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k3ng_rotator_controller/rotator_clock_and_gps.h

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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"
2015-09-05 02:06:17 +00:00
#ifdef FEATURE_CLOCK
void update_time(){
unsigned long runtime = millis() - millis_at_last_calibration;
unsigned long time = (3600L * clock_hour_set) + (60L * clock_min_set) + clock_sec_set + ((runtime + (runtime * INTERNAL_CLOCK_CORRECTION)) / 1000.0);
clock_years = clock_year_set;
clock_months = clock_month_set;
clock_days = time / 86400L;
time -= clock_days * 86400L;
clock_days += clock_day_set;
clock_hours = time / 3600L;
switch (clock_months) {
case 1:
case 3:
case 5:
case 7:
case 8:
case 10:
case 12:
if (clock_days > 31) {
clock_days = 1; clock_months++;
}
break;
case 2:
if ((float(clock_years) / 4.0) == 0.0) { // do we have a leap year?
if (clock_days > 29) {
clock_days = 1; clock_months++;
}
} else {
if (clock_days > 28) {
clock_days = 1; clock_months++;
}
}
break;
case 4:
case 6:
case 9:
case 11:
if (clock_days > 30) {
clock_days = 1; clock_months++;
}
break;
} /* switch */
if (clock_months > 12) {
clock_months = 1; clock_years++;
}
time -= clock_hours * 3600L;
clock_minutes = time / 60L;
time -= clock_minutes * 60L;
clock_seconds = time;
} /* update_time */
#endif // FEATURE_CLOCK
// --------------------------------------------------------------
#ifdef FEATURE_GPS
void service_gps(){
long gps_lat, gps_lon;
unsigned long fix_age;
int gps_year;
byte gps_month, gps_day, gps_hours, gps_minutes, gps_seconds, gps_hundredths;
static byte gps_sync_pin_active = 0;
#ifdef DEBUG_GPS
char tempstring[10] = "";
#endif //#ifdef DEBUG_GPS
static unsigned long last_sync = 0;
if (gps_data_available) {
// retrieves +/- lat/long in 100000ths of a degree
gps.get_position(&gps_lat, &gps_lon, &fix_age);
gps.crack_datetime(&gps_year, &gps_month, &gps_day, &gps_hours, &gps_minutes, &gps_seconds, &gps_hundredths, &fix_age);
#ifdef DEBUG_GPS
#ifdef DEBUG_GPS_SERIAL
debug_println("");
#endif //DEBUG_GPS_SERIAL
debug_print("service_gps: fix_age:");
debug_print_int(fix_age);
debug_print(" lat:");
debug_print_float(gps_lat,4);
debug_print(" long:");
debug_print_float(gps_lon,4);
debug_print(" ");
debug_print_int(gps_year);
debug_print("-");
debug_print_int(gps_month);
debug_print("-");
debug_print_int(gps_day);
debug_print(" ");
debug_print_int(gps_hours);
debug_print(":");
debug_print_int(gps_minutes);
debug_println("");
#endif // DEBUG_GPS
if (fix_age < GPS_VALID_FIX_AGE_MS) {
if (SYNC_TIME_WITH_GPS) {
clock_year_set = gps_year;
clock_month_set = gps_month;
clock_day_set = gps_day;
clock_hour_set = gps_hours;
clock_min_set = gps_minutes;
clock_sec_set = gps_seconds;
millis_at_last_calibration = millis() - GPS_UPDATE_LATENCY_COMPENSATION_MS;
update_time();
#ifdef DEBUG_GPS
#ifdef DEBUG_GPS_SERIAL
debug_println("");
#endif //DEBUG_GPS_SERIAL
debug_print("service_gps: clock sync:");
sprintf(tempstring,"%s",clock_string());
debug_print(tempstring);
debug_println("");
#endif // DEBUG_GPS
}
#if defined(OPTION_SYNC_RTC_TO_GPS) && defined(FEATURE_RTC_DS1307)
static unsigned long last_rtc_gps_sync_time;
if ((millis() - last_rtc_gps_sync_time) >= (SYNC_RTC_TO_GPS_SECONDS * 1000)) {
rtc.adjust(DateTime(gps_year, gps_month, gps_day, gps_hours, gps_minutes, gps_seconds));
#ifdef DEBUG_RTC
debug_println("service_gps: synced RTC");
#endif // DEBUG_RTC
last_rtc_gps_sync_time = millis();
}
#endif // defined(OPTION_SYNC_RTC_TO_GPS) && defined(FEATURE_RTC_DS1307)
#if defined(OPTION_SYNC_RTC_TO_GPS) && defined(FEATURE_RTC_PCF8583)
static unsigned long last_rtc_gps_sync_time;
if ((millis() - last_rtc_gps_sync_time) >= (SYNC_RTC_TO_GPS_SECONDS * 1000)) {
rtc.year = gps_year;
rtc.month = gps_month;
rtc.day = gps_day;
rtc.hour = gps_hours;
rtc.minute = gps_minutes;
rtc.second = gps_seconds;
