER) {
    #ifdef DEBUG_EEPROM
      if (debug_mode) {
        debug.println("read_settings_from_eeprom: reading settings from eeprom: ");
        debug.print("\nanalog_az_full_ccw");
        debug.print(configuration.analog_az_full_ccw);
        debug.print("\nanalog_az_full_cw");
        debug.print(configuration.analog_az_full_cw);
        debug.print("\nanalog_el_0_degrees");
        debug.print(configuration.analog_el_0_degrees);
        debug.print("\nanalog_el_max_elevation");
        debug.print(configuration.analog_el_max_elevation);
        debug.print("\nlast_azimuth:");
        debug.print(configuration.last_azimuth, 1);
        debug.print("\nlast_elevation:");
        debug.print(configuration.last_elevation, 1);
        debug.print("\nlast_az_incremental_encoder_position:");
        debug.print(configuration.last_az_incremental_encoder_position);
        debug.print("\nlast_el_incremental_encoder_position:");
        debug.print(configuration.last_el_incremental_encoder_position);
        debug.print("\naz_offset:");
        debug.print(configuration.azimuth_offset,2);
        debug.print("\nel_offset:");
        debug.print(configuration.elevation_offset,2);
        debug.println("");
      }
    #endif // DEBUG_EEPROM


    #if defined(FEATURE_AZ_POSITION_INCREMENTAL_ENCODER)
      az_incremental_encoder_position = configuration.last_az_incremental_encoder_position;
    #endif

    #if defined(FEATURE_ELEVATION_CONTROL) && defined(FEATURE_EL_POSITION_INCREMENTAL_ENCODER)
      el_incremental_encoder_position = configuration.last_el_incremental_encoder_position;
    #endif


    #if defined(FEATURE_AZ_POSITION_ROTARY_ENCODER)
      raw_azimuth = int(configuration.last_azimuth * HEADING_MULTIPLIER);
      if (raw_azimuth >= (360 * HEADING_MULTIPLIER)) {
        azimuth = raw_azimuth - (360 * HEADING_MULTIPLIER);
      } else {
        azimuth = raw_azimuth;
      }
    #endif // defined(FEATURE_AZ_POSITION_ROTARY_ENCODER)

    #if defined(FEATURE_ELEVATION_CONTROL) && defined(FEATURE_EL_POSITION_ROTARY_ENCODER)
      elevation = int(configuration.last_elevation * HEADING_MULTIPLIER);
    #endif // defined(FEATURE_EL_POSITION_ROTARY_ENCODER)



    #ifdef FEATURE_AZ_POSITION_PULSE_INPUT
      raw_azimuth = int(configuration.last_azimuth * HEADING_MULTIPLIER);
      if (raw_azimuth >= (360 * HEADING_MULTIPLIER)) {
        azimuth = raw_azimuth - (360 * HEADING_MULTIPLIER);
      } else {
        azimuth = raw_azimuth;
      }
      az_position_pulse_input_azimuth = configuration.last_azimuth;
    #endif // FEATURE_AZ_POSITION_PULSE_INPUT

    #if defined(FEATURE_ELEVATION_CONTROL) && defined(FEATURE_EL_POSITION_PULSE_INPUT)
      elevation = int(configuration.last_elevation * HEADING_MULTIPLIER);
      el_position_pulse_input_elevation = configuration.last_elevation;
    #endif // FEATURE_EL_POSITION_PULSE_INPUT

    #if defined(FEATURE_AZ_POSITION_PULSE_INPUT) || defined(FEATURE_AZ_POSITION_ROTARY_ENCODER)
      configuration.azimuth_offset = 0;
    #endif

    #if defined(FEATURE_EL_POSITION_PULSE_INPUT) || defined(FEATURE_EL_POSITION_ROTARY_ENCODER)
      configuration.elevation_offset = 0;
    #endif



  } else {  // initialize eeprom with default values
    #ifdef DEBUG_EEPROM
      debug.println("read_settings_from_eeprom: uninitialized eeprom, calling initialize_eeprom_with_defaults()");
    #endif // DEBUG_EEPROM
    initialize_eeprom_with_defaults();
  }
} /* read_settings_from_eeprom */
// --------------------------------------------------------------
void initialize_eeprom_with_defaults(){

  #ifdef DEBUG_LOOP
    debug.print("initialize_eeprom_with_defaults()\n");
    Serial.flush();
  #endif // DEBUG_LOOP

  #ifdef DEBUG_EEPROM
    debug.println("initialize_eeprom_with_defaults: writing eeprom");
  #endif // DEBUG_EEPROM

  configuration.analog_az_full_ccw = ANALOG_AZ_FULL_CCW;
  configuration.analog_az_full_cw = ANALOG_AZ_FULL_CW;
  configuration.analog_el_0_degrees = ANALOG_EL_0_DEGREES;
  configuration.analog_el_max_elevation = ANALOG_EL_MAX_ELEVATION;
  configuration.last_azimuth = raw_azimuth;
  configuration.last_az_incremental_encoder_position = 0;
  configuration.last_el_incremental_encoder_position = 0;
  configuration.azimuth_offset = 0;
  configuration.elevation_offset = 0;
  #ifdef FEATURE_ELEVATION_CONTROL
    configuration.last_elevation = elevation;
  #else
    configuration.last_elevation = 0;
  #endif

  #ifdef FEATURE_STEPPER_MOTOR
    configuration.az_stepper_motor_last_direction = STEPPER_UNDEF;
    configuration.az_stepper_motor_last_pin_state = LOW;
    configuration.el_stepper_motor_last_direction = STEPPER_UNDEF;
    configuration.el_stepper_motor_last_pin_state = LOW;
  #endif //FEATURE_STEPPER_MOTOR

  write_settings_to_eeprom();

} /* initialize_eeprom_with_defaults */


// --------------------------------------------------------------
void write_settings_to_eeprom(){

  #ifdef DEBUG_EEPROM
    debug.println("write_settings_to_eeprom: writing settings to eeprom");
  #endif // DEBUG_EEPROM

  configuration.magic_number = EEPROM_MAGIC_NUMBER;

  const byte * p = (const byte *)(const void *)&configuration;
  unsigned int i;
  int ee = 0;
  for (i = 0; i < sizeof(configuration); i++) {
    EEPROM.write(ee++, *p++);
  }

  configuration_dirty = 0;

}

// --------------------------------------------------------------

void az_check_operation_timeout(){

  // check if the last executed rotation operation has been going on too long

  if (((millis() - az_last_rotate_initiation) > OPERATION_TIMEOUT) && (az_state != IDLE)) {
    submit_request(AZ, REQUEST_KILL, 0, 78);
    #ifdef DEBUG_AZ_CHECK_OPERATION_TIMEOUT
      debug.println("az_check_operation_timeout: timeout reached, aborting rotation");
    #endif // DEBUG_AZ_CHECK_OPERATION_TIMEOUT
  }
}

// --------------------------------------------------------------

#ifdef FEATURE_TIMED_BUFFER
void clear_timed_buffer(){
  timed_buffer_status = EMPTY;
  timed_buffer_number_entries_loaded = 0;
  timed_buffer_entry_pointer = 0;
}
#endif // FEATURE_TIMED_BUFFER

// --------------------------------------------------------------

#ifdef FEATURE_TIMED_BUFFER
void initiate_timed_buffer(byte source_port){
  if (timed_buffer_status == LOADED_AZIMUTHS) {
    timed_buffer_status = RUNNING_AZIMUTHS;
    submit_request(AZ, REQUEST_AZIMUTH, timed_buffer_azimuths[1], 79);
    last_timed_buffer_action_time = millis();
    timed_buffer_entry_pointer = 2;
    #ifdef DEBUG_TIMED_BUFFER
    debug.println("initiate_timed_buffer: changing state to RUNNING_AZIMUTHS");
    #endif // DEBUG_TIMED_BUFFER
  } else {
    #ifdef FEATURE_ELEVATION_CONTROL
    if (timed_buffer_status == LOADED_AZIMUTHS_ELEVATIONS) {
      timed_buffer_status = RUNNING_AZIMUTHS_ELEVATIONS;
      submit_request(AZ, REQUEST_AZIMUTH, timed_buffer_azimuths[1], 80);
      submit_request(EL, REQUEST_ELEVATION, timed_buffer_elevations[1], 81);
      last_timed_buffer_action_time = millis();
      timed_buffer_entry_pointer = 2;
      #ifdef DEBUG_TIMED_BUFFER
      debug.println("initiate_timed_buffer: changing state to RUNNING_AZIMUTHS_ELEVATIONS");
      #endif // DEBUG_TIMED_BUFFER
    } else {
      print_to_port(">",source_port);  // error
    }
    #endif
  }

} /* initiate_timed_buffer */
#endif // FEATURE_TIMED_BUFFER
// --------------------------------------------------------------
#ifdef FEATURE_TIMED_BUFFER
void print_timed_buffer_empty_message(){

  #ifdef DEBUG_TIMED_BUFFER
  debug.println("check_timed_interval: completed timed buffer; changing state to EMPTY");
  #endif // DEBUG_TIMED_BUFFER

}

#endif // FEATURE_TIMED_BUFFER
// --------------------------------------------------------------
#ifdef FEATURE_TIMED_BUFFER
void check_timed_interval(){

  if ((timed_buffer_status == RUNNING_AZIMUTHS) && (((millis() - last_timed_buffer_action_time) / 1000) > timed_buffer_interval_value_seconds)) {
    timed_buffer_entry_pointer++;
    #ifdef DEBUG_TIMED_BUFFER
    debug.println("check_timed_interval: executing next timed interval step - azimuths");
    #endif // DEBUG_TIMED_BUFFER
    submit_request(AZ, REQUEST_AZIMUTH, timed_buffer_azimuths[timed_buffer_entry_pointer - 1], 82);
    last_timed_buffer_action_time = millis();
    if (timed_buffer_entry_pointer == timed_buffer_number_entries_loaded) {
      clear_timed_buffer();
      print_timed_buffer_empty_message();
    }
  }
  #ifdef FEATURE_ELEVATION_CONTROL
  if ((timed_buffer_status == RUNNING_AZIMUTHS_ELEVATIONS) && (((millis() - last_timed_buffer_action_time) / 1000) > timed_buffer_interval_value_seconds)) {
    timed_buffer_entry_pointer++;
    #ifdef DEBUG_TIMED_BUFFER
    debug.println("check_timed_interval: executing next timed interval step - az and el");
    #endif // DEBUG_TIMED_BUFFER
    submit_request(AZ, REQUEST_AZIMUTH, timed_buffer_azimuths[timed_buffer_entry_pointer - 1], 83);
    submit_request(EL, REQUEST_ELEVATION, timed_buffer_elevations[timed_buffer_entry_pointer - 1], 84);
    last_timed_buffer_action_time = millis();
    if (timed_buffer_entry_pointer == timed_buffer_number_entries_loaded) {
      clear_timed_buffer();
      print_timed_buffer_empty_message();

    }
  }
  #endif
} /* check_timed_interval */
#endif // FEATURE_TIMED_BUFFER


// --------------------------------------------------------------

void read_azimuth(byte force_read){


  #ifdef FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
    read_azimuth_lock = 1;
  #endif


  unsigned int previous_raw_azimuth = raw_azimuth;
  static unsigned long last_measurement_time = 0;

  #ifdef FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
    static unsigned int incremental_encoder_previous_raw_azimuth = raw_azimuth;
  #endif // FEATURE_AZ_POSITION_INCREMENTAL_ENCODER

  if (heading_reading_inhibit_pin) {
    if (digitalReadEnhanced(heading_reading_inhibit_pin)) {
      return;
    }
  }

  #ifdef DEBUG_HEADING_READING_TIME
    static unsigned long last_time = 0;
    static unsigned long last_print_time = 0;
    static float average_read_time = 0;
  #endif // DEBUG_HEADING_READING_TIME

  #ifdef DEBUG_HH12
    static unsigned long last_hh12_debug = 0;
  #endif

  #ifndef FEATURE_AZ_POSITION_GET_FROM_REMOTE_UNIT
    if (((millis() - last_measurement_time) > AZIMUTH_MEASUREMENT_FREQUENCY_MS) || (force_read)) {
  #else
    if (1) {
  #endif

    #ifdef FEATURE_AZ_POSITION_POTENTIOMETER
      analog_az = analogReadEnhanced(rotator_analog_az);
      raw_azimuth = map(analog_az, configuration.analog_az_full_ccw, configuration.analog_az_full_cw, (azimuth_starting_point * HEADING_MULTIPLIER), ((azimuth_starting_point + azimuth_rotation_capability) * HEADING_MULTIPLIER));
      //raw_azimuth = map(analog_az* HEADING_MULTIPLIER, configuration.analog_az_full_ccw* HEADING_MULTIPLIER, configuration.analog_az_full_cw* HEADING_MULTIPLIER, (azimuth_starting_point * HEADING_MULTIPLIER), ((azimuth_starting_point + azimuth_rotation_capability) * HEADING_MULTIPLIER));

      #ifdef FEATURE_AZIMUTH_CORRECTION
        raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
      #endif // FEATURE_AZIMUTH_CORRECTION
      raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
      if (AZIMUTH_SMOOTHING_FACTOR > 0) {
        raw_azimuth = (raw_azimuth * (1 - (AZIMUTH_SMOOTHING_FACTOR / 100.))) + (previous_raw_azimuth * (AZIMUTH_SMOOTHING_FACTOR / 100.));
      }
      if (raw_azimuth >= (360 * HEADING_MULTIPLIER)) {
        azimuth = raw_azimuth - (360 * HEADING_MULTIPLIER);
        if (azimuth >= (360 * HEADING_MULTIPLIER)) {
          azimuth = azimuth - (360 * HEADING_MULTIPLIER);
        }
      } else {
        if (raw_azimuth < 0) {
          azimuth = raw_azimuth + (360 * HEADING_MULTIPLIER);
        } else {
          azimuth = raw_azimuth;
        }
      }
    #endif // FEATURE_AZ_POSITION_POTENTIOMETER

    #ifdef FEATURE_AZ_POSITION_GET_FROM_REMOTE_UNIT
      #if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
        static unsigned long last_remote_unit_az_query_time = 0;
        // do we have a command result waiting for us?
        if (remote_unit_command_results_available == REMOTE_UNIT_AZ_COMMAND) {

          #ifdef DEBUG_HEADING_READING_TIME
            average_read_time = (average_read_time + (millis() - last_time)) / 2.0;
            last_time = millis();

            if (debug_mode) {
              if ((millis() - last_print_time) > 1000) {
                debug.println("read_azimuth: avg read frequency: ");
                debug.print(average_read_time, 2);
                debug.println("");
                last_print_time = millis();
              }
            }
          #endif // DEBUG_HEADING_READING_TIME
          raw_azimuth = remote_unit_command_result_float * HEADING_MULTIPLIER;


          #ifdef FEATURE_AZIMUTH_CORRECTION
            raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
          #endif // FEATURE_AZIMUTH_CORRECTION

          raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);

          if (AZIMUTH_SMOOTHING_FACTOR > 0) {
            raw_azimuth = (raw_azimuth * (1 - (AZIMUTH_SMOOTHING_FACTOR / 100))) + (previous_raw_azimuth * (AZIMUTH_SMOOTHING_FACTOR / 100));
          }
          if (raw_azimuth >= (360 * HEADING_MULTIPLIER)) {
            azimuth = raw_azimuth - (360 * HEADING_MULTIPLIER);
            if (azimuth >= (360 * HEADING_MULTIPLIER)) {
              azimuth = azimuth - (360 * HEADING_MULTIPLIER);
            }
          } else {
            if (raw_azimuth < 0) {
              azimuth = raw_azimuth + (360 * HEADING_MULTIPLIER);
            } else {
              azimuth = raw_azimuth;
            }
          }
          remote_unit_command_results_available = 0;
        } else {
          // is it time to request the azimuth?
          if ((millis() - last_remote_unit_az_query_time) > AZ_REMOTE_UNIT_QUERY_TIME_MS) {
            if (submit_remote_command(REMOTE_UNIT_AZ_COMMAND, 0, 0)) {
              last_remote_unit_az_query_time = millis();
            }
          }
        }
      #endif // defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
    #endif // FEATURE_AZ_POSITION_GET_FROM_REMOTE_UNIT



    #ifdef FEATURE_AZ_POSITION_ROTARY_ENCODER
      static byte az_position_encoder_state = 0;
      az_position_encoder_state = ttable[az_position_encoder_state & 0xf][((digitalReadEnhanced(az_rotary_position_pin2) << 1) | digitalReadEnhanced(az_rotary_position_pin1))];
      byte az_position_encoder_result = az_position_encoder_state & 0x30;
      if (az_position_encoder_result) {
        if (az_position_encoder_result == DIR_CW) {
          configuration.last_azimuth = configuration.last_azimuth + AZ_POSITION_ROTARY_ENCODER_DEG_PER_PULSE;
          #ifdef DEBUG_POSITION_ROTARY_ENCODER
            debug.println("read_azimuth: AZ_POSITION_ROTARY_ENCODER: CW");
          #endif // DEBUG_POSITION_ROTARY_ENCODER
        }
        if (az_position_encoder_result == DIR_CCW) {
          configuration.last_azimuth = configuration.last_azimuth - AZ_POSITION_ROTARY_ENCODER_DEG_PER_PULSE;
          #ifdef DEBUG_POSITION_ROTARY_ENCODER
            debug.println("read_azimuth: AZ_POSITION_ROTARY_ENCODER: CCW");
          #endif // DEBUG_POSITION_ROTARY_ENCODER
        }

        #ifdef OPTION_AZ_POSITION_ROTARY_ENCODER_HARD_LIMIT
          if (configuration.last_azimuth < azimuth_starting_point) {
            configuration.last_azimuth = azimuth_starting_point;
          }
          if (configuration.last_azimuth > (azimuth_starting_point + azimuth_rotation_capability)) {
            configuration.last_azimuth = (azimuth_starting_point + azimuth_rotation_capability);
          }
        #else
          if (configuration.last_azimuth < 0) {
            configuration.last_azimuth += 360;
          }
          if (configuration.last_azimuth >= 360) {
            configuration.last_azimuth -= 360;
          }
        #endif // OPTION_AZ_POSITION_ROTARY_ENCODER_HARD_LIMIT


        raw_azimuth = int(configuration.last_azimuth * HEADING_MULTIPLIER);


        #ifdef FEATURE_AZIMUTH_CORRECTION
          raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
        #endif // FEATURE_AZIMUTH_CORRECTION

        if (raw_azimuth >= (360 * HEADING_MULTIPLIER)) {
          azimuth = raw_azimuth - (360 * HEADING_MULTIPLIER);
        } else {
          azimuth = raw_azimuth;
        }
        configuration_dirty = 1;
      }
    #endif // FEATURE_AZ_POSITION_ROTARY_ENCODER

    #ifdef FEATURE_AZ_POSITION_HMC5883L
      MagnetometerScaled scaled = compass.ReadScaledAxis(); // scaled values from compass.

      #ifdef DEBUG_HMC5883L
        debug.print("read_azimuth: HMC5883L x:");
        debug.print(scaled.XAxis,4);
        debug.print(" y:");
        debug.print(scaled.YAxis,4);
        debug.println("");
      #endif //DEBUG_HMC5883L


      float heading = atan2(scaled.YAxis, scaled.XAxis);
      //  heading += declinationAngle;
      // Correct for when signs are reversed.
      if (heading < 0) heading += 2 * PI;
      if (heading > 2 * PI) heading -= 2 * PI;
      raw_azimuth = (heading * RAD_TO_DEG) * HEADING_MULTIPLIER; // radians to degree
      if (AZIMUTH_SMOOTHING_FACTOR > 0) {
        raw_azimuth = (raw_azimuth * (1 - (AZIMUTH_SMOOTHING_FACTOR / 100))) + (previous_raw_azimuth * (AZIMUTH_SMOOTHING_FACTOR / 100));
      }
      #ifdef FEATURE_AZIMUTH_CORRECTION
        raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
      #endif // FEATURE_AZIMUTH_CORRECTION
      raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
      azimuth = raw_azimuth;
    #endif // FEATURE_AZ_POSITION_HMC5883L


    #ifdef FEATURE_AZ_POSITION_ADAFRUIT_LSM303
      lsm.read();
      float heading = atan2(lsm.magData.y, lsm.magData.x);
      //  heading += declinationAngle;
      // Correct for when signs are reversed.
      if (heading < 0) heading += 2 * PI;
      if (heading > 2 * PI) heading -= 2 * PI;
      raw_azimuth = (heading * RAD_TO_DEG) * HEADING_MULTIPLIER; // radians to degree
      #ifdef FEATURE_AZIMUTH_CORRECTION
        raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
      #endif // FEATURE_AZIMUTH_CORRECTION
      raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
      if (AZIMUTH_SMOOTHING_FACTOR > 0) {
        raw_azimuth = (raw_azimuth * (1 - (AZIMUTH_SMOOTHING_FACTOR / 100))) + (previous_raw_azimuth * (AZIMUTH_SMOOTHING_FACTOR / 100));
      }
      azimuth = raw_azimuth;
    #endif // FEATURE_AZ_POSITION_ADAFRUIT_LSM303


    #ifdef FEATURE_AZ_POSITION_POLOLU_LSM303
      compass.read();   
      #ifdef DEBUG_POLOLU_LSM303_CALIBRATION
        running_min.x = min(running_min.x, compass.m.x);
        running_min.y = min(running_min.y, compass.m.y);
        running_min.z = min(running_min.z, compass.m.z);
        running_max.x = max(running_max.x, compass.m.x);
        running_max.y = max(running_max.y, compass.m.y);
        running_max.z = max(running_max.z, compass.m.z);
        snprintf(report, sizeof(report), "min: {%+6d, %+6d, %+6d}    max: {%+6d, %+6d, %+6d}",
        running_min.x, running_min.y, running_min.z,
        running_max.x, running_max.y, running_max.z);
        Serial.println(report);
      #endif // DEBUG_POLOLU_LSM303_CALIBRATION
      //lsm.read();
          
      /*
      When given no arguments, the heading() function returns the angular
      difference in the horizontal plane between a default vector and
      north, in degrees.
    
      The default vector is chosen by the library to point along the
      surface of the PCB, in the direction of the top of the text on the
      silkscreen. This is the +X axis on the Pololu LSM303D carrier and
      the -Y axis on the Pololu LSM303DLHC, LSM303DLM, and LSM303DLH
      carriers.
      
      To use a different vector as a reference, use the version of heading()
      that takes a vector argument; for example, use
    
      compass.heading((LSM303::vector<int>){0, 0, 1});
    
      to use the +Z axis as a reference.
      */
      float heading = compass.heading();
      
      //float heading = atan2(lsm.magData.y, lsm.magData.x);
      //  heading += declinationAngle; 
      // Correct for when signs are reversed.
      /*
      if (heading < 0) heading += 2 * PI;
      if (heading > 2 * PI) heading -= 2 * PI;
      raw_azimuth = (heading * RAD_TO_DEG) * HEADING_MULTIPLIER; // radians to degree
      */
      raw_azimuth = heading * HEADING_MULTIPLIER ;  // pololu library returns float value of actual heading.
      #ifdef FEATURE_AZIMUTH_CORRECTION
        raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
      #endif // FEATURE_AZIMUTH_CORRECTION
      raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
      if (AZIMUTH_SMOOTHING_FACTOR > 0) {
        raw_azimuth = (raw_azimuth * (1 - (AZIMUTH_SMOOTHING_FACTOR / 100))) + (previous_raw_azimuth * (AZIMUTH_SMOOTHING_FACTOR / 100));
      }
      azimuth = raw_azimuth;
    #endif // FEATURE_AZ_POSITION_POLOLU_LSM303



    #ifdef FEATURE_AZ_POSITION_PULSE_INPUT
      #ifdef DEBUG_POSITION_PULSE_INPUT
  //    if (az_position_pule_interrupt_handler_flag) {
  //      control_port->print(F("read_azimuth: az_position_pusle_interrupt_handler_flag: "));
  //      control_port->println(az_position_pule_interrupt_handler_flag);
  //      az_position_pule_interrupt_handler_flag = 0;
  //    }
      #endif // DEBUG_POSITION_PULSE_INPUT
      static float last_az_position_pulse_input_azimuth = az_position_pulse_input_azimuth;
      if (az_position_pulse_input_azimuth != last_az_position_pulse_input_azimuth) {
        #ifdef DEBUG_POSITION_PULSE_INPUT
  //        if (debug_mode){
  //          control_port->print(F("read_azimuth: last_az_position_pulse_input_azimuth:"));
  //          control_port->print(last_az_position_pulse_input_azimuth);
  //          control_port->print(F(" az_position_pulse_input_azimuth:"));
  //          control_port->print(az_position_pulse_input_azimuth);
  //          control_port->print(F(" az_pulse_counter:"));
  //          control_port->println(az_pulse_counter);
  //        }
        #endif // DEBUG_POSITION_PULSE_INPUT
        configuration.last_azimuth = az_position_pulse_input_azimuth;
        configuration_dirty = 1;
        last_az_position_pulse_input_azimuth = az_position_pulse_input_azimuth;
        raw_azimuth = int(configuration.last_azimuth * HEADING_MULTIPLIER);
        #ifdef FEATURE_AZIMUTH_CORRECTION
          raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
        #endif // FEATURE_AZIMUTH_CORRECTION
        raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
        if (raw_azimuth >= (360 * HEADING_MULTIPLIER)) {
          azimuth = raw_azimuth - (360 * HEADING_MULTIPLIER);
        } else {
          azimuth = raw_azimuth;
        }
      }
    #endif // FEATURE_AZ_POSITION_PULSE_INPUT

    #ifdef FEATURE_AZ_POSITION_HH12_AS5045_SSI
      raw_azimuth = int(azimuth_hh12.heading() * HEADING_MULTIPLIER);
      #ifdef DEBUG_HH12
        if ((millis() - last_hh12_debug) > 5000) {
          debug.print(F("read_azimuth: HH-12 raw: "));
          control_port->println(raw_azimuth);
          last_hh12_debug = millis();
        }
      #endif // DEBUG_HH12
      #ifdef FEATURE_AZIMUTH_CORRECTION
        raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
      #endif // FEATURE_AZIMUTH_CORRECTION
      raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
      if (raw_azimuth >= (360 * HEADING_MULTIPLIER)) {
        azimuth = raw_azimuth - (360 * HEADING_MULTIPLIER);
      } else {
        if (raw_azimuth < 0) {
          azimuth = raw_azimuth + (360 * HEADING_MULTIPLIER);
        } else {
          azimuth = raw_azimuth;
        }
      }
    #endif // FEATURE_AZ_POSITION_HH12_AS5045_SSI
/*
    #ifdef FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
      if (AZIMUTH_STARTING_POINT_DEFAULT == 0) {
        raw_azimuth = (((((az_incremental_encoder_position) / ((long)AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4L)) * 360L)) * (long)HEADING_MULTIPLIER);
      } else {
        if (az_incremental_encoder_position > ((long)AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4L)) {
          raw_azimuth = (((((az_incremental_encoder_position - ((long)AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4L)) / ((long)AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4L)) * 360L)) * (long)HEADING_MULTIPLIER);
        } else {
          raw_azimuth = (((((az_incremental_encoder_position + ((long)AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4L)) / ((long)AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4L)) * 360L)) * (long)HEADING_MULTIPLIER);
        }
      }

      #ifdef FEATURE_AZIMUTH_CORRECTION
        raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
      #endif // FEATURE_AZIMUTH_CORRECTION
      raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
      if (raw_azimuth >= (360 * HEADING_MULTIPLIER)) {
        azimuth = raw_azimuth - (360 * HEADING_MULTIPLIER);
      } else {
        azimuth = raw_azimuth;
      }
      if (raw_azimuth != incremental_encoder_previous_raw_azimuth) {
        configuration.last_az_incremental_encoder_position = az_incremental_encoder_position;
        configuration_dirty = 1;
        incremental_encoder_previous_raw_azimuth = raw_azimuth;
      }
    #endif // FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
*/

    #ifdef FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
      if (AZIMUTH_STARTING_POINT_DEFAULT == 0) {
        raw_azimuth = (((((az_incremental_encoder_position) / (AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.)) * 360.0)) * HEADING_MULTIPLIER);
      } else {
        if (az_incremental_encoder_position > (AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.)) {
          raw_azimuth = (((((az_incremental_encoder_position - (AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.)) / (AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.)) * 360.0)) * HEADING_MULTIPLIER);
        } else {
          raw_azimuth = (((((az_incremental_encoder_position + (AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.)) / (AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.)) * 360.0)) * HEADING_MULTIPLIER);
        }
      }
      #ifdef FEATURE_AZIMUTH_CORRECTION
        raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
      #endif // FEATURE_AZIMUTH_CORRECTION
      raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
      if (raw_azimuth >= (360 * HEADING_MULTIPLIER)) {
        azimuth = raw_azimuth - (360 * HEADING_MULTIPLIER);
      } else {
        azimuth = raw_azimuth;
      }
      if (raw_azimuth != incremental_encoder_previous_raw_azimuth) {
        configuration.last_az_incremental_encoder_position = az_incremental_encoder_position;
        configuration_dirty = 1;
        incremental_encoder_previous_raw_azimuth = raw_azimuth;
      }
    #endif // FEATURE_AZ_POSITION_INCREMENTAL_ENCODER      

    last_measurement_time = millis();
  }


  #ifdef FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
    raw_azimuth = az_a2_encoder * HEADING_MULTIPLIER;
    #ifdef FEATURE_AZIMUTH_CORRECTION
      raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
    #endif // FEATURE_AZIMUTH_CORRECTION
    raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
    azimuth = raw_azimuth;
  #endif //FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER  

  #ifdef FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
    read_azimuth_lock = 0;
  #endif



} /* read_azimuth */

// --------------------------------------------------------------

void output_debug(){

  #ifdef DEBUG_DUMP

    char tempstring[32] = "";

    #if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION) || defined(UNDER_DEVELOPMENT_REMOTE_UNIT_COMMANDS)

      if (((millis() - last_debug_output_time) >= 3000) && (debug_mode)) {

        #ifdef DEBUG_GPS_SERIAL
          debug.println("");
        #endif //DEBUG_GPS_SERIAL

        //port_flush();

        debug.print("debug: \t");
        debug.print(CODE_VERSION);
        #ifdef HARDWARE_WB6KCN
          debug.print(" HARDWARE_WB6KCN");
        #endif
        #ifdef HARDWARE_M0UPU
          debug.print(" HARDWARE_M0UPU");
        #endif    
        #ifdef HARDWARE_EA4TX_ARS_USB
          debug.print(" HARDWARE_EA4TX_ARS_USB");
        #endif      
        debug.print("\t\t");

