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 cod

rotator.h

@@ -146,6 +146,7 @@
 
 #define LEFT 1
 #define RIGHT 2
+#define CENTER 3
 
 #define STEPPER_UNDEF 0
 #define STEPPER_CW 1

rotator_dependencies.h

@@ -46,11 +46,11 @@
 #undef FEATURE_EL_PRESET_ENCODER 
 #endif
 
-#if !defined(FEATURE_AZ_POSITION_POTENTIOMETER) && !defined(FEATURE_AZ_POSITION_ROTARY_ENCODER) && !defined(FEATURE_AZ_POSITION_PULSE_INPUT) && !defined(FEATURE_AZ_POSITION_GET_FROM_REMOTE_UNIT) && !defined(FEATURE_AZ_POSITION_HMC5883L)  && !defined(FEATURE_AZ_POSITION_ADAFRUIT_LSM303) && !defined(FEATURE_AZ_POSITION_HH12_AS5045_SSI) &&!defined(FEATURE_AZ_POSITION_INCREMENTAL_ENCODER) &&!defined(FEATURE_AZ_POSITION_POLOLU_LSM303)
+#if !defined(FEATURE_AZ_POSITION_POTENTIOMETER) && !defined(FEATURE_AZ_POSITION_ROTARY_ENCODER) && !defined(FEATURE_AZ_POSITION_PULSE_INPUT) && !defined(FEATURE_AZ_POSITION_GET_FROM_REMOTE_UNIT) && !defined(FEATURE_AZ_POSITION_HMC5883L)  && !defined(FEATURE_AZ_POSITION_ADAFRUIT_LSM303) && !defined(FEATURE_AZ_POSITION_HH12_AS5045_SSI) &&!defined(FEATURE_AZ_POSITION_INCREMENTAL_ENCODER) &&!defined(FEATURE_AZ_POSITION_POLOLU_LSM303) &&!defined(FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER)
 #error "You must specify one AZ position sensor feature"
 #endif
 
-#if defined(FEATURE_ELEVATION_CONTROL) && !defined(FEATURE_EL_POSITION_POTENTIOMETER) && !defined(FEATURE_EL_POSITION_ROTARY_ENCODER) && !defined(FEATURE_EL_POSITION_PULSE_INPUT) && !defined(FEATURE_EL_POSITION_ADXL345_USING_LOVE_ELECTRON_LIB) && !defined(FEATURE_EL_POSITION_ADXL345_USING_ADAFRUIT_LIB) && !defined(FEATURE_EL_POSITION_GET_FROM_REMOTE_UNIT) && !defined(FEATURE_EL_POSITION_ADAFRUIT_LSM303) && !defined(FEATURE_EL_POSITION_HH12_AS5045_SSI) && !defined(FEATURE_EL_POSITION_INCREMENTAL_ENCODER) && !defined(FEATURE_EL_POSITION_MEMSIC_2125) &&!defined(FEATURE_EL_POSITION_POLOLU_LSM303)
+#if defined(FEATURE_ELEVATION_CONTROL) && !defined(FEATURE_EL_POSITION_POTENTIOMETER) && !defined(FEATURE_EL_POSITION_ROTARY_ENCODER) && !defined(FEATURE_EL_POSITION_PULSE_INPUT) && !defined(FEATURE_EL_POSITION_ADXL345_USING_LOVE_ELECTRON_LIB) && !defined(FEATURE_EL_POSITION_ADXL345_USING_ADAFRUIT_LIB) && !defined(FEATURE_EL_POSITION_GET_FROM_REMOTE_UNIT) && !defined(FEATURE_EL_POSITION_ADAFRUIT_LSM303) && !defined(FEATURE_EL_POSITION_HH12_AS5045_SSI) && !defined(FEATURE_EL_POSITION_INCREMENTAL_ENCODER) && !defined(FEATURE_EL_POSITION_MEMSIC_2125) &&!defined(FEATURE_EL_POSITION_POLOLU_LSM303) && !defined(FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER)
 #error "You must specify one EL position sensor feature"
 #endif
 

rotator_features.h

@@ -25,6 +25,7 @@
 //#define LANGUAGE_CZECH
 //#define LANGUAGE_ITALIAN
 //#define LANGUAGE_PORTUGUESE_BRASIL
+//#define LANGUAGE_GERMAN  
 
 /* master and remote slave unit functionality */
 //#define FEATURE_REMOTE_UNIT_SLAVE // uncomment this to make this unit a remote unit controlled by a host unit                      
@@ -43,8 +44,9 @@
 //#define FEATURE_AZ_POSITION_POLOLU_LSM303              // Uncomment for azimuth using LSM303 compass and Polulu library
 //#define FEATURE_AZ_POSITION_HH12_AS5045_SSI
 //#define FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
+//#define FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
 
-//#define FEATURE_EL_POSITION_POTENTIOMETER
+#define FEATURE_EL_POSITION_POTENTIOMETER
 //#define FEATURE_EL_POSITION_ROTARY_ENCODER
 //#define FEATURE_EL_POSITION_PULSE_INPUT
 //#define FEATURE_EL_POSITION_ADXL345_USING_LOVE_ELECTRON_LIB // Uncomment for elevation ADXL345 accelerometer support using ADXL345 library
@@ -55,6 +57,7 @@
 //#define FEATURE_EL_POSITION_HH12_AS5045_SSI
 //#define FEATURE_EL_POSITION_INCREMENTAL_ENCODER
 //#define FEATURE_EL_POSITION_MEMSIC_2125
+//#define FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
 
