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2.0.2015032801

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Fixed calculation issues with FEATURE_ELEVATION_CORRECTION
This commit is contained in:
Anthony Good 2015-03-28 11:11:31 -04:00
parent aa747b3770
commit 8d22d9b341
9 changed files with 1484 additions and 48 deletions
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101
k3ng_rotator_controller.ino
View File

@ -1,4 +1,5 @@
/* Arduino Rotator Controller
Anthony Good
K3NG
anthony.good@gmail.com
@ -6,7 +7,7 @@
Code contributions, testing, ideas, bug fixes, hardware, support, encouragement, and/or bourbon provided by:
John Eigenbode W3SA
John W3SA
Gord VO1GPK
Anthony M0UPU
Pete VE5VA
@ -34,7 +35,7 @@
Ismael PY4PI
(If you contributed something and I forgot to put your name and call in here, please email me!)
(If you contributed something and I forgot to put your name and call in here, *please* email me!)
***************************************************************************************************************
*
@ -342,24 +343,34 @@
Updated for Arduino 1.6.1
Fixed compilation isse with FEATURE_ELEVATION_CORRECTION and Arduino 1.6.x
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
*/
#define CODE_VERSION "2.0.2015032601"
#define CODE_VERSION "2.0.2015032801"
#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
#if !defined(HARDWARE_EA4TX_ARS_USB) && !defined(HARDWARE_WB6KCN)
#ifdef HARDWARE_M0UPU
#include "rotator_features_m0upu.h"
#endif
#if !defined(HARDWARE_CUSTOM)
#include "rotator_features.h"
#endif
#include "rotator_dependencies.h"
@ -421,6 +432,7 @@
#include "rotator.h"
#ifdef HARDWARE_EA4TX_ARS_USB
#include "rotator_pins_ea4tx_ars_usb.h"
#endif
@ -431,14 +443,23 @@
//#include "rotator_pins_wb6kcn_az_test_setup.h"
#include "rotator_pins_wb6kcn.h"
#endif
#if !defined(HARDWARE_M0UPU) && !defined(HARDWARE_EA4TX_ARS_USB) &&!defined(HARDWARE_WB6KCN)
#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"
#else
#endif
#ifdef HARDWARE_M0UPU
#include "rotator_settings_m0upu.h"
#endif
#if !defined(HARDWARE_CUSTOM)
#include "rotator_settings.h"
#endif
#ifdef FEATURE_STEPPER_MOTOR
#include "TimerFive.h"
#endif
@ -985,6 +1006,8 @@ void loop() {
check_moon_pushbutton_calibration();
#endif //defined(FEATURE_MOON_PUSHBUTTON_AZ_EL_CALIBRATION) && defined(FEATURE_MOON_TRACKING)
check_for_reset_flag();
} /* loop */
/* -------------------------------------- subroutines -----------------------------------------------
@ -1024,7 +1047,7 @@ void service_blink_led(){
}
#endif // blink_led
check_for_reset_flag();
} /* service_blink_led */
@ -1040,12 +1063,20 @@ void check_for_reset_flag(){
detected_reset_flag_time = millis();
} else {
if ((millis()-detected_reset_flag_time) > 5000){ // let things run for 5 seconds
//wdt_enable(WDTO_30MS); while(1) {}; //doesn't work on Mega
//zzzzzz
#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
}
}
@ -1085,7 +1116,7 @@ void check_az_speed_pot() {
byte new_azimuth_speed_voltage = 0;
if (az_speed_pot && azimuth_speed_voltage && ((millis() - last_pot_check_time) > 500)) {
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) {
@ -1098,7 +1129,6 @@ void check_az_speed_pot() {
debug_println("");
}
#endif // DEBUG_AZ_SPEED_POT
// analogWriteEnhanced(azimuth_speed_voltage, new_azimuth_speed_voltage);
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)
@ -1856,7 +1886,7 @@ void service_remote_unit_serial_buffer(){
*/
String command_string;
static String command_string; // changed to static 2013-03-27
byte command_good = 0;
if (control_port_buffer_carriage_return_flag) {