        #ifdef FEATURE_CLOCK
          update_time();
          sprintf(tempstring, "%s", clock_string());
          debug.print(tempstring);
        #else // FEATURE_CLOCK
          dtostrf((millis() / 1000),0,0,tempstring);
          debug.print(tempstring);
        #endif // FEATURE_CLOCK

        #if defined(FEATURE_GPS) || defined(FEATURE_RTC) || (defined(FEATURE_CLOCK) && defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE))
          debug.print("\t");
          debug.print(clock_status_string());
        #endif // defined(FEATURE_GPS) || defined(FEATURE_RTC) || (defined(FEATURE_CLOCK) && defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE))

        #if defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING)
          debug.print("\t");
          sprintf(tempstring, "%s", coordinate_string());
          debug.print(tempstring); 
          debug.print(" ");
          debug.print(coordinates_to_maidenhead(latitude,longitude));
        #endif

        debug.print("\t\t");
        #ifdef DEBUG_MEMORY
          void * HP = malloc(4);
          if (HP) {free(HP);}
          unsigned long free = (unsigned long)SP - (unsigned long)HP;
          sprintf(tempstring,"%lu",(unsigned long)free);
          debug.print(tempstring);
          debug.print("b free");
        #endif //DEBUG_MEMORY

        #ifdef FEATURE_YAESU_EMULATION
          debug.print("\t\tGS-232");
          #ifdef OPTION_GS_232B_EMULATION
            debug.print("B");
          #else
            debug.print("A");
          #endif
        #endif // FEATURE_YAESU_EMULATION

        #ifdef FEATURE_PARK
          switch (park_status) {
            case NOT_PARKED: debug.print("\tNOT_PARKED"); break;
            case PARK_INITIATED: debug.print("\tPARK_INITIATED"); break;
            case PARKED: debug.print("\tPARKED"); break;
          }
        #endif // FEATURE_PARK

        debug.print("\n");

        debug.print("\tAZ: ");
        switch (az_state) {
          case IDLE: debug.print("IDLE"); break;
          #ifndef HARDWARE_EA4TX_ARS_USB
            case SLOW_START_CW: debug.print("SLOW_START_CW"); break;
            case SLOW_START_CCW: debug.print("SLOW_START_CCW"); break;
          #endif //ifndef HARDWARE_EA4TX_ARS_USB
          case NORMAL_CW: debug.print("NORMAL_CW"); break;
          case NORMAL_CCW: debug.print("NORMAL_CCW"); break;
          #ifndef HARDWARE_EA4TX_ARS_USB
            case SLOW_DOWN_CW: debug.print("SLOW_DOWN_CW"); break;
            case SLOW_DOWN_CCW: debug.print("SLOW_DOWN_CCW"); break;
            case INITIALIZE_SLOW_START_CW: debug.print("INITIALIZE_SLOW_START_CW"); break;
            case INITIALIZE_SLOW_START_CCW: debug.print("INITIALIZE_SLOW_START_CCW"); break;
            case INITIALIZE_TIMED_SLOW_DOWN_CW: debug.print("INITIALIZE_TIMED_SLOW_DOWN_CW"); break;
            case INITIALIZE_TIMED_SLOW_DOWN_CCW: debug.print("INITIALIZE_TIMED_SLOW_DOWN_CCW"); break;
            case TIMED_SLOW_DOWN_CW: debug.print("TIMED_SLOW_DOWN_CW"); break;
            case TIMED_SLOW_DOWN_CCW: debug.print("TIMED_SLOW_DOWN_CCW"); break;
            case INITIALIZE_DIR_CHANGE_TO_CW: debug.print("INITIALIZE_DIR_CHANGE_TO_CW"); break;
            case INITIALIZE_DIR_CHANGE_TO_CCW: debug.print("INITIALIZE_DIR_CHANGE_TO_CCW"); break;
            case INITIALIZE_NORMAL_CW: debug.print("INITIALIZE_NORMAL_CW"); break;
            case INITIALIZE_NORMAL_CCW: debug.print("INITIALIZE_NORMAL_CCW"); break; 
          #endif //ifndef HARDWARE_EA4TX_ARS_USB     
        }

        debug.print("\tQ: ");
        switch (az_request_queue_state) {
          case NONE: debug.print("-"); break;
          case IN_QUEUE: debug.print("IN_QUEUE"); break;
          case IN_PROGRESS_TIMED: debug.print("IN_PROGRESS_TIMED"); break;
          case IN_PROGRESS_TO_TARGET: debug.print("IN_PROGRESS_TO_TARGET"); break;
        }

        debug.print(" AZ: ");
        debug.print((azimuth / LCD_HEADING_MULTIPLIER), LCD_DECIMAL_PLACES);
        debug.print(" (raw: ");
        debug.print((raw_azimuth / LCD_HEADING_MULTIPLIER), LCD_DECIMAL_PLACES);
        debug.print(")");


        if (az_state != IDLE) {
          debug.print("  Target: ");
          debug.print((target_azimuth / LCD_HEADING_MULTIPLIER), LCD_DECIMAL_PLACES);
       

          debug.print(" (raw: ");

          debug.print((target_raw_azimuth / LCD_HEADING_MULTIPLIER), LCD_DECIMAL_PLACES);
          debug.print(")");

          debug.print("  Secs_left: ");
          debug.print((OPERATION_TIMEOUT - (millis() - az_last_rotate_initiation)) / 1000);
        }

        #ifdef FEATURE_AZ_POSITION_POTENTIOMETER
          debug.print("  Analog: ");
          dtostrf(analog_az,0,0,tempstring);
          debug.print(tempstring);
          debug.print(" (");
          dtostrf(configuration.analog_az_full_ccw,0,0,tempstring);
          debug.print(tempstring);
          debug.print("-");
          dtostrf(configuration.analog_az_full_cw,0,0,tempstring);
          debug.print(tempstring);
          debug.print(") ");
        #endif // FEATURE_AZ_POSITION_POTENTIOMETER

        debug.print("\t[");
        debug.print(azimuth_starting_point);
        debug.print("+");
        debug.print(azimuth_rotation_capability);
        debug.print("]");

        #ifndef HARDWARE_EA4TX_ARS_USB
          debug.print("  AZ Speed Norm: ");
          debug.print(normal_az_speed_voltage);
          debug.print(" Current: ");
          debug.print(current_az_speed_voltage);
          if (az_speed_pot) {
            debug.print("  AZ Speed Pot: ");
            debug.print(analogReadEnhanced(az_speed_pot));
          }
          if (az_preset_pot) {
            debug.print(" AZ Preset Pot Analog: ");
            debug.print(analogReadEnhanced(az_preset_pot));
            debug.print("  AZ Preset Pot Setting: ");
            dtostrf((map(analogReadEnhanced(az_preset_pot), AZ_PRESET_POT_FULL_CW, AZ_PRESET_POT_FULL_CCW, AZ_PRESET_POT_FULL_CW_MAP, AZ_PRESET_POT_FULL_CCW_MAP)),0,0,tempstring);
            debug.print(tempstring);
          }
          debug.print("\tOffset: ");
          dtostrf(configuration.azimuth_offset,0,2,tempstring);
          debug.print(tempstring);
        #endif // ndef HARDWARE_EA4TX_ARS_USB
        debug.println("");


        #ifdef FEATURE_ELEVATION_CONTROL
          debug.print("\tEL: ");
          switch (el_state) {
            case IDLE: debug.print("IDLE"); break;
            #ifndef HARDWARE_EA4TX_ARS_USB
              case SLOW_START_UP: debug.print("SLOW_START_UP"); break;
              case SLOW_START_DOWN: debug.print("SLOW_START_DOWN"); break;
            #endif //ifndef HARDWARE_EA4TX_ARS_USB
            case NORMAL_UP: debug.print("NORMAL_UP"); break;
            case NORMAL_DOWN: debug.print("NORMAL_DOWN"); break;
            #ifndef HARDWARE_EA4TX_ARS_USB
              case SLOW_DOWN_DOWN: debug.print("SLOW_DOWN_DOWN"); break;
              case SLOW_DOWN_UP: debug.print("SLOW_DOWN_UP"); break;
              case TIMED_SLOW_DOWN_UP: debug.print("TIMED_SLOW_DOWN_UP"); break;
              case TIMED_SLOW_DOWN_DOWN: debug.print("TIMED_SLOW_DOWN_DOWN"); break;
            #endif //ifndef HARDWARE_EA4TX_ARS_USB
          }

          debug.print("\tQ: ");
          switch (el_request_queue_state) {
            case NONE: debug.print("-"); break;
            case IN_QUEUE: debug.print("IN_QUEUE"); break;
            case IN_PROGRESS_TIMED: debug.print("IN_PROGRESS_TIMED"); break;
            case IN_PROGRESS_TO_TARGET: debug.print("IN_PROGRESS_TO_TARGET"); break;
          }
          debug.print(" EL: ");
          dtostrf(elevation / LCD_HEADING_MULTIPLIER, 0, LCD_DECIMAL_PLACES,tempstring);
          debug.print(tempstring);
          if (el_state != IDLE) {
            debug.print("\tTarget: ");
            dtostrf(target_elevation / LCD_HEADING_MULTIPLIER, 0, LCD_DECIMAL_PLACES,tempstring);
            debug.print(tempstring);
          }

          #ifdef FEATURE_EL_POSITION_POTENTIOMETER
            debug.print("\tEL Analog: ");
            dtostrf(analog_el,0,0,tempstring);
            debug.print(tempstring);
            debug.print(" (");
            dtostrf(configuration.analog_el_0_degrees,0,0,tempstring);
            debug.print(tempstring);
            debug.print("-");
            dtostrf(configuration.analog_el_max_elevation,0,0,tempstring);
            debug.print(tempstring);
            debug.print(") ");
          #endif // FEATURE_EL_POSITION_POTENTIOMETER
         
          #ifndef HARDWARE_EA4TX_ARS_USB
            debug.print("  EL Speed Norm: ");
            debug.print(normal_el_speed_voltage);


            debug.print(" Current: ");
            debug.print(current_el_speed_voltage);

            debug.print("\tOffset: ");
            debug.print(configuration.elevation_offset, 2);
          #endif //ifndef HARDWARE_EA4TX_ARS_USB
          debug.println("");
        #endif // FEATURE_ELEVATION_CONTROL

        //port_flush();

        #ifdef FEATURE_TIMED_BUFFER
          if (timed_buffer_status != EMPTY) {
            debug.print("\tTimed interval buff: ");
            switch (timed_buffer_status) {
              // case EMPTY: debug.print("EMPTY"); break;
              case LOADED_AZIMUTHS: debug.print("LOADED_AZIMUTHS"); break;
              case RUNNING_AZIMUTHS: debug.print("RUNNING_AZIMUTHS"); break;
              #ifdef FEATURE_ELEVATION_CONTROL
                case LOADED_AZIMUTHS_ELEVATIONS: debug.print("LOADED_AZIMUTHS_ELEVATIONS"); break;
                case RUNNING_AZIMUTHS_ELEVATIONS: debug.print("RUNNING_AZIMUTHS_ELEVATIONS"); break;
              #endif
            }

            debug.print("\tInterval (secs): ");
            debug.print(timed_buffer_interval_value_seconds);
            debug.print("\tEntries: ");
            debug.print(timed_buffer_number_entries_loaded);
            debug.print("\tEntry ptr: ");
            debug.print(timed_buffer_entry_pointer);
            debug.print("\tSecs since last action: ");
            debug.print((millis() - last_timed_buffer_action_time) / 1000);

            if (timed_buffer_number_entries_loaded > 0) {
              for (int x = 0; x < timed_buffer_number_entries_loaded; x++) {
                debug.print(x + 1);
                debug.print("\t:");
                debug.print(timed_buffer_azimuths[x] / HEADING_MULTIPLIER);
              #ifdef FEATURE_ELEVATION_CONTROL
                debug.print("\t- ");
                debug.print(timed_buffer_elevations[x] / HEADING_MULTIPLIER);
              #endif
                debug.print("\n");
              }
              debug.println("");
            }

          } // if (timed_buffer_status != EMPTY)
        #endif // FEATURE_TIMED_BUFFER


        #if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
          /*debug.print("\tRemote Slave: Command: ");
          debug.print(remote_unit_command_submitted);*/
          debug.print("\tRemote Slave: Good: ");
          debug.print(remote_unit_good_results,0);
          debug.print(" Bad: ");
          debug.print(remote_unit_bad_results);
          /*debug.print(" Index: ");
          debug.print(remote_unit_port_buffer_index);*/
          debug.print(" CmdTouts: ");
          debug.print(remote_unit_command_timeouts);
          debug.print(" BuffTouts: ");
          debug.print(remote_unit_incoming_buffer_timeouts);
          /*debug.print(" Result: ");
          debug.print(remote_unit_command_result_float,2);*/
          debug.println("");
        #endif // defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)

        #if defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
          debug.print("\tEthernet Slave TCP Link State: ");
          switch(ethernetslavelinkclient0_state){
            case ETHERNET_SLAVE_DISCONNECTED: debug.print("DIS");
            case ETHERNET_SLAVE_CONNECTED: debug.print("CONNECTED");
          }
          debug.print(" Reconnects: ");
          debug.print(ethernet_slave_reconnects);  
          debug.println("");
        #endif // defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)  

        #ifdef DEBUG_POSITION_PULSE_INPUT
          static unsigned long last_pulse_count_time = 0;
          static unsigned long last_az_pulse_counter = 0;
          static unsigned long last_el_pulse_counter = 0;
          debug.print("\tPulse counters: AZ: ");
          debug.print(az_pulse_counter);
          debug.print(" AZ Ambiguous: ");
          debug.print(az_pulse_counter_ambiguous);
          debug.print(" EL: ");
          debug.print(el_pulse_counter);
          debug.print(" EL Ambiguous: ");
          debug.print(el_pulse_counter_ambiguous);
          debug.print(" Rate per sec: AZ: ");
          debug.print(((az_pulse_counter - last_az_pulse_counter) / ((millis() - last_pulse_count_time) / 1000.0)),2);
          debug.print(" EL: ");
          debug.print(((el_pulse_counter - last_el_pulse_counter) / ((millis() - last_pulse_count_time) / 1000.0)),2);
          debug.println("");
          last_az_pulse_counter = az_pulse_counter;
          last_el_pulse_counter = el_pulse_counter;
          last_pulse_count_time = millis();
        #endif // DEBUG_POSITION_PULSE_INPUT


        #if defined(FEATURE_AZ_POSITION_INCREMENTAL_ENCODER) && defined(DEBUG_AZ_POSITION_INCREMENTAL_ENCODER)
          debug.print("\taz_position_incremental_encoder_interrupt: ");
          debug.print(az_position_incremental_encoder_interrupt);
          debug.print("\taz_incremental_encoder_position: ");
          debug.print(az_incremental_encoder_position,0);
        #endif // DEBUG_AZ_POSITION_INCREMENTAL_ENCODER
        #if defined(FEATURE_EL_POSITION_INCREMENTAL_ENCODER) && defined(DEBUG_EL_POSITION_INCREMENTAL_ENCODER)
          debug.print("\n\tel_position_incremental_encoder_interrupt: ");
          debug.print(el_position_incremental_encoder_interrupt,0);
          debug.print("\tel_incremental_encoder_position: ");
          debug.print(el_incremental_encoder_position);
        #endif // DEBUG_EL_POSITION_INCREMENTAL_ENCODER
        #if (defined(FEATURE_AZ_POSITION_INCREMENTAL_ENCODER) && defined(DEBUG_AZ_POSITION_INCREMENTAL_ENCODER)) || (defined(FEATURE_EL_POSITION_INCREMENTAL_ENCODER) && defined(DEBUG_EL_POSITION_INCREMENTAL_ENCODER))
          debug.println("");
        #endif




        #ifdef FEATURE_MOON_TRACKING
          update_moon_position();
          debug.print(moon_status_string());
        #endif // FEATURE_MOON_TRACKING

        #ifdef FEATURE_SUN_TRACKING
          update_sun_position();
          debug.print(sun_status_string());
        #endif // FEATURE_SUN_TRACKING

        #if defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING)
          debug.println("");
        #endif //defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING)

        #ifdef FEATURE_GPS
          unsigned long gps_chars = 0;
          unsigned short gps_good_sentences = 0;
          unsigned short gps_failed_checksum = 0;
          char gps_temp_string[12] = "";
          float gps_lat_temp = 0;
          float gps_long_temp = 0;

          debug.print("\tGPS: satellites: ");
          gps_chars = gps.satellites();
          //if (gps_chars == 255){gps_chars = 0;}
          dtostrf(gps_chars,0,0,gps_temp_string);
          debug.print(gps_temp_string);  
          unsigned long gps_fix_age_temp = 0;
          gps.f_get_position(&gps_lat_temp,&gps_long_temp,&gps_fix_age_temp); 
          debug.print(" lat: ");
          debug.print(gps_lat_temp,4);
          debug.print(" long: ");
          debug.print(gps_long_temp,4);
          debug.print(" fix age (mS): ");
          dtostrf(gps_fix_age_temp,0,0,gps_temp_string);
          debug.print(gps_temp_string);   
          gps.stats(&gps_chars,&gps_good_sentences,&gps_failed_checksum);     
          debug.print(" data chars: ");
          dtostrf(gps_chars,0,0,gps_temp_string);
          debug.print(gps_temp_string);
          debug.print(" good sentences: ");
          dtostrf(gps_good_sentences,0,0,gps_temp_string);
          debug.print(gps_temp_string);    
          debug.print(" failed checksum: ");
          dtostrf(gps_failed_checksum,0,0,gps_temp_string);
          debug.print(gps_temp_string);    
          debug.println("");
        #endif //FEATURE_GPS


        #ifdef FEATURE_AUTOCORRECT
          debug.print("\t\tAutocorrect: AZ:");
          switch(autocorrect_state_az){
            case AUTOCORRECT_INACTIVE: debug.print("INACTIVE"); break;
            case AUTOCORRECT_WAITING_AZ: debug.print("AUTOCORRECT_WAITING_AZ: "); debug.print(autocorrect_az,2); break;
            case AUTOCORRECT_WATCHING_AZ: debug.print("AUTOCORRECT_WATCHING_AZ: "); debug.print(autocorrect_az,2); break;
          }

          #ifdef FEATURE_ELEVATION_CONTROL
            debug.print(" EL:");
            switch(autocorrect_state_el){
              case AUTOCORRECT_INACTIVE: debug.print("INACTIVE"); break;
              case AUTOCORRECT_WAITING_EL: debug.print("AUTOCORRECT_WAITING_EL: "); debug.print(autocorrect_el,2); break;
              case AUTOCORRECT_WATCHING_EL: debug.print("AUTOCORRECT_WATCHING_EL: "); debug.print(autocorrect_el,2); break;
            }
          #endif //FEATURE_ELEVATION_CONTROL
        #endif //DEBUG_AUTOCORRECT



        debug.println("\n\n\n");

        //port_flush();

        last_debug_output_time = millis();

        

      }
    #endif // defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
    
  #endif //DEBUG_DUMP

} /* output_debug */


// --------------------------------------------------------------
void print_to_port(char * print_this,byte port){

  #if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
  
  switch(port){
    case CONTROL_PORT0: control_port->println(print_this);break;
    #ifdef FEATURE_ETHERNET
    case ETHERNET_PORT0: ethernetclient0.print(print_this); break;
    #ifdef ETHERNET_TCP_PORT_1
    case ETHERNET_PORT1: ethernetclient1.print(print_this); break;
    #endif //ETHERNET_TCP_PORT_1
    #endif //FEATURE_ETHERNET
  }
  
  #endif //defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)

}


// --------------------------------------------------------------
void print_help(byte port){

  // The H command

  #if defined(OPTION_SERIAL_HELP_TEXT) && defined(FEATURE_YAESU_EMULATION)
    print_to_port("R Rotate Azimuth Clockwise\n",port);
    print_to_port("L Rotate Azimuth Counter Clockwise\n",port);
    print_to_port("A Stop\n",port);
    print_to_port("C Report Azimuth in Degrees\n",port);
    print_to_port("M### Rotate to ### degrees\n",port);
    print_to_port("MTTT XXX XXX XXX ... Timed Interval Direction Setting  (TTT = Step value in seconds, XXX = Azimuth in degrees)\n",port);
    print_to_port("T Start Timed Interval Tracking\n",port);
    print_to_port("N Report Total Number of M Timed Interval Azimuths\n",port);
    print_to_port("X1 Horizontal Rotation Low Speed\n",port);
    print_to_port("X2 Horizontal Rotation Middle 1 Speed\n",port);
    print_to_port("X3 Horizontal Rotation Middle 2 Speed\n",port);
    print_to_port("X4 Horizontal Rotation High Speed\n",port);
    print_to_port("S Stop\n",port);
    print_to_port("O Offset Calibration\n",port);
    print_to_port("F Full Scale Calibration\n",port);
    #ifdef FEATURE_ELEVATION_CONTROL
      print_to_port("U Rotate Elevation Up\n",port);
      print_to_port("D Rotate Elevation Down\n",port);
      print_to_port("E Stop Elevation Rotation\n",port);
      print_to_port("B Report Elevation in Degrees\n",port);
      print_to_port("Wxxx yyy Rotate Azimuth to xxx Degrees and Elevation to yyy Degrees\n",port);
      print_to_port("O2 Elevation Offset Calibration (0 degrees)\n",port);
      print_to_port("F2 Elevation Full Scale Calibration (180 degrees (or maximum))\n",port);
    #endif // FEATURE_ELEVATION_CONTROL
  #endif // defined(OPTION_SERIAL_HELP_TEXT) && defined(FEATURE_YAESU_EMULATION)


} /* print_help */

// --------------- Elevation -----------------------

#ifdef FEATURE_ELEVATION_CONTROL
void el_check_operation_timeout(){

  // check if the last executed rotation operation has been going on too long

  if (((millis() - el_last_rotate_initiation) > OPERATION_TIMEOUT) && (el_state != IDLE)) {
    submit_request(EL, REQUEST_KILL, 0, 85);
    #ifdef DEBUG_EL_CHECK_OPERATION_TIMEOUT
      if (debug_mode) {
        debug.print(F("el_check_operation_timeout: timeout reached, aborting rotation\n"));
      }
    #endif // DEBUG_EL_CHECK_OPERATION_TIMEOUT
  }
}
#endif


// --------------------------------------------------------------

#ifdef FEATURE_ELEVATION_CONTROL
void read_elevation(byte force_read){

  #ifdef FEATURE_EL_POSITION_INCREMENTAL_ENCODER
  read_elevation_lock = 1;
  #endif


  unsigned int previous_elevation = elevation;
  static unsigned long last_measurement_time = 0;

  #ifdef FEATURE_EL_POSITION_INCREMENTAL_ENCODER
  static unsigned int incremental_encoder_previous_elevation = elevation;
  #endif

  if (heading_reading_inhibit_pin) {
    if (digitalReadEnhanced(heading_reading_inhibit_pin)) {
      return;
    }
  }

  #ifdef DEBUG_HEADING_READING_TIME
  static unsigned long last_time = 0;
  static unsigned long last_print_time = 0;
  static float average_read_time = 0;
  #endif // DEBUG_HEADING_READING_TIME

  #ifdef DEBUG_HH12
  static unsigned long last_hh12_debug = 0;
  #endif // DEBUG_HH12

  #ifndef FEATURE_EL_POSITION_GET_FROM_REMOTE_UNIT
  if (((millis() - last_measurement_time) > ELEVATION_MEASUREMENT_FREQUENCY_MS) || (force_read)) {
  #else
  if (1) {
  #endif

    #ifdef FEATURE_EL_POSITION_POTENTIOMETER
    analog_el = analogReadEnhanced(rotator_analog_el);
    elevation = (map(analog_el, configuration.analog_el_0_degrees, configuration.analog_el_max_elevation, 0, (ELEVATION_MAXIMUM_DEGREES * HEADING_MULTIPLIER)));
    #ifdef FEATURE_ELEVATION_CORRECTION
    elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
    #endif // FEATURE_ELEVATION_CORRECTION
    elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
    if (ELEVATION_SMOOTHING_FACTOR > 0) {
      elevation = (elevation * (1 - (ELEVATION_SMOOTHING_FACTOR / 100))) + (previous_elevation * (ELEVATION_SMOOTHING_FACTOR / 100));
    }
    if (elevation < 0) {
      elevation = 0;
    }
    #endif // FEATURE_EL_POSITION_POTENTIOMETER


    #ifdef FEATURE_EL_POSITION_ROTARY_ENCODER
    static byte el_position_encoder_state = 0;
    el_position_encoder_state = ttable[el_position_encoder_state & 0xf][((digitalReadEnhanced(el_rotary_position_pin2) << 1) | digitalReadEnhanced(el_rotary_position_pin1))];
    byte el_position_encoder_result = el_position_encoder_state & 0x30;
    if (el_position_encoder_result) {
      if (el_position_encoder_result == DIR_CW) {
        configuration.last_elevation = configuration.last_elevation + EL_POSITION_ROTARY_ENCODER_DEG_PER_PULSE;
        #ifdef DEBUG_POSITION_ROTARY_ENCODER
        if (debug_mode) {
          debug.print(F("read_elevation: EL_POSITION_ROTARY_ENCODER: CW/UP\n"));
        }
        #endif // DEBUG_POSITION_ROTARY_ENCODER
      }
      if (el_position_encoder_result == DIR_CCW) {
        configuration.last_elevation = configuration.last_elevation - EL_POSITION_ROTARY_ENCODER_DEG_PER_PULSE;
        #ifdef DEBUG_POSITION_ROTARY_ENCODER
        if (debug_mode) {
          debug.print(F("read_elevation: EL_POSITION_ROTARY_ENCODER: CCW/DWN\n"));
        }
        #endif // DEBUG_POSITION_ROTARY_ENCODER
      }
        #ifdef OPTION_EL_POSITION_ROTARY_ENCODER_HARD_LIMIT
      if (configuration.last_elevation < 0) {
        configuration.last_elevation = 0;
      }
      if (configuration.last_elevation > ELEVATION_MAXIMUM_DEGREES) {
        configuration.last_elevation = ELEVATION_MAXIMUM_DEGREES;
      }
      #endif
      elevation = int(configuration.last_elevation * HEADING_MULTIPLIER);
      #ifdef FEATURE_ELEVATION_CORRECTION
      elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
      #endif // FEATURE_ELEVATION_CORRECTION
      configuration_dirty = 1;
    }
    #endif // FEATURE_EL_POSITION_ROTARY_ENCODER


    #ifdef FEATURE_EL_POSITION_ADXL345_USING_LOVE_ELECTRON_LIB
    AccelerometerRaw raw = accel.ReadRawAxis();
    AccelerometerScaled scaled = accel.ReadScaledAxis();
    #ifdef DEBUG_ACCEL
    if (debug_mode) {
      debug.print(F("read_elevation: raw.ZAxis: "));
      debug.println(raw.ZAxis);
    }
    #endif // DEBUG_ACCEL
    elevation = (atan2(scaled.YAxis, scaled.ZAxis) * 180 * HEADING_MULTIPLIER) / M_PI;
    #ifdef FEATURE_ELEVATION_CORRECTION
    elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
    #endif // FEATURE_ELEVATION_CORRECTION
    elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
    if (ELEVATION_SMOOTHING_FACTOR > 0) {
      elevation = (elevation * (1 - (ELEVATION_SMOOTHING_FACTOR / 100))) + (previous_elevation * (ELEVATION_SMOOTHING_FACTOR / 100));
    }
    #endif // FEATURE_EL_POSITION_ADXL345_USING_LOVE_ELECTRON_LIB

    #ifdef FEATURE_EL_POSITION_ADXL345_USING_ADAFRUIT_LIB
    sensors_event_t event;
    accel.getEvent(&event);
    #ifdef DEBUG_ACCEL
    if (debug_mode) {
      debug.print(F("read_elevation: event.acceleration.z: "));
      debug.println(event.acceleration.z);
    }
    #endif // DEBUG_ACCEL
    elevation = (atan2(event.acceleration.y, event.acceleration.z) * 180 * HEADING_MULTIPLIER) / M_PI;
    #ifdef FEATURE_ELEVATION_CORRECTION
    elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
    #endif // FEATURE_ELEVATION_CORRECTION
    elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
    #endif // FEATURE_EL_POSITION_ADXL345_USING_ADAFRUIT_LIB



    #ifdef FEATURE_EL_POSITION_ADAFRUIT_LSM303
    lsm.read();
    #ifdef DEBUG_ACCEL
    if (debug_mode) {
      debug.print(F("read_elevation: lsm.accelData.y: "));
      debug.print(lsm.accelData.y);
      debug.print(F(" lsm.accelData.z: "));
      control_port->println(lsm.accelData.z);
    }
    #endif // DEBUG_ACCEL
    elevation = (atan2(lsm.accelData.y, lsm.accelData.z) * 180 * HEADING_MULTIPLIER) / M_PI;
    #ifdef FEATURE_ELEVATION_CORRECTION
    elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
    #endif // FEATURE_ELEVATION_CORRECTION
    elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
    #endif // FEATURE_EL_POSITION_ADAFRUIT_LSM303

    #ifdef FEATURE_EL_POSITION_POLOLU_LSM303
    compass.read();
    #ifdef DEBUG_ACCEL
    if (debug_mode) {
      debug.print(F("read_elevation: compass.a.y: "));
      debug.print(compass.a.y);
      debug.print(F(" compass.a.z: "));
      control_port->println(compass.a.z);
    }
    #endif // DEBUG_ACCEL
    elevation = (atan2(compass.a.x, compass.a.z) * -180 * HEADING_MULTIPLIER) / M_PI; //lsm.accelData.y
    #ifdef FEATURE_ELEVATION_CORRECTION
    elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
    #endif // FEATURE_ELEVATION_CORRECTION
    elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
    #endif // FEATURE_EL_POSITION_POLOLU_LSM303