 //#define FEATURE_4_BIT_LCD_DISPLAY //Uncomment for classic 4 bit LCD display (most common)
 //#define FEATURE_ADAFRUIT_I2C_LCD
@@ -107,18 +110,20 @@
 //#define OPTION_PULSE_IGNORE_AMBIGUOUS_PULSES // for azimuth and elevation position pulse input feature, ignore pulses that arrive when no rotation is active
 //#define OPTION_BUTTON_RELEASE_NO_SLOWDOWN  // disables slowdown when CW or CCW button is released, or stop button is depressed
 #define OPTION_SYNC_RTC_TO_GPS // if both realtime clock and GPS are present, synchronize realtime clock to GPS
-//#define OPTION_DISPLAY_HHMM_CLOCK  // display HH:MM clock on LCD row 1 (set position with #define LCD_HHMM_CLOCK_POSITION)
+
-#define OPTION_DISPLAY_HHMMSS_CLOCK  // display HH:MM:SS clock on LCD row 1 (set position with #define LCD_HHMMSS_CLOCK_POSITION)
+//#define OPTION_DISPLAY_HHMM_CLOCK  // display HH:MM clock  (set position with #define LCD_HHMM_CLOCK_POSITION)
+//#define OPTION_DISPLAY_HHMMSS_CLOCK  // display HH:MM:SS clock  (set position with #define LCD_HHMMSS_CLOCK_POSITION)
 //#define OPTION_DISPLAY_ALT_HHMM_CLOCK_AND_MAIDENHEAD // display alternating HH:MM clock and maidenhead on LCD row 1 (set position with #define LCD_HHMMCLOCK_POSITION)
 //#define OPTION_DISPLAY_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD // display constant HH:MM:SS clock and maidenhead on LCD row 1 (set position with #define LCD_CONSTANT_HHMMSSCLOCK_MAIDENHEAD_POSITION)
 //#define OPTION_DISPLAY_BIG_CLOCK   // display date & time clock (set row with #define LCD_BIG_CLOCK_ROW)
 //#define OPTION_CLOCK_ALWAYS_HAVE_HOUR_LEADING_ZERO
-#define OPTION_DISPLAY_GPS_INDICATOR  // display GPS indicator on LCD - set position with LCD_GPS_INDICATOR_POSITION and LCD_GPS_INDICATOR_ROW
+//#define OPTION_DISPLAY_GPS_INDICATOR  // display GPS indicator on LCD - set position with LCD_GPS_INDICATOR_POSITION and LCD_GPS_INDICATOR_ROW
-#define OPTION_DISPLAY_MOON_TRACKING_CONTINUOUSLY
+//#define OPTION_DISPLAY_MOON_TRACKING_CONTINUOUSLY
 //#define OPTION_DISPLAY_DIRECTION_STATUS // N, W, E, S, NW, etc. direction indicator in row 1 center
-#define OPTION_DISPLAY_SUN_TRACKING_CONTINUOUSLY
+//#define OPTION_DISPLAY_SUN_TRACKING_CONTINUOUSLY
 //#define OPTION_DISPLAY_MOON_OR_SUN_TRACKING_CONDITIONAL
 //#define OPTION_DISPLAY_VERSION_ON_STARTUP  //code provided by Paolo, IT9IPQ
+
 //#define FEATURE_POWER_SWITCH
 //#define OPTION_EXTERNAL_ANALOG_REFERENCE  //Activate external analog voltage reference (needed for RemoteQTH.com unit)
 //#define OPTION_SYNC_MASTER_CLOCK_TO_SLAVE        // use when GPS unit is connected to slave unit and you want to synchronize the master unit clock to the slave unit GPS clock
@@ -132,7 +137,25 @@
 //#define OPTION_SCANCON_2RMHF3600_INC_ENCODER  // use with FEATURE_AZ_POSITION_INCREMENTAL_ENCODER and/or FEATURE_EL_POSITION_INCREMENTAL_ENCODER if using the ScanCon 2RMHF3600 incremental encoder
 //#define OPTION_RESET_METHOD_JMP_ASM_0
 
-//#define UNDER_DEVELOPMENT_REMOTE_UNIT_COMMANDS
+
+/**************** this section is for code under development ********************************/
+//#define UNDER_DEVELOPMENT_REMOTE_UNIT_COMMANDS   
+//#define UNDER_DEVELOPMENT_K3NGDISPLAY_LIBRARY
+#define OPTION_DISPLAY_STATUS_TERSE     // TODO - rename this
+#define OPTION_DISPLAY_HEADING
+#define LCD_HEADING_ROW 2
+#define LCD_HEADING_FIELD_SIZE 20
+//#define OPTION_LCD_HEADING_FIELD_FIXED_DECIMAL_PLACE
+#define LCD_STATUS_ROW 1
+#define LCD_STATUS_FIELD_SIZE 20
+#define LCD_DIRECTION_ROW 1
+#define LCD_HHMMSS_CLOCK_ROW 1
+#define LCD_HHMM_CLOCK_ROW 1
+#define PARKING_STRING "PARKING"
+#define PARKED_STRING "PARKED"
+#define PARKING_STATUS_DISPLAY_TIME_MS 5000
+/**************** end of section ifor code under development ********************************/
+
 
 
 
@@ -153,6 +176,7 @@
 #define DEFAULT_DEBUG_STATE 0 // 1 = activate debug mode at startup; this should be set to zero unless you're debugging something at startup
 
 #define DEBUG_DUMP  // normally compile with this activated unless you're really trying to save memory
+// #define DEBUG_LOOP
 // #define DEBUG_MEMORY
 // #define DEBUG_BUTTONS
 // #define DEBUG_SERIAL
@@ -203,6 +227,8 @@
 // #define DEBUG_POLOLU_LSM303_CALIBRATION
 // #define DEBUG_STEPPER
 // #define DEBUG_AUTOCORRECT
+// #define DEBUG_A2_ENCODER
+// #define DEBUG_A2_ENCODER_LOOPBACK_TEST
 
 
 

rotator_features_m0upu.h

@@ -1,7 +1,7 @@
 /* ---------------------- Features and Options - you must configure this !! ------------------------------------------------
 
 
-  If you are using EA4TX ARS USB, edit rotator_features_ea4tx_ars_usb.h, not this file.
+  M0UPU Board Features and Options
 