@ -2746,11 +2776,11 @@ void update_display(){
static byte lcd_state_row_0 = 0;
static byte lcd_state_row_1 = 0;
String row_0_string;
static String row_0_string; // changed to static 2013-03-27 to see if it helps display stability
static int last_azimuth = -1;
char workstring[10] = "";
static char workstring[10] = ""; // changed to static 2013-03-27 to see if it helps display stability
unsigned int target = 0;
@ -5513,7 +5543,7 @@ void update_el_variable_outputs(byte speed_voltage){
void update_az_variable_outputs(byte speed_voltage){
#ifdef DEBUG_VARIABLE_OUTPUTS
#ifdef DEBUG_VARIABLE_OUTPUTS
int temp_int = 0;
debug_print("update_az_variable_outputs: az_state: ");
@ -8389,7 +8419,8 @@ float correct_azimuth(float 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 (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);
@ -8400,21 +8431,22 @@ float correct_azimuth(float azimuth_in){
#ifdef FEATURE_ELEVATION_CORRECTION
float correct_elevation(float elevation_in){
if (sizeof(elevation_calibration_from) != sizeof(elevation_calibration_to)) {
return elevation_in;
}
for (unsigned int x = 0; x < (sizeof(elevation_calibration_from) - 2); x++) {
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])) {
long x = (elevation_in*10);
long in_min = (elevation_calibration_from[x]*10);
long in_max = (elevation_calibration_from[x+1]*10);
long out_min = (elevation_calibration_to[x]*10);
long out_max =(elevation_calibration_to[x+1]*10);
return (map(x,in_min,in_max,out_min,out_max)) / 10.0;
// 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);
//return 123;
}
#endif // FEATURE_ELEVATION_CORRECTION
// --------------------------------------------------------------------------
@ -11778,23 +11810,20 @@ void service_power_switch(){
//------------------------------------------------------
char * coordinates_to_maidenhead(float latitude_degrees,float longitude_degrees){
char *coordinates_to_maidenhead(float latitude_degrees,float longitude_degrees){
char temp_string[8] = "";
const char* asciiuppercase[] = {"A","B","C","D","E","F","G","H","I","J","K","L","M","N","O","P","Q","R"};
const char* asciinumbers[] = {"0","1","2","3","4","5","6","7","8","9"};
const char* asciilowercase[] = {"a","b","c","d","e","f","g","h","i","j","k","l","m","n","o","p","q","r","s","t","u","v","w","x"};
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;
strcat(temp_string,asciiuppercase[int(longitude_degrees/20)]);
strcat(temp_string,asciiuppercase[int(latitude_degrees/10)]);
strcat(temp_string,asciinumbers[int((longitude_degrees - int(longitude_degrees/20)*20)/2)]);
strcat(temp_string,asciinumbers[int(latitude_degrees - int(latitude_degrees/10)*10)]);
strcat(temp_string,asciilowercase[int((longitude_degrees - (int(longitude_degrees/2)*2)) / (5.0/60.0))]);
strcat(temp_string,asciilowercase[int((latitude_degrees - (int(latitude_degrees/1)*1)) / (2.5/60.0))]);
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;

4
rotator_features.h
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@ -44,7 +44,7 @@
//#define FEATURE_AZ_POSITION_HH12_AS5045_SSI
//#define FEATURE_AZ_POSITION_INCREMENTAL_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
@ -130,7 +130,7 @@
//#define OPTION_BLINK_OVERLAP_LED
//#define OPTION_EL_PULSE_DEBOUNCE
//#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

209
rotator_features_m0upu.h Normal file
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@ -0,0 +1,209 @@
/* ---------------------- Features and Options - you must configure this !! ------------------------------------------------
If you are using EA4TX ARS USB, edit rotator_features_ea4tx_ars_usb.h, not this file.