    #ifdef FEATURE_EL_POSITION_PULSE_INPUT
    #ifdef DEBUG_POSITION_PULSE_INPUT
    //    if (el_position_pule_interrupt_handler_flag) {
    //      control_port->print(F("read_elevation: el_position_pule_interrupt_handler_flag: "));
    //      control_port->println(el_position_pule_interrupt_handler_flag);
    //      el_position_pule_interrupt_handler_flag = 0;
    //    }
    #endif // DEBUG_POSITION_PULSE_INPUT

    static float last_el_position_pulse_input_elevation = el_position_pulse_input_elevation;

    if (el_position_pulse_input_elevation != last_el_position_pulse_input_elevation) {
      #ifdef DEBUG_POSITION_PULSE_INPUT
      //      if (debug_mode){
      //        control_port->print(F("read_elevation: el_position_pulse_input_elevation:"));
      //        control_port->println(el_position_pulse_input_elevation);
      //      }
      #endif // DEBUG_POSITION_PULSE_INPUT
      configuration.last_elevation = el_position_pulse_input_elevation;
      configuration_dirty = 1;
      last_el_position_pulse_input_elevation = el_position_pulse_input_elevation;
      elevation = int(configuration.last_elevation * HEADING_MULTIPLIER);
      #ifdef FEATURE_ELEVATION_CORRECTION
      elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
      #endif FEATURE_ELEVATION_CORRECTION
      elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
    }
    #endif // FEATURE_EL_POSITION_PULSE_INPUT

    #ifdef FEATURE_EL_POSITION_GET_FROM_REMOTE_UNIT
    #if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
    static unsigned long last_remote_unit_el_query_time = 0;
    // do we have a command result waiting for us?
    if (remote_unit_command_results_available == REMOTE_UNIT_EL_COMMAND) {

      #ifdef DEBUG_HEADING_READING_TIME
      average_read_time = (average_read_time + (millis() - last_time)) / 2.0;
      last_time = millis();

      if (debug_mode) {
        if ((millis() - last_print_time) > 1000) {
          debug.print(F("read_elevation: avg read frequency: "));
          control_port->println(average_read_time, 2);
          last_print_time = millis();
        }
      }
      #endif // DEBUG_HEADING_READING_TIME
      elevation = remote_unit_command_result_float * HEADING_MULTIPLIER;
      #ifdef FEATURE_ELEVATION_CORRECTION
      elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
      #endif // FEATURE_ELEVATION_CORRECTION
      elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
      if (ELEVATION_SMOOTHING_FACTOR > 0) {
        elevation = (elevation * (1 - (ELEVATION_SMOOTHING_FACTOR / 100))) + (previous_elevation * (ELEVATION_SMOOTHING_FACTOR / 100));
      }
      remote_unit_command_results_available = 0;
    } else {
      // is it time to request the elevation?
      if ((millis() - last_remote_unit_el_query_time) > EL_REMOTE_UNIT_QUERY_TIME_MS) {
        if (submit_remote_command(REMOTE_UNIT_EL_COMMAND, 0, 0)) {
          last_remote_unit_el_query_time = millis();
        }
      }
    }
    #endif // defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
    #endif // FEATURE_EL_POSITION_GET_FROM_REMOTE_UNIT


    #ifdef FEATURE_EL_POSITION_HH12_AS5045_SSI
    elevation = int(elevation_hh12.heading() * HEADING_MULTIPLIER);
    #ifdef DEBUG_HH12
    if ((millis() - last_hh12_debug) > 5000) {
      debug.print(F("read_elevation: HH-12 raw: "));
      control_port->println(elevation);
      last_hh12_debug = millis();
    }
    #endif // DEBUG_HH12
    #ifdef FEATURE_ELEVATION_CORRECTION
    elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
    #endif // FEATURE_ELEVATION_CORRECTION
    elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
    if (elevation > (180 * HEADING_MULTIPLIER)) {
      elevation = elevation - (360 * HEADING_MULTIPLIER);
    }
    #endif // FEATURE_EL_POSITION_HH12_AS5045_SSI


    #ifdef FEATURE_EL_POSITION_INCREMENTAL_ENCODER
    elevation = ((((el_incremental_encoder_position) / (EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.)) * 360.0) * HEADING_MULTIPLIER);
    #ifdef FEATURE_ELEVATION_CORRECTION
    elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
    #endif // FEATURE_ELEVATION_CORRECTION
    if (incremental_encoder_previous_elevation != elevation) {
      configuration.last_el_incremental_encoder_position = el_incremental_encoder_position;
      configuration_dirty = 1;
      incremental_encoder_previous_elevation = elevation;
    }
    elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
    #endif // FEATURE_EL_POSITION_INCREMENTAL_ENCODER

    #ifdef FEATURE_EL_POSITION_MEMSIC_2125
    unsigned int pulseY = pulseIn(pin_memsic_2125_y,HIGH,250000);
    pulseY = pulseIn(pin_memsic_2125_y,HIGH,250000);
    double Yangle = (asin(((( pulseY / 10. ) - 500.) * 8.) / 1000.0 )) * (360. / (2. * M_PI));
    #ifdef DEBUG_MEMSIC_2125
    debug.print("read_elevation: memsic2125 pulseY:");
    debug.print(pulseY);
    debug.println("");
    #endif //DEBUG_MEMSIC_2125
    elevation = Yangle * HEADING_MULTIPLIER;    
    #ifdef FEATURE_ELEVATION_CORRECTION
    elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
    #endif //FEATURE_ELEVATION_CORRECTION
    #endif //FEATURE_EL_POSITION_MEMSIC_2125

    last_measurement_time = millis();
  }

  #ifdef FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
    elevation = el_a2_encoder * HEADING_MULTIPLIER;
    #ifdef FEATURE_ELEVATION_CORRECTION
    elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
    #endif //FEATURE_ELEVATION_CORRECTION
    elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
  #endif //FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER  


  #ifdef FEATURE_EL_POSITION_INCREMENTAL_ENCODER
  read_elevation_lock = 0;
  #endif


} /* read_elevation */
#endif /* ifdef FEATURE_ELEVATION_CONTROL */


// --------------------------------------------------------------
#ifdef FEATURE_ELEVATION_CONTROL
void update_el_variable_outputs(byte speed_voltage){


  #ifdef DEBUG_VARIABLE_OUTPUTS
  debug.print("update_el_variable_outputs: speed_voltage: ");
  debug.print(speed_voltage);
  #endif // DEBUG_VARIABLE_OUTPUTS

  if (((el_state == SLOW_START_UP) || (el_state == NORMAL_UP) || (el_state == SLOW_DOWN_UP) || (el_state == TIMED_SLOW_DOWN_UP)) && (rotate_up_pwm)) {
    #ifdef DEBUG_VARIABLE_OUTPUTS
    debug.print("\trotate_up_pwm");
    #endif // DEBUG_VARIABLE_OUTPUTS
    analogWriteEnhanced(rotate_up_pwm, speed_voltage);
  }

  if (((el_state == SLOW_START_DOWN) || (el_state == NORMAL_DOWN) || (el_state == SLOW_DOWN_DOWN) || (el_state == TIMED_SLOW_DOWN_DOWN)) && (rotate_down_pwm)) {
    #ifdef DEBUG_VARIABLE_OUTPUTS
    debug.print("\trotate_down_pwm");
    #endif // DEBUG_VARIABLE_OUTPUTS
    analogWriteEnhanced(rotate_down_pwm, speed_voltage);
  }

  if (((el_state == SLOW_START_DOWN) || (el_state == NORMAL_DOWN) || (el_state == SLOW_DOWN_DOWN) || (el_state == TIMED_SLOW_DOWN_DOWN) ||
       (el_state == SLOW_START_UP) || (el_state == NORMAL_UP) || (el_state == SLOW_DOWN_UP) || (el_state == TIMED_SLOW_DOWN_UP)) && (rotate_up_down_pwm)) {
    #ifdef DEBUG_VARIABLE_OUTPUTS
    debug.print("\trotate_up_down_pwm");
    #endif // DEBUG_VARIABLE_OUTPUTS
    analogWriteEnhanced(rotate_up_down_pwm, speed_voltage);
  }


  if (((el_state == SLOW_START_UP) || (el_state == NORMAL_UP) || (el_state == SLOW_DOWN_UP) || (el_state == TIMED_SLOW_DOWN_UP)) && (rotate_up_freq)) {
    #ifdef DEBUG_VARIABLE_OUTPUTS
    debug.print("\trotate_up_freq");
    #endif // DEBUG_VARIABLE_OUTPUTS
    tone(rotate_up_freq, map(speed_voltage, 0, 255, EL_VARIABLE_FREQ_OUTPUT_LOW, EL_VARIABLE_FREQ_OUTPUT_HIGH));
  }

  if (((el_state == SLOW_START_DOWN) || (el_state == NORMAL_DOWN) || (el_state == SLOW_DOWN_DOWN) || (el_state == TIMED_SLOW_DOWN_DOWN)) && (rotate_down_freq)) {
    #ifdef DEBUG_VARIABLE_OUTPUTS
    debug.print("\trotate_down_freq");
    #endif // DEBUG_VARIABLE_OUTPUTS
    tone(rotate_down_freq, map(speed_voltage, 0, 255, EL_VARIABLE_FREQ_OUTPUT_LOW, EL_VARIABLE_FREQ_OUTPUT_HIGH));
  }

  #ifdef FEATURE_STEPPER_MOTOR

  unsigned int el_tone = 0;

  if (((el_state == SLOW_START_UP) || (el_state == NORMAL_UP) || (el_state == SLOW_DOWN_UP) || (el_state == TIMED_SLOW_DOWN_UP) || (el_state == SLOW_START_DOWN) || (el_state == NORMAL_DOWN) || (el_state == SLOW_DOWN_DOWN) || (el_state == TIMED_SLOW_DOWN_DOWN)) && (el_stepper_motor_pulse)) {
    #ifdef DEBUG_VARIABLE_OUTPUTS
    debug.print("\tel_stepper_motor_pulse: ");
    #endif // DEBUG_VARIABLE_OUTPUTS
    el_tone = map(speed_voltage, 0, 255, EL_VARIABLE_FREQ_OUTPUT_LOW, EL_VARIABLE_FREQ_OUTPUT_HIGH);

    #ifdef FEATURE_STEPPER_MOTOR
    set_el_stepper_freq(el_tone);
    #endif




    #ifdef DEBUG_VARIABLE_OUTPUTS
    debug.print(el_tone);
    #endif // DEBUG_VARIABLE_OUTPUTS

  }
  #endif //FEATURE_STEPPER_MOTOR

  if (elevation_speed_voltage) {
    analogWriteEnhanced(elevation_speed_voltage, speed_voltage);
  }

  #ifdef DEBUG_VARIABLE_OUTPUTS
  debug.println("");
  #endif // DEBUG_VARIABLE_OUTPUTS

  current_el_speed_voltage = speed_voltage;


} /* update_el_variable_outputs */
#endif // FEATURE_ELEVATION_CONTROL

// --------------------------------------------------------------
void update_az_variable_outputs(byte speed_voltage){


  #ifdef DEBUG_VARIABLE_OUTPUTS  
  int temp_int = 0;

  debug.print("update_az_variable_outputs: az_state: ");
  switch (az_state) {
    case IDLE: debug.print("IDLE"); break;
    case SLOW_START_CW: debug.print("SLOW_START_CW"); break;
    case SLOW_START_CCW: debug.print("SLOW_START_CCW"); break;
    case NORMAL_CW: debug.print("NORMAL_CW"); break;
    case NORMAL_CCW: debug.print("NORMAL_CCW"); break;
    case SLOW_DOWN_CW: debug.print("SLOW_DOWN_CW"); break;
    case SLOW_DOWN_CCW: debug.print("SLOW_DOWN_CCW"); break;
    case INITIALIZE_SLOW_START_CW: debug.print("INITIALIZE_SLOW_START_CW"); break;
    case INITIALIZE_SLOW_START_CCW: debug.print("INITIALIZE_SLOW_START_CCW"); break;
    case INITIALIZE_TIMED_SLOW_DOWN_CW: debug.print("INITIALIZE_TIMED_SLOW_DOWN_CW"); break;
    case INITIALIZE_TIMED_SLOW_DOWN_CCW: debug.print("INITIALIZE_TIMED_SLOW_DOWN_CCW"); break;
    case TIMED_SLOW_DOWN_CW: debug.print("TIMED_SLOW_DOWN_CW"); break;
    case TIMED_SLOW_DOWN_CCW: debug.print("TIMED_SLOW_DOWN_CCW"); break;
    case INITIALIZE_DIR_CHANGE_TO_CW: debug.print("INITIALIZE_DIR_CHANGE_TO_CW"); break;
    case INITIALIZE_DIR_CHANGE_TO_CCW: debug.print("INITIALIZE_DIR_CHANGE_TO_CCW"); break;
    case INITIALIZE_NORMAL_CW: debug.print("INITIALIZE_NORMAL_CW"); break;
    case INITIALIZE_NORMAL_CCW: debug.print("INITIALIZE_NORMAL_CCW"); break;
    default: debug.print("UNDEF"); break;
  }
  debug.print(" speed_voltage: ");
  debug.print(speed_voltage);
  #endif // DEBUG_VARIABLE_OUTPUTS

  if (((az_state == SLOW_START_CW) || (az_state == NORMAL_CW) || (az_state == SLOW_DOWN_CW) || (az_state == TIMED_SLOW_DOWN_CW)) && (rotate_cw_pwm)) {
    #ifdef DEBUG_VARIABLE_OUTPUTS
    debug.print("\trotate_cw_pwm");
    #endif // DEBUG_VARIABLE_OUTPUTS
    analogWriteEnhanced(rotate_cw_pwm, speed_voltage);
  }

  if (((az_state == SLOW_START_CCW) || (az_state == NORMAL_CCW) || (az_state == SLOW_DOWN_CCW) || (az_state == TIMED_SLOW_DOWN_CCW)) && (rotate_ccw_pwm)) {
    #ifdef DEBUG_VARIABLE_OUTPUTS
    debug.print("\trotate_ccw_pwm");
    #endif // DEBUG_VARIABLE_OUTPUTS
    analogWriteEnhanced(rotate_ccw_pwm, speed_voltage);
  }

  if (((az_state == SLOW_START_CW) || (az_state == NORMAL_CW) || (az_state == SLOW_DOWN_CW) || (az_state == TIMED_SLOW_DOWN_CW) || (az_state == SLOW_START_CCW) || (az_state == NORMAL_CCW) || (az_state == SLOW_DOWN_CCW) || (az_state == TIMED_SLOW_DOWN_CCW)) && (rotate_cw_ccw_pwm)) {
    #ifdef DEBUG_VARIABLE_OUTPUTS
    debug.print("\trotate_cw_ccw_pwm");
    #endif // DEBUG_VARIABLE_OUTPUTS
    analogWriteEnhanced(rotate_cw_ccw_pwm, speed_voltage);
  }


  if (((az_state == SLOW_START_CW) || (az_state == NORMAL_CW) || (az_state == SLOW_DOWN_CW) || (az_state == TIMED_SLOW_DOWN_CW)) && (rotate_cw_freq)) {
    #ifdef DEBUG_VARIABLE_OUTPUTS
    debug.print("\trotate_cw_freq: ");
    temp_int = map(speed_voltage, 0, 255, AZ_VARIABLE_FREQ_OUTPUT_LOW, AZ_VARIABLE_FREQ_OUTPUT_HIGH);
    tone(rotate_cw_freq, temp_int);
    debug.print(temp_int);
    #else // DEBUG_VARIABLE_OUTPUTS
    tone(rotate_cw_freq, map(speed_voltage, 0, 255, AZ_VARIABLE_FREQ_OUTPUT_LOW, AZ_VARIABLE_FREQ_OUTPUT_HIGH));
    #endif // DEBUG_VARIABLE_OUTPUTS
  }

  if (((az_state == SLOW_START_CCW) || (az_state == NORMAL_CCW) || (az_state == SLOW_DOWN_CCW) || (az_state == TIMED_SLOW_DOWN_CCW)) && (rotate_ccw_freq)) {
    #ifdef DEBUG_VARIABLE_OUTPUTS
    debug.print("\trotate_ccw_freq: ");
    temp_int = map(speed_voltage, 0, 255, AZ_VARIABLE_FREQ_OUTPUT_LOW, AZ_VARIABLE_FREQ_OUTPUT_HIGH);
    tone(rotate_ccw_freq, temp_int);
    debug.print(temp_int);    
    #else // DEBUG_VARIABLE_OUTPUTS
    tone(rotate_ccw_freq, map(speed_voltage, 0, 255, AZ_VARIABLE_FREQ_OUTPUT_LOW, AZ_VARIABLE_FREQ_OUTPUT_HIGH));
    #endif // DEBUG_VARIABLE_OUTPUTS
  }

  #ifdef FEATURE_STEPPER_MOTOR

  unsigned int az_tone = 0;

  if (((az_state == SLOW_START_CW) || (az_state == NORMAL_CW) || (az_state == SLOW_DOWN_CW) || (az_state == TIMED_SLOW_DOWN_CW) || (az_state == SLOW_START_CCW) || (az_state == NORMAL_CCW) || (az_state == SLOW_DOWN_CCW) || (az_state == TIMED_SLOW_DOWN_CCW)) && (az_stepper_motor_pulse)) {
    #ifdef DEBUG_VARIABLE_OUTPUTS
    debug.print("\taz_stepper_motor_pulse: ");
    #endif // DEBUG_VARIABLE_OUTPUTS
    az_tone = map(speed_voltage, 0, 255, AZ_VARIABLE_FREQ_OUTPUT_LOW, AZ_VARIABLE_FREQ_OUTPUT_HIGH);
    set_az_stepper_freq(az_tone);
    #ifdef DEBUG_VARIABLE_OUTPUTS
    debug.print(az_tone);
    #endif // DEBUG_VARIABLE_OUTPUTS 
  }
  #endif //FEATURE_STEPPER_MOTOR

  if (azimuth_speed_voltage) {
    analogWriteEnhanced(azimuth_speed_voltage, speed_voltage);
  }

  #ifdef DEBUG_VARIABLE_OUTPUTS
  debug.println("");
  #endif // DEBUG_VARIABLE_OUTPUTS

  current_az_speed_voltage = speed_voltage;

} /* update_az_variable_outputs */

// --------------------------------------------------------------

void rotator(byte rotation_action, byte rotation_type) {

  #ifdef DEBUG_ROTATOR
  if (debug_mode) {
    control_port->flush();
    debug.print(F("rotator: rotation_action:"));
    debug.print(rotation_action);
    debug.print(F(" rotation_type:"));
    control_port->flush();
    debug.print(rotation_type);
    debug.print(F("->"));
    control_port->flush();
    // delay(1000);
  }
  #endif // DEBUG_ROTATOR

  switch (rotation_type) {
    case CW:
    #ifdef DEBUG_ROTATOR
      if (debug_mode) {
        debug.print(F("CW ")); control_port->flush();
      }
    #endif // DEBUG_ROTATOR
      if (rotation_action == ACTIVATE) {
      #ifdef DEBUG_ROTATOR
        if (debug_mode) {
          debug.print(F("ACTIVATE\n"));
        }
      #endif // DEBUG_ROTATOR
        brake_release(AZ, BRAKE_RELEASE_ON);
        if (az_slowstart_active) {
          if (rotate_cw_pwm) {
            analogWriteEnhanced(rotate_cw_pwm, 0);
          }
          if (rotate_ccw_pwm) {
            analogWriteEnhanced(rotate_ccw_pwm, 0); digitalWriteEnhanced(rotate_ccw_pwm, LOW);
          }
          if (rotate_cw_ccw_pwm) {
            analogWriteEnhanced(rotate_cw_ccw_pwm, 0);
          }
          if (rotate_cw_freq) {
            noTone(rotate_cw_freq);
          }
          if (rotate_ccw_freq) {
            noTone(rotate_ccw_freq);
          }       
          #ifdef FEATURE_STEPPER_MOTOR
          if (az_stepper_motor_pulse) {
            set_az_stepper_freq(0);
            digitalWriteEnhanced(az_stepper_motor_pulse,LOW);
          }      
          #endif //FEATURE_STEPPER_MOTOR

        } else {
          if (rotate_cw_pwm) {
            analogWriteEnhanced(rotate_cw_pwm, normal_az_speed_voltage);
          }
          if (rotate_ccw_pwm) {
            analogWriteEnhanced(rotate_ccw_pwm, 0); digitalWriteEnhanced(rotate_ccw_pwm, LOW);
          }
          if (rotate_cw_ccw_pwm) {
            analogWriteEnhanced(rotate_cw_ccw_pwm, normal_az_speed_voltage);
          }
          if (rotate_cw_freq) {
            tone(rotate_cw_freq, map(normal_az_speed_voltage, 0, 255, AZ_VARIABLE_FREQ_OUTPUT_LOW, AZ_VARIABLE_FREQ_OUTPUT_HIGH));
          }
          if (rotate_ccw_freq) {
            noTone(rotate_ccw_freq);
          }  
          #ifdef FEATURE_STEPPER_MOTOR
          if (az_stepper_motor_pulse) {
            set_az_stepper_freq(map(normal_az_speed_voltage, 0, 255, AZ_VARIABLE_FREQ_OUTPUT_LOW, AZ_VARIABLE_FREQ_OUTPUT_HIGH));
          }
          #endif //FEATURE_STEPPER_MOTOR                 
        }
        if (rotate_cw) {
          digitalWriteEnhanced(rotate_cw, ROTATE_PIN_ACTIVE_VALUE);
        }
        if (rotate_ccw) {
          digitalWriteEnhanced(rotate_ccw, ROTATE_PIN_INACTIVE_VALUE);
        }
        if (rotate_cw_ccw){
          digitalWriteEnhanced(rotate_cw_ccw, ROTATE_PIN_ACTIVE_VALUE);
        }
        #ifdef DEBUG_ROTATOR
        if (debug_mode) {
          debug.print(F("rotator: normal_az_speed_voltage:"));
          control_port->println(normal_az_speed_voltage);
          //control_port->flush();
        }
        #endif // DEBUG_ROTATOR
      } else {
          #ifdef DEBUG_ROTATOR
        if (debug_mode) {
          debug.print(F("DEACTIVATE\n"));
        }
          #endif // DEBUG_ROTATOR
        if (rotate_cw_pwm) {
          analogWriteEnhanced(rotate_cw_pwm, 0); digitalWriteEnhanced(rotate_cw_pwm, LOW);
        }
        if (rotate_cw_ccw_pwm) {
          analogWriteEnhanced(rotate_cw_ccw_pwm, 0);
        }
        if (rotate_cw) {
          digitalWriteEnhanced(rotate_cw, ROTATE_PIN_INACTIVE_VALUE);
        }
        if (rotate_cw_ccw){
          digitalWriteEnhanced(rotate_cw_ccw, ROTATE_PIN_INACTIVE_VALUE);
        }        
        if (rotate_cw_freq) {
          noTone(rotate_cw_freq);
        }

        #ifdef FEATURE_STEPPER_MOTOR
        if (az_stepper_motor_pulse) {
          set_az_stepper_freq(0);
          digitalWriteEnhanced(az_stepper_motor_pulse,HIGH);
        }      
        #endif //FEATURE_STEPPER_MOTOR             
      }
      break;
    case CCW:
      #ifdef DEBUG_ROTATOR
      if (debug_mode) {
        debug.print(F("CCW ")); control_port->flush();
      }
        #endif // DEBUG_ROTATOR
      if (rotation_action == ACTIVATE) {
          #ifdef DEBUG_ROTATOR
            if (debug_mode) {
              debug.print(F("ACTIVATE\n"));
            }
          #endif // DEBUG_ROTATOR
        brake_release(AZ, BRAKE_RELEASE_ON);
        if (az_slowstart_active) {
          if (rotate_cw_pwm) {
            analogWriteEnhanced(rotate_cw_pwm, 0); digitalWriteEnhanced(rotate_cw_pwm, LOW);
          }
          if (rotate_ccw_pwm) {
            analogWriteEnhanced(rotate_ccw_pwm, 0);
          }
          if (rotate_cw_ccw_pwm) {
            analogWriteEnhanced(rotate_cw_ccw_pwm, 0);
          }
          if (rotate_cw_freq) {
            noTone(rotate_cw_freq);
          }
          if (rotate_ccw_freq) {
            noTone(rotate_ccw_freq);
          } 
          #ifdef FEATURE_STEPPER_MOTOR
          if (az_stepper_motor_pulse) {
            set_az_stepper_freq(0);
            digitalWriteEnhanced(az_stepper_motor_pulse,LOW);
          }      
          #endif //FEATURE_STEPPER_MOTOR                
        } else {
          if (rotate_cw_pwm) {
            analogWriteEnhanced(rotate_cw_pwm, 0); digitalWriteEnhanced(rotate_cw_pwm, LOW);
          }
          if (rotate_ccw_pwm) {
            analogWriteEnhanced(rotate_ccw_pwm, normal_az_speed_voltage);
          }
          if (rotate_cw_ccw_pwm) {
            analogWriteEnhanced(rotate_cw_ccw_pwm, normal_az_speed_voltage);
          }
          if (rotate_cw_freq) {
            noTone(rotate_cw_freq);
          }
          if (rotate_ccw_freq) {
            tone(rotate_ccw_freq, map(normal_az_speed_voltage, 0, 255, AZ_VARIABLE_FREQ_OUTPUT_LOW, AZ_VARIABLE_FREQ_OUTPUT_HIGH));
          }  
          #ifdef FEATURE_STEPPER_MOTOR
          if (az_stepper_motor_pulse) {
            set_az_stepper_freq(map(normal_az_speed_voltage, 0, 255, AZ_VARIABLE_FREQ_OUTPUT_LOW, AZ_VARIABLE_FREQ_OUTPUT_HIGH));
          }
          #endif //FEATURE_STEPPER_MOTOR 
        }
        if (rotate_cw) {
          digitalWriteEnhanced(rotate_cw, ROTATE_PIN_INACTIVE_VALUE);
        }
        if (rotate_ccw) {
          digitalWriteEnhanced(rotate_ccw, ROTATE_PIN_ACTIVE_VALUE);
        }
        if (rotate_cw_ccw){
          digitalWriteEnhanced(rotate_cw_ccw, ROTATE_PIN_ACTIVE_VALUE);
        }      
        /* 
        #ifdef FEATURE_STEPPER_MOTOR
        if (az_stepper_motor_direction){
          if (configuration.az_stepper_motor_last_direction != STEPPER_CCW){
            if (configuration.az_stepper_motor_last_pin_state == LOW){
              digitalWriteEnhanced(az_stepper_motor_direction,HIGH);
              configuration.az_stepper_motor_last_pin_state = HIGH;
            } else {
              digitalWriteEnhanced(az_stepper_motor_direction,LOW);
              configuration.az_stepper_motor_last_pin_state = LOW;             
            }
            configuration.az_stepper_motor_last_direction = STEPPER_CCW;
            configuration_dirty = 1;
          }
        }
        #endif //FEATURE_STEPPER_MOTOR
        */
        #ifdef DEBUG_ROTATOR
        if (debug_mode) {
          debug.print(F("rotator: normal_az_speed_voltage:"));
          control_port->println(normal_az_speed_voltage);
          control_port->flush();
        }
        #endif // DEBUG_ROTATOR
      } else {
        #ifdef DEBUG_ROTATOR
          if (debug_mode) {
            debug.print(F("DEACTIVATE\n"));
          }
        #endif // DEBUG_ROTATOR
        if (rotate_ccw_pwm) {
          analogWriteEnhanced(rotate_ccw_pwm, 0); digitalWriteEnhanced(rotate_ccw_pwm, LOW);
        }
        if (rotate_ccw) {
          digitalWriteEnhanced(rotate_ccw, ROTATE_PIN_INACTIVE_VALUE);
        }
        if (rotate_ccw_freq) {
          noTone(rotate_ccw_freq);
        }
      }
      break;