 */
 
@@ -56,7 +56,7 @@
 //#define FEATURE_EL_POSITION_INCREMENTAL_ENCODER
 //#define FEATURE_EL_POSITION_MEMSIC_2125
 
-//#define FEATURE_4_BIT_LCD_DISPLAY //Uncomment for classic 4 bit LCD display (most common)
+#define FEATURE_4_BIT_LCD_DISPLAY //Uncomment for classic 4 bit LCD display (most common)
 //#define FEATURE_ADAFRUIT_I2C_LCD
 //#define FEATURE_ADAFRUIT_BUTTONS  // Uncomment this to use Adafruit I2C LCD buttons for manual AZ/EL instead of normal buttons
 //#define FEATURE_YOURDUINO_I2C_LCD
@@ -132,6 +132,21 @@
 //#define OPTION_SCANCON_2RMHF3600_INC_ENCODER  // use with FEATURE_AZ_POSITION_INCREMENTAL_ENCODER and/or FEATURE_EL_POSITION_INCREMENTAL_ENCODER if using the ScanCon 2RMHF3600 incremental encoder
 //#define OPTION_RESET_METHOD_JMP_ASM_0
 
+//#define UNDER_DEVELOPMENT_REMOTE_UNIT_COMMANDS
+#define UNDER_DEVELOPMENT_K3NGDISPLAY_LIBRARY
+//#define OPTION_DISPLAY_STATUS_TERSE     // TODO - rename this
+#define OPTION_DISPLAY_HEADING
+#define LCD_HEADING_ROW 2
+#define LCD_HEADING_FIELD_SIZE 20
+//#define OPTION_LCD_HEADING_FIELD_FIXED_DECIMAL_PLACE
+#define LCD_STATUS_ROW 1
+#define LCD_STATUS_FIELD_SIZE 20
+#define LCD_DIRECTION_ROW 1
+#define LCD_HHMMSS_CLOCK_ROW 1
+#define LCD_HHMM_CLOCK_ROW 1
+#define PARKING_STRING "PARKING"
+#define PARKED_STRING "PARKED"
+#define PARKING_STATUS_DISPLAY_TIME_MS 5000
 
 
   /*

rotator_pins.h

@@ -37,55 +37,55 @@
 
 /*----------- elevation pins --------------*/
 #ifdef FEATURE_ELEVATION_CONTROL
-#define rotate_up 8               // goes high to activate rotator elevation up
+  #define rotate_up 8               // goes high to activate rotator elevation up
-#define rotate_down 9             // goes high to activate rotator elevation down
+  #define rotate_down 9             // goes high to activate rotator elevation down
-#define rotate_up_or_down 0       // goes high when elevation up or down is activated
+  #define rotate_up_or_down 0       // goes high when elevation up or down is activated
-#define rotate_up_pwm 0           // optional - PWM UP output - set to 0 to disable (must be PWM capable pin)
+  #define rotate_up_pwm 0           // optional - PWM UP output - set to 0 to disable (must be PWM capable pin)
-#define rotate_down_pwm 0         // optional - PWM DOWN output - set to 0 to disable (must be PWM capable pin)
+  #define rotate_down_pwm 0         // optional - PWM DOWN output - set to 0 to disable (must be PWM capable pin)
-#define rotate_up_down_pwm 0      // optional - PWM on both UP and DOWN (must be PWM capable pin)
+  #define rotate_up_down_pwm 0      // optional - PWM on both UP and DOWN (must be PWM capable pin)
-#define rotate_up_freq 0          // optional - UP variable frequency output
+  #define rotate_up_freq 0          // optional - UP variable frequency output
-#define rotate_down_freq 0        // optional - UP variable frequency output
+  #define rotate_down_freq 0        // optional - UP variable frequency output
-#define rotator_analog_el A1      // reads analog elevation voltage from rotator
+  #define rotator_analog_el A1      // reads analog elevation voltage from rotator
-#define button_up 0               // normally open button to ground for manual up elevation
+  #define button_up 0               // normally open button to ground for manual up elevation
-#define button_down 0             // normally open button to ground for manual down rotation
+  #define button_down 0             // normally open button to ground for manual down rotation
-#define brake_el 0                // goes high to disengage elevation brake (set to 0 to disable)
+  #define brake_el 0                // goes high to disengage elevation brake (set to 0 to disable)
-#define elevation_speed_voltage  0 // optional - PWM output for speed control voltage feed into rotator (on continually unlike rotate_up_pwm and rotate_down_pwm)
+  #define elevation_speed_voltage  0 // optional - PWM output for speed control voltage feed into rotator (on continually unlike rotate_up_pwm and rotate_down_pwm)
-#define el_stepper_motor_pulse 0
+  #define el_stepper_motor_pulse 0
 #endif //FEATURE_ELEVATION_CONTROL
 
 // rotary encoder pins and options
 #ifdef FEATURE_AZ_PRESET_ENCODER 
-#define az_rotary_preset_pin1 0                     // CW Encoder Pin
+  #define az_rotary_preset_pin1 0                     // CW Encoder Pin
-#define az_rotary_preset_pin2 0                     // CCW Encoder Pin
+  #define az_rotary_preset_pin2 0                     // CCW Encoder Pin
 #endif //FEATURE_AZ_PRESET_ENCODER
 
 #ifdef FEATURE_EL_PRESET_ENCODER 
-#define el_rotary_preset_pin1 0                     // UP Encoder Pin
+  #define el_rotary_preset_pin1 0                     // UP Encoder Pin
-#define el_rotary_preset_pin2 0                     // DOWN Encoder Pin
+  #define el_rotary_preset_pin2 0                     // DOWN Encoder Pin
 #endif //FEATURE_EL_PRESET_ENCODER
 
 #ifdef FEATURE_AZ_POSITION_ROTARY_ENCODER
-#define az_rotary_position_pin1 0                     // CW Encoder Pin
+  #define az_rotary_position_pin1 0                     // CW Encoder Pin
-#define az_rotary_position_pin2 0                     // CCW Encoder Pin
+  #define az_rotary_position_pin2 0                     // CCW Encoder Pin
 #endif //FEATURE_AZ_POSITION_ROTARY_ENCODER
 