*/
/* main features */
//#define FEATURE_ELEVATION_CONTROL // uncomment this for AZ/EL rotators
#define FEATURE_YAESU_EMULATION // uncomment this for Yaesu GS-232 emulation on control port
//#define FEATURE_EASYCOM_EMULATION // Easycom protocol emulation on control port (undefine FEATURE_YAESU_EMULATION above)
//#define FEATURE_MOON_TRACKING
//#define FEATURE_SUN_TRACKING
//#define FEATURE_CLOCK
//#define FEATURE_GPS
//#define FEATURE_RTC_DS1307
//#define FEATURE_RTC_PCF8583
//#define FEATURE_ETHERNET
//#define FEATURE_STEPPER_MOTOR // requires Mega or an AVR with Timer 5 support
//#define FEATURE_AUTOCORRECT
#define LANGUAGE_ENGLISH
//#define LANGUAGE_SPANISH
//#define LANGUAGE_CZECH
//#define LANGUAGE_ITALIAN
//#define LANGUAGE_PORTUGUESE_BRASIL
/* 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_ETHERNET_SLAVE // [master]<-------------------ethernet--------------------->[slave]
/* position sensors - pick one for azimuth and one for elevation if using an az/el rotator */
#define FEATURE_AZ_POSITION_POTENTIOMETER //this is used for both a voltage from a rotator control or a homebrew rotator with a potentiometer
//#define FEATURE_AZ_POSITION_ROTARY_ENCODER
//#define FEATURE_AZ_POSITION_PULSE_INPUT
//#define FEATURE_AZ_POSITION_HMC5883L // HMC5883L digital compass support
//#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_INCREMENTAL_ENCODER
#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
//#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_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
//#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_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
//#define FEATURE_RFROBOT_I2C_DISPLAY
//#define FEATURE_ANALOG_OUTPUT_PINS
//#define FEATURE_SUN_PUSHBUTTON_AZ_EL_CALIBRATION
//#define FEATURE_MOON_PUSHBUTTON_AZ_EL_CALIBRATION
/* preset rotary encoder features and options */
//#define FEATURE_AZ_PRESET_ENCODER // Uncomment for Rotary Encoder Azimuth Preset support
//#define FEATURE_EL_PRESET_ENCODER // Uncomment for Rotary Encoder Elevation Preset support (requires FEATURE_AZ_PRESET_ENCODER above)
#define OPTION_ENCODER_HALF_STEP_MODE
#define OPTION_ENCODER_ENABLE_PULLUPS // define to enable weak pullups on rotary encoder pins
#define OPTION_INCREMENTAL_ENCODER_PULLUPS // define to enable weak pullups on 3 phase incremental rotary encoder pins
//#define OPTION_PRESET_ENCODER_RELATIVE_CHANGE // this makes the encoder(s) change the az or el in a relative fashion rather then store an absolute setting
#define OPTION_PRESET_ENCODER_0_360_DEGREES
/* position sensor options */
#define OPTION_AZ_POSITION_ROTARY_ENCODER_HARD_LIMIT // stop azimuth at lower and upper limit rather than rolling over
#define OPTION_EL_POSITION_ROTARY_ENCODER_HARD_LIMIT // stop elevation at lower and upper limits rather than rolling over
#define OPTION_AZ_POSITION_PULSE_HARD_LIMIT // stop azimuth at lower and upper limit rather than rolling over
#define OPTION_EL_POSITION_PULSE_HARD_LIMIT // stop elevation at lower and upper limits rather than rolling over
#define OPTION_POSITION_PULSE_INPUT_PULLUPS // define to enable weak pullups on position pulse inputs
/* less often used features and options */
#define OPTION_GS_232B_EMULATION // comment this out to default to Yaesu GS-232A emulation when using FEATURE_YAESU_EMULATION above
//#define FEATURE_ROTATION_INDICATOR_PIN // activate rotation_indication_pin to indicate rotation
//#define FEATURE_LIMIT_SENSE
//#define FEATURE_TIMED_BUFFER // Support for Yaesu timed buffer commands
//#define OPTION_SERIAL_HELP_TEXT // Yaesu help command prints help
//#define FEATURE_PARK
//#define OPTION_AZ_MANUAL_ROTATE_LIMITS // this option will automatically stop the L and R commands when hitting a CCW or CW limit (settings below - AZ_MANUAL_ROTATE_*_LIMIT)
//#define OPTION_EL_MANUAL_ROTATE_LIMITS
#define OPTION_EASYCOM_AZ_QUERY_COMMAND // Adds non-standard Easycom command: AZ with no parm returns current azimuth
#define OPTION_EASYCOM_EL_QUERY_COMMAND // Adds non-standard Easycom command: EL with no parm returns current elevation
//#define OPTION_C_COMMAND_SENDS_AZ_AND_EL // uncomment this when using Yaesu emulation with Ham Radio Deluxe
//#define OPTION_DELAY_C_CMD_OUTPUT // uncomment this when using Yaesu emulation with Ham Radio Deluxe
#define FEATURE_ONE_DECIMAL_PLACE_HEADINGS
//#define FEATURE_TWO_DECIMAL_PLACE_HEADINGS // under development - not working yet!