    #ifdef FEATURE_ELEVATION_CONTROL


    case UP:
    #ifdef DEBUG_ROTATOR
      if (debug_mode) {
        debug.print(F("ROTATION_UP ")); 
      }
    #endif // DEBUG_ROTATOR
      if (rotation_action == ACTIVATE) {
      #ifdef DEBUG_ROTATOR
        if (debug_mode) {
          debug.print(F("ACTIVATE\n")); 
        }
      #endif // DEBUG_ROTATOR
        brake_release(EL, BRAKE_RELEASE_ON);
        if (el_slowstart_active) {
          if (rotate_up_pwm) {
            analogWriteEnhanced(rotate_up_pwm, 0);
          }
          if (rotate_down_pwm) {
            analogWriteEnhanced(rotate_down_pwm, 0); digitalWriteEnhanced(rotate_down_pwm, LOW);
          }
          if (rotate_up_down_pwm) {
            analogWriteEnhanced(rotate_up_down_pwm, 0);
          }
          if (rotate_up_freq) {
            noTone(rotate_up_freq);
          }
          if (rotate_down_freq) {
            noTone(rotate_down_freq);
          }
          #ifdef FEATURE_STEPPER_MOTOR
          if (el_stepper_motor_pulse) {
            set_el_stepper_freq(0);
            digitalWriteEnhanced(el_stepper_motor_pulse,LOW);
          }      
          #endif //FEATURE_STEPPER_MOTOR    
        } else {
          if (rotate_up_pwm) {
            analogWriteEnhanced(rotate_up_pwm, normal_el_speed_voltage);
          }
          if (rotate_down_pwm) {
            analogWriteEnhanced(rotate_down_pwm, 0); digitalWriteEnhanced(rotate_down_pwm, LOW);
          }
          if (rotate_up_down_pwm) {
            analogWriteEnhanced(rotate_up_down_pwm, normal_el_speed_voltage);
          }
          if (rotate_up_freq) {
            tone(rotate_up_freq, map(normal_el_speed_voltage, 0, 255, EL_VARIABLE_FREQ_OUTPUT_LOW, EL_VARIABLE_FREQ_OUTPUT_HIGH));
          }
          #ifdef FEATURE_STEPPER_MOTOR
          if (el_stepper_motor_pulse) {
            set_el_stepper_freq(map(normal_el_speed_voltage, 0, 255, EL_VARIABLE_FREQ_OUTPUT_LOW, EL_VARIABLE_FREQ_OUTPUT_HIGH));
          }
          #endif //FEATURE_STEPPER_MOTOR  
          if (rotate_down_freq) {
            noTone(rotate_down_freq);
          }
        }
        if (rotate_up) {
          digitalWriteEnhanced(rotate_up, ROTATE_PIN_ACTIVE_VALUE);
        }
        if (rotate_down) {
          digitalWriteEnhanced(rotate_down, ROTATE_PIN_INACTIVE_VALUE);
        }
        if (rotate_up_or_down) {
          digitalWriteEnhanced(rotate_up_or_down, ROTATE_PIN_ACTIVE_VALUE);
        } 
        /*
        #ifdef FEATURE_STEPPER_MOTOR
        if (el_stepper_motor_direction){
          if (configuration.el_stepper_motor_last_direction != STEPPER_UP){
             if (configuration.el_stepper_motor_last_pin_state == LOW){
               digitalWriteEnhanced(el_stepper_motor_direction,HIGH);
               configuration.el_stepper_motor_last_pin_state = HIGH;
             } else {
               digitalWriteEnhanced(el_stepper_motor_direction,LOW);
               configuration.el_stepper_motor_last_pin_state = LOW;             
             }
             configuration.el_stepper_motor_last_direction = STEPPER_UP;
             configuration_dirty = 1;
          }
        }
        #endif //FEATURE_STEPPER_MOTOR  
        */         
      } else {
      #ifdef DEBUG_ROTATOR
        if (debug_mode) {
          debug.print(F("DEACTIVATE\n"));
        }
      #endif // DEBUG_ROTATOR
        if (rotate_up) {
          digitalWriteEnhanced(rotate_up, ROTATE_PIN_INACTIVE_VALUE);
        }
        if (rotate_up_pwm) {
          analogWriteEnhanced(rotate_up_pwm, 0); digitalWriteEnhanced(rotate_up_pwm, LOW);
        }
        if (rotate_up_down_pwm) {
          analogWriteEnhanced(rotate_up_down_pwm, 0);
        }
        if (rotate_up_freq) {
          noTone(rotate_up_freq);
        }
        if (rotate_up_or_down) {
          digitalWriteEnhanced(rotate_up_or_down, ROTATE_PIN_INACTIVE_VALUE);
        }   
        #ifdef FEATURE_STEPPER_MOTOR
        if (el_stepper_motor_pulse) {
          set_el_stepper_freq(0);
          digitalWriteEnhanced(el_stepper_motor_pulse,HIGH);
        }      
        #endif //FEATURE_STEPPER_MOTOR   
      }
      break;

    case DOWN:
      #ifdef DEBUG_ROTATOR
      if (debug_mode) {
        debug.print(F("ROTATION_DOWN "));
      }
      #endif // DEBUG_ROTATOR
      if (rotation_action == ACTIVATE) {
        #ifdef DEBUG_ROTATOR
        if (debug_mode) {
          debug.print(F("ACTIVATE\n"));
        }
        #endif // DEBUG_ROTATOR
        brake_release(EL, BRAKE_RELEASE_ON);
        if (el_slowstart_active) {
          if (rotate_down_pwm) {
            analogWriteEnhanced(rotate_down_pwm, 0);
          }
          if (rotate_up_pwm) {
            analogWriteEnhanced(rotate_up_pwm, 0); digitalWriteEnhanced(rotate_up_pwm, LOW);
          }
          if (rotate_up_down_pwm) {
            analogWriteEnhanced(rotate_up_down_pwm, 0);
          }
          if (rotate_up_freq) {
            noTone(rotate_up_freq);
          }
          if (rotate_down_freq) {
            noTone(rotate_down_freq);
          }
          #ifdef FEATURE_STEPPER_MOTOR
          if (el_stepper_motor_pulse) {
            set_el_stepper_freq(0);
            digitalWriteEnhanced(el_stepper_motor_pulse,LOW);        
          }      
          #endif //FEATURE_STEPPER_MOTOR             
        } else {
          if (rotate_down_pwm) {
            analogWriteEnhanced(rotate_down_pwm, normal_el_speed_voltage);
          }
          if (rotate_up_pwm) {
            analogWriteEnhanced(rotate_up_pwm, 0); digitalWriteEnhanced(rotate_up_pwm, LOW);
          }
          if (rotate_up_down_pwm) {
            analogWriteEnhanced(rotate_up_down_pwm, normal_el_speed_voltage);
          }
          if (rotate_down_freq) {
            tone(rotate_down_freq, map(normal_el_speed_voltage, 0, 255, EL_VARIABLE_FREQ_OUTPUT_LOW, EL_VARIABLE_FREQ_OUTPUT_HIGH));
          }
          if (rotate_up_freq) {
            noTone(rotate_up_freq);
          }
          #ifdef FEATURE_STEPPER_MOTOR
          if (el_stepper_motor_pulse) {
            set_el_stepper_freq(map(normal_el_speed_voltage, 0, 255, EL_VARIABLE_FREQ_OUTPUT_LOW, EL_VARIABLE_FREQ_OUTPUT_HIGH));
            digitalWriteEnhanced(el_stepper_motor_pulse,LOW);           
          }      
          #endif //FEATURE_STEPPER_MOTOR             
        }
        if (rotate_up) {
          digitalWriteEnhanced(rotate_up, ROTATE_PIN_INACTIVE_VALUE);
        }
        if (rotate_down) {
          digitalWriteEnhanced(rotate_down, ROTATE_PIN_ACTIVE_VALUE);
        }
        if (rotate_up_or_down) {
          digitalWriteEnhanced(rotate_up_or_down, ROTATE_PIN_ACTIVE_VALUE);
        }      
        /*   
        #ifdef FEATURE_STEPPER_MOTOR
        if (el_stepper_motor_direction){
          if (configuration.el_stepper_motor_last_direction != STEPPER_DOWN){
             if (configuration.el_stepper_motor_last_pin_state == LOW){
               digitalWriteEnhanced(el_stepper_motor_direction,HIGH);
               configuration.el_stepper_motor_last_pin_state = HIGH;
             } else {
               digitalWriteEnhanced(el_stepper_motor_direction,LOW);
               configuration.el_stepper_motor_last_pin_state = LOW;          
             }
             configuration.el_stepper_motor_last_direction = STEPPER_DOWN;
             configuration_dirty = 1;
          }
        }
        #endif //FEATURE_STEPPER_MOTOR
        */  
      } else {
          #ifdef DEBUG_ROTATOR
        if (debug_mode) {
          debug.print(F("DEACTIVATE\n"));
        }
          #endif // DEBUG_ROTATOR
        if (rotate_down) {
          digitalWriteEnhanced(rotate_down, ROTATE_PIN_INACTIVE_VALUE);
        }
        if (rotate_down_pwm) {
          analogWriteEnhanced(rotate_down_pwm, 0); digitalWriteEnhanced(rotate_down_pwm, LOW);
        }
        if (rotate_up_down_pwm) {
          analogWriteEnhanced(rotate_up_down_pwm, 0);
        }
        if (rotate_down_freq) {
          noTone(rotate_down_freq);
        }
        if (rotate_up_or_down) {
          digitalWriteEnhanced(rotate_up_or_down, ROTATE_PIN_INACTIVE_VALUE);
        }        
        #ifdef FEATURE_STEPPER_MOTOR
        if (el_stepper_motor_pulse) {
          set_el_stepper_freq(0);
          digitalWriteEnhanced(el_stepper_motor_pulse,HIGH);          
        }      
        #endif //FEATURE_STEPPER_MOTOR 
      }
      break;
          #endif // FEATURE_ELEVATION_CONTROL
  } /* switch */

  #ifdef DEBUG_ROTATOR
  if (debug_mode) {
    debug.print(F("rotator: exiting\n"));
    control_port->flush();
  }
  #endif // DEBUG_ROTATOR
} /* rotator */

// --------------------------------------------------------------
void initialize_interrupts(){

  #ifdef DEBUG_LOOP
    debug.print("initialize_interrupts()\n");
    Serial.flush();
  #endif // DEBUG_LOOP

  #ifdef FEATURE_AZ_POSITION_PULSE_INPUT
  attachInterrupt(AZ_POSITION_PULSE_PIN_INTERRUPT, az_position_pulse_interrupt_handler, FALLING);
  #endif // FEATURE_AZ_POSITION_PULSE_INPUT

  #ifdef FEATURE_EL_POSITION_PULSE_INPUT
  attachInterrupt(EL_POSITION_PULSE_PIN_INTERRUPT, el_position_pulse_interrupt_handler, FALLING);
  #endif // FEATURE_EL_POSITION_PULSE_INPUT

  #ifdef FEATURE_STEPPER_MOTOR
  Timer5.initialize(250);  // 250 us = 4 khz rate
  Timer5.attachInterrupt(service_stepper_motor_pulse_pins);
  #endif //FEATURE_STEPPER_MOTOR


}

// --------------------------------------------------------------

void initialize_pins(){

  #ifdef DEBUG_LOOP
    debug.print("initialize_pins()\n");
    Serial.flush();
  #endif // DEBUG_LOOP

  #ifdef reset_pin
  pinMode(reset_pin, OUTPUT);
  digitalWrite(reset_pin, LOW);
  #endif //reset_pin

  if (serial_led) {
    pinModeEnhanced(serial_led, OUTPUT);
  }

  if (overlap_led) {
    pinModeEnhanced(overlap_led, OUTPUT);
  }

  if (brake_az) {
    pinModeEnhanced(brake_az, OUTPUT);
    digitalWriteEnhanced(brake_az, BRAKE_INACTIVE_STATE);
  }

  if (az_speed_pot) {
    pinModeEnhanced(az_speed_pot, INPUT);
    digitalWriteEnhanced(az_speed_pot, LOW);
  }

  if (az_preset_pot) {
    pinModeEnhanced(az_preset_pot, INPUT);
    digitalWriteEnhanced(az_preset_pot, LOW);
  }

  if (preset_start_button) {
    pinModeEnhanced(preset_start_button, INPUT);
    digitalWriteEnhanced(preset_start_button, HIGH);
  }

  if (button_stop) {
    pinModeEnhanced(button_stop, INPUT);
    digitalWriteEnhanced(button_stop, HIGH);
  }

  #ifdef FEATURE_ELEVATION_CONTROL
  if (brake_el) {
    pinModeEnhanced(brake_el, OUTPUT);
    digitalWriteEnhanced(brake_el, BRAKE_INACTIVE_STATE);
  }
  #endif // FEATURE_ELEVATION_CONTROL

  if (rotate_cw) {
    pinModeEnhanced(rotate_cw, OUTPUT);
  }
  if (rotate_ccw) {
    pinModeEnhanced(rotate_ccw, OUTPUT);
  }
  if (rotate_cw_pwm) {
    pinModeEnhanced(rotate_cw_pwm, OUTPUT);
  }
  if (rotate_ccw_pwm) {
    pinModeEnhanced(rotate_ccw_pwm, OUTPUT);
  }
  if (rotate_cw_ccw_pwm) {
    pinModeEnhanced(rotate_cw_ccw_pwm, OUTPUT);
  }
  if (rotate_cw_freq) {
    pinModeEnhanced(rotate_cw_freq, OUTPUT);
  }
  if (rotate_ccw_freq) {
    pinModeEnhanced(rotate_ccw_freq, OUTPUT);
  }

  if (rotate_cw_ccw) {
    pinModeEnhanced(rotate_cw_ccw, OUTPUT);
  }


  rotator(DEACTIVATE, CW);
  rotator(DEACTIVATE, CCW);

  #if defined(FEATURE_AZ_POSITION_POTENTIOMETER)
    pinModeEnhanced(rotator_analog_az, INPUT);
  #endif

  if (button_cw) {
    pinModeEnhanced(button_cw, INPUT);
    digitalWriteEnhanced(button_cw, HIGH);
  }
  if (button_ccw) {
    pinModeEnhanced(button_ccw, INPUT);
    digitalWriteEnhanced(button_ccw, HIGH);
  }

  normal_az_speed_voltage = PWM_SPEED_VOLTAGE_X4;
  current_az_speed_voltage = PWM_SPEED_VOLTAGE_X4;

  #ifdef FEATURE_ELEVATION_CONTROL
  normal_el_speed_voltage = PWM_SPEED_VOLTAGE_X4;
  current_el_speed_voltage = PWM_SPEED_VOLTAGE_X4;
  #endif // FEATURE_ELEVATION_CONTROL

  if (azimuth_speed_voltage) {                 // if azimuth_speed_voltage pin is configured, set it up for PWM output
    analogWriteEnhanced(azimuth_speed_voltage, PWM_SPEED_VOLTAGE_X4);
  }


  #ifdef FEATURE_ELEVATION_CONTROL
  pinModeEnhanced(rotate_up, OUTPUT);
  pinModeEnhanced(rotate_down, OUTPUT);
  if (rotate_up_or_down) {
    pinModeEnhanced(rotate_up_or_down, OUTPUT);
  }
  if (rotate_up_pwm) {
    pinModeEnhanced(rotate_up_pwm, OUTPUT);
  }
  if (rotate_down_pwm) {
    pinModeEnhanced(rotate_down_pwm, OUTPUT);
  }
  if (rotate_up_down_pwm) {
    pinModeEnhanced(rotate_up_down_pwm, OUTPUT);
  }
  if (rotate_up_freq) {
    pinModeEnhanced(rotate_up_freq, OUTPUT);
  }
  if (rotate_down_freq) {
    pinModeEnhanced(rotate_down_freq, OUTPUT);
  }
  rotator(DEACTIVATE, UP);
  rotator(DEACTIVATE, DOWN);
  #ifdef FEATURE_EL_POSITION_POTENTIOMETER
  pinModeEnhanced(rotator_analog_el, INPUT);
  #endif // FEATURE_EL_POSITION_POTENTIOMETER
  if (button_up) {
    pinModeEnhanced(button_up, INPUT);
    digitalWriteEnhanced(button_up, HIGH);
  }
  if (button_down) {
    pinModeEnhanced(button_down, INPUT);
    digitalWriteEnhanced(button_down, HIGH);
  }

  if (elevation_speed_voltage) {                 // if elevation_speed_voltage pin is configured, set it up for PWM output
    analogWriteEnhanced(elevation_speed_voltage, PWM_SPEED_VOLTAGE_X4);
    normal_el_speed_voltage = PWM_SPEED_VOLTAGE_X4;
    current_el_speed_voltage = PWM_SPEED_VOLTAGE_X4;
  }

  read_elevation(0);
  #endif // FEATURE_ELEVATION_CONTROL

  #ifdef FEATURE_AZ_POSITION_PULSE_INPUT
  if (az_position_pulse_pin) {
    pinModeEnhanced(az_position_pulse_pin, INPUT);
    #ifdef OPTION_POSITION_PULSE_INPUT_PULLUPS
    digitalWriteEnhanced(az_position_pulse_pin, HIGH);
    #endif // OPTION_POSITION_PULSE_INPUT_PULLUPS
  }
  #endif // FEATURE_AZ_POSITION_PULSE_INPUT


  #ifdef FEATURE_EL_POSITION_PULSE_INPUT
  if (el_position_pulse_pin) {
    pinModeEnhanced(el_position_pulse_pin, INPUT);
    #ifdef OPTION_POSITION_PULSE_INPUT_PULLUPS
    digitalWriteEnhanced(el_position_pulse_pin, HIGH);
    #endif // OPTION_POSITION_PULSE_INPUT_PULLUPS
  }
  #endif // FEATURE_EL_POSITION_PULSE_INPUT

  #ifdef FEATURE_PARK
  if (button_park) {
    pinModeEnhanced(button_park, INPUT);
    digitalWriteEnhanced(button_park, HIGH);
  }
  #endif // FEATURE_PARK

  #ifdef FEATURE_ROTATION_INDICATOR_PIN
  if (rotation_indication_pin) {
    pinModeEnhanced(rotation_indication_pin, OUTPUT);
    digitalWriteEnhanced(rotation_indication_pin, ROTATION_INDICATOR_PIN_INACTIVE_STATE);
  }
  #endif // FEATURE_ROTATION_INDICATOR_PIN

  #ifdef FEATURE_PARK
  if (park_in_progress_pin) {
    pinModeEnhanced(park_in_progress_pin, OUTPUT);
    digitalWriteEnhanced(park_in_progress_pin, LOW);
  }
  if (parked_pin) {
    pinModeEnhanced(parked_pin, OUTPUT);
    digitalWriteEnhanced(parked_pin, LOW);
  }
  #endif // FEATURE_PARK

  if (blink_led) {
    pinModeEnhanced(blink_led, OUTPUT);
  }

  if (heading_reading_inhibit_pin) {
    pinModeEnhanced(heading_reading_inhibit_pin, INPUT);
  }

  #ifdef FEATURE_LIMIT_SENSE
  if (az_limit_sense_pin) {
    pinModeEnhanced(az_limit_sense_pin, INPUT);
    digitalWriteEnhanced(az_limit_sense_pin, HIGH);
  }
  #ifdef FEATURE_ELEVATION_CONTROL
  if (el_limit_sense_pin) {
    pinModeEnhanced(el_limit_sense_pin, INPUT);
    digitalWriteEnhanced(el_limit_sense_pin, HIGH);
  }
  #endif // FEATURE_ELEVATION_CONTROL
  #endif // FEATURE_LIMIT_SENSE

  #ifdef FEATURE_MOON_TRACKING
  if (moon_tracking_active_pin) {
    pinModeEnhanced(moon_tracking_active_pin, OUTPUT);
    digitalWriteEnhanced(moon_tracking_active_pin, LOW);
  }
  if (moon_tracking_activate_line) {
    pinModeEnhanced(moon_tracking_activate_line, INPUT);
    digitalWriteEnhanced(moon_tracking_activate_line, HIGH);
  }
  if (moon_tracking_button) {
    pinModeEnhanced(moon_tracking_button, INPUT);
    digitalWriteEnhanced(moon_tracking_button, HIGH);
  }
  #endif // FEATURE_MOON_TRACKING


  #ifdef FEATURE_SUN_TRACKING
  if (sun_tracking_active_pin) {
    pinModeEnhanced(sun_tracking_active_pin, OUTPUT);
    digitalWriteEnhanced(sun_tracking_active_pin, LOW);
  }
  if (sun_tracking_activate_line) {
    pinModeEnhanced(sun_tracking_activate_line, INPUT);
    digitalWriteEnhanced(sun_tracking_activate_line, HIGH);
  }
  if (sun_tracking_button) {
    pinModeEnhanced(sun_tracking_button, INPUT);
    digitalWriteEnhanced(sun_tracking_button, HIGH);
  }
  #endif // FEATURE_SUN_TRACKING
  
  
  #ifdef FEATURE_GPS
  if (gps_sync) {
    pinModeEnhanced(gps_sync, OUTPUT);
    digitalWriteEnhanced(gps_sync, LOW);
  }
  #endif //FEATURE_GPS

  #ifdef FEATURE_POWER_SWITCH
  pinModeEnhanced(power_switch, OUTPUT);
  digitalWriteEnhanced(power_switch, HIGH);
  #endif //FEATURE_POWER_SWITCH

  #ifdef FEATURE_STEPPER_MOTOR
  if (az_stepper_motor_pulse){
    pinModeEnhanced(az_stepper_motor_pulse, OUTPUT);
    digitalWriteEnhanced(az_stepper_motor_pulse, HIGH);
  }
  /*
  if (az_stepper_motor_direction){
    pinModeEnhanced(az_stepper_motor_direction, OUTPUT);
    digitalWriteEnhanced(az_stepper_motor_direction, configuration.az_stepper_motor_last_pin_state);
  }
  */

  #ifdef FEATURE_ELEVATION_CONTROL
  if (el_stepper_motor_pulse){
    pinModeEnhanced(el_stepper_motor_pulse, OUTPUT);
    digitalWriteEnhanced(el_stepper_motor_pulse, HIGH);
  }
  /*
  if (el_stepper_motor_direction){
    pinModeEnhanced(el_stepper_motor_direction, OUTPUT);
    digitalWriteEnhanced(el_stepper_motor_direction, configuration.el_stepper_motor_last_pin_state);
  }
  */
  #endif //FEATURE_ELEVATION_CONTROL
  #endif //FEATURE_STEPPER_MOTOR

  #ifdef FEATURE_EL_POSITION_MEMSIC_2125
  pinModeEnhanced(pin_memsic_2125_x, INPUT);
  pinModeEnhanced(pin_memsic_2125_y, INPUT);
  #endif //FEATURE_EL_POSITION_MEMSIC_2125

  #ifdef FEATURE_ANALOG_OUTPUT_PINS
  pinModeEnhanced(pin_analog_az_out, OUTPUT);
  digitalWriteEnhanced(pin_analog_az_out, LOW);
  #ifdef FEATURE_ELEVATION_CONTROL
  pinModeEnhanced(pin_analog_el_out, OUTPUT);
  digitalWriteEnhanced(pin_analog_el_out, LOW);
  #endif //FEATURE_ELEVATION_CONTROL
  #endif //FEATURE_ANALOG_OUTPUT_PINS

  #ifdef FEATURE_SUN_PUSHBUTTON_AZ_EL_CALIBRATION
  pinModeEnhanced(pin_sun_pushbutton_calibration, INPUT);
  digitalWriteEnhanced(pin_sun_pushbutton_calibration, HIGH);
  #endif //FEATURE_SUN_PUSHBUTTON_AZ_EL_CALIBRATION

  #ifdef FEATURE_MOON_PUSHBUTTON_AZ_EL_CALIBRATION
  pinModeEnhanced(pin_moon_pushbutton_calibration, INPUT);
  digitalWriteEnhanced(pin_moon_pushbutton_calibration, HIGH);
  #endif //FEATURE_MOON_PUSHBUTTON_AZ_EL_CALIBRATION

} /* initialize_pins */

// --------------------------------------------------------------

void initialize_serial(){

  #if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION) || defined(FEATURE_CLOCK) || defined(UNDER_DEVELOPMENT_REMOTE_UNIT_COMMANDS)
    control_port = CONTROL_PORT_MAPPED_TO;
    control_port->begin(CONTROL_PORT_BAUD_RATE);
  #endif

  #ifdef FEATURE_REMOTE_UNIT_SLAVE
    control_port->print(F("CS"));
    control_port->println(CODE_VERSION);
  #endif // FEATURE_REMOTE_UNIT_SLAVE

  #if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE)
    remote_unit_port = REMOTE_PORT_MAPPED_TO;
    remote_unit_port->begin(REMOTE_UNIT_PORT_BAUD_RATE);
  #endif

  #ifdef FEATURE_GPS
    gps_port = GPS_PORT_MAPPED_TO;
    gps_port->begin(GPS_PORT_BAUD_RATE);
    #ifdef GPS_MIRROR_PORT
      gps_mirror_port = GPS_MIRROR_PORT;
      gps_mirror_port->begin(GPS_MIRROR_PORT_BAUD_RATE);
    #endif //GPS_MIRROR_PORT
  #endif //FEATURE_GPS

} /* initialize_serial */


// --------------------------------------------------------------


void initialize_display(){

  #if defined(FEATURE_LCD_DISPLAY)
    #ifdef DEBUG_LOOP
      debug.print("initialize_display()\n");
      Serial.flush();
    #endif // DEBUG_LOOP

    k3ngdisplay.initialize();

    #ifdef OPTION_DISPLAY_VERSION_ON_STARTUP 
      k3ngdisplay.print_center_timed_message("\x4B\x33\x4E\x47","\x52\x6F\x74\x6F\x72\x20\x43\x6F\x6E\x74\x72\x6F\x6C\x6C\x65\x72",CODE_VERSION,SPLASH_SCREEN_TIME);
    #else
      k3ngdisplay.print_center_timed_message("\x4B\x33\x4E\x47","\x52\x6F\x74\x6F\x72\x20\x43\x6F\x6E\x74\x72\x6F\x6C\x6C\x65\x72",SPLASH_SCREEN_TIME);
    #endif

    k3ngdisplay.service(0);


    #ifdef DEBUG_LOOP
      debug.print("exiting initialize_display()\n");
      Serial.flush();
    #endif // DEBUG_LOOP


  #endif //defined(FEATURE_LCD_DISPLAY)



}


// --------------------------------------------------------------

void initialize_peripherals(){

  #ifdef DEBUG_LOOP
    debug.print("initialize_peripherals()\n");
    Serial.flush();
  #endif // DEBUG_LOOP

  #ifdef FEATURE_WIRE_SUPPORT
    Wire.begin();
  #endif

  #ifdef FEATURE_AZ_POSITION_HMC5883L
    compass = HMC5883L();
    int error;
    error = compass.SetScale(1.3); // Set the scale of the compass.
     #ifndef OPTION_DISABLE_HMC5883L_ERROR_CHECKING
      if (error != 0) {
        #if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
          control_port->print(F("setup: compass error:"));
          control_port->println(compass.GetErrorText(error)); // check if there is an error, and print if so
        #endif
      }
    #endif //OPTION_DISABLE_HMC5883L_ERROR_CHECKING
    error = compass.SetMeasurementMode(Measurement_Continuous); // Set the measurement mode to Continuous
    #ifndef OPTION_DISABLE_HMC5883L_ERROR_CHECKING
      if (error != 0) {
        #if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
          control_port->print(F("setup: compass error:"));
          control_port->println(compass.GetErrorText(error)); // check if there is an error, and print if so
        #endif
      }
    #endif //OPTION_DISABLE_HMC5883L_ERROR_CHECKING
  #endif // FEATURE_AZ_POSITION_HMC5883L

  #ifdef FEATURE_EL_POSITION_ADXL345_USING_LOVE_ELECTRON_LIB
    accel = ADXL345();
    accel.SetRange(2, true);
    accel.EnableMeasurements();
  #endif // FEATURE_EL_POSITION_ADXL345_USING_LOVE_ELECTRON_LIB

  #ifdef FEATURE_EL_POSITION_ADXL345_USING_ADAFRUIT_LIB
    accel.begin();
  #endif // FEATURE_EL_POSITION_ADXL345_USING_ADAFRUIT_LIB

  #ifdef FEATURE_JOYSTICK_CONTROL
    pinModeEnhanced(pin_joystick_x, INPUT);
    pinModeEnhanced(pin_joystick_y, INPUT);
  #endif // FEATURE_JOYSTICK_CONTROL

  #if defined(FEATURE_EL_POSITION_ADAFRUIT_LSM303) || defined(FEATURE_AZ_POSITION_ADAFRUIT_LSM303)
    if (!lsm.begin()) {
      #if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
        control_port->println(F("setup: LSM303 error"));
      #endif
    }
  #endif // FEATURE_EL_POSITION_ADAFRUIT_LSM303 || FEATURE_AZ_POSITION_ADAFRUIT_LSM303


  #if defined(FEATURE_AZ_POSITION_POLOLU_LSM303) || defined(FEATURE_EL_POSITION_POLOLU_LSM303)
    if (!compass.init()) {
      #if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
        control_port->println(F("setup: LSM303 error"));
      #endif
    }
    compass.enableDefault();
    compass.m_min = (LSM303::vector<int16_t>) POLOLU_LSM_303_MIN_ARRAY;
    compass.m_max = (LSM303::vector<int16_t>) POLOLU_LSM_303_MAX_ARRAY;
  #endif //defined(FEATURE_AZ_POSITION_POLOLU_LSM303) || defined(FEATURE_EL_POSITION_POLOLU_LSM303)


  #ifdef FEATURE_AZ_POSITION_HH12_AS5045_SSI
    azimuth_hh12.initialize(az_hh12_clock_pin, az_hh12_cs_pin, az_hh12_data_pin);
  #endif // FEATURE_AZ_POSITION_HH12_AS5045_SSI

  #ifdef FEATURE_EL_POSITION_HH12_AS5045_SSI
    elevation_hh12.initialize(el_hh12_clock_pin, el_hh12_cs_pin, el_hh12_data_pin);
  #endif // FEATURE_EL_POSITION_HH12_AS5045_SSI

  #if defined(FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER) || defined(FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER)
    SEIbus1.initialize();
  #endif // defined(FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER) || defined(FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER)



  #ifdef FEATURE_RTC_DS1307
    rtc.begin();
  #endif // FEATURE_RTC_DS1307

  #ifdef FEATURE_ETHERNET
    Ethernet.begin(mac, ip, gateway, subnet);
    ethernetserver0.begin();
  #endif //FEATURE_ETHERNET

} /* initialize_peripherals */


// --------------------------------------------------------------
void submit_request(byte axis, byte request, int parm, byte called_by){

  #ifdef DEBUG_SUBMIT_REQUEST
  debug.print("submit_request: ");
  debug.print(called_by);
  debug.print(" ");
  #endif // DEBUG_SUBMIT_REQUEST

  #ifdef FEATURE_PARK
  park_status = NOT_PARKED;
  #endif // FEATURE_PARK

  if (axis == AZ) {
    #ifdef DEBUG_SUBMIT_REQUEST
    debug.print("AZ "); 
    #endif // DEBUG_SUBMIT_REQUEST
    az_request = request;
    az_request_parm = parm;
    az_request_queue_state = IN_QUEUE;
  }

  #ifdef FEATURE_ELEVATION_CONTROL
  if (axis == EL) {
    #ifdef DEBUG_SUBMIT_REQUEST
    debug.print("EL ");
    #endif // DEBUG_SUBMIT_REQUEST
    el_request = request;
    el_request_parm = parm;
    el_request_queue_state = IN_QUEUE;
  }
  #endif // FEATURE_ELEVATION_CONTROL

  #ifdef DEBUG_SUBMIT_REQUEST
  switch(request){
    case 0: debug.print("REQUEST_STOP");break;
    case 1: debug.print("REQUEST_AZIMUTH");break;
    case 2: debug.print("REQUEST_AZIMUTH_RAW");break;
    case 3: debug.print("REQUEST_CW");break;
    case 4: debug.print("REQUEST_CCW");break;
    case 5: debug.print("REQUEST_UP");break;
    case 6: debug.print("REQUEST_DOWN");break;
    case 7: debug.print("REQUEST_ELEVATION");break;
    case 8: debug.print("REQUEST_KILL");break;
  }
  debug.print(" ");
  debug.print(parm);
  debug.println("");
  #endif // DEBUG_SUBMIT_REQUEST  

} /* submit_request */
// --------------------------------------------------------------
void service_rotation(){



  #if defined(FEATURE_AZ_POSITION_INCREMENTAL_ENCODER) || defined(FEATURE_EL_POSITION_INCREMENTAL_ENCODER)
  service_rotation_lock = 1;
  #endif

  static byte az_direction_change_flag = 0;
  static byte az_initial_slow_down_voltage = 0;