 #ifdef FEATURE_EL_POSITION_ROTARY_ENCODER
-#define el_rotary_position_pin1 0                     // CW Encoder Pin
+  #define el_rotary_position_pin1 0                     // CW Encoder Pin
-#define el_rotary_position_pin2 0                     // CCW Encoder Pin
+  #define el_rotary_position_pin2 0                     // CCW Encoder Pin
 #endif //FEATURE_EL_POSITION_ROTARY_ENCODER
 
 #ifdef FEATURE_AZ_POSITION_PULSE_INPUT
-#define az_position_pulse_pin 0                       // must be an interrupt capable pin!
+  #define az_position_pulse_pin 0                       // must be an interrupt capable pin!
-#define AZ_POSITION_PULSE_PIN_INTERRUPT 0             // Uno: pin 2 = interrupt 0, pin 3 = interrupt 1 ; Mega: pin 2 = interrupt 0, pin 3 = interrupt 1, pin 21 = interrupt 2, pin 20 = interrupt 3, pin 19 = interrupt 4, pin 18 = interrupt 5
+  #define AZ_POSITION_PULSE_PIN_INTERRUPT 0             // Uno: pin 2 = interrupt 0, pin 3 = interrupt 1 ; Mega: pin 2 = interrupt 0, pin 3 = interrupt 1, pin 21 = interrupt 2, pin 20 = interrupt 3, pin 19 = interrupt 4, pin 18 = interrupt 5
 #endif                                                // read http://arduino.cc/en/Reference/AttachInterrupt for details on hardware and interrupts
 
 #ifdef FEATURE_EL_POSITION_PULSE_INPUT
-#define el_position_pulse_pin 1                       // must be an interrupt capable pin!
+  #define el_position_pulse_pin 1                       // must be an interrupt capable pin!
-#define EL_POSITION_PULSE_PIN_INTERRUPT 1             // Uno: pin 2 = interrupt 0, pin 3 = interrupt 1 ; Mega: pin 2 = interrupt 0, pin 3 = interrupt 1, pin 21 = interrupt 2, pin 20 = interrupt 3, pin 19 = interrupt 4, pin 18 = interrupt 5
+  #define EL_POSITION_PULSE_PIN_INTERRUPT 1             // Uno: pin 2 = interrupt 0, pin 3 = interrupt 1 ; Mega: pin 2 = interrupt 0, pin 3 = interrupt 1, pin 21 = interrupt 2, pin 20 = interrupt 3, pin 19 = interrupt 4, pin 18 = interrupt 5
 #endif                                                // read http://arduino.cc/en/Reference/AttachInterrupt for details on hardware and interrupts
 
 #ifdef FEATURE_PARK
-#define button_park 0
+  #define button_park 0
 #endif
 
 //classic 4 bit LCD pins
@@ -98,99 +98,104 @@
 
 
 #ifdef FEATURE_JOYSTICK_CONTROL
-#define pin_joystick_x A0
+  #define pin_joystick_x A0
-#define pin_joystick_y A1
+  #define pin_joystick_y A1
 #endif //FEATURE_JOYSTICK_CONTROL
 
 #ifdef FEATURE_AZ_POSITION_HH12_AS5045_SSI
-#define az_hh12_clock_pin 11
+  #define az_hh12_clock_pin 11
-#define az_hh12_cs_pin 12
+  #define az_hh12_cs_pin 12
-#define az_hh12_data_pin 13
+  #define az_hh12_data_pin 13
 #endif //FEATURE_AZ_POSITION_HH_12
 
 #ifdef FEATURE_EL_POSITION_HH12_AS5045_SSI
-#define el_hh12_clock_pin 53 //11
+  #define el_hh12_clock_pin 53 //11
-#define el_hh12_cs_pin 52 //12
+  #define el_hh12_cs_pin 52 //12
-#define el_hh12_data_pin 51 //13
+  #define el_hh12_data_pin 51 //13
 #endif //FEATURE_EL_POSITION_HH_12
 
 #ifdef FEATURE_PARK
-#define park_in_progress_pin 0  // goes high when a park has been initiated and rotation is in progress
+  #define park_in_progress_pin 0  // goes high when a park has been initiated and rotation is in progress
-#define parked_pin 0            // goes high when in a parked position
+  #define parked_pin 0            // goes high when in a parked position
 #endif //FEATURE_PARK
 
 #define heading_reading_inhibit_pin 0 // input - a high will cause the controller to suspend taking azimuth (and elevation) readings; use when RF interferes with sensors
 
 #ifdef FEATURE_LIMIT_SENSE
-#define az_limit_sense_pin 0  // input - low stops azimuthal rotation
+  #define az_limit_sense_pin 0  // input - low stops azimuthal rotation
-#define el_limit_sense_pin 0  // input - low stops elevation rotation
+  #define el_limit_sense_pin 0  // input - low stops elevation rotation
 #endif //FEATURE_LIMIT_SENSE
 