rtc.set_time();
#ifdef DEBUG_RTC
debug_println("service_gps: synced RTC");
#endif // DEBUG_RTC
last_rtc_gps_sync_time = millis();
}
#endif // defined(OPTION_SYNC_RTC_TO_GPS) && defined(FEATURE_RTC_PCF8583)
#if defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING) || defined(FEATURE_REMOTE_UNIT_SLAVE)
if (SYNC_COORDINATES_WITH_GPS) {
latitude = float(gps_lat) / 1000000.0;
longitude = float(gps_lon) / 1000000.0;
#ifdef DEBUG_GPS
debug_print("service_gps: coord sync:");
debug_print_float(latitude,2);
debug_print(" ");
debug_print_float(longitude,2);
debug_println("");
#endif // DEBUG_GPS
}
#endif // defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING)
last_sync = millis();
}
gps_data_available = 0;
}
if ((millis() > (GPS_SYNC_PERIOD_SECONDS * 1000)) && ((millis() - last_sync) < (GPS_SYNC_PERIOD_SECONDS * 1000)) && (SYNC_TIME_WITH_GPS)) {
clock_status = GPS_SYNC;
} else {
clock_status = FREE_RUNNING;
}
if (gps_sync){
if (clock_status == GPS_SYNC){
if (!gps_sync_pin_active){
digitalWriteEnhanced(gps_sync,HIGH);
gps_sync_pin_active = 1;
}
} else {
if (gps_sync_pin_active){
digitalWriteEnhanced(gps_sync,LOW);
gps_sync_pin_active = 0;
}
}
}
} /* service_gps */
#endif // FEATURE_GPS
// --------------------------------------------------------------
#if defined(OPTION_SYNC_MASTER_COORDINATES_TO_SLAVE) && (defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE))
void sync_master_coordinates_to_slave(){
static unsigned long last_sync_master_coordinates_to_slave = 10000;
if ((millis() - last_sync_master_coordinates_to_slave) >= (SYNC_MASTER_COORDINATES_TO_SLAVE_SECS * 1000)){
if (submit_remote_command(REMOTE_UNIT_RC_COMMAND, 0, 0)) {
#ifdef DEBUG_SYNC_MASTER_COORDINATES_TO_SLAVE
debug_println("sync_master_coordinates_to_slave: submitted REMOTE_UNIT_RC_COMMAND");
#endif //DEBUG_SYNC_MASTER_COORDINATES_TO_SLAVE
last_sync_master_coordinates_to_slave = millis();
}
}
}
#endif //defined(OPTION_SYNC_MASTER_COORDINATES_TO_SLAVE) && (defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE))
//------------------------------------------------------
#if defined(FEATURE_CLOCK) && defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE) && (defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE))
void sync_master_clock_to_slave(){
static unsigned long last_sync_master_clock_to_slave = 5000;
if ((millis() - last_sync_master_clock_to_slave) >= (SYNC_MASTER_CLOCK_TO_SLAVE_CLOCK_SECS * 1000)){
if (submit_remote_command(REMOTE_UNIT_CL_COMMAND, 0, 0)) {
#ifdef DEBUG_SYNC_MASTER_CLOCK_TO_SLAVE
debug_println("sync_master_clock_to_slave: submitted REMOTE_UNIT_CL_COMMAND");
#endif //DEBUG_SYNC_MASTER_CLOCK_TO_SLAVE
last_sync_master_clock_to_slave = millis();
}
}
// if REMOTE_UNIT_CL_COMMAND above was successful, issue a GS (query GPS sync command) to get GPS sync status on the remote
if (clock_synced_to_remote){
if (submit_remote_command(REMOTE_UNIT_GS_COMMAND, 0, 0)) {
#ifdef DEBUG_SYNC_MASTER_CLOCK_TO_SLAVE
debug_println("sync_master_clock_to_slave: submitted REMOTE_UNIT_GS_COMMAND");
#endif //DEBUG_SYNC_MASTER_CLOCK_TO_SLAVE
clock_synced_to_remote = 0;
}
}
}
#endif //defined(FEATURE_CLOCK) && defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE)
// --------------------------------------------------------------
#ifdef FEATURE_CLOCK
char * clock_status_string(){
switch (clock_status) {
case FREE_RUNNING: return("FREE_RUNNING"); break;
case GPS_SYNC: return("GPS_SYNC"); break;
case RTC_SYNC: return("RTC_SYNC"); break;
case SLAVE_SYNC: return("SLAVE_SYNC"); break;
case SLAVE_SYNC_GPS: return("SLAVE_SYNC_GPS"); break;
}
}
#endif //FEATURE_CLOCK
// --------------------------------------------------------------
#ifdef FEATURE_CLOCK
char * clock_string(){
char return_string[32] = "";
char temp_string[16] = "";
dtostrf(clock_years, 0, 0, temp_string);
strcpy(return_string, temp_string);