  #ifdef FEATURE_ELEVATION_CONTROL
  static byte el_direction_change_flag = 0;
  static byte el_initial_slow_down_voltage = 0;
  #endif // FEATURE_ELEVATION_CONTROL

  if (az_state == INITIALIZE_NORMAL_CW) {
    update_az_variable_outputs(normal_az_speed_voltage);
    rotator(ACTIVATE, CW);
    az_state = NORMAL_CW;
  }

  if (az_state == INITIALIZE_NORMAL_CCW) {
    update_az_variable_outputs(normal_az_speed_voltage);
    rotator(ACTIVATE, CCW);
    az_state = NORMAL_CCW;
  }

  if (az_state == INITIALIZE_SLOW_START_CW) {
    update_az_variable_outputs(AZ_SLOW_START_STARTING_PWM);
    rotator(ACTIVATE, CW);
    az_slowstart_start_time = millis();
    az_last_step_time = 0;
    az_slow_start_step = 0;
    az_state = SLOW_START_CW;
    #ifdef DEBUG_SERVICE_ROTATION
    debug.print("service_rotation: INITIALIZE_SLOW_START_CW -> SLOW_START_CW");
    #endif // DEBUG_SERVICE_ROTATION
  }

  if (az_state == INITIALIZE_SLOW_START_CCW) {
    update_az_variable_outputs(AZ_SLOW_START_STARTING_PWM);
    rotator(ACTIVATE, CCW);
    az_slowstart_start_time = millis();
    az_last_step_time = 0;
    az_slow_start_step = 0;
    az_state = SLOW_START_CCW;
    #ifdef DEBUG_SERVICE_ROTATION
    debug.print("service_rotation: INITIALIZE_SLOW_START_CCW -> SLOW_START_CCW");
    #endif // DEBUG_SERVICE_ROTATION
  }

  if (az_state == INITIALIZE_TIMED_SLOW_DOWN_CW) {
    az_direction_change_flag = 0;
    az_timed_slow_down_start_time = millis();
    az_last_step_time = millis();
    az_slow_down_step = AZ_SLOW_DOWN_STEPS - 1;
    az_state = TIMED_SLOW_DOWN_CW;
  }

  if (az_state == INITIALIZE_TIMED_SLOW_DOWN_CCW) {
    az_direction_change_flag = 0;
    az_timed_slow_down_start_time = millis();
    az_last_step_time = millis();
    az_slow_down_step = AZ_SLOW_DOWN_STEPS - 1;
    az_state = TIMED_SLOW_DOWN_CCW;
  }

  if (az_state == INITIALIZE_DIR_CHANGE_TO_CW) {
    az_direction_change_flag = 1;
    az_timed_slow_down_start_time = millis();
    az_last_step_time = millis();
    az_slow_down_step = AZ_SLOW_DOWN_STEPS - 1;
    az_state = TIMED_SLOW_DOWN_CCW;
  }

  if (az_state == INITIALIZE_DIR_CHANGE_TO_CCW) {
    az_direction_change_flag = 1;
    az_timed_slow_down_start_time = millis();
    az_last_step_time = millis();
    az_slow_down_step = AZ_SLOW_DOWN_STEPS - 1;
    az_state = TIMED_SLOW_DOWN_CW;
  }

  // slow start-------------------------------------------------------------------------------------------------
  if ((az_state == SLOW_START_CW) || (az_state == SLOW_START_CCW)) {
    if ((millis() - az_slowstart_start_time) >= AZ_SLOW_START_UP_TIME) {  // is it time to end slow start?
      #ifdef DEBUG_SERVICE_ROTATION
      debug.print("service_rotation: NORMAL_C");
      #endif // DEBUG_SERVICE_ROTATION
      if (az_state == SLOW_START_CW) {
        az_state = NORMAL_CW;
        #ifdef DEBUG_SERVICE_ROTATION
        debug.print("W");
        #endif // DEBUG_SERVICE_ROTATION
      } else {
        az_state = NORMAL_CCW;
        #ifdef DEBUG_SERVICE_ROTATION
        debug.print("CW");
        #endif // DEBUG_SERVICE_ROTATION
      }
      update_az_variable_outputs(normal_az_speed_voltage);
    } else {  // it's not time to end slow start yet, but let's check if it's time to step up the speed voltage
      if (((millis() - az_last_step_time) > (AZ_SLOW_START_UP_TIME / AZ_SLOW_START_STEPS)) && (normal_az_speed_voltage > AZ_SLOW_START_STARTING_PWM)) {
        #ifdef DEBUG_SERVICE_ROTATION
        debug.print("service_rotation: step up: ");
        debug.print(az_slow_start_step);
        debug.print(" pwm: ");
        debug.print((int)(AZ_SLOW_START_STARTING_PWM + ((normal_az_speed_voltage - AZ_SLOW_START_STARTING_PWM) * ((float)az_slow_start_step / (float)(AZ_SLOW_START_STEPS - 1)))));
        debug.println("");
        #endif // DEBUG_SERVICE_ROTATION
        update_az_variable_outputs((AZ_SLOW_START_STARTING_PWM + ((normal_az_speed_voltage - AZ_SLOW_START_STARTING_PWM) * ((float)az_slow_start_step / (float)(AZ_SLOW_START_STEPS - 1)))));
        az_last_step_time = millis();
        az_slow_start_step++;
      }
    }
  } // ((az_state == SLOW_START_CW) || (az_state == SLOW_START_CCW))


  // timed slow down ------------------------------------------------------------------------------------------------------
  if (((az_state == TIMED_SLOW_DOWN_CW) || (az_state == TIMED_SLOW_DOWN_CCW)) && ((millis() - az_last_step_time) >= (TIMED_SLOW_DOWN_TIME / AZ_SLOW_DOWN_STEPS))) {
    #ifdef DEBUG_SERVICE_ROTATION
    debug.print("service_rotation: TIMED_SLOW_DOWN step down: ");
    debug.print(az_slow_down_step);
    debug.print(" pwm: ");
    debug.print((int)(normal_az_speed_voltage * ((float)az_slow_down_step / (float)AZ_SLOW_DOWN_STEPS)));
    debug.println("");
    #endif // DEBUG_SERVICE_ROTATION
    update_az_variable_outputs((int)(normal_az_speed_voltage * ((float)az_slow_down_step / (float)AZ_SLOW_DOWN_STEPS)));
    az_last_step_time = millis();
    if (az_slow_down_step > 0) {az_slow_down_step--;}

    if (az_slow_down_step == 0) { // is it time to exit timed slow down?
      #ifdef DEBUG_SERVICE_ROTATION
      debug.print("service_rotation: TIMED_SLOW_DOWN->IDLE");
      #endif // DEBUG_SERVICE_ROTATION
      rotator(DEACTIVATE, CW);
      rotator(DEACTIVATE, CCW);        
      if (az_direction_change_flag) {
        if (az_state == TIMED_SLOW_DOWN_CW) {
          //rotator(ACTIVATE, CCW);
          if (az_slowstart_active) {
            az_state = INITIALIZE_SLOW_START_CCW;
          } else { az_state = NORMAL_CCW; };
          az_direction_change_flag = 0;
        }
        if (az_state == TIMED_SLOW_DOWN_CCW) {
          //rotator(ACTIVATE, CW);
          if (az_slowstart_active) {
            az_state = INITIALIZE_SLOW_START_CW;
          } else { az_state = NORMAL_CW; };
          az_direction_change_flag = 0;
        }
      } else {
        az_state = IDLE;
        az_request_queue_state = NONE;
      }
    }

  }  // ((az_state == TIMED_SLOW_DOWN_CW) || (az_state == TIMED_SLOW_DOWN_CCW))



  // slow down ---------------------------------------------------------------------------------------------------------------
  if ((az_state == SLOW_DOWN_CW) || (az_state == SLOW_DOWN_CCW)) {

    // is it time to do another step down?
    if (abs((target_raw_azimuth - raw_azimuth) / HEADING_MULTIPLIER) <= (((float)SLOW_DOWN_BEFORE_TARGET_AZ * ((float)az_slow_down_step / (float)AZ_SLOW_DOWN_STEPS)))) {
      #ifdef DEBUG_SERVICE_ROTATION
      debug.print("service_rotation: step down: ");
      debug.print(az_slow_down_step);
      debug.print(" pwm: ");
      debug.print((int)(AZ_SLOW_DOWN_PWM_STOP + ((az_initial_slow_down_voltage - AZ_SLOW_DOWN_PWM_STOP) * ((float)az_slow_down_step / (float)AZ_SLOW_DOWN_STEPS))));
      debug.println("");
      #endif // DEBUG_SERVICE_ROTATION
      update_az_variable_outputs((AZ_SLOW_DOWN_PWM_STOP + ((az_initial_slow_down_voltage - AZ_SLOW_DOWN_PWM_STOP) * ((float)az_slow_down_step / (float)AZ_SLOW_DOWN_STEPS))));
      if (az_slow_down_step > 0) {az_slow_down_step--;}
    }
  }  // ((az_state == SLOW_DOWN_CW) || (az_state == SLOW_DOWN_CCW))

  // normal -------------------------------------------------------------------------------------------------------------------
  // if slow down is enabled, see if we're ready to go into slowdown
  if (((az_state == NORMAL_CW) || (az_state == SLOW_START_CW) || (az_state == NORMAL_CCW) || (az_state == SLOW_START_CCW)) &&
      (az_request_queue_state == IN_PROGRESS_TO_TARGET) && az_slowdown_active && (abs((target_raw_azimuth - raw_azimuth) / HEADING_MULTIPLIER) <= SLOW_DOWN_BEFORE_TARGET_AZ)) {

    byte az_state_was = az_state;

    #ifdef DEBUG_SERVICE_ROTATION
    debug.print("service_rotation: SLOW_DOWN_C");
    #endif // DEBUG_SERVICE_ROTATION
    az_slow_down_step = AZ_SLOW_DOWN_STEPS - 1;
    if ((az_state == NORMAL_CW) || (az_state == SLOW_START_CW)) {
      az_state = SLOW_DOWN_CW;
      #ifdef DEBUG_SERVICE_ROTATION
      debug.print("W");
      #endif // DEBUG_SERVICE_ROTATION
    } else {
      az_state = SLOW_DOWN_CCW;
      #ifdef DEBUG_SERVICE_ROTATION
      debug.print("CW");
      #endif // DEBUG_SERVICE_ROTATION
    }
    
    if ((az_state_was == SLOW_START_CW) || (az_state_was == SLOW_START_CCW)){
      az_initial_slow_down_voltage = (AZ_INITIALLY_IN_SLOW_DOWN_PWM);
      update_az_variable_outputs(az_initial_slow_down_voltage);
      #ifdef DEBUG_SERVICE_ROTATION
      debug.print(" SLOW_START -> SLOW_DOWN az_initial_slow_down_voltage:");
      debug.print(az_initial_slow_down_voltage);
      debug.print(" ");
      #endif // DEBUG_SERVICE_ROTATION
    } else {
      if (AZ_SLOW_DOWN_PWM_START < current_az_speed_voltage) {
        update_az_variable_outputs(AZ_SLOW_DOWN_PWM_START);
        az_initial_slow_down_voltage = AZ_SLOW_DOWN_PWM_START;
      } else {
        az_initial_slow_down_voltage = current_az_speed_voltage;
      }
    }

  }

  // check rotation target --------------------------------------------------------------------------------------------------------
  if ((az_state != IDLE) && (az_request_queue_state == IN_PROGRESS_TO_TARGET) ) {
    if ((az_state == NORMAL_CW) || (az_state == SLOW_START_CW) || (az_state == SLOW_DOWN_CW)) {
      if ((abs(raw_azimuth - target_raw_azimuth) < (AZIMUTH_TOLERANCE * HEADING_MULTIPLIER)) || ((raw_azimuth > target_raw_azimuth) && ((raw_azimuth - target_raw_azimuth) < ((AZIMUTH_TOLERANCE + 5) * HEADING_MULTIPLIER)))) {
        delay(50);
        read_azimuth(0);
        if ((abs(raw_azimuth - target_raw_azimuth) < (AZIMUTH_TOLERANCE * HEADING_MULTIPLIER)) || ((raw_azimuth > target_raw_azimuth) && ((raw_azimuth - target_raw_azimuth) < ((AZIMUTH_TOLERANCE + 5) * HEADING_MULTIPLIER)))) {
          rotator(DEACTIVATE, CW);
          rotator(DEACTIVATE, CCW);
          az_state = IDLE;
          az_request_queue_state = NONE;
          #ifdef DEBUG_SERVICE_ROTATION
          debug.print("service_rotation: IDLE");
          #endif // DEBUG_SERVICE_ROTATION

          #if defined(FEATURE_PARK) && !defined(FEATURE_ELEVATION_CONTROL)
          if (park_status == PARK_INITIATED) {
            park_status = PARKED;
          }
          #endif // defined(FEATURE_PARK) && !defined(FEATURE_ELEVATION_CONTROL)

          #if defined(FEATURE_PARK) && defined(FEATURE_ELEVATION_CONTROL)
          if ((park_status == PARK_INITIATED) && (el_state == IDLE)) {
            park_status = PARKED;
          }
          #endif // defined(FEATURE_PARK) && !defined(FEATURE_ELEVATION_CONTROL)

        }
      }
    } else {
      if ((abs(raw_azimuth - target_raw_azimuth) < (AZIMUTH_TOLERANCE * HEADING_MULTIPLIER)) || ((raw_azimuth < target_raw_azimuth) && ((target_raw_azimuth - raw_azimuth) < ((AZIMUTH_TOLERANCE + 5) * HEADING_MULTIPLIER)))) {
        delay(50);
        read_azimuth(0);
        if ((abs(raw_azimuth - target_raw_azimuth) < (AZIMUTH_TOLERANCE * HEADING_MULTIPLIER)) || ((raw_azimuth < target_raw_azimuth) && ((target_raw_azimuth - raw_azimuth) < ((AZIMUTH_TOLERANCE + 5) * HEADING_MULTIPLIER)))) {
          rotator(DEACTIVATE, CW);
          rotator(DEACTIVATE, CCW);
          az_state = IDLE;
          az_request_queue_state = NONE;
          #ifdef DEBUG_SERVICE_ROTATION
          debug.print("service_rotation: IDLE");
          #endif // DEBUG_SERVICE_ROTATION

          #if defined(FEATURE_PARK) && !defined(FEATURE_ELEVATION_CONTROL)
          if (park_status == PARK_INITIATED) {
            park_status = PARKED;
          }
          #endif // defined(FEATURE_PARK) && !defined(FEATURE_ELEVATION_CONTROL)

          #if defined(FEATURE_PARK) && defined(FEATURE_ELEVATION_CONTROL)
          if ((park_status == PARK_INITIATED) && (el_state == IDLE)) {
            park_status = PARKED;
          }
          #endif // defined(FEATURE_PARK) && !defined(FEATURE_ELEVATION_CONTROL)

        }
      }
    }
  }



  #ifdef FEATURE_ELEVATION_CONTROL
  if (el_state == INITIALIZE_NORMAL_UP) {
    update_el_variable_outputs(normal_el_speed_voltage);
    rotator(ACTIVATE, UP);
    el_state = NORMAL_UP;
  }

  if (el_state == INITIALIZE_NORMAL_DOWN) {
    update_el_variable_outputs(normal_el_speed_voltage);
    rotator(ACTIVATE, DOWN);
    el_state = NORMAL_DOWN;
  }

  if (el_state == INITIALIZE_SLOW_START_UP) {
    update_el_variable_outputs(EL_SLOW_START_STARTING_PWM);
    rotator(ACTIVATE, UP);
    el_slowstart_start_time = millis();
    el_last_step_time = 0;
    el_slow_start_step = 0;
    el_state = SLOW_START_UP;
    #ifdef DEBUG_SERVICE_ROTATION
    debug.print("service_rotation: INITIALIZE_SLOW_START_UP -> SLOW_START_UP");
    #endif // DEBUG_SERVICE_ROTATION
  }

  if (el_state == INITIALIZE_SLOW_START_DOWN) {
    update_el_variable_outputs(EL_SLOW_START_STARTING_PWM);
    rotator(ACTIVATE, DOWN);
    el_slowstart_start_time = millis();
    el_last_step_time = 0;
    el_slow_start_step = 0;
    el_state = SLOW_START_DOWN;
    #ifdef DEBUG_SERVICE_ROTATION
    debug.print("service_rotation: INITIALIZE_SLOW_START_DOWN -> SLOW_START_DOWN");
    #endif // DEBUG_SERVICE_ROTATION
  }

  if (el_state == INITIALIZE_TIMED_SLOW_DOWN_UP) {
    el_direction_change_flag = 0;
    el_timed_slow_down_start_time = millis();
    el_last_step_time = millis();
    el_slow_down_step = EL_SLOW_DOWN_STEPS - 1;
    el_state = TIMED_SLOW_DOWN_UP;
  }

  if (el_state == INITIALIZE_TIMED_SLOW_DOWN_DOWN) {
    el_direction_change_flag = 0;
    el_timed_slow_down_start_time = millis();
    el_last_step_time = millis();
    el_slow_down_step = EL_SLOW_DOWN_STEPS - 1;
    el_state = TIMED_SLOW_DOWN_DOWN;
  }

  if (el_state == INITIALIZE_DIR_CHANGE_TO_UP) {
    el_direction_change_flag = 1;
    el_timed_slow_down_start_time = millis();
    el_last_step_time = millis();
    el_slow_down_step = EL_SLOW_DOWN_STEPS - 1;
    el_state = TIMED_SLOW_DOWN_DOWN;
  }

  if (el_state == INITIALIZE_DIR_CHANGE_TO_DOWN) {
    el_direction_change_flag = 1;
    el_timed_slow_down_start_time = millis();
    el_last_step_time = millis();
    el_slow_down_step = EL_SLOW_DOWN_STEPS - 1;
    el_state = TIMED_SLOW_DOWN_UP;
  }

  // slow start-------------------------------------------------------------------------------------------------
  if ((el_state == SLOW_START_UP) || (el_state == SLOW_START_DOWN)) {
    if ((millis() - el_slowstart_start_time) >= EL_SLOW_START_UP_TIME) {  // is it time to end slow start?
      #ifdef DEBUG_SERVICE_ROTATION
      debug.print("service_rotation: NORMAL_");
      #endif // DEBUG_SERVICE_ROTATION
      if (el_state == SLOW_START_UP) {
        el_state = NORMAL_UP;
        #ifdef DEBUG_SERVICE_ROTATION
        debug.print("UP");
        #endif // DEBUG_SERVICE_ROTATION
      } else {
        el_state = NORMAL_DOWN;
        #ifdef DEBUG_SERVICE_ROTATION
        debug.print("DOWN");
        #endif // DEBUG_SERVICE_ROTATION
      }
      update_el_variable_outputs(normal_el_speed_voltage);
    } else {  // it's not time to end slow start yet, but let's check if it's time to step up the speed voltage
      if (((millis() - el_last_step_time) > (EL_SLOW_START_UP_TIME / EL_SLOW_START_STEPS)) && (normal_el_speed_voltage > EL_SLOW_START_STARTING_PWM)) {
        #ifdef DEBUG_SERVICE_ROTATION
        debug.print("service_rotation: step up: ");
        debug.print(el_slow_start_step);
        debug.print(" pwm: ");
        debug.print((int)(EL_SLOW_START_STARTING_PWM + ((normal_el_speed_voltage - EL_SLOW_START_STARTING_PWM) * ((float)el_slow_start_step / (float)(EL_SLOW_START_STEPS - 1)))));
        debug.println("");
        #endif // DEBUG_SERVICE_ROTATION
        update_el_variable_outputs((EL_SLOW_START_STARTING_PWM + ((normal_el_speed_voltage - EL_SLOW_START_STARTING_PWM) * ((float)el_slow_start_step / (float)(EL_SLOW_START_STEPS - 1)))));
        el_last_step_time = millis();
        el_slow_start_step++;
      }
    }
  } // ((el_state == SLOW_START_UP) || (el_state == SLOW_START_DOWN))


  // timed slow down ------------------------------------------------------------------------------------------------------
  if (((el_state == TIMED_SLOW_DOWN_UP) || (el_state == TIMED_SLOW_DOWN_DOWN)) && ((millis() - el_last_step_time) >= (TIMED_SLOW_DOWN_TIME / EL_SLOW_DOWN_STEPS))) {
    #ifdef DEBUG_SERVICE_ROTATION
    debug.print("service_rotation: TIMED_SLOW_DOWN step down: ");
    debug.print(el_slow_down_step);
    debug.print(" pwm: ");
    debug.print((int)(normal_el_speed_voltage * ((float)el_slow_down_step / (float)EL_SLOW_DOWN_STEPS)));
    debug.println("");
    #endif // DEBUG_SERVICE_ROTATION
    update_el_variable_outputs((int)(normal_el_speed_voltage * ((float)el_slow_down_step / (float)EL_SLOW_DOWN_STEPS)));
    el_last_step_time = millis();
    if (el_slow_down_step > 0) {el_slow_down_step--;}

    if (el_slow_down_step == 0) { // is it time to exit timed slow down?
      #ifdef DEBUG_SERVICE_ROTATION
      debug.print("service_rotation: TIMED_SLOW_DOWN->IDLE");
      #endif // DEBUG_SERVICE_ROTATION
      rotator(DEACTIVATE, UP);
      rotator(DEACTIVATE, DOWN);
      if (el_direction_change_flag) {
        if (el_state == TIMED_SLOW_DOWN_UP) {
          if (el_slowstart_active) {
            el_state = INITIALIZE_SLOW_START_DOWN;
          } else { el_state = NORMAL_DOWN; };
          el_direction_change_flag = 0;
        }
        if (el_state == TIMED_SLOW_DOWN_DOWN) {
          if (el_slowstart_active) {
            el_state = INITIALIZE_SLOW_START_UP;
          } else { el_state = NORMAL_UP; };
          el_direction_change_flag = 0;
        }
      } else {
        el_state = IDLE;
        el_request_queue_state = NONE;
      }
    }

  }  // ((el_state == TIMED_SLOW_DOWN_UP) || (el_state == TIMED_SLOW_DOWN_DOWN))



  // slow down ---------------------------------------------------------------------------------------------------------------
  if ((el_state == SLOW_DOWN_UP) || (el_state == SLOW_DOWN_DOWN)) {
    // is it time to do another step down?
    if (abs((target_elevation - elevation) / HEADING_MULTIPLIER) <= (((float)SLOW_DOWN_BEFORE_TARGET_EL * ((float)el_slow_down_step / (float)EL_SLOW_DOWN_STEPS)))) {
      #ifdef DEBUG_SERVICE_ROTATION
      debug.print("service_rotation: step down: ");
      debug.print(el_slow_down_step);
      debug.print(" pwm: ");
      debug.print((int)(EL_SLOW_DOWN_PWM_STOP + ((el_initial_slow_down_voltage - EL_SLOW_DOWN_PWM_STOP) * ((float)el_slow_down_step / (float)EL_SLOW_DOWN_STEPS))));
      debug.println("");
      #endif // DEBUG_SERVICE_ROTATION
      update_el_variable_outputs((EL_SLOW_DOWN_PWM_STOP + ((el_initial_slow_down_voltage - EL_SLOW_DOWN_PWM_STOP) * ((float)el_slow_down_step / (float)EL_SLOW_DOWN_STEPS))));
      if (el_slow_down_step > 0) {el_slow_down_step--;}
    }
  }  // ((el_state == SLOW_DOWN_UP) || (el_state == SLOW_DOWN_DOWN))

  // normal -------------------------------------------------------------------------------------------------------------------
  // if slow down is enabled, see if we're ready to go into slowdown
  if (((el_state == NORMAL_UP) || (el_state == SLOW_START_UP) || (el_state == NORMAL_DOWN) || (el_state == SLOW_START_DOWN)) &&
      (el_request_queue_state == IN_PROGRESS_TO_TARGET) && el_slowdown_active && (abs((target_elevation - elevation) / HEADING_MULTIPLIER) <= SLOW_DOWN_BEFORE_TARGET_EL)) {
    
    byte el_state_was = el_state;


    #ifdef DEBUG_SERVICE_ROTATION
    debug.print("service_rotation: SLOW_DOWN_");
    #endif // DEBUG_SERVICE_ROTATION
    el_slow_down_step = EL_SLOW_DOWN_STEPS - 1;
    if ((el_state == NORMAL_UP) || (el_state == SLOW_START_UP)) {
      el_state = SLOW_DOWN_UP;
      #ifdef DEBUG_SERVICE_ROTATION
      debug.print("UP");
      #endif // DEBUG_SERVICE_ROTATION
    } else {
      el_state = SLOW_DOWN_DOWN;
      #ifdef DEBUG_SERVICE_ROTATION
      debug.print("DOWN");
      #endif // DEBUG_SERVICE_ROTATION
    }

    if ((el_state_was == SLOW_START_UP) || (el_state_was == SLOW_START_DOWN)){
      el_initial_slow_down_voltage = EL_INITIALLY_IN_SLOW_DOWN_PWM;
      update_el_variable_outputs(el_initial_slow_down_voltage);
      #ifdef DEBUG_SERVICE_ROTATION
      debug.print(" SLOW_START -> SLOW_DOWN el_initial_slow_down_voltage:");
      debug.print(el_initial_slow_down_voltage);
      debug.print(" ");
      #endif // DEBUG_SERVICE_ROTATION    

    } else {
      if (EL_SLOW_DOWN_PWM_START < current_el_speed_voltage) {
        update_el_variable_outputs(EL_SLOW_DOWN_PWM_START);
        el_initial_slow_down_voltage = EL_SLOW_DOWN_PWM_START;
      } else {
        el_initial_slow_down_voltage = current_el_speed_voltage;
      }
    }
  }

  // check rotation target --------------------------------------------------------------------------------------------------------
  if ((el_state != IDLE) && (el_request_queue_state == IN_PROGRESS_TO_TARGET) ) {
    read_elevation(0);
    if ((el_state == NORMAL_UP) || (el_state == SLOW_START_UP) || (el_state == SLOW_DOWN_UP)) {
      if ((abs(elevation - target_elevation) < (ELEVATION_TOLERANCE * HEADING_MULTIPLIER)) || ((elevation > target_elevation) && ((elevation - target_elevation) < ((ELEVATION_TOLERANCE + 5) * HEADING_MULTIPLIER)))) {
        #ifndef OPTION_NO_ELEVATION_CHECK_TARGET_DELAY
        delay(50);
        #endif //OPTION_NO_ELEVATION_CHECK_TARGET_DELAY
        read_elevation(0);
        if ((abs(elevation - target_elevation) < (ELEVATION_TOLERANCE * HEADING_MULTIPLIER)) || ((elevation > target_elevation) && ((elevation - target_elevation) < ((ELEVATION_TOLERANCE + 5) * HEADING_MULTIPLIER)))) {
          rotator(DEACTIVATE, UP);
          rotator(DEACTIVATE, DOWN);
          el_state = IDLE;
          el_request_queue_state = NONE;
          #ifdef DEBUG_SERVICE_ROTATION
          debug.print("service_rotation: IDLE");
          #endif // DEBUG_SERVICE_ROTATION
/*control_port->println(abs(elevation - target_elevation));
read_elevation(0);
control_port->println(abs(elevation - target_elevation));
control_port->println();*/
          #if defined(FEATURE_PARK)
          if ((park_status == PARK_INITIATED) && (az_state == IDLE)) {
            park_status = PARKED;
          }
          #endif // defined(FEATURE_PARK)

        }
      }
    } else {
      read_elevation(0);
      if ((abs(elevation - target_elevation) <= (ELEVATION_TOLERANCE * HEADING_MULTIPLIER)) || ((elevation < target_elevation) && ((target_elevation - elevation) < ((ELEVATION_TOLERANCE + 5) * HEADING_MULTIPLIER)))) {
        #ifndef OPTION_NO_ELEVATION_CHECK_TARGET_DELAY
        delay(50);
        #endif //OPTION_NO_ELEVATION_CHECK_TARGET_DELAY
        read_elevation(0);
        if ((abs(elevation - target_elevation) <= (ELEVATION_TOLERANCE * HEADING_MULTIPLIER)) || ((elevation < target_elevation) && ((target_elevation - elevation) < ((ELEVATION_TOLERANCE + 5) * HEADING_MULTIPLIER)))) {
          rotator(DEACTIVATE, UP);
          rotator(DEACTIVATE, DOWN);
          el_state = IDLE;
          el_request_queue_state = NONE;
          #ifdef DEBUG_SERVICE_ROTATION
          debug.print("service_rotation: IDLE");
          #endif // DEBUG_SERVICE_ROTATION
/*control_port->println(abs(elevation - target_elevation));
read_elevation(0);
control_port->println(abs(elevation - target_elevation));
control_port->println();*/
          #if defined(FEATURE_PARK)
          if ((park_status == PARK_INITIATED) && (az_state == IDLE)) {
            park_status = PARKED;
          }
          #endif // defined(FEATURE_PARK)
        }
      }
    }
  }




  #endif // FEATURE_ELEVATION_CONTROL

  #if defined(FEATURE_AZ_POSITION_INCREMENTAL_ENCODER) || defined(FEATURE_EL_POSITION_INCREMENTAL_ENCODER)
  service_rotation_lock = 0;
  #endif

} /* service_rotation */
// --------------------------------------------------------------
void stop_all_tracking(){


  #ifdef FEATURE_MOON_TRACKING
  moon_tracking_active = 0;
  #endif // FEATURE_MOON_TRACKING
  #ifdef FEATURE_SUN_TRACKING
  sun_tracking_active = 0;
  #endif // FEATURE_SUN_TRACKING

}

// --------------------------------------------------------------
void service_request_queue(){

// xxxx

  int work_target_raw_azimuth = 0;
  byte direction_to_go = 0;
  byte within_tolerance_flag = 0;

  if (az_request_queue_state == IN_QUEUE) {


    #ifdef FEATURE_POWER_SWITCH
    last_activity_time = millis();
    #endif //FEATURE_POWER_SWITCH

    #ifdef DEBUG_SERVICE_REQUEST_QUEUE
    debug.print("service_request_queue: AZ ");
    #endif // DEBUG_SERVICE_REQUEST_QUEUE

    switch (az_request) {
      case (REQUEST_STOP):
        #ifdef DEBUG_SERVICE_REQUEST_QUEUE
        debug.print("REQUEST_STOP");
        #endif // DEBUG_SERVICE_REQUEST_QUEUE
        stop_all_tracking();
        #ifdef FEATURE_PARK
        deactivate_park();
        #endif // FEATURE_PARK
        if (az_state != IDLE) {
          if (az_slowdown_active) {
            if ((az_state == TIMED_SLOW_DOWN_CW) || (az_state == TIMED_SLOW_DOWN_CCW) || (az_state == SLOW_DOWN_CW) || (az_state == SLOW_DOWN_CCW)) {  // if we're already in timed slow down and we get another stop, do a hard stop
              rotator(DEACTIVATE, CW);
              rotator(DEACTIVATE, CCW);
              az_state = IDLE;
              az_request_queue_state = NONE;
            }
            if ((az_state == SLOW_START_CW) || (az_state == NORMAL_CW)) {
              az_state = INITIALIZE_TIMED_SLOW_DOWN_CW;
              az_request_queue_state = IN_PROGRESS_TIMED;
              az_last_rotate_initiation = millis();
            }
            if ((az_state == SLOW_START_CCW) || (az_state == NORMAL_CCW)) {
              az_state = INITIALIZE_TIMED_SLOW_DOWN_CCW;
              az_request_queue_state = IN_PROGRESS_TIMED;
              az_last_rotate_initiation = millis();
            }