 #ifdef FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
-#define az_incremental_encoder_pin_phase_a 18 //3 must be an interrupt capable pin
+  #define az_incremental_encoder_pin_phase_a 18 //3 must be an interrupt capable pin
-#define az_incremental_encoder_pin_phase_b 19 //3 // must be an interrupt capable pin
+  #define az_incremental_encoder_pin_phase_b 19 //3 // must be an interrupt capable pin
-#define az_incremental_encoder_pin_phase_z 22 //4
+  #define az_incremental_encoder_pin_phase_z 22 //4
-#define AZ_POSITION_INCREMENTAL_ENCODER_A_PIN_INTERRUPT 5 //0             // Uno: pin 2 = interrupt 0, pin 3 = interrupt 1 ; Mega: pin 2 = interrupt 0, pin 3 = interrupt 1, pin 21 = interrupt 2, pin 20 = interrupt 3, pin 19 = interrupt 4, pin 18 = interrupt 5
+  #define AZ_POSITION_INCREMENTAL_ENCODER_A_PIN_INTERRUPT 5 //0             // Uno: pin 2 = interrupt 0, pin 3 = interrupt 1 ; Mega: pin 2 = interrupt 0, pin 3 = interrupt 1, pin 21 = interrupt 2, pin 20 = interrupt 3, pin 19 = interrupt 4, pin 18 = interrupt 5
-#define AZ_POSITION_INCREMENTAL_ENCODER_B_PIN_INTERRUPT 4 //1             // Uno: pin 2 = interrupt 0, pin 3 = interrupt 1 ; Mega: pin 2 = interrupt 0, pin 3 = interrupt 1, pin 21 = interrupt 2, pin 20 = interrupt 3, pin 19 = interrupt 4, pin 18 = interrupt 5
+  #define AZ_POSITION_INCREMENTAL_ENCODER_B_PIN_INTERRUPT 4 //1             // Uno: pin 2 = interrupt 0, pin 3 = interrupt 1 ; Mega: pin 2 = interrupt 0, pin 3 = interrupt 1, pin 21 = interrupt 2, pin 20 = interrupt 3, pin 19 = interrupt 4, pin 18 = interrupt 5
                                                                               // read http://arduino.cc/en/Reference/AttachInterrupt for details on hardware and interrupts
 #endif //FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
 
 #ifdef FEATURE_EL_POSITION_INCREMENTAL_ENCODER
-#define el_incremental_encoder_pin_phase_a 2 //18 //2 // must be an interrupt capable pin
+  #define el_incremental_encoder_pin_phase_a 2 //18 //2 // must be an interrupt capable pin
-#define el_incremental_encoder_pin_phase_b 3 //19 //3 // must be an interrupt capable pin
+  #define el_incremental_encoder_pin_phase_b 3 //19 //3 // must be an interrupt capable pin
-#define el_incremental_encoder_pin_phase_z 5 //22 //4
+  #define el_incremental_encoder_pin_phase_z 5 //22 //4
-#define EL_POSITION_INCREMENTAL_ENCODER_A_PIN_INTERRUPT 0 //5 //0             // Uno: pin 2 = interrupt 0, pin 3 = interrupt 1 ; Mega: pin 2 = interrupt 0, pin 3 = interrupt 1, pin 21 = interrupt 2, pin 20 = interrupt 3, pin 19 = interrupt 4, pin 18 = interrupt 5
+  #define EL_POSITION_INCREMENTAL_ENCODER_A_PIN_INTERRUPT 0 //5 //0             // Uno: pin 2 = interrupt 0, pin 3 = interrupt 1 ; Mega: pin 2 = interrupt 0, pin 3 = interrupt 1, pin 21 = interrupt 2, pin 20 = interrupt 3, pin 19 = interrupt 4, pin 18 = interrupt 5
-#define EL_POSITION_INCREMENTAL_ENCODER_B_PIN_INTERRUPT 1 //4 //1             // Uno: pin 2 = interrupt 0, pin 3 = interrupt 1 ; Mega: pin 2 = interrupt 0, pin 3 = interrupt 1, pin 21 = interrupt 2, pin 20 = interrupt 3, pin 19 = interrupt 4, pin 18 = interrupt 5
+  #define EL_POSITION_INCREMENTAL_ENCODER_B_PIN_INTERRUPT 1 //4 //1             // Uno: pin 2 = interrupt 0, pin 3 = interrupt 1 ; Mega: pin 2 = interrupt 0, pin 3 = interrupt 1, pin 21 = interrupt 2, pin 20 = interrupt 3, pin 19 = interrupt 4, pin 18 = interrupt 5
                                                                               // read http://arduino.cc/en/Reference/AttachInterrupt for details on hardware and interrupts
 #endif //FEATURE_EL_POSITION_INCREMENTAL_ENCODER
 
 #ifdef FEATURE_YOURDUINO_I2C_LCD
-#define En_pin  2
+  #define En_pin  2
-#define Rw_pin  1
+  #define Rw_pin  1
-#define Rs_pin  0
+  #define Rs_pin  0
-#define D4_pin  4
+  #define D4_pin  4
-#define D5_pin  5
+  #define D5_pin  5
-#define D6_pin  6
+  #define D6_pin  6
-#define D7_pin  7
+  #define D7_pin  7
 #endif //FEATURE_YOURDUINO_I2C_LCD
 
 #ifdef FEATURE_MOON_TRACKING
-#define moon_tracking_active_pin 0    // goes high when moon tracking is active
+  #define moon_tracking_active_pin 0    // goes high when moon tracking is active
-#define moon_tracking_activate_line 0 // ground this pin to activate moon tracking (not for use with a button)
+  #define moon_tracking_activate_line 0 // ground this pin to activate moon tracking (not for use with a button)
-#define moon_tracking_button 0        // use with a normally open momentary switch to ground
+  #define moon_tracking_button 0        // use with a normally open momentary switch to ground
 #endif //FEATURE_MOON_TRACKING
 
 #ifdef FEATURE_SUN_TRACKING
-#define sun_tracking_active_pin 0    // goes high when sun tracking is active
+  #define sun_tracking_active_pin 0    // goes high when sun tracking is active
-#define sun_tracking_activate_line 0 // ground this pin to activate sun tracking (not for use with a button)
+  #define sun_tracking_activate_line 0 // ground this pin to activate sun tracking (not for use with a button)
-#define sun_tracking_button 0      // use with a normally open momentary switch to ground
+  #define sun_tracking_button 0      // use with a normally open momentary switch to ground
 #endif //FEATURE_SUN_TRACKING
 
 #ifdef FEATURE_GPS
-#define gps_sync 0
+  #define gps_sync 0
 #endif //FEATURE_GPS
 
 #ifdef FEATURE_POWER_SWITCH
-#define power_switch 0             // use with FEATURE_POWER_SWITCH
+  #define power_switch 0             // use with FEATURE_POWER_SWITCH
 #endif //FEATURE_POWER_SWITCH
 
