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2023.09.29.0800

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Added FEATURE_AZ_POSITION_HH12_AS5045_SSI_RELATIVE; not tested
This commit is contained in:
k3ng 2023-09-29 08:02:36 -04:00
parent 4f24fe3cf7
commit 3388669157
4 changed files with 63 additions and 11 deletions
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56
k3ng_rotator_controller/k3ng_rotator_controller.ino
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@ -1083,6 +1083,9 @@
FEATURE_SATELLITE_TRACKING: Updated P13 library to have observer.update_location function. Controller code now uses update_location rather than instantiating new Observer objects
Updated hardcoded AO17TEST TLE
2023.09.29.0800
Added FEATURE_AZ_POSITION_HH12_AS5045_SSI_RELATIVE; not tested
All library files should be placed in directories likes \sketchbook\libraries\library1\ , \sketchbook\libraries\library2\ , etc.
Anything rotator_*.* should be in the ino directory!
@ -1706,12 +1709,12 @@ struct config_t {
char report[80];
#endif //FEATURE_AZ_POSITION_POLOLU_LSM303
#ifdef FEATURE_AZ_POSITION_HH12_AS5045_SSI
#if defined(FEATURE_AZ_POSITION_HH12_AS5045_SSI) || defined(FEATURE_AZ_POSITION_HH12_AS5045_SSI_RELATIVE)
#include "hh12.h"
hh12 azimuth_hh12;
#endif //FEATURE_AZ_POSITION_HH12_AS5045_SSI
#ifdef FEATURE_EL_POSITION_HH12_AS5045_SSI
#if defined(FEATURE_EL_POSITION_HH12_AS5045_SSI) || defined(FEATURE_EL_POSITION_HH12_AS5045_SSI_RELATIVE)
#include "hh12.h"
hh12 elevation_hh12;
#endif //FEATURE_EL_POSITION_HH12_AS5045_SSI
@ -8623,6 +8626,53 @@ void read_azimuth(byte force_read){
convert_raw_azimuth_to_real_azimuth();
#endif // FEATURE_AZ_POSITION_HH12_AS5045_SSI
// zzzzzz
#ifdef FEATURE_AZ_POSITION_HH12_AS5045_SSI_RELATIVE
static float hh12_last_reading = 0;
static byte last_reading_initialized = 0;
float reading_difference = 0;
float hh12_current_reading = azimuth_hh12.heading();
if (!last_reading_initialized){
hh12_last_reading = hh12_current_reading;
last_reading_initialized = 1;
}
reading_difference = hh12_last_reading - hh12_current_reading;
if (abs(reading_difference) > 350.0){ // if we moved more than 350 degrees since the last reading, assume we did a 359->0/0->359 transition
if (reading_difference > 0){ // we went CCW 0->359
reading_difference = (reading_difference + 360.0) * -1.0;
} else { // we went CW 359->0
reading_difference = (reading_difference - 360.0) * -1.0;
}
}
#if defined(OPTION_REVERSE_AZ_HH12_AS5045)
reading_difference = reading_difference * -1.0;
#endif
raw_azimuth += reading_difference;
#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);
#endif // FEATURE_AZIMUTH_CORRECTION
#if !defined(FEATURE_CALIBRATION)
apply_azimuth_offset();
#endif
convert_raw_azimuth_to_real_azimuth();
hh12_last_reading = hh12_current_reading;
#endif // FEATURE_AZ_POSITION_HH12_AS5045_SSI_RELATIVE
#ifdef FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
if (configuration.azimuth_starting_point == 0) {
@ -11848,7 +11898,7 @@ void service_request_queue(){
control_port->flush();
#endif // DEBUG_LOOP
float work_target_raw_azimuth = 0;
int work_target_raw_azimuth = 0;
byte direction_to_go = 0;
byte within_tolerance_flag = 0;

2
k3ng_rotator_controller/rotator_dependencies.h
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@ -58,7 +58,7 @@
#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) &&!defined(FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER) &&!defined(FEATURE_AZ_POSITION_ROTARY_ENCODER_USE_PJRC_LIBRARY) && !defined(FEATURE_AZ_POSITION_HMC5883L_USING_JARZEBSKI_LIBRARY) && !defined(FEATURE_AZ_POSITION_DFROBOT_QMC5883) && !defined(FEATURE_AZ_POSITION_MECHASOLUTION_QMC5883)
#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) &&!defined(FEATURE_AZ_POSITION_ROTARY_ENCODER_USE_PJRC_LIBRARY) && !defined(FEATURE_AZ_POSITION_HMC5883L_USING_JARZEBSKI_LIBRARY) && !defined(FEATURE_AZ_POSITION_DFROBOT_QMC5883) && !defined(FEATURE_AZ_POSITION_MECHASOLUTION_QMC5883) && !defined(FEATURE_AZ_POSITION_HH12_AS5045_SSI_RELATIVE)
#error "You must specify one AZ position sensor feature"
#endif