          } else {
            rotator(DEACTIVATE, CW);
            rotator(DEACTIVATE, CCW);
            az_state = IDLE;
            az_request_queue_state = NONE;
          }
        } else {
          az_request_queue_state = NONE; // nothing to do - we clear the queue
        }
        #ifdef DEBUG_SERVICE_REQUEST_QUEUE
        if (debug_mode) {
          control_port->println();
        }
        #endif // DEBUG_SERVICE_REQUEST_QUEUE
        break; // REQUEST_STOP

      case (REQUEST_AZIMUTH):
        #ifdef DEBUG_SERVICE_REQUEST_QUEUE
        debug.print("REQUEST_AZIMUTH");
        #endif // DEBUG_SERVICE_REQUEST_QUEUE
        if ((az_request_parm >= 0) && (az_request_parm <= (360 * HEADING_MULTIPLIER))) {
          target_azimuth = az_request_parm;
          target_raw_azimuth = az_request_parm;
          if (target_azimuth == (360 * HEADING_MULTIPLIER)) {
            target_azimuth = 0;
          }
          if ((target_azimuth > (azimuth - (AZIMUTH_TOLERANCE * HEADING_MULTIPLIER))) && (target_azimuth < (azimuth + (AZIMUTH_TOLERANCE * HEADING_MULTIPLIER)))) {
            #ifdef DEBUG_SERVICE_REQUEST_QUEUE
            debug.print(" request within tolerance");
            #endif // DEBUG_SERVICE_REQUEST_QUEUE
            within_tolerance_flag = 1;
            az_request_queue_state = NONE;
          } else {  // target azimuth is not within tolerance, we need to rotate
            #ifdef DEBUG_SERVICE_REQUEST_QUEUE
            debug.print(" ->A");
            #endif // DEBUG_SERVICE_REQUEST_QUEUE
            work_target_raw_azimuth = target_azimuth;
            #ifdef DEBUG_SERVICE_REQUEST_QUEUE
            debug.print(" work_target_raw_azimuth:");
            debug.print(work_target_raw_azimuth / HEADING_MULTIPLIER);
            debug.print(" azimuth_starting_point:");
            debug.print(azimuth_starting_point);
            debug.print(" ");
            #endif // DEBUG_SERVICE_REQUEST_QUEUE

            if (work_target_raw_azimuth < (azimuth_starting_point * HEADING_MULTIPLIER)) {
              work_target_raw_azimuth = work_target_raw_azimuth + (360 * HEADING_MULTIPLIER);
              target_raw_azimuth = work_target_raw_azimuth;
              #ifdef DEBUG_SERVICE_REQUEST_QUEUE
              debug.print("->B");
              #endif // DEBUG_SERVICE_REQUEST_QUEUE
            }
            if ((work_target_raw_azimuth + (360 * HEADING_MULTIPLIER)) < ((azimuth_starting_point + azimuth_rotation_capability) * HEADING_MULTIPLIER)) { // is there a second possible heading in overlap?
              if (abs(raw_azimuth - work_target_raw_azimuth) < abs((work_target_raw_azimuth + (360 * HEADING_MULTIPLIER)) - raw_azimuth)) { // is second possible heading closer?
                #ifdef DEBUG_SERVICE_REQUEST_QUEUE
                debug.print("->C");
                #endif // DEBUG_SERVICE_REQUEST_QUEUE
                if (work_target_raw_azimuth  > raw_azimuth) { // not closer, use position in non-overlap
                  direction_to_go = CW;
                  #ifdef DEBUG_SERVICE_REQUEST_QUEUE
                  debug.print("->CW!");
                  #endif // DEBUG_SERVICE_REQUEST_QUEUE
                } else {
                  direction_to_go = CCW;
                  #ifdef DEBUG_SERVICE_REQUEST_QUEUE
                  debug.print("->CCW!");
                  #endif // DEBUG_SERVICE_REQUEST_QUEUE
                }
              } else { // go to position in overlap
                #ifdef DEBUG_SERVICE_REQUEST_QUEUE
                debug.print("->D");
                #endif // DEBUG_SERVICE_REQUEST_QUEUE
                target_raw_azimuth = work_target_raw_azimuth + (360 * HEADING_MULTIPLIER);
                if ((work_target_raw_azimuth + (360 * HEADING_MULTIPLIER)) > raw_azimuth) {
                  direction_to_go = CW;
                  #ifdef DEBUG_SERVICE_REQUEST_QUEUE
                  debug.print("->CW!");
                  #endif // DEBUG_SERVICE_REQUEST_QUEUE
                } else {
                  direction_to_go = CCW;
                  #ifdef DEBUG_SERVICE_REQUEST_QUEUE
                  debug.print("->CCW!");
                  #endif // DEBUG_SERVICE_REQUEST_QUEUE
                }
              }
            } else {  // no possible second heading in overlap
              #ifdef DEBUG_SERVICE_REQUEST_QUEUE
              debug.print("->E");
              #endif // DEBUG_SERVICE_REQUEST_QUEUE
              if (work_target_raw_azimuth  > raw_azimuth) {
                direction_to_go = CW;
              } else {
                direction_to_go = CCW;
              }
            }
          }
        } else {
          #ifdef DEBUG_SERVICE_REQUEST_QUEUE
          debug.print("->F");
          #endif // DEBUG_SERVICE_REQUEST_QUEUE
          if ((az_request_parm > (360 * HEADING_MULTIPLIER)) && (az_request_parm <= ((azimuth_starting_point + azimuth_rotation_capability) * HEADING_MULTIPLIER))) {
            target_azimuth = az_request_parm - (360 * HEADING_MULTIPLIER);
            target_raw_azimuth = az_request_parm;
            if (az_request_parm > raw_azimuth) {
              direction_to_go = CW;
            } else {
              direction_to_go = CCW;
            }
          } else {
            #ifdef DEBUG_SERVICE_REQUEST_QUEUE
            debug.print(" error: bogus azimuth request:");
            debug.print(az_request_parm);
            debug.println("");
            #endif // DEBUG_SERVICE_REQUEST_QUEUE
            rotator(DEACTIVATE, CW);
            rotator(DEACTIVATE, CCW);
            az_state = IDLE;
            az_request_queue_state = NONE;         
            return;
          }
        }
        if (direction_to_go == CW) {
          if (((az_state == SLOW_START_CCW) || (az_state == NORMAL_CCW) || (az_state == SLOW_DOWN_CCW) || (az_state == TIMED_SLOW_DOWN_CCW)) && (az_slowstart_active)) {
            az_state = INITIALIZE_DIR_CHANGE_TO_CW;
            #ifdef DEBUG_SERVICE_REQUEST_QUEUE
            debug.print(" INITIALIZE_DIR_CHANGE_TO_CW");
            #endif // DEBUG_SERVICE_REQUEST_QUEUE
          } else {
            if ((az_state != INITIALIZE_SLOW_START_CW) && (az_state != SLOW_START_CW) && (az_state != NORMAL_CW)) { // if we're already rotating CW, don't do anything
              // rotator(ACTIVATE,CW);
              if (az_slowstart_active) {
                az_state = INITIALIZE_SLOW_START_CW;
              } else { az_state = INITIALIZE_NORMAL_CW; };
            }
          }
        }
        if (direction_to_go == CCW) {
          if (((az_state == SLOW_START_CW) || (az_state == NORMAL_CW) || (az_state == SLOW_DOWN_CW) || (az_state == TIMED_SLOW_DOWN_CW)) && (az_slowstart_active)) {
            az_state = INITIALIZE_DIR_CHANGE_TO_CCW;
            #ifdef DEBUG_SERVICE_REQUEST_QUEUE
            debug.print(" INITIALIZE_DIR_CHANGE_TO_CCW");
            #endif // DEBUG_SERVICE_REQUEST_QUEUE
          } else {
            if ((az_state != INITIALIZE_SLOW_START_CCW) && (az_state != SLOW_START_CCW) && (az_state != NORMAL_CCW)) { // if we're already rotating CCW, don't do anything
              // rotator(ACTIVATE,CCW);
              if (az_slowstart_active) {
                az_state = INITIALIZE_SLOW_START_CCW;
              } else { az_state = INITIALIZE_NORMAL_CCW; };
            }
          }
        }
        if (!within_tolerance_flag) {
          az_request_queue_state = IN_PROGRESS_TO_TARGET;
          az_last_rotate_initiation = millis();
        }
        #ifdef DEBUG_SERVICE_REQUEST_QUEUE
        if (debug_mode) {
          control_port->println();
        }
        #endif // DEBUG_SERVICE_REQUEST_QUEUE
        break; // REQUEST_AZIMUTH

      case (REQUEST_AZIMUTH_RAW):
        #ifdef DEBUG_SERVICE_REQUEST_QUEUE
        debug.print("REQUEST_AZIMUTH_RAW");
        #endif // DEBUG_SERVICE_REQUEST_QUEUE
        target_raw_azimuth = az_request_parm;
        target_azimuth = target_raw_azimuth;
        if (target_azimuth >= (360 * HEADING_MULTIPLIER)) {
          target_azimuth = target_azimuth - (360 * HEADING_MULTIPLIER);
        }

        if (((abs(raw_azimuth - target_raw_azimuth) < (AZIMUTH_TOLERANCE * HEADING_MULTIPLIER))) && (az_state == IDLE)) {
          #ifdef DEBUG_SERVICE_REQUEST_QUEUE
          debug.print(" request within tolerance");
          #endif // DEBUG_SERVICE_REQUEST_QUEUE
          az_request_queue_state = NONE;
          within_tolerance_flag = 1;
        } else {
          if (target_raw_azimuth > raw_azimuth) {
            if (((az_state == SLOW_START_CCW) || (az_state == NORMAL_CCW) || (az_state == SLOW_DOWN_CCW) || (az_state == TIMED_SLOW_DOWN_CCW)) && (az_slowstart_active)) {
              az_state = INITIALIZE_DIR_CHANGE_TO_CW;
              #ifdef DEBUG_SERVICE_REQUEST_QUEUE
              debug.print(" INITIALIZE_DIR_CHANGE_TO_CW");
              #endif // DEBUG_SERVICE_REQUEST_QUEUE
            } else {
              if ((az_state != INITIALIZE_SLOW_START_CW) && (az_state != SLOW_START_CW) && (az_state != NORMAL_CW)) { // if we're already rotating CW, don't do anything
                if (az_slowstart_active) {
                  az_state = INITIALIZE_SLOW_START_CW;
                } else { az_state = INITIALIZE_NORMAL_CW; };
              }
            }
          }
          if (target_raw_azimuth < raw_azimuth) {
            if (((az_state == SLOW_START_CW) || (az_state == NORMAL_CW) || (az_state == SLOW_DOWN_CW) || (az_state == TIMED_SLOW_DOWN_CW)) && (az_slowstart_active)) {
              az_state = INITIALIZE_DIR_CHANGE_TO_CCW;
              #ifdef DEBUG_SERVICE_REQUEST_QUEUE
              debug.print(" INITIALIZE_DIR_CHANGE_TO_CCW");
              #endif // DEBUG_SERVICE_REQUEST_QUEUE
            } else {
              if ((az_state != INITIALIZE_SLOW_START_CCW) && (az_state != SLOW_START_CCW) && (az_state != NORMAL_CCW)) { // if we're already rotating CCW, don't do anything
                if (az_slowstart_active) {
                  az_state = INITIALIZE_SLOW_START_CCW;
                } else { az_state = INITIALIZE_NORMAL_CCW; };
              }
            }
          }
          if (!within_tolerance_flag) {
            az_request_queue_state = IN_PROGRESS_TO_TARGET;
            az_last_rotate_initiation = millis();
          }
        }
      #ifdef DEBUG_SERVICE_REQUEST_QUEUE
        if (debug_mode) {
          control_port->println();
        }
      #endif // DEBUG_SERVICE_REQUEST_QUEUE
        break; // REQUEST_AZIMUTH_RAW

      case (REQUEST_CW):
        #ifdef DEBUG_SERVICE_REQUEST_QUEUE
        debug.print("REQUEST_CW");
        #endif // DEBUG_SERVICE_REQUEST_QUEUE
        stop_all_tracking();
        #ifdef FEATURE_PARK
        deactivate_park();
        #endif // FEATURE_PARK
        if (((az_state == SLOW_START_CCW) || (az_state == NORMAL_CCW) || (az_state == SLOW_DOWN_CCW) || (az_state == TIMED_SLOW_DOWN_CCW)) && (az_slowstart_active)) {
          az_state = INITIALIZE_DIR_CHANGE_TO_CW;
          #ifdef DEBUG_SERVICE_REQUEST_QUEUE
          debug.print(" INITIALIZE_DIR_CHANGE_TO_CW");
          #endif // DEBUG_SERVICE_REQUEST_QUEUE
        } else {
          if ((az_state != SLOW_START_CW) && (az_state != NORMAL_CW)) {
            // rotator(ACTIVATE,CW);
            if (az_slowstart_active) {
              az_state = INITIALIZE_SLOW_START_CW;
            } else { 
              az_state = INITIALIZE_NORMAL_CW;
            };
          }
        }
        az_request_queue_state = NONE;
        az_last_rotate_initiation = millis();
        #ifdef DEBUG_SERVICE_REQUEST_QUEUE
        if (debug_mode) {
          control_port->println();
        }
        #endif // DEBUG_SERVICE_REQUEST_QUEUE
        break; // REQUEST_CW

      case (REQUEST_CCW):
        #ifdef DEBUG_SERVICE_REQUEST_QUEUE
        debug.print("REQUEST_CCW");
        #endif // DEBUG_SERVICE_REQUEST_QUEUE
        stop_all_tracking();
        #ifdef FEATURE_PARK
        deactivate_park();
        #endif // FEATURE_PARK
        if (((az_state == SLOW_START_CW) || (az_state == NORMAL_CW) || (az_state == SLOW_DOWN_CW) || (az_state == TIMED_SLOW_DOWN_CW)) && (az_slowstart_active)) {
          az_state = INITIALIZE_DIR_CHANGE_TO_CCW;
          #ifdef DEBUG_SERVICE_REQUEST_QUEUE
          debug.print(" INITIALIZE_DIR_CHANGE_TO_CCW");
          #endif // DEBUG_SERVICE_REQUEST_QUEUE
        } else {
          if ((az_state != SLOW_START_CCW) && (az_state != NORMAL_CCW)) {
            // rotator(ACTIVATE,CCW);
            if (az_slowstart_active) {
              az_state = INITIALIZE_SLOW_START_CCW;
            } else { az_state = INITIALIZE_NORMAL_CCW; };
          }
        }
        az_request_queue_state = NONE;
        az_last_rotate_initiation = millis();
        #ifdef DEBUG_SERVICE_REQUEST_QUEUE
        if (debug_mode) {
          control_port->println();
        }
        #endif // DEBUG_SERVICE_REQUEST_QUEUE
        break; // REQUEST_CCW

      case (REQUEST_KILL):
        #ifdef DEBUG_SERVICE_REQUEST_QUEUE
        debug.print("REQUEST_KILL");
        #endif // DEBUG_SERVICE_REQUEST_QUEUE
        stop_all_tracking();
        #ifdef FEATURE_PARK
        deactivate_park();
        #endif // FEATURE_PARK
        rotator(DEACTIVATE, CW);
        rotator(DEACTIVATE, CCW);
        az_state = IDLE;
        az_request_queue_state = NONE;
        #ifdef DEBUG_SERVICE_REQUEST_QUEUE
        debug.println("");
        #endif // DEBUG_SERVICE_REQUEST_QUEUE
        break; // REQUEST_KILL
    } /* switch */

    #ifdef FEATURE_LCD_DISPLAY
    if (az_request_queue_state != IN_QUEUE) {push_lcd_update = 1;}
    #endif //FEATURE_LCD_DISPLAY
  }

  #ifdef FEATURE_ELEVATION_CONTROL
  if (el_request_queue_state == IN_QUEUE) {

    #ifdef FEATURE_POWER_SWITCH
    last_activity_time = millis();
    #endif //FEATURE_POWER_SWITCH

    within_tolerance_flag = 0;
    #ifdef DEBUG_SERVICE_REQUEST_QUEUE
    debug.print("service_request_queue: EL ");
    #endif // DEBUG_SERVICE_REQUEST_QUEUE
    switch (el_request) {
      case (REQUEST_ELEVATION):
        #ifdef DEBUG_SERVICE_REQUEST_QUEUE
        debug.print("REQUEST_ELEVATION ");
        #endif // DEBUG_SERVICE_REQUEST_QUEUE
        target_elevation = el_request_parm;

        if (target_elevation > (ELEVATION_MAXIMUM_DEGREES * HEADING_MULTIPLIER)) {
          target_elevation = ELEVATION_MAXIMUM_DEGREES * HEADING_MULTIPLIER;
          #ifdef DEBUG_SERVICE_REQUEST_QUEUE
          if (debug_mode) {
            debug.print(F("REQUEST_ELEVATION: target_elevation > ELEVATION_MAXIMUM_DEGREES"));
          }
          #endif // DEBUG_SERVICE_REQUEST_QUEUE
        }

        #ifdef OPTION_EL_MANUAL_ROTATE_LIMITS
        if (target_elevation < (EL_MANUAL_ROTATE_DOWN_LIMIT * HEADING_MULTIPLIER)) {
          target_elevation = EL_MANUAL_ROTATE_DOWN_LIMIT * HEADING_MULTIPLIER;
          #ifdef DEBUG_SERVICE_REQUEST_QUEUE
          if (debug_mode) {
            debug.print(F("REQUEST_ELEVATION: target_elevation < EL_MANUAL_ROTATE_DOWN_LIMIT"));
          }
          #endif // DEBUG_SERVICE_REQUEST_QUEUE
        }
        if (target_elevation > (EL_MANUAL_ROTATE_UP_LIMIT * HEADING_MULTIPLIER)) {
          target_elevation = EL_MANUAL_ROTATE_UP_LIMIT * HEADING_MULTIPLIER;
          #ifdef DEBUG_SERVICE_REQUEST_QUEUE
          if (debug_mode) {
            debug.print(F("REQUEST_ELEVATION: target_elevation > EL_MANUAL_ROTATE_UP_LIMIT"));
          }
          #endif // DEBUG_SERVICE_REQUEST_QUEUE
        }
        #endif // OPTION_EL_MANUAL_ROTATE_LIMITS

        if (abs(target_elevation - elevation) < (ELEVATION_TOLERANCE * HEADING_MULTIPLIER)) {
          #ifdef DEBUG_SERVICE_REQUEST_QUEUE
          if (debug_mode) {
            debug.print(F("requested elevation within tolerance\n"));
          }
          #endif // DEBUG_SERVICE_REQUEST_QUEUE
          within_tolerance_flag = 1;
          el_request_queue_state = NONE;
        } else {
          if (target_elevation > elevation) {
            if (((el_state == SLOW_START_DOWN) || (el_state == NORMAL_DOWN) || (el_state == SLOW_DOWN_DOWN) || (el_state == TIMED_SLOW_DOWN_DOWN)) && (el_slowstart_active)) {
              el_state = INITIALIZE_DIR_CHANGE_TO_UP;
                #ifdef DEBUG_SERVICE_REQUEST_QUEUE
              if (debug_mode) {
                debug.print(F(" INITIALIZE_DIR_CHANGE_TO_UP\n"));
              }
                #endif // DEBUG_SERVICE_REQUEST_QUEUE
            } else {
              if ((el_state != INITIALIZE_SLOW_START_UP) && (el_state != SLOW_START_UP) && (el_state != NORMAL_UP)) { // if we're already rotating UP, don't do anything
                if (el_slowstart_active) {
                  el_state = INITIALIZE_SLOW_START_UP;
                } else { el_state = INITIALIZE_NORMAL_UP; };
              }
            }
          } // (target_elevation > elevation)
          if (target_elevation < elevation) {
            if (((el_state == SLOW_START_UP) || (el_state == NORMAL_UP) || (el_state == SLOW_DOWN_UP) || (el_state == TIMED_SLOW_DOWN_UP)) && (el_slowstart_active)) {
              el_state = INITIALIZE_DIR_CHANGE_TO_DOWN;
              #ifdef DEBUG_SERVICE_REQUEST_QUEUE
              if (debug_mode) {
                debug.print(F(" INITIALIZE_DIR_CHANGE_TO_DOWN\n"));
              }
              #endif // DEBUG_SERVICE_REQUEST_QUEUE
            } else {
              if ((el_state != INITIALIZE_SLOW_START_DOWN) && (el_state != SLOW_START_DOWN) && (el_state != NORMAL_DOWN)) { // if we're already rotating DOWN, don't do anything
                if (el_slowstart_active) {
                  el_state = INITIALIZE_SLOW_START_DOWN;
                } else { el_state = INITIALIZE_NORMAL_DOWN; };
              }
            }
          }  // (target_elevation < elevation)
        }  // (abs(target_elevation - elevation) < ELEVATION_TOLERANCE)
        if (!within_tolerance_flag) {
          el_request_queue_state = IN_PROGRESS_TO_TARGET;
          el_last_rotate_initiation = millis();
        }
        #ifdef DEBUG_SERVICE_REQUEST_QUEUE
        if (debug_mode) {
          control_port->println();
        }
        #endif // DEBUG_SERVICE_REQUEST_QUEUE
        break; // REQUEST_ELEVATION

      case (REQUEST_UP):
        #ifdef DEBUG_SERVICE_REQUEST_QUEUE
        if (debug_mode) {
          debug.print(F("REQUEST_UP\n"));
        }
        #endif // DEBUG_SERVICE_REQUEST_QUEUE
        stop_all_tracking();
        #ifdef FEATURE_PARK
        deactivate_park();
        #endif // FEATURE_PARK
        if (((el_state == SLOW_START_DOWN) || (el_state == NORMAL_DOWN) || (el_state == SLOW_DOWN_DOWN) || (el_state == TIMED_SLOW_DOWN_DOWN)) && (el_slowstart_active)) {
          el_state = INITIALIZE_DIR_CHANGE_TO_UP;
          #ifdef DEBUG_SERVICE_REQUEST_QUEUE
          if (debug_mode) {
            debug.print(F("service_request_queue: INITIALIZE_DIR_CHANGE_TO_UP\n"));
          }
          #endif // DEBUG_SERVICE_REQUEST_QUEUE
        } else {
          if ((el_state != SLOW_START_UP) && (el_state != NORMAL_UP)) {
            if (el_slowstart_active) {
              el_state = INITIALIZE_SLOW_START_UP;
            } else { el_state = INITIALIZE_NORMAL_UP; };
          }
        }
        el_request_queue_state = NONE;
        el_last_rotate_initiation = millis();
          #ifdef DEBUG_SERVICE_REQUEST_QUEUE
        if (debug_mode) {
          control_port->println();
        }
          #endif // DEBUG_SERVICE_REQUEST_QUEUE
        break; // REQUEST_UP

      case (REQUEST_DOWN):
        #ifdef DEBUG_SERVICE_REQUEST_QUEUE
        if (debug_mode) {
          debug.print(F("REQUEST_DOWN\n"));
        }
        #endif // DEBUG_SERVICE_REQUEST_QUEUE
        stop_all_tracking();
        #ifdef FEATURE_PARK
        deactivate_park();
        #endif // FEATURE_PARK
        if (((el_state == SLOW_START_UP) || (el_state == NORMAL_UP) || (el_state == SLOW_DOWN_UP) || (el_state == TIMED_SLOW_DOWN_UP)) && (el_slowstart_active)) {
          el_state = INITIALIZE_DIR_CHANGE_TO_DOWN;
          #ifdef DEBUG_SERVICE_REQUEST_QUEUE
          if (debug_mode) {
            debug.print(F("service_request_queue: INITIALIZE_DIR_CHANGE_TO_DOWN\n"));
          }
          #endif // DEBUG_SERVICE_REQUEST_QUEUE
        } else {
          if ((el_state != SLOW_START_DOWN) && (el_state != NORMAL_DOWN)) {
            if (el_slowstart_active) {
              el_state = INITIALIZE_SLOW_START_DOWN;
            } else { el_state = INITIALIZE_NORMAL_DOWN; };
          }
        }
        el_request_queue_state = NONE;
        el_last_rotate_initiation = millis();
        #ifdef DEBUG_SERVICE_REQUEST_QUEUE
        if (debug_mode) {
          control_port->println();
        }
        #endif // DEBUG_SERVICE_REQUEST_QUEUE
        break; // REQUEST_DOWN

      case (REQUEST_STOP):
        #ifdef DEBUG_SERVICE_REQUEST_QUEUE
        if (debug_mode) {
          debug.print(F("REQUEST_STOP\n"));
        }
        #endif // DEBUG_SERVICE_REQUEST_QUEUE
        stop_all_tracking();
        #ifdef FEATURE_PARK
        deactivate_park();
        #endif // FEATURE_PARK
        if (el_state != IDLE) {
          if (el_slowdown_active) {
            if ((el_state == TIMED_SLOW_DOWN_UP) || (el_state == TIMED_SLOW_DOWN_DOWN) || (el_state == SLOW_DOWN_UP) || (el_state == SLOW_DOWN_DOWN)) {  // if we're already in timed slow down and we get another stop, do a hard stop
              rotator(DEACTIVATE, UP);
              rotator(DEACTIVATE, DOWN);
              el_state = IDLE;
              el_request_queue_state = NONE;
            }
            if ((el_state == SLOW_START_UP) || (el_state == NORMAL_UP)) {
              el_state = INITIALIZE_TIMED_SLOW_DOWN_UP;
              el_request_queue_state = IN_PROGRESS_TIMED;
              el_last_rotate_initiation = millis();
            }
            if ((el_state == SLOW_START_DOWN) || (el_state == NORMAL_DOWN)) {
              el_state = INITIALIZE_TIMED_SLOW_DOWN_DOWN;
              el_request_queue_state = IN_PROGRESS_TIMED;
              el_last_rotate_initiation = millis();
            }
          } else {
            rotator(DEACTIVATE, UP);
            rotator(DEACTIVATE, DOWN);
            el_state = IDLE;
            el_request_queue_state = NONE;
          }
        } else {
          el_request_queue_state = NONE; // nothing to do, we're already in IDLE state
        }
        #ifdef DEBUG_SERVICE_REQUEST_QUEUE
        if (debug_mode) {
          control_port->println();
        }
        #endif // DEBUG_SERVICE_REQUEST_QUEUE
        break; // REQUEST_STOP

      case (REQUEST_KILL):
        #ifdef DEBUG_SERVICE_REQUEST_QUEUE
        if (debug_mode) {
          debug.print(F("REQUEST_KILL\n"));
        }
        #endif // DEBUG_SERVICE_REQUEST_QUEUE
        stop_all_tracking();
        #ifdef FEATURE_PARK
        deactivate_park();
        #endif // FEATURE_PARK
        rotator(DEACTIVATE, UP);
        rotator(DEACTIVATE, DOWN);
        el_state = IDLE;
        el_request_queue_state = NONE;
        #ifdef DEBUG_SERVICE_REQUEST_QUEUE
        if (debug_mode) {
          control_port->println();
        }
        #endif // DEBUG_SERVICE_REQUEST_QUEUE
        break; // REQUEST_KILL
    } /* switch */

    #ifdef FEATURE_LCD_DISPLAY
    if (el_request_queue_state != IN_QUEUE) {push_lcd_update = 1;}
    #endif //FEATURE_LCD_DISPLAY

  } // (el_request_queue_state == IN_QUEUE)
  #endif // FEATURE_ELEVATION_CONTROL


} /* service_request_queue */

// --------------------------------------------------------------
void check_for_dirty_configuration(){

  static unsigned long last_config_write_time = 0;

  if ((configuration_dirty) && ((millis() - last_config_write_time) > (EEPROM_WRITE_DIRTY_CONFIG_TIME * 1000))) {
    write_settings_to_eeprom();
    last_config_write_time = millis();
  }

}

// --------------------------------------------------------------
byte current_az_state(){

  if ((az_state == SLOW_START_CW) || (az_state == NORMAL_CW) || (az_state == SLOW_DOWN_CW) || (az_state == TIMED_SLOW_DOWN_CW)) {
    return ROTATING_CW;
  }
  if ((az_state == SLOW_START_CCW) || (az_state == NORMAL_CCW) || (az_state == SLOW_DOWN_CCW) || (az_state == TIMED_SLOW_DOWN_CCW)) {
    return ROTATING_CCW;
  }
  return NOT_DOING_ANYTHING;

}
// --------------------------------------------------------------
#ifdef FEATURE_ELEVATION_CONTROL
byte current_el_state(){

  if ((el_state == SLOW_START_UP) || (el_state == NORMAL_UP) || (el_state == SLOW_DOWN_UP) || (el_state == TIMED_SLOW_DOWN_UP)) {
    return ROTATING_UP;
  }
  if ((el_state == SLOW_START_DOWN) || (el_state == NORMAL_DOWN) || (el_state == SLOW_DOWN_DOWN) || (el_state == TIMED_SLOW_DOWN_DOWN)) {
    return ROTATING_DOWN;
  }
  return NOT_DOING_ANYTHING;

}
#endif // FEATURE_ELEVATION_CONTROL
// --------------------------------------------------------------
#ifdef FEATURE_AZ_POSITION_PULSE_INPUT
void az_position_pulse_interrupt_handler(){


 #ifdef DEBUG_POSITION_PULSE_INPUT
  // az_position_pule_interrupt_handler_flag++;
  az_pulse_counter++;
  #endif // DEBUG_POSITION_PULSE_INPUT

  if (current_az_state() == ROTATING_CW) {
    az_position_pulse_input_azimuth += AZ_POSITION_PULSE_DEG_PER_PULSE;
    last_known_az_state = ROTATING_CW;
  } else {
    if (current_az_state() == ROTATING_CCW) {
      az_position_pulse_input_azimuth -= AZ_POSITION_PULSE_DEG_PER_PULSE;
      last_known_az_state = ROTATING_CCW;
    } else {
          #ifndef OPTION_PULSE_IGNORE_AMBIGUOUS_PULSES
      if (last_known_az_state == ROTATING_CW) {
        az_position_pulse_input_azimuth += AZ_POSITION_PULSE_DEG_PER_PULSE;
      } else {
        if (last_known_az_state == ROTATING_CCW) {
          az_position_pulse_input_azimuth -= AZ_POSITION_PULSE_DEG_PER_PULSE;
        }
      }
            #endif // OPTION_PULSE_IGNORE_AMBIGUOUS_PULSES
            #ifdef DEBUG_POSITION_PULSE_INPUT
      az_pulse_counter_ambiguous++;
            #endif // DEBUG_POSITION_PULSE_INPUT
    }
  }