 #ifdef FEATURE_EL_POSITION_MEMSIC_2125
-#define pin_memsic_2125_x 0
+  #define pin_memsic_2125_x 0
-#define pin_memsic_2125_y 0
+  #define pin_memsic_2125_y 0
 #endif //FEATURE_EL_POSITION_MEMSIC_2125
 
 #ifdef FEATURE_ANALOG_OUTPUT_PINS
-#define pin_analog_az_out 0
+  #define pin_analog_az_out 0
-#define pin_analog_el_out 0
+  #define pin_analog_el_out 0
 #endif //FEATURE_ANALOG_OUTPUT_PINS
 
 #ifdef FEATURE_SUN_PUSHBUTTON_AZ_EL_CALIBRATION
-#define pin_sun_pushbutton_calibration 0             // normally HIGH, have button pull LOW
+  #define pin_sun_pushbutton_calibration 0             // normally HIGH, have button pull LOW
 #endif //FEATURE_SUN_PUSHBUTTON_AZ_EL_CALIBRATION
 
 #ifdef FEATURE_MOON_PUSHBUTTON_AZ_EL_CALIBRATION
-#define pin_moon_pushbutton_calibration 0            // normally HIGH, have button pull LOW
+  #define pin_moon_pushbutton_calibration 0            // normally HIGH, have button pull LOW
 #endif //FEATURE_MOON_PUSHBUTTON_AZ_EL_CALIBRATION
 
 //#define reset_pin 22 // if defined, goes HIGH to reset unit
 
+#if defined(FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER) || defined(FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER)
+  #define pin_sei_bus_busy 24
+  #define pin_sei_bus_send_receive 22  
+#endif
+

rotator_pins_m0upu.h

@@ -128,20 +128,20 @@
 #endif //FEATURE_LIMIT_SENSE
 
 #ifdef FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
-#define az_3_phase_encoder_pin_phase_a 2 // must be an interrupt capable pin
+  #define az_incremental_encoder_pin_phase_a 18 //3 must be an interrupt capable pin
-#define az_3_phase_encoder_pin_phase_b 3 // must be an interrupt capable pin
+  #define az_incremental_encoder_pin_phase_b 19 //3 // must be an interrupt capable pin
-#define az_3_phase_encoder_pin_phase_z 4
+  #define az_incremental_encoder_pin_phase_z 22 //4
-#define AZ_POSITION_3_PHASE_INCREMENTAL_ENCODER_A_PIN_INTERRUPT 0             // Uno: pin 2 = interrupt 0, pin 3 = interrupt 1
+  #define AZ_POSITION_INCREMENTAL_ENCODER_A_PIN_INTERRUPT 5 //0             // Uno: pin 2 = interrupt 0, pin 3 = interrupt 1 ; Mega: pin 2 = interrupt 0, pin 3 = interrupt 1, pin 21 = interrupt 2, pin 20 = interrupt 3, pin 19 = interrupt 4, pin 18 = interrupt 5
-#define AZ_POSITION_3_PHASE_INCREMENTAL_ENCODER_B_PIN_INTERRUPT 1             // Uno: pin 2 = interrupt 0, pin 3 = interrupt 1
+  #define AZ_POSITION_INCREMENTAL_ENCODER_B_PIN_INTERRUPT 4 //1             // Uno: pin 2 = interrupt 0, pin 3 = interrupt 1 ; Mega: pin 2 = interrupt 0, pin 3 = interrupt 1, pin 21 = interrupt 2, pin 20 = interrupt 3, pin 19 = interrupt 4, pin 18 = interrupt 5
                                                                               // read http://arduino.cc/en/Reference/AttachInterrupt for details on hardware and interrupts
 #endif //FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
 
 #ifdef FEATURE_EL_POSITION_INCREMENTAL_ENCODER
-#define el_3_phase_encoder_pin_phase_a 2 // must be an interrupt capable pin
+  #define el_incremental_encoder_pin_phase_a 2 //18 //2 // must be an interrupt capable pin
-#define el_3_phase_encoder_pin_phase_b 3 // must be an interrupt capable pin
+  #define el_incremental_encoder_pin_phase_b 3 //19 //3 // must be an interrupt capable pin
-#define el_3_phase_encoder_pin_phase_z 4
+  #define el_incremental_encoder_pin_phase_z 5 //22 //4
-#define EL_POSITION_3_PHASE_INCREMENTAL_ENCODER_A_PIN_INTERRUPT 0             // Uno: pin 2 = interrupt 0, pin 3 = interrupt 1
+  #define EL_POSITION_INCREMENTAL_ENCODER_A_PIN_INTERRUPT 0 //5 //0             // Uno: pin 2 = interrupt 0, pin 3 = interrupt 1 ; Mega: pin 2 = interrupt 0, pin 3 = interrupt 1, pin 21 = interrupt 2, pin 20 = interrupt 3, pin 19 = interrupt 4, pin 18 = interrupt 5
-#define EL_POSITION_3_PHASE_INCREMENTAL_ENCODER_B_PIN_INTERRUPT 1             // Uno: pin 2 = interrupt 0, pin 3 = interrupt 1
+  #define EL_POSITION_INCREMENTAL_ENCODER_B_PIN_INTERRUPT 1 //4 //1             // Uno: pin 2 = interrupt 0, pin 3 = interrupt 1 ; Mega: pin 2 = interrupt 0, pin 3 = interrupt 1, pin 21 = interrupt 2, pin 20 = interrupt 3, pin 19 = interrupt 4, pin 18 = interrupt 5
                                                                               // read http://arduino.cc/en/Reference/AttachInterrupt for details on hardware and interrupts
 #endif //FEATURE_EL_POSITION_INCREMENTAL_ENCODER
 

rotator_settings.h

@@ -111,8 +111,8 @@ You can tweak these, but read the online documentation!
 #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_POSITION CENTER
-#define LCD_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD_ROW 1
+#define LCD_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD_ROW 3
 #define LCD_BIG_CLOCK_ROW 4
 #define LCD_GPS_INDICATOR_POSITION RIGHT //LEFT or RIGHT
 #define LCD_GPS_INDICATOR_ROW 1
@@ -416,8 +416,53 @@ You can tweak these, but read the online documentation!
 #define NNE_STRING "NNL"
 #endif //LANGUAGE_PORTUGUESE_BRASIL
 