strcat(return_string, "-");
if (clock_months < 10) {
strcat(return_string, "0");
}
dtostrf(clock_months, 0, 0, temp_string);
strcat(return_string, temp_string);
strcat(return_string, "-");
if (clock_days < 10) {
strcat(return_string, "0");
}
dtostrf(clock_days, 0, 0, temp_string);
strcat(return_string, temp_string);
strcat(return_string, " ");
if (clock_hours < 10) {
strcat(return_string, "0");
}
dtostrf(clock_hours, 0, 0, temp_string);
strcat(return_string, temp_string);
strcat(return_string, ":");
if (clock_minutes < 10) {
strcat(return_string, "0");
}
dtostrf(clock_minutes, 0, 0, temp_string);
strcat(return_string, temp_string);
strcat(return_string, ":");
if (clock_seconds < 10) {
strcat(return_string, "0");
}
dtostrf(clock_seconds, 0, 0, temp_string);
strcat(return_string, temp_string);
strcat(return_string,"Z");
return return_string;
} /* clock_string */
#endif // FEATURE_CLOCK
// --------------------------------------------------------------
#ifdef FEATURE_RTC
void service_rtc(){
static unsigned long last_rtc_sync_time = 0;
if (((millis() - last_rtc_sync_time) >= (SYNC_WITH_RTC_SECONDS * 1000)) || (clock_status == FREE_RUNNING)){
last_rtc_sync_time = millis();
#ifdef FEATURE_GPS
if (clock_status == GPS_SYNC) { // if we're also equipped with GPS and we're synced to it, don't sync to realtime clock
#ifdef DEBUG_RTC
debug_println("service_rtc: synced to GPS already. Exiting.");
#endif // DEBUG_RTC
return;
}
#endif // FEATURE_GPS
#ifdef FEATURE_RTC_DS1307
if (rtc.isrunning()) {
DateTime now = rtc.now();
#ifdef DEBUG_RTC
debug_print("service_rtc: syncing: ");
debug_print_int(now.year());
debug_print("/");
debug_print_int(now.month());
debug_print("/");
debug_print_int(now.day());
debug_print(" ");
debug_print_int(now.hour());
debug_print(":");
debug_print_int(now.minute());
debug_print(":");
debug_print_int(now.second());
debug_println("");
#endif // DEBUG_RTC
clock_year_set = now.year();
clock_month_set = now.month();
clock_day_set = now.day();
clock_hour_set = now.hour();
clock_min_set = now.minute();
clock_sec_set = now.second();
millis_at_last_calibration = millis();
update_time();
clock_status = RTC_SYNC;
} else {
clock_status = FREE_RUNNING;
#ifdef DEBUG_RTC
debug_println("service_rtc: error: RTC not running");
#endif // DEBUG_RTC
}
#endif //#FEATURE_RTC_DS1307
#ifdef FEATURE_RTC_PCF8583
rtc.get_time();
if ((rtc.year > 2000) && (rtc.month > 0) && (rtc.month < 13)){ // do we have a halfway reasonable date?
#ifdef DEBUG_RTC
control_port->print("service_rtc: syncing: ");
control_port->print(rtc.year, DEC);
control_port->print('/');
control_port->print(rtc.month, DEC);
control_port->print('/');
control_port->print(rtc.day, DEC);
control_port->print(' ');
control_port->print(rtc.hour, DEC);
control_port->print(':');
control_port->print(rtc.minute, DEC);
control_port->print(':');
control_port->println(rtc.second, DEC);
#endif // DEBUG_RTC
clock_year_set = rtc.year;
clock_month_set = rtc.month;
clock_day_set = rtc.day;
clock_hour_set = rtc.hour;
clock_min_set = rtc.minute;
clock_sec_set = rtc.second;
millis_at_last_calibration = millis();
update_time();
clock_status = RTC_SYNC;
} else {
clock_status = FREE_RUNNING;
#ifdef DEBUG_RTC
control_port->print("service_rtc: error: RTC not returning valid date or time: ");
control_port->print(rtc.year, DEC);
control_port->print('/');
control_port->print(rtc.month, DEC);
control_port->print('/');
control_port->print(rtc.day, DEC);
control_port->print(' ');
control_port->print(rtc.hour, DEC);
control_port->print(':');
control_port->print(rtc.minute, DEC);
control_port->print(':');
control_port->println(rtc.second, DEC);
#endif // DEBUG_RTC
}
#endif //#FEATURE_RTC_PCF8583
}
} /* service_rtc */
#endif // FEATURE_RTC
// --------------------------------------------------------------
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