  #ifdef OPTION_AZ_POSITION_PULSE_HARD_LIMIT
  if (az_position_pulse_input_azimuth < azimuth_starting_point) {
    az_position_pulse_input_azimuth = azimuth_starting_point;
  }
  if (az_position_pulse_input_azimuth > (azimuth_starting_point + azimuth_rotation_capability)) {
    az_position_pulse_input_azimuth = (azimuth_starting_point + azimuth_rotation_capability);
  }
  #else
  if (az_position_pulse_input_azimuth < 0) {
    az_position_pulse_input_azimuth += 360;
  }
  if (az_position_pulse_input_azimuth >= 360) {
    az_position_pulse_input_azimuth -= 360;
  }
  #endif // OPTION_AZ_POSITION_PULSE_HARD_LIMIT

} /* az_position_pulse_interrupt_handler */
#endif // FEATURE_AZ_POSITION_PULSE_INPUT
// --------------------------------------------------------------
#ifdef FEATURE_ELEVATION_CONTROL
#ifdef FEATURE_EL_POSITION_PULSE_INPUT
void el_position_pulse_interrupt_handler(){

  #ifdef DEBUG_POSITION_PULSE_INPUT
  // el_position_pule_interrupt_handler_flag++;
  el_pulse_counter++;
  #endif // DEBUG_POSITION_PULSE_INPUT



  #ifdef OPTION_EL_PULSE_DEBOUNCE //---------------------------------------------
  if ((millis()-last_el_pulse_debounce) > EL_POSITION_PULSE_DEBOUNCE) {
    if (current_el_state() == ROTATING_UP) {
      el_position_pulse_input_elevation += EL_POSITION_PULSE_DEG_PER_PULSE;
      last_known_el_state = ROTATING_UP;
    } else {
      if (current_el_state() == ROTATING_DOWN) {
        el_position_pulse_input_elevation -= EL_POSITION_PULSE_DEG_PER_PULSE;
        last_known_el_state = ROTATING_DOWN;
      } else {
        #ifndef OPTION_PULSE_IGNORE_AMBIGUOUS_PULSES
        if (last_known_el_state == ROTATING_UP) {
          el_position_pulse_input_elevation += EL_POSITION_PULSE_DEG_PER_PULSE;
        } else {
          if (last_known_el_state == ROTATING_DOWN) {
            el_position_pulse_input_elevation -= EL_POSITION_PULSE_DEG_PER_PULSE;
          }
        }
        #endif // OPTION_PULSE_IGNORE_AMBIGUOUS_PULSES
        #ifdef DEBUG_POSITION_PULSE_INPUT
        el_pulse_counter_ambiguous++;
        #endif // DEBUG_POSITION_PULSE_INPUT
      }
    }
    last_el_pulse_debounce = millis();
  }

  #else //OPTION_EL_PULSE_DEBOUNCE -----------------------



  if (current_el_state() == ROTATING_UP) {
    el_position_pulse_input_elevation += EL_POSITION_PULSE_DEG_PER_PULSE;
    last_known_el_state = ROTATING_UP;
  } else {
    if (current_el_state() == ROTATING_DOWN) {
      el_position_pulse_input_elevation -= EL_POSITION_PULSE_DEG_PER_PULSE;
      last_known_el_state = ROTATING_DOWN;
    } else {
      #ifndef OPTION_PULSE_IGNORE_AMBIGUOUS_PULSES
      if (last_known_el_state == ROTATING_UP) {
        el_position_pulse_input_elevation += EL_POSITION_PULSE_DEG_PER_PULSE;
      } else {
        if (last_known_el_state == ROTATING_DOWN) {
          el_position_pulse_input_elevation -= EL_POSITION_PULSE_DEG_PER_PULSE;
        }
      }
      #endif // OPTION_PULSE_IGNORE_AMBIGUOUS_PULSES
      #ifdef DEBUG_POSITION_PULSE_INPUT
      el_pulse_counter_ambiguous++;
      #endif // DEBUG_POSITION_PULSE_INPUT
    }
  }
  #endif //OPTION_EL_PULSE_DEBOUNCE --------------------------

  #ifdef OPTION_EL_POSITION_PULSE_HARD_LIMIT
  if (el_position_pulse_input_elevation < 0) {
    el_position_pulse_input_elevation = 0;
  }
  if (el_position_pulse_input_elevation > ELEVATION_MAXIMUM_DEGREES) {
    el_position_pulse_input_elevation = ELEVATION_MAXIMUM_DEGREES;
  }
  #endif // OPTION_EL_POSITION_PULSE_HARD_LIMIT


} /* el_position_pulse_interrupt_handler */
#endif // FEATURE_EL_POSITION_PULSE_INPUT
#endif // FEATURE_ELEVATION_CONTROL
// --------------------------------------------------------------------------
#if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
byte submit_remote_command(byte remote_command_to_send, byte parm1, int parm2){

  #ifdef FEATURE_MASTER_WITH_ETHERNET_SLAVE
  char ethernet_send_string[32];
  char temp_string[32];
  #endif //FEATURE_MASTER_WITH_ETHERNET_SLAVE

  #ifdef FEATURE_MASTER_WITH_ETHERNET_SLAVE
  if (ethernetslavelinkclient0_state != ETHERNET_SLAVE_CONNECTED){return 0;}
  #endif //FEATURE_MASTER_WITH_ETHERNET_SLAVE

  if ((remote_unit_command_submitted && ((remote_command_to_send == REMOTE_UNIT_AZ_COMMAND) || (remote_command_to_send == REMOTE_UNIT_EL_COMMAND) || (remote_command_to_send == REMOTE_UNIT_CL_COMMAND))) || suspend_remote_commands) {
    return 0;
  } else {
    switch (remote_command_to_send) {
      case REMOTE_UNIT_CL_COMMAND:
        #ifdef FEATURE_MASTER_WITH_SERIAL_SLAVE
        remote_unit_port->println("CL");
        #endif //FEATURE_MASTER_WITH_SERIAL_SLAVE
        #ifdef FEATURE_MASTER_WITH_ETHERNET_SLAVE
        ethernet_slave_link_send("CL");
        #endif //FEATURE_MASTER_WITH_ETHERNET_SLAVE
        #if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
        if (remote_port_tx_sniff) {control_port->println("CL");}
        #endif
        remote_unit_command_submitted = REMOTE_UNIT_CL_COMMAND;
        break;


      case REMOTE_UNIT_AZ_COMMAND:
        #ifdef FEATURE_MASTER_WITH_SERIAL_SLAVE
        remote_unit_port->println("AZ");
        #endif //FEATURE_MASTER_WITH_SERIAL_SLAVE
        #ifdef FEATURE_MASTER_WITH_ETHERNET_SLAVE
        ethernet_slave_link_send("AZ");
        #endif //FEATURE_MASTER_WITH_ETHERNET_SLAVE
        #if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
        if (remote_port_tx_sniff) {control_port->println("AZ");}
        #endif
        remote_unit_command_submitted = REMOTE_UNIT_AZ_COMMAND;
        break;

      case REMOTE_UNIT_EL_COMMAND:
        #ifdef FEATURE_MASTER_WITH_SERIAL_SLAVE
        remote_unit_port->println("EL");
        #endif //FEATURE_MASTER_WITH_SERIAL_SLAVE
        #ifdef FEATURE_MASTER_WITH_ETHERNET_SLAVE
        ethernet_slave_link_send("EL");
        #endif //FEATURE_MASTER_WITH_ETHERNET_SLAVE        
        #if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
        if (remote_port_tx_sniff) {control_port->println("EL");}
        #endif
        remote_unit_command_submitted = REMOTE_UNIT_EL_COMMAND;
        break;


      case REMOTE_UNIT_AW_COMMAND:
        #ifdef FEATURE_MASTER_WITH_SERIAL_SLAVE
        take_care_of_pending_remote_command();
        remote_unit_port->print("AW");
        parm1 = parm1 - 100;   // pin number
        if (parm1 < 10) {remote_unit_port->print("0");}
        remote_unit_port->print(parm1);
        if (parm2 < 10) {remote_unit_port->print("0");}
        if (parm2 < 100) {remote_unit_port->print("0");}
        remote_unit_port->println(parm2);
        #endif //FEATURE_MASTER_WITH_SERIAL_SLAVE

        #ifdef FEATURE_MASTER_WITH_ETHERNET_SLAVE
        take_care_of_pending_remote_command();
        strcpy(ethernet_send_string,"AW");
        parm1 = parm1 - 100;   // pin number
        if (parm1 < 10) {strcat(ethernet_send_string,"0");}
        dtostrf(parm1,0,0,temp_string);
        if (parm2 < 10) {strcat(ethernet_send_string,"0");}
        if (parm2 < 100) {strcat(ethernet_send_string,"0");}
        dtostrf(parm2,0,0,temp_string);
        strcat(ethernet_send_string,temp_string);
        ethernet_slave_link_send(ethernet_send_string);
        #endif //FEATURE_MASTER_WITH_ETHERNET_SLAVE

        remote_unit_command_submitted = REMOTE_UNIT_OTHER_COMMAND;
        break;

      case REMOTE_UNIT_DHL_COMMAND:
        #ifdef FEATURE_MASTER_WITH_SERIAL_SLAVE
        take_care_of_pending_remote_command();
        remote_unit_port->print("D");
        if (parm2 == HIGH) {remote_unit_port->print("H");} else {remote_unit_port->print("L");}
        parm1 = parm1 - 100;
        if (parm1 < 10) {remote_unit_port->print("0");}
        remote_unit_port->println(parm1);
        #endif //FEATURE_MASTER_WITH_SERIAL_SLAVE


        #ifdef FEATURE_MASTER_WITH_ETHERNET_SLAVE
        take_care_of_pending_remote_command();
        strcpy(ethernet_send_string,"D");
        if (parm2 == HIGH) {strcat(ethernet_send_string,"H");} else {strcat(ethernet_send_string,"L");}
        parm1 = parm1 - 100;
        if (parm1 < 10) {strcat(ethernet_send_string,"0");}
        dtostrf(parm1,0,0,temp_string);
        strcat(ethernet_send_string,temp_string);
        ethernet_slave_link_send(ethernet_send_string);
        #endif //FEATURE_MASTER_WITH_ETHERNET_SLAVE

        remote_unit_command_submitted = REMOTE_UNIT_OTHER_COMMAND;

        break;

      case REMOTE_UNIT_DOI_COMMAND:
        #ifdef FEATURE_MASTER_WITH_SERIAL_SLAVE
        take_care_of_pending_remote_command();
        remote_unit_port->print("D");
        if (parm2 == OUTPUT) {remote_unit_port->print("O");} else {remote_unit_port->print("I");}
        parm1 = parm1 - 100;
        if (parm1 < 10) {remote_unit_port->print("0");}
        remote_unit_port->println(parm1);
        remote_unit_command_submitted = REMOTE_UNIT_OTHER_COMMAND;
        // get_remote_port_ok_response();
        #endif //FEATURE_MASTER_WITH_SERIAL_SLAVE

        #ifdef FEATURE_MASTER_WITH_ETHERNET_SLAVE
        take_care_of_pending_remote_command();
        strcpy(ethernet_send_string,"D");
        if (parm2 == OUTPUT) {strcat(ethernet_send_string,"O");} else {strcat(ethernet_send_string,"I");}
        parm1 = parm1 - 100;
        if (parm1 < 10) {strcat(ethernet_send_string,"0");}
        dtostrf(parm1,0,0,temp_string);
        strcat(ethernet_send_string,temp_string);
        ethernet_slave_link_send(ethernet_send_string);
        remote_unit_command_submitted = REMOTE_UNIT_OTHER_COMMAND;
        #endif //FEATURE_MASTER_WITH_ETHERNET_SLAVE

        break;

      case REMOTE_UNIT_GS_COMMAND:
        #ifdef FEATURE_MASTER_WITH_SERIAL_SLAVE
        remote_unit_port->println("GS");
        #endif //FEATURE_MASTER_WITH_SERIAL_SLAVE
        #ifdef FEATURE_MASTER_WITH_ETHERNET_SLAVE
        ethernet_slave_link_send("GS");
        #endif //FEATURE_MASTER_WITH_ETHERNET_SLAVE
        #if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
        if (remote_port_tx_sniff) {control_port->println("GS");}
        #endif
        remote_unit_command_submitted = REMOTE_UNIT_GS_COMMAND;
        break;

      case REMOTE_UNIT_RC_COMMAND:    
        #ifdef FEATURE_MASTER_WITH_SERIAL_SLAVE
        remote_unit_port->println("RC");
        #endif //FEATURE_MASTER_WITH_SERIAL_SLAVE
        #ifdef FEATURE_MASTER_WITH_ETHERNET_SLAVE
        ethernet_slave_link_send("RC");
        #endif //FEATURE_MASTER_WITH_ETHERNET_SLAVE
        #if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
        if (remote_port_tx_sniff) {control_port->println("RC");}
        #endif
        remote_unit_command_submitted = REMOTE_UNIT_RC_COMMAND;
        break;

    } /* switch */
    last_remote_unit_command_time = millis();
    remote_unit_command_results_available = 0;
    return 1;
  }



} /* submit_remote_command */
#endif // defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)

// --------------------------------------------------------------------------

#if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
byte is_ascii_number(byte char_in){

  if ((char_in > 47) && (char_in < 58)) {
    return 1;
  } else {
    return 0;
  }

}\

 #endif // defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
// --------------------------------------------------------------------------
#if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
void service_remote_communications_incoming_buffer(){


  #if defined(FEATURE_CLOCK) && defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE)
  int temp_year = 0;
  byte temp_month = 0;
  byte temp_day = 0;
  byte temp_minute = 0;
  byte temp_hour = 0;
  byte temp_sec = 0;
  #endif // defined(FEATURE_CLOCK) && defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE)

  float temp_float_latitude = 0;
  float temp_float_longitude = 0;



  byte good_data = 0;

  if (remote_unit_port_buffer_carriage_return_flag) {

    #ifdef DEBUG_SVC_REMOTE_COMM_INCOMING_BUFFER
    debug.print("service_remote_communications_incoming_buffer: remote_unit_port_buffer_index: ");
    debug.print(remote_unit_port_buffer_index);
    debug.print(" buffer: ");
    for (int x = 0; x < remote_unit_port_buffer_index; x++) {
      debug_write((char*)remote_unit_port_buffer[x]);
      debug.println("$");
    }
    #endif // DEBUG_SVC_REMOTE_COMM_INCOMING_BUFFER

    if (remote_unit_command_submitted) {   // this was a solicited response
      switch (remote_unit_command_submitted) {
        #ifdef OPTION_SYNC_MASTER_COORDINATES_TO_SLAVE
        case REMOTE_UNIT_RC_COMMAND:  //RC+40.9946 -075.6596
          if ((remote_unit_port_buffer[0] == 'R') && (remote_unit_port_buffer[1] == 'C') && (remote_unit_port_buffer[5] == '.') && (remote_unit_port_buffer[10] == ' ') && (remote_unit_port_buffer[15] == '.')){
            temp_float_latitude = ((remote_unit_port_buffer[3]-48)*10) + (remote_unit_port_buffer[4]-48) + ((remote_unit_port_buffer[6]-48)/10.0) + ((remote_unit_port_buffer[7]-48)/100.0) + ((remote_unit_port_buffer[8]-48)/1000.0) + ((remote_unit_port_buffer[9]-48)/10000.0);
            if (remote_unit_port_buffer[2] == '-') {
              temp_float_latitude = temp_float_latitude * -1;
            }
            temp_float_longitude = ((remote_unit_port_buffer[12]-48)*100) + ((remote_unit_port_buffer[13]-48)*10) + (remote_unit_port_buffer[14]-48) + ((remote_unit_port_buffer[16]-48)/10.0)+ ((remote_unit_port_buffer[17]-48)/100.0) + ((remote_unit_port_buffer[18]-48)/1000.0) + ((remote_unit_port_buffer[19]-48)/10000.0);
            if (remote_unit_port_buffer[11] == '-') {
              temp_float_longitude = temp_float_longitude * -1;
            }
            if ((temp_float_latitude <= 90) && (temp_float_latitude >= -90) && (temp_float_longitude <= 180) && (temp_float_longitude >= -180)){
              latitude = temp_float_latitude;
              longitude = temp_float_longitude;
              #ifdef DEBUG_SYNC_MASTER_COORDINATES_TO_SLAVE
              debug.println("service_remote_communications_incoming_buffer: coordinates synced to slave");
              #endif //DEBUG_SYNC_MASTER_COORDINATES_TO_SLAVE              
            }         
            good_data = 1;
          }
          break;
        #endif //OPTION_SYNC_MASTER_COORDINATES_TO_SLAVE
        #ifdef OPTION_SYNC_MASTER_CLOCK_TO_SLAVE
        case REMOTE_UNIT_GS_COMMAND:
          if ((remote_unit_port_buffer[0] == 'G') && (remote_unit_port_buffer[1] == 'S')){
            if (remote_unit_port_buffer[2] == '1'){
              if (clock_status == SLAVE_SYNC) {clock_status = SLAVE_SYNC_GPS;}
              good_data = 1;
            } else {
              if (remote_unit_port_buffer[2] == '0') {good_data = 1;}
            }
          }
          break;
        #endif //OPTION_SYNC_MASTER_CLOCK_TO_SLAVE

        case REMOTE_UNIT_CL_COMMAND:
          if ((remote_unit_port_buffer[0] == 'C') && (remote_unit_port_buffer[1] == 'L') &&
            (remote_unit_port_buffer[12] == ' ') && (remote_unit_port_buffer[21] == 'Z'))
          {
            #if defined(FEATURE_CLOCK) && defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE)
            temp_year = ((remote_unit_port_buffer[2] - 48) * 1000) + ((remote_unit_port_buffer[3] - 48) * 100) + ((remote_unit_port_buffer[4] - 48) * 10) + (remote_unit_port_buffer[5] - 48);
            temp_month = ((remote_unit_port_buffer[7] - 48) * 10) + (remote_unit_port_buffer[8] - 48);
            temp_day = ((remote_unit_port_buffer[10] - 48) * 10) + (remote_unit_port_buffer[11] - 48);
            temp_hour = ((remote_unit_port_buffer[13] - 48) * 10) + (remote_unit_port_buffer[14] - 48);
            temp_minute = ((remote_unit_port_buffer[16] - 48) * 10) + (remote_unit_port_buffer[17] - 48);
            temp_sec = ((remote_unit_port_buffer[19] - 48) * 10) + (remote_unit_port_buffer[20] - 48);
            if ((temp_year > 2013) && (temp_year < 2070) &&
                (temp_month > 0) && (temp_month < 13) &&
                (temp_day > 0) && (temp_day < 32) &&
                (temp_hour >= 0) && (temp_hour < 24) &&
                (temp_minute >= 0) && (temp_minute < 60) &&
                (temp_sec >= 0) && (temp_sec < 60) ) {

              clock_year_set = temp_year;
              clock_month_set = temp_month;
              clock_day_set = temp_day;
              clock_hour_set = temp_hour;
              clock_min_set = temp_minute;
              clock_sec_set = temp_sec;
              millis_at_last_calibration = millis();
              #ifdef DEBUG_SYNC_MASTER_CLOCK_TO_SLAVE
              debug.println("service_remote_communications_incoming_buffer: clock synced to slave clock");
              #endif //DEBUG_SYNC_MASTER_CLOCK_TO_SLAVE
              good_data = 1;
              clock_synced_to_remote = 1;
              if (clock_status == FREE_RUNNING) {clock_status = SLAVE_SYNC;}
            } else {

              #ifdef DEBUG_SYNC_MASTER_CLOCK_TO_SLAVE
              debug.println("service_remote_communications_incoming_buffer: slave clock sync error");
              #endif //DEBUG_SYNC_MASTER_CLOCK_TO_SLAVE  
              if ((clock_status == SLAVE_SYNC) || (clock_status == SLAVE_SYNC_GPS)) {clock_status = FREE_RUNNING;}   
            }
            #endif // defined(FEATURE_CLOCK) && defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE)

            #if !defined(FEATURE_CLOCK) || !defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE)
            good_data = 1;
            #endif //!defined(FEATURE_CLOCK) || !defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE)
          } else {
            #if defined(FEATURE_CLOCK) && defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE)
            #ifdef DEBUG_SYNC_MASTER_CLOCK_TO_SLAVE
            debug.print("service_remote_communications_incoming_buffer: REMOTE_UNIT_CL_COMMAND format error.  remote_unit_port_buffer_index: ");
            debug.print(remote_unit_port_buffer_index);
            debug.println("");
            #endif //DEBUG_SYNC_MASTER_CLOCK_TO_SLAVE 
            if ((clock_status == SLAVE_SYNC) || (clock_status == SLAVE_SYNC_GPS)) {clock_status = FREE_RUNNING;} 
            #endif // defined(FEATURE_CLOCK) && defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE)          
          }
          break;
        case REMOTE_UNIT_AZ_COMMAND:
          if ((remote_unit_port_buffer_index == 13) && (remote_unit_port_buffer[0] == 'A') && (remote_unit_port_buffer[1] == 'Z') &&
              (is_ascii_number(remote_unit_port_buffer[2])) && (is_ascii_number(remote_unit_port_buffer[3])) && (is_ascii_number(remote_unit_port_buffer[4])) && (is_ascii_number(remote_unit_port_buffer[6]))  && (is_ascii_number(remote_unit_port_buffer[7])) && (is_ascii_number(remote_unit_port_buffer[8])) && (is_ascii_number(remote_unit_port_buffer[9])) && (is_ascii_number(remote_unit_port_buffer[10])) && (is_ascii_number(remote_unit_port_buffer[11]))) {
            remote_unit_command_result_float = ((remote_unit_port_buffer[2] - 48) * 100) + ((remote_unit_port_buffer[3] - 48) * 10) + (remote_unit_port_buffer[4] - 48) + ((remote_unit_port_buffer[6] - 48) / 10.0) + ((remote_unit_port_buffer[7] - 48) / 100.0) + ((remote_unit_port_buffer[8] - 48) / 1000.0) + ((remote_unit_port_buffer[9] - 48) / 10000.0) + ((remote_unit_port_buffer[10] - 48) / 100000.0) + ((remote_unit_port_buffer[11] - 48) / 1000000.0);
            good_data = 1;
          }
          break;
        case REMOTE_UNIT_EL_COMMAND:
          if ((remote_unit_port_buffer_index == 14) && (remote_unit_port_buffer[0] == 'E') && (remote_unit_port_buffer[1] == 'L') &&
              (is_ascii_number(remote_unit_port_buffer[3])) && (is_ascii_number(remote_unit_port_buffer[4])) && (is_ascii_number(remote_unit_port_buffer[5])) && (is_ascii_number(remote_unit_port_buffer[7])) && (is_ascii_number(remote_unit_port_buffer[8])) && (is_ascii_number(remote_unit_port_buffer[9])) && (is_ascii_number(remote_unit_port_buffer[10])) && (is_ascii_number(remote_unit_port_buffer[11])) && (is_ascii_number(remote_unit_port_buffer[12]))) {
            remote_unit_command_result_float = ((remote_unit_port_buffer[3] - 48) * 100) + ((remote_unit_port_buffer[4] - 48) * 10) + (remote_unit_port_buffer[5] - 48) + ((remote_unit_port_buffer[7] - 48) / 10.0)  + ((remote_unit_port_buffer[8] - 48) / 100.0)  + ((remote_unit_port_buffer[9] - 48) / 1000.0)  + ((remote_unit_port_buffer[10] - 48) / 10000.0)  + ((remote_unit_port_buffer[11] - 48) / 100000.0)  + ((remote_unit_port_buffer[12] - 48) / 1000000.0);
            if (remote_unit_port_buffer[2] == '+') {
              good_data = 1;
            }
            if (remote_unit_port_buffer[2] == '-') {
              remote_unit_command_result_float = remote_unit_command_result_float * -1.0;
              good_data = 1;
            }
          }
          break;
        case REMOTE_UNIT_OTHER_COMMAND:
          if ((remote_unit_port_buffer[0] == 'O') && (remote_unit_port_buffer[1] == 'K')) {
            good_data = 1;
          }
          break;
      } /* switch */
      if (good_data) {
        if (remote_unit_command_submitted != REMOTE_UNIT_OTHER_COMMAND) {
          remote_unit_command_results_available = remote_unit_command_submitted;
        }
        remote_unit_good_results++;

        #ifdef DEBUG_SVC_REMOTE_COMM_INCOMING_BUFFER
        debug.print("service_remote_communications_incoming_buffer: remote_unit_command_results_available: ");
        debug.print(remote_unit_command_results_available);
        debug.print(" remote_unit_command_result_float: ");
        debug.print(remote_unit_command_result_float,2);
        debug.println("");
        #endif // DEBUG_SVC_REMOTE_COMM_INCOMING_BUFFER


      } else {

        #ifdef DEBUG_SVC_REMOTE_COMM_INCOMING_BUFFER_BAD_DATA
        debug.print("service_remote_communications_incoming_buffer: bad data: remote_unit_command_submitted: ");
        switch (remote_unit_command_submitted) {
          case REMOTE_UNIT_AZ_COMMAND: debug.print("REMOTE_UNIT_AZ_COMMAND"); break;
          case REMOTE_UNIT_EL_COMMAND: debug.print("REMOTE_UNIT_EL_COMMAND"); break;
          case REMOTE_UNIT_OTHER_COMMAND: debug.print("REMOTE_UNIT_OTHER_COMMAND"); break;
          default: debug.print("UNDEFINED"); break;
        }
        debug.print(" buffer_index:");
        debug.print(remote_unit_port_buffer_index);
        debug.print(" buffer: ");
        for (int x = 0; x < remote_unit_port_buffer_index; x++) {
          debug_write((char*)remote_unit_port_buffer[x]);
        }
        debug.println("$");
        #endif // DEBUG_SVC_REMOTE_COMM_INCOMING_BUFFER_BAD_DATA


        remote_unit_command_results_available = 0;
        remote_unit_bad_results++;
      }
      remote_unit_command_submitted = 0;
    } else {  // this was an unsolicited message

    }
    remote_unit_port_buffer_carriage_return_flag = 0;
    remote_unit_port_buffer_index = 0;
  }

  // has a command timed out?
  if ((remote_unit_command_submitted) && ((millis() - last_remote_unit_command_time) > REMOTE_UNIT_COMMAND_TIMEOUT_MS)) {

    #if defined(FEATURE_CLOCK) && defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE)
    if ((remote_unit_command_submitted == REMOTE_UNIT_CL_COMMAND) && ((clock_status == SLAVE_SYNC) || (clock_status == SLAVE_SYNC_GPS))){
      clock_status = FREE_RUNNING;
    }
    #endif //defined(FEATURE_CLOCK) && defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE)

    remote_unit_command_timeouts++;
    remote_unit_command_submitted = 0;
    remote_unit_port_buffer_index = 0;
    
  }

  // have characters been in the buffer for some time but no carriage return?
  if ((remote_unit_port_buffer_index) && (!remote_unit_command_submitted) && ((millis() - serial1_last_receive_time) > REMOTE_UNIT_COMMAND_TIMEOUT_MS)) {
    remote_unit_port_buffer_index = 0;
    remote_unit_incoming_buffer_timeouts++;
  }

} /* service_remote_communications_incoming_buffer */

#endif // defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
// --------------------------------------------------------------------------
#ifdef FEATURE_AZIMUTH_CORRECTION
float correct_azimuth(float azimuth_in){

  if (sizeof(azimuth_calibration_from) != sizeof(azimuth_calibration_to)) {
    return azimuth_in;
  }
  for (unsigned int x = 0; x < (sizeof(azimuth_calibration_from) - 2); x++) {
    if ((azimuth_in >= azimuth_calibration_from[x]) && (azimuth_in <= azimuth_calibration_from[x + 1])) {
      //return (map(azimuth_in * 10, azimuth_calibration_from[x] * 10, azimuth_calibration_from[x + 1] * 10, azimuth_calibration_to[x] * 10, azimuth_calibration_to[x + 1] * 10)) / 10.0;
      return (azimuth_in - azimuth_calibration_from[x]) * (azimuth_calibration_to[x+1] - azimuth_calibration_to[x]) / (azimuth_calibration_from[x + 1] - azimuth_calibration_from[x]) + azimuth_calibration_to[x];
    }
  }
  return(azimuth_in);

}
#endif // FEATURE_AZIMUTH_CORRECTION
// --------------------------------------------------------------------------
#ifdef FEATURE_ELEVATION_CORRECTION
float correct_elevation(float elevation_in){


  if (sizeof(elevation_calibration_from) != sizeof(elevation_calibration_to)) {
    return elevation_in;
  }
  for (int x = 0; x < (sizeof(elevation_calibration_from) - 2); x++) {
    if ((elevation_in >= elevation_calibration_from[x]) && (elevation_in <= elevation_calibration_from[x + 1])) {
      // changed this from map() 2015-03-28 due to it blowing up at compile time in Arduino 1.6.1
      return (elevation_in - elevation_calibration_from[x]) * (elevation_calibration_to[x+1] - elevation_calibration_to[x]) / (elevation_calibration_from[x + 1] - elevation_calibration_from[x]) + elevation_calibration_to[x];
    }
  }

  return(elevation_in);


}
#endif // FEATURE_ELEVATION_CORRECTION
// --------------------------------------------------------------------------
#ifdef FEATURE_JOYSTICK_CONTROL
void check_joystick(){

  int joystick_x = 0;
  int joystick_y = 0;

  static int joystick_resting_x = 0;
  static int joystick_resting_y = 0;

  static unsigned long last_joystick_az_action_time = 0;

  static byte joystick_azimuth_rotation = NOT_DOING_ANYTHING;

  #ifdef FEATURE_ELEVATION_CONTROL
  static byte joystick_elevation_rotation = NOT_DOING_ANYTHING;
  static unsigned long last_joystick_el_action_time = 0;
  #endif // FEATURE_ELEVATION_CONTROL

  if ((joystick_resting_x == 0) || (joystick_resting_y == 0)) {  // initialize the resting readings if this is our first time here

    joystick_resting_x = analogReadEnhanced(pin_joystick_x);
    joystick_resting_y = analogReadEnhanced(pin_joystick_y);