+
+#ifdef LANGUAGE_GERMAN               // courtesy of Ronny DM2RM
+#define MOON_STRING "MOND "
+#define SUN_STRING "SONNE "
+#define AZ_TARGET_STRING "Az Ziel "
+#define EL_TARGET_STRING "El Ziel "
+#define TARGET_STRING "Ziel "
+#define PARKED_STRING "Parken"
+#define ROTATING_CW_STRING "Drehen CW"
+#define ROTATING_CCW_STRING "Drehen CCW"
+#define ROTATING_TO_STRING "Drehen nach "
+#define ELEVATING_TO_STRING "Elevation nach "
+#define ELEVATING_UP_STRING "Elevation Auf"
+#define ELEVATING_DOWN_STRING "Elevation Ab"
+#define ROTATING_STRING "Drehen "
+#define CW_STRING "CW"
+#define CCW_STRING "CCW"
+#define UP_STRING "AUF"
+#define DOWN_STRING "AB"
+#define AZIMUTH_STRING "Azimuth "   //--------------------------------------------------------------------------------------------------------------
+#define AZ_STRING "Az"
+#define AZ_SPACE_STRING "Az "
+#define SPACE_EL_STRING " El"
+#define SPACE_EL_SPACE_STRING " El "
+#define GPS_STRING "GPS"
+#define N_STRING "N  (KL)"
+#define W_STRING "W  (HK)"
+#define S_STRING "S  (ZS)"
+#define E_STRING "O  (YB)"
+#define NW_STRING "NW  (W8)"
+#define SW_STRING "SW  (PY)"
+#define SE_STRING "SO  (HZ)"
+#define NE_STRING "NO  (JA"
+#define NNW_STRING "NNW (VE)"
+#define WNW_STRING "WNW (XE)"
+#define WSW_STRING "WSW (OA)"
+#define SSW_STRING "SSW  (ZD7)"
+#define SSE_STRING "SSO (5R)"
+#define ESE_STRING "OSO (8Q)"
+#define ENE_STRING "ONO (ZL)"
+#define NNE_STRING "NNO (UA0)"
+#endif //LANGUAGE_GERMAN
+
+
 #define TRACKING_ACTIVE_CHAR "*"
 #define TRACKING_INACTIVE_CHAR "-"
+#define DISPLAY_DEGREES_STRING "\xDF"
 
 #define INTERNAL_CLOCK_CORRECTION 0.00145
 
@@ -518,27 +563,30 @@ You can tweak these, but read the online documentation!
 
 */
 
+#if !defined(UNDER_DEVELOPMENT_K3NGDISPLAY_LIBRARY)
+  #if defined(FEATURE_4_BIT_LCD_DISPLAY)
+    LiquidCrystal lcd(lcd_4_bit_rs_pin, lcd_4_bit_enable_pin, lcd_4_bit_d4_pin, lcd_4_bit_d5_pin, lcd_4_bit_d6_pin, lcd_4_bit_d7_pin); 
+  #endif //FEATURE_4_BIT_LCD_DISPLAY
 
-#ifdef FEATURE_4_BIT_LCD_DISPLAY 
+  #ifdef FEATURE_ADAFRUIT_I2C_LCD
-LiquidCrystal lcd(lcd_4_bit_rs_pin, lcd_4_bit_enable_pin, lcd_4_bit_d4_pin, lcd_4_bit_d5_pin, lcd_4_bit_d6_pin, lcd_4_bit_d7_pin); 
+    Adafruit_RGBLCDShield lcd = Adafruit_RGBLCDShield();
-#endif //FEATURE_4_BIT_LCD_DISPLAY
+  #endif //FEATURE_ADAFRUIT_I2C_LCD
 
+  #ifdef FEATURE_YOURDUINO_I2C_LCD
+    #define I2C_ADDR 0x20
+    #define BACKLIGHT_PIN 3
+    #define LED_OFF 1
+    #define LED_ON 0            
+    LiquidCrystal_I2C  lcd(I2C_ADDR,En_pin,Rw_pin,Rs_pin,D4_pin,D5_pin,D6_pin,D7_pin);
+  #endif //FEATURE_YOURDUINO_I2C_LCD
 
-#ifdef FEATURE_ADAFRUIT_I2C_LCD
+  #ifdef FEATURE_RFROBOT_I2C_DISPLAY
-Adafruit_RGBLCDShield lcd = Adafruit_RGBLCDShield();
+    LiquidCrystal_I2C lcd(0x27,16,2); 
-#endif //FEATURE_ADAFRUIT_I2C_LCD
+  #endif //FEATURE_RFROBOT_I2C_DISPLAY
+#else
+  K3NGdisplay k3ngdisplay(LCD_COLUMNS,LCD_ROWS,LCD_UPDATE_TIME);    
+#endif //!defined(UNDER_DEVELOPMENT_K3NGDISPLAY_LIBRARY)
 
-#ifdef FEATURE_YOURDUINO_I2C_LCD
-#define I2C_ADDR 0x20
-#define BACKLIGHT_PIN 3
-#define LED_OFF 1
-#define LED_ON 0            
-LiquidCrystal_I2C  lcd(I2C_ADDR,En_pin,Rw_pin,Rs_pin,D4_pin,D5_pin,D6_pin,D7_pin);
-#endif //FEATURE_YOURDUINO_I2C_LCD
-
-#ifdef FEATURE_RFROBOT_I2C_DISPLAY
-LiquidCrystal_I2C lcd(0x27,16,2); 
-#endif //FEATURE_RFROBOT_I2C_DISPLAY
 