1
k3ng_rotator_controller/rotator_features.h
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@ -57,6 +57,7 @@
// #define FEATURE_AZ_POSITION_ADAFRUIT_LSM303 // Uncomment for azimuth using LSM303 compass and Adafruit library (https://github.com/adafruit/Adafruit_LSM303) (also uncomment object declaration below)
// #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_HH12_AS5045_SSI_RELATIVE // use when more than 360 degrees of rotation
// #define FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
// #define FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
// #define FEATURE_AZ_POSITION_MECHASOLUTION_QMC5883 // QMC5883 digital compass support using Mechasolution library at https://github.com/keepworking/Mecha_QMC5883L

15
k3ng_rotator_controller/rotator_features_test.h
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@ -19,7 +19,7 @@
// #define FEATURE_MOON_TRACKING
// #define FEATURE_SUN_TRACKING
#define FEATURE_CLOCK
// #define FEATURE_CLOCK
// #define FEATURE_GPS
// #define FEATURE_RTC_DS1307
// #define FEATURE_RTC_PCF8583
@ -45,10 +45,10 @@
/* 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
#define FEATURE_MASTER_WITH_SERIAL_SLAVE // [master]{remote_port}<-------serial-------->{control_port}[slave]
// #define FEATURE_MASTER_WITH_SERIAL_SLAVE // [master]{remote_port}<-------serial-------->{control_port}[slave]
// #define FEATURE_MASTER_WITH_ETHERNET_SLAVE // [master]<-------------------ethernet--------------------->[slave]
#define FEATURE_MASTER_SEND_AZ_ROTATION_COMMANDS_TO_REMOTE
#define FEATURE_MASTER_SEND_EL_ROTATION_COMMANDS_TO_REMOTE
// #define FEATURE_MASTER_SEND_AZ_ROTATION_COMMANDS_TO_REMOTE
// #define FEATURE_MASTER_SEND_EL_ROTATION_COMMANDS_TO_REMOTE
// #define FEATURE_ADC_RESOLUTION12 // 12 bit ADC resolution for Teensy 3.x, Arduino Due Zero MKR families
@ -60,22 +60,23 @@
// #define FEATURE_AZ_POSITION_HMC5883L // HMC5883L digital compass support
// #define FEATURE_AZ_POSITION_DFROBOT_QMC5883 // QMC5883 digital compass support using DFRobot library at https://github.com/DFRobot/DFRobot_QMC5883
// #define FEATURE_AZ_POSITION_HMC5883L_USING_JARZEBSKI_LIBRARY // HMC5883L digital compass support using Jarzebski library at https://github.com/jarzebski/Arduino-HMC5883L
#define FEATURE_AZ_POSITION_GET_FROM_REMOTE_UNIT // requires FEATURE_MASTER_WITH_SERIAL_SLAVE or FEATURE_MASTER_WITH_ETHERNET_SLAVE
// #define FEATURE_AZ_POSITION_GET_FROM_REMOTE_UNIT // requires FEATURE_MASTER_WITH_SERIAL_SLAVE or FEATURE_MASTER_WITH_ETHERNET_SLAVE
// #define FEATURE_AZ_POSITION_ADAFRUIT_LSM303 // Uncomment for azimuth using LSM303 compass and Adafruit library (https://github.com/adafruit/Adafruit_LSM303) (also uncomment object declaration below)
// #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_HH12_AS5045_SSI_RELATIVE // use when more than 360 degrees of rotation
// #define FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
// #define FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
// #define FEATURE_AZ_POSITION_MECHASOLUTION_QMC5883 // QMC5883 digital compass support using Mechasolution library at https://github.com/keepworking/Mecha_QMC5883L
// #define FEATURE_EL_POSITION_POTENTIOMETER
#define FEATURE_EL_POSITION_POTENTIOMETER
// #define FEATURE_EL_POSITION_ROTARY_ENCODER
// #define FEATURE_EL_POSITION_ROTARY_ENCODER_USE_PJRC_LIBRARY // library @ http://www.pjrc.com/teensy/td_libs_Encoder.html
// #define FEATURE_EL_POSITION_PULSE_INPUT
// #define FEATURE_EL_POSITION_ADXL345_USING_LOVE_ELECTRON_LIB // Uncomment for elevation ADXL345 accelerometer support using ADXL345 library
// #define FEATURE_EL_POSITION_ADXL345_USING_ADAFRUIT_LIB // Uncomment for elevation ADXL345 accelerometer support using Adafruit library
#define FEATURE_EL_POSITION_GET_FROM_REMOTE_UNIT // requires FEATURE_MASTER_WITH_SERIAL_SLAVE or FEATURE_MASTER_WITH_ETHERNET_SLAVE
// #define FEATURE_EL_POSITION_GET_FROM_REMOTE_UNIT // requires FEATURE_MASTER_WITH_SERIAL_SLAVE or FEATURE_MASTER_WITH_ETHERNET_SLAVE
// #define FEATURE_EL_POSITION_ADAFRUIT_LSM303 // Uncomment for elevation using LSM303 accelerometer and Adafruit library (https://github.com/adafruit/Adafruit_LSM303) (also uncomment object declaration below)
// #define FEATURE_EL_POSITION_POLOLU_LSM303 // Uncomment for elevation using LSM303 compass and Polulu library
// #define FEATURE_EL_POSITION_HH12_AS5045_SSI