  } else {

    joystick_x = analogReadEnhanced(pin_joystick_x);
    joystick_y = analogReadEnhanced(pin_joystick_y);

    if ((millis() - last_joystick_az_action_time) > JOYSTICK_WAIT_TIME_MS) {
      #ifdef DEBUG_JOYSTICK
      static unsigned long last_debug_joystick_status = 0;

      if ((debug_mode) && ((millis() - last_debug_joystick_status) > 1000)) {
        debug.print("check_joystick: x: ");
        debug.print(joystick_x);
        debug.print("\ty: ");
        control_port->println(joystick_y);
        last_debug_joystick_status = millis();
      }
      #endif // DEBUG_JOYSTICK

      #ifndef OPTION_JOYSTICK_REVERSE_X_AXIS
      if ((joystick_resting_x - joystick_x) < (joystick_resting_x * -0.2)) {   // left
      #else
      if ((joystick_resting_x - joystick_x) > (joystick_resting_x * 0.2)) {
      #endif
        #ifdef DEBUG_JOYSTICK
        if (debug_mode) {
          control_port->println("check_joystick: L");
        }
          #endif // DEBUG_JOYSTICK
        if (current_az_state() != ROTATING_CCW) {
          submit_request(AZ, REQUEST_CCW, 0, 1);
        }
        joystick_azimuth_rotation = ROTATING_CCW;
        last_joystick_az_action_time = millis();

      } else {
        #ifndef OPTION_JOYSTICK_REVERSE_X_AXIS
        if ((joystick_resting_x - joystick_x) > (joystick_resting_x * 0.2)) {  // right
        #else
        if ((joystick_resting_x - joystick_x) < (joystick_resting_x * -0.2)) {
        #endif
          #ifdef DEBUG_JOYSTICK
          if (debug_mode) {
            control_port->println("check_joystick: R");
          }
            #endif // DEBUG_JOYSTICK
          if (current_az_state() != ROTATING_CW) {
            submit_request(AZ, REQUEST_CW, 0, 2);
          }
          joystick_azimuth_rotation = ROTATING_CW;
          last_joystick_az_action_time = millis();

        } else { // joystick is in X axis resting position
          if (joystick_azimuth_rotation != NOT_DOING_ANYTHING) {
            if (current_az_state() != NOT_DOING_ANYTHING) {
              submit_request(AZ, REQUEST_STOP, 0, 3);
              last_joystick_az_action_time = millis();
            }
            joystick_azimuth_rotation = NOT_DOING_ANYTHING;
          }
        }

      }

    }

    #ifdef FEATURE_ELEVATION_CONTROL
    if ((millis() - last_joystick_el_action_time) > JOYSTICK_WAIT_TIME_MS) {   
      #ifndef OPTION_JOYSTICK_REVERSE_Y_AXIS
      if ((joystick_resting_y - joystick_y) > (joystick_resting_y * 0.2)) {  // down
        #else
      if ((joystick_resting_y - joystick_y) < (joystick_resting_y * -0.2)) {
          #endif
          #ifdef DEBUG_JOYSTICK
        if (debug_mode) {
          control_port->println("check_joystick: D");
        }
          #endif // DEBUG_JOYSTICK
        if (current_el_state() != ROTATING_DOWN) {
          submit_request(EL, REQUEST_DOWN, 0, 4);
        }
        joystick_elevation_rotation = ROTATING_DOWN;
        last_joystick_el_action_time = millis();
      } else {
            #ifndef OPTION_JOYSTICK_REVERSE_Y_AXIS
        if ((joystick_resting_y - joystick_y) < (joystick_resting_y * -0.2)) { // up
          #else
        if ((joystick_resting_y - joystick_y) > (joystick_resting_y * 0.2)) {
            #endif
            #ifdef DEBUG_JOYSTICK
          if (debug_mode) {
            control_port->println("check_joystick: U");
          }
            #endif // DEBUG_JOYSTICK
          if (current_el_state() != ROTATING_UP) {
            submit_request(EL, REQUEST_UP, 0, 5);
          }
          joystick_elevation_rotation = ROTATING_UP;
          last_joystick_el_action_time = millis();

        } else {  // Y axis is in resting position
          if (joystick_elevation_rotation != NOT_DOING_ANYTHING) {
            if (current_el_state() != NOT_DOING_ANYTHING) {
              submit_request(EL, REQUEST_STOP, 0, 6);
              last_joystick_el_action_time = millis();
            }
            joystick_elevation_rotation = NOT_DOING_ANYTHING;
          }
        }
      }
      

    }
    #endif // FEATURE_ELEVATION_CONTROL

  }


} /* check_joystick */
#endif // FEATURE_JOYSTICK_CONTROL
// --------------------------------------------------------------------------

#ifdef FEATURE_ROTATION_INDICATOR_PIN
void service_rotation_indicator_pin(){


  static byte rotation_indication_pin_state = 0;
  static unsigned long time_rotation_went_inactive = 0;

  #ifdef FEATURE_ELEVATION_CONTROL
  if ((!rotation_indication_pin_state) && ((az_state != IDLE) || (el_state != IDLE))) {
    #else
  if ((!rotation_indication_pin_state) && ((az_state != IDLE))) {
      #endif
    if (rotation_indication_pin) {
      digitalWriteEnhanced(rotation_indication_pin, ROTATION_INDICATOR_PIN_ACTIVE_STATE);
    }
    rotation_indication_pin_state = 1;
      #ifdef DEBUG_ROTATION_INDICATION_PIN
    if (debug_mode) {
      debug.print(F("service_rotation_indicator_pin: active\n"));
    }
      #endif
  }

    #ifdef FEATURE_ELEVATION_CONTROL
  if ((rotation_indication_pin_state) && (az_state == IDLE) && (el_state == IDLE)) {
      #else
  if ((rotation_indication_pin_state) && (az_state == IDLE)) {
        #endif
    if (time_rotation_went_inactive == 0) {
      time_rotation_went_inactive = millis();
    } else {
      if ((millis() - time_rotation_went_inactive) >= ((ROTATION_INDICATOR_PIN_TIME_DELAY_SECONDS * 1000) + (ROTATION_INDICATOR_PIN_TIME_DELAY_MINUTES * 60 * 1000))) {
        if (rotation_indication_pin) {
          digitalWriteEnhanced(rotation_indication_pin, ROTATION_INDICATOR_PIN_INACTIVE_STATE);
        }
        rotation_indication_pin_state = 0;
        time_rotation_went_inactive = 0;
        #ifdef DEBUG_ROTATION_INDICATION_PIN
          if (debug_mode) {
            debug.print(F("service_rotation_indicator_pin: inactive\n"));
          }
        #endif
      }
    }
  }


} /* service_rotation_indicator_pin */
      #endif // FEATURE_ROTATION_INDICATOR_PIN
// --------------------------------------------------------------
#ifdef FEATURE_PARK
void deactivate_park(){

  park_status = NOT_PARKED;
  park_serial_initiated = 0;
}
#endif // FEATURE_PARK

// --------------------------------------------------------------
#ifdef FEATURE_PARK
void initiate_park(){

  #ifdef DEBUG_PARK
  debug.print(F("initiate_park: park initiated\n"));
  #endif // DEBUG_PARK

  byte park_initiated = 0;

  stop_all_tracking();

  if (abs(raw_azimuth - PARK_AZIMUTH) > (AZIMUTH_TOLERANCE * HEADING_MULTIPLIER)) {
    submit_request(AZ, REQUEST_AZIMUTH_RAW, PARK_AZIMUTH, 7);
    park_initiated = 1;
  }
  #ifdef FEATURE_ELEVATION_CONTROL
  if (abs(elevation - PARK_ELEVATION) > (ELEVATION_TOLERANCE * HEADING_MULTIPLIER)) {
    submit_request(EL, REQUEST_ELEVATION, PARK_ELEVATION, 8);
    park_initiated = 1;
  }
  #endif // FEATURE_ELEVATION_CONTROL

  if (park_initiated) {
    park_status = PARK_INITIATED;
  } else {
    park_status = PARKED;
  }

} /* initiate_park */
  #endif // FEATURE_PARK

// --------------------------------------------------------------
#ifdef FEATURE_PARK
void service_park(){

  static byte last_park_status = NOT_PARKED;

  if (park_status == PARKED) {
    if (abs(raw_azimuth - PARK_AZIMUTH) > (AZIMUTH_TOLERANCE * HEADING_MULTIPLIER)) {
      park_status = NOT_PARKED;
    }
    #ifdef FEATURE_ELEVATION_CONTROL
    if (abs(elevation - PARK_ELEVATION) > (ELEVATION_TOLERANCE * HEADING_MULTIPLIER)) {
      park_status = NOT_PARKED;
    }
    #endif // FEATURE_ELEVATION_CONTROL
  }


  if (park_status != last_park_status) {
    switch (park_status) {
      case NOT_PARKED:
        if (park_in_progress_pin) {
          digitalWriteEnhanced(park_in_progress_pin, LOW);
        }
        if (parked_pin) {
          digitalWriteEnhanced(parked_pin, LOW);
        }
        #ifdef DEBUG_PARK
          debug.print(F("service_park: park_in_progress_pin: LOW  parked_pin: LOW\n"));
        #endif // DEBUG_PARK
        break;
      case PARK_INITIATED:
        if (park_in_progress_pin) {
          digitalWriteEnhanced(park_in_progress_pin, HIGH);
        }
        if (parked_pin) {
          digitalWriteEnhanced(parked_pin, LOW);
        }
        #ifdef DEBUG_PARK
          debug.print(F("service_park: park_in_progress_pin: HIGH  parked_pin: LOW\n"));
        #endif // DEBUG_PARK
        break;
      case PARKED:
        if (park_in_progress_pin) {
          digitalWriteEnhanced(park_in_progress_pin, LOW);
        }
        if (parked_pin) {
          digitalWriteEnhanced(parked_pin, HIGH);
        }
        if (park_serial_initiated) {
        #if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
          control_port->println(F("Parked."));
        #endif
          park_serial_initiated = 0;
        }
        #ifdef DEBUG_PARK
          debug.print(F("service_park: park_in_progress_pin: LOW  parked_pin: HIGH\n"));
        #endif // DEBUG_PARK
        break;
    } /* switch */
  }

  last_park_status = park_status;

} /* service_park */
#endif // FEATURE_PARK

// --------------------------------------------------------------

#ifdef FEATURE_LIMIT_SENSE
void check_limit_sense(){

  static byte az_limit_tripped = 0;

  #ifdef FEATURE_ELEVATION_CONTROL
  static byte el_limit_tripped = 0;
  #endif // FEATURE_ELEVATION_CONTROL

  if (az_limit_sense_pin) {
    if (digitalReadEnhanced(az_limit_sense_pin) == 0) {
      if (!az_limit_tripped) {
        submit_request(AZ, REQUEST_KILL, 0, 9);
        az_limit_tripped = 1;
        #ifdef DEBUG_LIMIT_SENSE
          debug.print(F("check_limit_sense: az limit tripped\n"));
        #endif // DEBUG_LIMIT_SENSE
      }
    } else {
      az_limit_tripped = 0;
    }
  }

    #ifdef FEATURE_ELEVATION_CONTROL
  if (el_limit_sense_pin) {
    if (digitalReadEnhanced(el_limit_sense_pin) == 0) {
      if (!el_limit_tripped) {
        submit_request(EL, REQUEST_KILL, 0, 10);
        el_limit_tripped = 1;
        #ifdef DEBUG_LIMIT_SENSE
          debug.print(F("check_limit_sense: el limit tripped\n"));
        #endif // DEBUG_LIMIT_SENSE
      }
    } else {
      el_limit_tripped = 0;
    }
  }
      #endif // FEATURE_ELEVATION_CONTROL


} /* check_limit_sense */
    #endif // FEATURE_LIMIT_SENSE
// --------------------------------------------------------------
#ifdef FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
void az_position_incremental_encoder_interrupt_handler(){

  byte rotation_result = 0;
  byte current_phase_a = digitalReadEnhanced(az_incremental_encoder_pin_phase_a);
  byte current_phase_b = digitalReadEnhanced(az_incremental_encoder_pin_phase_b);
  byte current_phase_z = digitalReadEnhanced(az_incremental_encoder_pin_phase_z);

  #ifdef DEBUG_AZ_POSITION_INCREMENTAL_ENCODER
    az_position_incremental_encoder_interrupt++;
  #endif // DEBUG_AZ_POSITION_INCREMENTAL_ENCODER

  if ((az_3_phase_encoder_last_phase_a_state != current_phase_a) || (az_3_phase_encoder_last_phase_b_state != current_phase_b)) {
    if (az_3_phase_encoder_last_phase_a_state == LOW) {
      rotation_result++;
    }
    rotation_result = rotation_result << 1;
    if (az_3_phase_encoder_last_phase_b_state == LOW) {
      rotation_result++;
    }
    rotation_result = rotation_result << 1;
    if (current_phase_a == LOW) {
      rotation_result++;
    }
    rotation_result = rotation_result << 1;
    if (current_phase_b == LOW) {
      rotation_result++;
    }
    switch (rotation_result) {
      case B0010: //az_incremental_encoder_position++; break;
      case B1011: //az_incremental_encoder_position++; break;
      case B1101: //az_incremental_encoder_position++; break;
      case B0100: az_incremental_encoder_position++; break;

      case B0001: //az_incremental_encoder_position--; break;
      case B0111: //az_incremental_encoder_position--; break;
      case B1110: //az_incremental_encoder_position--; break;
      case B1000: az_incremental_encoder_position--; break;
    }
/*
    if (az_incremental_encoder_position > ((long(AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) - 1) * 2)) {
      az_incremental_encoder_position = 0;
    }
    if (az_incremental_encoder_position < 0) {
      az_incremental_encoder_position = ((long(AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) - 1) * 2);
    }



    #ifndef OPTION_SCANCON_2RMHF3600_INC_ENCODER
      if ((current_phase_a == LOW) && (current_phase_b == LOW) && (current_phase_z == LOW)) {
        if ((az_incremental_encoder_position < long((AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) / 2)) || (az_incremental_encoder_position > long((AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) * 1.5))) {
          az_incremental_encoder_position = AZ_INCREMENTAL_ENCODER_ZERO_PULSE_POSITION;
        } else {
          az_incremental_encoder_position =long(AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.);
        }
      }
    #else
      if ((current_phase_a == HIGH) && (current_phase_b == HIGH) && (current_phase_z == HIGH)) {
        if ((az_incremental_encoder_position < long((AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) / 2)) || (az_incremental_encoder_position > long((AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) * 1.5))) {
          az_incremental_encoder_position = AZ_INCREMENTAL_ENCODER_ZERO_PULSE_POSITION;
        } else {
          az_incremental_encoder_position = long(AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.);
        }
      }   
    #endif //OPTION_SCANCON_2RMHF3600_INC_ENCODER
*/


  if (az_incremental_encoder_position > ((long(AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) - 1) * 2)) {
    az_incremental_encoder_position = 0;
  }
  if (az_incremental_encoder_position < 0) {
    az_incremental_encoder_position = ((long(AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) - 1) * 2);
  }

  #ifndef OPTION_SCANCON_2RMHF3600_INC_ENCODER
    if ((current_phase_a == LOW) && (current_phase_b == LOW) && (current_phase_z == LOW)) {
      if ((az_incremental_encoder_position < long((AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) / 2)) || (az_incremental_encoder_position > long((AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) * 1.5))) {
        az_incremental_encoder_position = AZ_INCREMENTAL_ENCODER_ZERO_PULSE_POSITION;
      } else {
        az_incremental_encoder_position = long(AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.);
      }
    }
  #else
    if ((current_phase_a == HIGH) && (current_phase_b == HIGH) && (current_phase_z == HIGH)) {
      if ((az_incremental_encoder_position < long((AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) / 2)) || (az_incremental_encoder_position > long((AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) * 1.5))) {
        az_incremental_encoder_position = AZ_INCREMENTAL_ENCODER_ZERO_PULSE_POSITION;
      } else {
        az_incremental_encoder_position = long(AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.);
      }
    }
  #endif //OPTION_SCANCON_2RMHF3600_INC_ENCODER      
  az_3_phase_encoder_last_phase_a_state = current_phase_a;
  az_3_phase_encoder_last_phase_b_state = current_phase_b;

  }

  if (!read_azimuth_lock){
    read_azimuth(1);
    if(!service_rotation_lock){
      service_rotation();
    }
  }
  


} /* az_position_incremental_encoder_interrupt_handler */
#endif // FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
// --------------------------------------------------------------

#if defined(FEATURE_EL_POSITION_INCREMENTAL_ENCODER) && defined(FEATURE_ELEVATION_CONTROL)
void el_position_incremental_encoder_interrupt_handler(){

  byte rotation_result = 0;
  byte current_phase_a = digitalReadEnhanced(el_incremental_encoder_pin_phase_a);
  byte current_phase_b = digitalReadEnhanced(el_incremental_encoder_pin_phase_b);
  byte current_phase_z = digitalReadEnhanced(el_incremental_encoder_pin_phase_z);

  #ifdef DEBUG_EL_POSITION_INCREMENTAL_ENCODER
    el_position_incremental_encoder_interrupt++;
  #endif // DEBUG_EL_POSITION_INCREMENTAL_ENCODER

  if ((el_3_phase_encoder_last_phase_a_state != current_phase_a) || (el_3_phase_encoder_last_phase_b_state != current_phase_b)) {
    if (el_3_phase_encoder_last_phase_a_state == LOW) {
      rotation_result++;
    }
    rotation_result = rotation_result << 1;
    if (el_3_phase_encoder_last_phase_b_state == LOW) {
      rotation_result++;
    }
    rotation_result = rotation_result << 1;
    if (current_phase_a == LOW) {
      rotation_result++;
    }
    rotation_result = rotation_result << 1;
    if (current_phase_b == LOW) {
      rotation_result++;
    }
    switch (rotation_result) {
      case B0010: //el_incremental_encoder_position++; break;
      case B1011: //el_incremental_encoder_position++; break;
      case B1101: //el_incremental_encoder_position++; break;
      case B0100: el_incremental_encoder_position++; break;

      case B0001: //el_incremental_encoder_position--; break;
      case B0111: //el_incremental_encoder_position--; break;
      case B1110: //el_incremental_encoder_position--; break;
      case B1000: el_incremental_encoder_position--; break;
    }

    
    #ifndef OPTION_SCANCON_2RMHF3600_INC_ENCODER
      if ((current_phase_a == LOW) && (current_phase_b == LOW) && (current_phase_z == LOW)) {
        el_incremental_encoder_position = EL_INCREMENTAL_ENCODER_ZERO_PULSE_POSITION;
      } else {

        if (el_incremental_encoder_position < 0) {
          el_incremental_encoder_position = int((EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) - 1);
        }

        if (el_incremental_encoder_position >= int(EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.)) {
          el_incremental_encoder_position = 0;
        }  

      } 
    #else
      if ((current_phase_a == HIGH) && (current_phase_b == HIGH) && (current_phase_z == HIGH)) {
        el_incremental_encoder_position = EL_INCREMENTAL_ENCODER_ZERO_PULSE_POSITION;
      } else {
        if (el_incremental_encoder_position < 0) {
          el_incremental_encoder_position = int((EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) - 1);
        }
        if (el_incremental_encoder_position >= int(EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.)) {
          el_incremental_encoder_position = 0;
        }  
      } 
    #endif //OPTION_SCANCON_2RMHF3600_INC_ENCODER

    el_3_phase_encoder_last_phase_a_state = current_phase_a;
    el_3_phase_encoder_last_phase_b_state = current_phase_b;

  }

  if (!read_elevation_lock){
    read_elevation(1);
    if(!service_rotation_lock){
      service_rotation();
    }
  }


} /* el_position_incremental_encoder_interrupt_handler */
  #endif // defined(FEATURE_EL_POSITION_INCREMENTAL_ENCODER) && defined(FEATURE_ELEVATION_CONTROL)

// --------------------------------------------------------------

void pinModeEnhanced(uint8_t pin, uint8_t mode){

  #if !defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) && !defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
    pinMode(pin, mode);
  #else
    if (pin < 100) {
      pinMode(pin, mode);
    } else {
      submit_remote_command(REMOTE_UNIT_DHL_COMMAND, pin, mode);
    }
  #endif // !defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) && !defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)

}

// --------------------------------------------------------------

void digitalWriteEnhanced(uint8_t pin, uint8_t writevalue){



  #if !defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) && !defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
    digitalWrite(pin, writevalue);
  #else
    if (pin < 100) {
      digitalWrite(pin, writevalue);
    } else {
      submit_remote_command(REMOTE_UNIT_DHL_COMMAND, pin, writevalue);
    }
  #endif // !defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) && !defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)

}

// --------------------------------------------------------------

int digitalReadEnhanced(uint8_t pin){

  return digitalRead(pin);

}

// --------------------------------------------------------------

int analogReadEnhanced(uint8_t pin){

  #ifdef OPTION_EXTERNAL_ANALOG_REFERENCE
    analogReference(EXTERNAL);
  #endif //OPTION_EXTERNAL_ANALOG_REFERENCE
  return analogRead(pin);

}

// --------------------------------------------------------------


void analogWriteEnhanced(uint8_t pin, int writevalue){


  #if !defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) && !defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
    analogWrite(pin, writevalue);
  #else
    if (pin < 100) {
      analogWrite(pin, writevalue);
    } else {
      submit_remote_command(REMOTE_UNIT_AW_COMMAND, pin, writevalue);
    }
  #endif // !defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) && !defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)

}


// --------------------------------------------------------------

#if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
void take_care_of_pending_remote_command(){

  // if there's a command already sent to the remote and we're awaiting the response, service the serial buffer and the queue

  unsigned long start_time = millis();

  while ((remote_unit_command_submitted) && ((millis() - start_time) < 200)) {
    #if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE)
    check_serial();
    #endif //defined(FEATURE_MASTER_WITH_SERIAL_SLAVE)
    #if defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
    service_ethernet();
    #endif //defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
    service_remote_communications_incoming_buffer();
  }


}
#endif // defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
// --------------------------------------------------------------




void port_flush(){

  
  #if defined(CONTROL_PORT_MAPPED_TO) && (defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION))
  control_port->flush();
  #endif //CONTROL_PORT_MAPPED_TO

  #if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE)
  remote_unit_port->flush();
  #endif

  #if defined(GPS_PORT_MAPPED_TO) && defined(FEATURE_GPS)
  gps_port->flush();
  #endif //defined(GPS_PORT_MAPPED_TO) && defined(FEATURE_GPS)
  

}
// --------------------------------------------------------------
#ifdef FEATURE_POWER_SWITCH
void service_power_switch(){

  static byte power_switch_state = 1;

  #ifdef FEATURE_ELEVATION_CONTROL
  if ((az_state != IDLE) || (el_state != IDLE)){
    last_activity_time = millis();
  }
  #else //FEATURE_ELEVATION_CONTROL
  if (az_state != IDLE){
    last_activity_time = millis();
  }
  #endif //FEATURE_ELEVATION_CONTROL


  if ((millis()-last_activity_time) > (60000 * POWER_SWITCH_IDLE_TIMEOUT)) {
    if (power_switch_state){ 
      digitalWriteEnhanced(power_switch, LOW);
      power_switch_state = 0;
    }
  } else {
    if (!power_switch_state){ 
      digitalWriteEnhanced(power_switch, HIGH);
      power_switch_state = 1;
    }
  }


}
#endif //FEATURE_POWER_SWITCH


//------------------------------------------------------
char *coordinates_to_maidenhead(float latitude_degrees,float longitude_degrees){

  static char temp_string[8] = "";  // I had to declare this static in Arduino 1.6, otherwise this won't work (it worked before)

  latitude_degrees += 90.0;
  longitude_degrees += 180.0;

  temp_string[0] = (int(longitude_degrees/20)) + 65;
  temp_string[1] = (int(latitude_degrees/10)) + 65;
  temp_string[2] = (int((longitude_degrees - int(longitude_degrees/20)*20)/2)) + 48;
  temp_string[3] = (int(latitude_degrees - int(latitude_degrees/10)*10)) + 48;
  temp_string[4] = (int((longitude_degrees - (int(longitude_degrees/2)*2)) / (5.0/60.0))) + 97;
  temp_string[5] = (int((latitude_degrees - (int(latitude_degrees/1)*1)) / (2.5/60.0))) + 97;
  temp_string[6] = 0;

  return temp_string;

}
//------------------------------------------------------

#ifdef FEATURE_ANALOG_OUTPUT_PINS
void service_analog_output_pins(){

  static int last_azimith_voltage_out = 0;
  int azimuth_voltage_out = map(azimuth/HEADING_MULTIPLIER,0,360,0,255);
  if (last_azimith_voltage_out != azimuth_voltage_out){
    analogWriteEnhanced(pin_analog_az_out,azimuth_voltage_out);
    last_azimith_voltage_out = azimuth_voltage_out;
  }

  #ifdef FEATURE_ELEVATION_CONTROL
  static int last_elevation_voltage_out = 0;
  int elevation_voltage_out = map(elevation/HEADING_MULTIPLIER,0,ANALOG_OUTPUT_MAX_EL_DEGREES,0,255);
  if (last_elevation_voltage_out != elevation_voltage_out){
    analogWriteEnhanced(pin_analog_el_out,elevation_voltage_out);
    last_elevation_voltage_out = elevation_voltage_out;
  }
  #endif //FEATURE_ELEVATION_CONTROL

}
#endif //FEATURE_ANALOG_OUTPUT_PINS



//-------------------------------------------------------



#ifdef FEATURE_AUTOCORRECT
void submit_autocorrect(byte axis,float heading){

  #ifdef DEBUG_AUTOCORRECT
  debug.print("submit_autocorrect: ");
  #endif //DEBUG_AUTOCORRECT

  if (axis == AZ){
    autocorrect_state_az = AUTOCORRECT_WATCHING_AZ;
    autocorrect_az = heading;
    autocorrect_az_submit_time = millis();

    #ifdef DEBUG_AUTOCORRECT
    debug.print("AZ: ");
    #endif //DEBUG_AUTOCORRECT

  }


  #ifdef FEATURE_ELEVATION_CONTROL
  if (axis == EL){
    autocorrect_state_el = AUTOCORRECT_WATCHING_EL;
    autocorrect_el = heading;
    autocorrect_el_submit_time = millis();

    #ifdef DEBUG_AUTOCORRECT
    debug.print("EL: ");
    #endif //DEBUG_AUTOCORRECT

  }
  #endif //FEATURE_ELEVATION_CONTROL

  #ifdef DEBUG_AUTOCORRECT
  debug.print(heading,2);
  debug.println("");
  #endif //DEBUG_AUTOCORRECT

}
#endif //FEATURE_AUTOCORRECT



// --------------------------------------------------------------
//#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_ANCILLARY_PIN_CONTROL) || defined(UNDER_DEVELOPMENT_REMOTE_UNIT_COMMANDS)
byte get_analog_pin(byte pin_number){

  byte return_output = 0;

  switch (pin_number) {
    case 0: return_output = A0; break;
    case 1: return_output = A1; break;
    case 2: return_output = A2; break;
    case 3: return_output = A3; break;
    case 4: return_output = A4; break;
    case 5: return_output = A5; break;
    case 6: return_output = A6; break;
  }

  return return_output;

}
//#endif // FEATURE_REMOTE_UNIT_SLAVE

// *************************************** stuff below here has issues moving to .h files - need to work on this **********************


// -------------------------------------------------------------

#ifdef FEATURE_SUN_TRACKING

void update_sun_position(){

  update_time();
  c_time.iYear = clock_years;
  c_time.iMonth = clock_months;
  c_time.iDay = clock_days;

  c_time.dHours = clock_hours;
  c_time.dMinutes = clock_minutes;
  c_time.dSeconds = clock_seconds;

  c_loc.dLongitude = longitude;
  c_loc.dLatitude  = latitude;

  c_sposn.dZenithAngle = 0;
  c_sposn.dAzimuth = 0;

  sunpos(c_time, c_loc, &c_sposn);

  // Convert Zenith angle to elevation
  sun_elevation = 90. - c_sposn.dZenithAngle;
  sun_azimuth = c_sposn.dAzimuth;

} /* update_sun_position */
#endif // FEATURE_SUN_TRACKING

// --------------------------------------------------------------

#ifdef FEATURE_MOON_TRACKING

void update_moon_position(){

  update_time();

  double RA, Dec, topRA, topDec, LST, HA, dist;
  update_time();
  moon2(clock_years, clock_months, clock_days, (clock_hours + (clock_minutes / 60.0) + (clock_seconds / 3600.0)), longitude, latitude, &RA, &Dec, &topRA, &topDec, &LST, &HA, &moon_azimuth, &moon_elevation, &dist);


}
#endif // FEATURE_MOON_TRACKING
// --------------------------------------------------------------
#if defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING)
byte calibrate_az_el(float new_az, float new_el){

  #ifdef DEBUG_OFFSET
    debug.print("calibrate_az_el: new_az:");
    debug.print(new_az, 2);
    debug.print(" new_el:");
    control_port->println(new_el, 2);
  #endif // DEBUG_OFFSET



  if ((new_az >= 0 ) && (new_az <= 360) && (new_el >= 0) && (new_el <= 90)) {
    configuration.azimuth_offset = 0;
    configuration.elevation_offset = 0;
    read_azimuth(1);
    read_elevation(1);

    #ifdef DEBUG_OFFSET
      debug.print("calibrate_az_el: az:");
      debug.print(azimuth / LCD_HEADING_MULTIPLIER, 2);
      debug.print(" el:");
      control_port->println(elevation / LCD_HEADING_MULTIPLIER, 2);
    #endif // DEBUG_OFFSET


    configuration.azimuth_offset = new_az - (float(raw_azimuth) / float(HEADING_MULTIPLIER));
    #if defined(FEATURE_ELEVATION_CONTROL)
      configuration.elevation_offset = new_el - (float(elevation) / float(HEADING_MULTIPLIER));
    #endif
    configuration_dirty = 1;
    return 1;
  } else {
    return 0;
  }

} /* calibrate_az_el */
#endif // defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING)
// --------------------------------------------------------------

#if defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING)
char * az_el_calibrated_string(){

  char return_string[48] = "";
  char tempstring[16] = "";

  read_azimuth(1);
  read_elevation(1);
  strcpy(return_string, "Heading calibrated.  Az: ");
  dtostrf((azimuth / LCD_HEADING_MULTIPLIER), 0, LCD_DECIMAL_PLACES, tempstring);
  strcat(return_string, tempstring);
  #ifdef FEATURE_ELEVATION_CONTROL
  strcat(return_string, " El: ");
  dtostrf((elevation / LCD_HEADING_MULTIPLIER), 0, LCD_DECIMAL_PLACES, tempstring);
  strcat(return_string, tempstring);
  #endif //FEATURE_ELEVATION_CONTROL
  return return_string;

}
#endif // defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING)
// --------------------------------------------------------------

// that's all, folks !