 #ifdef FEATURE_AZ_POSITION_HMC5883L
 HMC5883L compass;
@@ -573,26 +621,47 @@ hh12 elevation_hh12;
 #endif //FEATURE_EL_POSITION_HH12_AS5045_SSI
 
 #ifdef FEATURE_GPS
-TinyGPS gps;
+  TinyGPS gps;
 #endif //FEATURE_GPS
 
 #ifdef FEATURE_RTC_DS1307
-RTC_DS1307 rtc;
+  RTC_DS1307 rtc;
 #endif //FEATURE_RTC_DS1307
 
 #ifdef FEATURE_RTC_PCF8583
-PCF8583 rtc(0xA0);
+  PCF8583 rtc(0xA0);
 #endif //FEATURE_RTC_PCF8583
 
 #ifdef HARDWARE_EA4TX_ARS_USB
-#undef LCD_COLUMNS
+  #undef LCD_COLUMNS
-#undef LCD_ROWS
+  #undef LCD_ROWS
-#define LCD_COLUMNS 16
+  #define LCD_COLUMNS 16
-#define LCD_ROWS 2
+  #define LCD_ROWS 2
 #endif //HARDWARE_EA4TX_ARS_USB
 
 #ifdef HARDWARE_M0UPU
-#undef LCD_ROWS
+  #undef LCD_ROWS
-#define LCD_ROWS 2
+  #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_TWO_BYTE_POSITION|*/MODE_MULTITURN
+#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
+

rotator_settings_ea4tx_ars_usb.h

@@ -418,6 +418,7 @@ You can tweak these, but read the online documentation!
 
 #define TRACKING_ACTIVE_CHAR "*"
 #define TRACKING_INACTIVE_CHAR "-"
+#define DISPLAY_DEGREES_STRING "\xDF"
 
 #define INTERNAL_CLOCK_CORRECTION 0.00145
 

rotator_settings_m0upu.h

@@ -418,6 +418,7 @@ You can tweak these, but read the online documentation!
 
 #define TRACKING_ACTIVE_CHAR "*"
 #define TRACKING_INACTIVE_CHAR "-"
+#define DISPLAY_DEGREES_STRING "\xDF"
 
 #define INTERNAL_CLOCK_CORRECTION 0.00145
 
@@ -513,28 +514,29 @@ You can tweak these, but read the online documentation!
    
 
 */
+#if !defined(UNDER_DEVELOPMENT_K3NGDISPLAY_LIBRARY)
+  #if defined(FEATURE_4_BIT_LCD_DISPLAY)
+    LiquidCrystal lcd(lcd_4_bit_rs_pin, lcd_4_bit_enable_pin, lcd_4_bit_d4_pin, lcd_4_bit_d5_pin, lcd_4_bit_d6_pin, lcd_4_bit_d7_pin); 
+  #endif //FEATURE_4_BIT_LCD_DISPLAY
 
+  #ifdef FEATURE_ADAFRUIT_I2C_LCD
+    Adafruit_RGBLCDShield lcd = Adafruit_RGBLCDShield();
+  #endif //FEATURE_ADAFRUIT_I2C_LCD
 
-#ifdef FEATURE_4_BIT_LCD_DISPLAY 
+  #ifdef FEATURE_YOURDUINO_I2C_LCD
-LiquidCrystal lcd(lcd_4_bit_rs_pin, lcd_4_bit_enable_pin, lcd_4_bit_d4_pin, lcd_4_bit_d5_pin, lcd_4_bit_d6_pin, lcd_4_bit_d7_pin); 
+    #define I2C_ADDR 0x20
-#endif //FEATURE_4_BIT_LCD_DISPLAY
+    #define BACKLIGHT_PIN 3
+    #define LED_OFF 1
+    #define LED_ON 0            
+    LiquidCrystal_I2C  lcd(I2C_ADDR,En_pin,Rw_pin,Rs_pin,D4_pin,D5_pin,D6_pin,D7_pin);
+  #endif //FEATURE_YOURDUINO_I2C_LCD
 
-
+  #ifdef FEATURE_RFROBOT_I2C_DISPLAY
-#ifdef FEATURE_ADAFRUIT_I2C_LCD
+    LiquidCrystal_I2C lcd(0x27,16,2); 
-Adafruit_RGBLCDShield lcd = Adafruit_RGBLCDShield();
+  #endif //FEATURE_RFROBOT_I2C_DISPLAY
-#endif //FEATURE_ADAFRUIT_I2C_LCD
+#else
-
+  K3NGdisplay k3ngdisplay(LCD_COLUMNS,LCD_ROWS,LCD_UPDATE_TIME);    
-#ifdef FEATURE_YOURDUINO_I2C_LCD
+#endif //!defined(UNDER_DEVELOPMENT_K3NGDISPLAY_LIBRARY)
-#define I2C_ADDR 0x20
-#define BACKLIGHT_PIN 3
-#define LED_OFF 1
-#define LED_ON 0            
-LiquidCrystal_I2C  lcd(I2C_ADDR,En_pin,Rw_pin,Rs_pin,D4_pin,D5_pin,D6_pin,D7_pin);
-#endif //FEATURE_YOURDUINO_I2C_LCD
-
-#ifdef FEATURE_RFROBOT_I2C_DISPLAY
-LiquidCrystal_I2C lcd(0x27,16,2); 
-#endif //FEATURE_RFROBOT_I2C_DISPLAY
 
 #ifdef FEATURE_AZ_POSITION_HMC5883L
 HMC5883L compass;

rotator_settings_wb6kcn.h

@@ -377,6 +377,7 @@ You can tweak these, but read the online documentation!
 
 #define TRACKING_ACTIVE_CHAR "*"
 #define TRACKING_INACTIVE_CHAR "-"
+#define DISPLAY_DEGREES_STRING "\xDF"
 
 #define INTERNAL_CLOCK_CORRECTION 0.00145