//#define FEATURE_AZIMUTH_CORRECTION // correct the azimuth using a calibration table in rotator_settings.h
//#define FEATURE_ELEVATION_CORRECTION // correct the elevation using a calibration table in rotator_settings.h
//#define FEATURE_ANCILLARY_PIN_CONTROL // control I/O pins with serial commands \F, \N, \P
//#define FEATURE_JOYSTICK_CONTROL // analog joystick support
//#define OPTION_JOYSTICK_REVERSE_X_AXIS
//#define OPTION_JOYSTICK_REVERSE_Y_AXIS
#define OPTION_EL_SPEED_FOLLOWS_AZ_SPEED // changing the azimith speed with Yaesu X commands or an azimuth speed pot will also change elevation speed
//#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_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_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_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
//#define OPTION_SYNC_MASTER_COORDINATES_TO_SLAVE // use when GPS unit is connected to slave unit and you want to synchronize the master unit coordinates to the slave unit GPS
//#define OPTION_DISABLE_HMC5883L_ERROR_CHECKING
//#define OPTION_HAMLIB_EASYCOM_AZ_EL_COMMAND_HACK
//#define OPTION_HAMLIB_EASYCOM_NO_TERMINATOR_CHARACTER_HACK
//#define OPTION_NO_ELEVATION_CHECK_TARGET_DELAY
//#define OPTION_BLINK_OVERLAP_LED
//#define OPTION_EL_PULSE_DEBOUNCE
//#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
/*
Note:
Ham Radio Deluxe expects AZ and EL in output for Yaesu C command in AZ/EL mode. I'm not sure if this is default behavior for
the Yaesu interface since the C2 command is supposed to be for AZ and EL. If you have problems with other software with this code in AZ/EL mode,
uncomment #define OPTION_C_COMMAND_SENDS_AZ_AND_EL.
*/
/* ---------------------- debug stuff - don't touch unless you know what you are doing --------------------------- */
#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_MEMORY
// #define DEBUG_BUTTONS
// #define DEBUG_SERIAL
// #define DEBUG_SERVICE_REQUEST_QUEUE
// #define DEBUG_EEPROM
// #define DEBUG_AZ_SPEED_POT
// #define DEBUG_AZ_PRESET_POT
// #define DEBUG_PRESET_ENCODERS
// #define DEBUG_AZ_MANUAL_ROTATE_LIMITS
// #define DEBUG_EL_MANUAL_ROTATE_LIMITS
// #define DEBUG_BRAKE
// #define DEBUG_OVERLAP
// #define DEBUG_DISPLAY
// #define DEBUG_AZ_CHECK_OPERATION_TIMEOUT
// #define DEBUG_TIMED_BUFFER
// #define DEBUG_EL_CHECK_OPERATION_TIMEOUT
// #define DEBUG_VARIABLE_OUTPUTS
// #define DEBUG_ROTATOR
// #define DEBUG_SUBMIT_REQUEST
// #define DEBUG_SERVICE_ROTATION
// #define DEBUG_POSITION_ROTARY_ENCODER
// #define DEBUG_PROFILE_LOOP_TIME
// #define DEBUG_POSITION_PULSE_INPUT
// #define DEBUG_ACCEL
// #define DEBUG_SVC_REMOTE_COMM_INCOMING_BUFFER
// #define DEBUG_SVC_REMOTE_COMM_INCOMING_BUFFER_BAD_DATA
// #define DEBUG_HEADING_READING_TIME
// #define DEBUG_JOYSTICK
// #define DEBUG_ROTATION_INDICATION_PIN
// #define DEBUG_HH12
// #define DEBUG_PARK
// #define DEBUG_LIMIT_SENSE
// #define DEBUG_AZ_POSITION_INCREMENTAL_ENCODER
// #define DEBUG_EL_POSITION_INCREMENTAL_ENCODER
// #define DEBUG_MOON_TRACKING
// #define DEBUG_SUN_TRACKING
// #define DEBUG_GPS
// #define DEBUG_GPS_SERIAL
// #define DEBUG_OFFSET
// #define DEBUG_RTC
// #define DEBUG_PROCESS_YAESU
// #define DEBUG_ETHERNET
// #define DEBUG_PROCESS_SLAVE
// #define DEBUG_MEMSIC_2125
// #define DEBUG_SYNC_MASTER_CLOCK_TO_SLAVE
// #define DEBUG_SYNC_MASTER_COORDINATES_TO_SLAVE
// #define DEBUG_HMC5883L
// #define DEBUG_POLOLU_LSM303_CALIBRATION
// #define DEBUG_STEPPER
// #define DEBUG_AUTOCORRECT

2
rotator_features_wb6kcn.h
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@ -125,7 +125,7 @@
#define OPTION_HAMLIB_EASYCOM_AZ_EL_COMMAND_HACK
//#define OPTION_HAMLIB_EASYCOM_NO_TERMINATOR_CHARACTER_HACK
//#define OPTION_NO_ELEVATION_CHECK_TARGET_DELAY
//#define OPTION_RESET_METHOD_JMP_ASM_0

14
rotator_hardware.h
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@ -1,9 +1,15 @@
/* rotator_hardware.h
Uncomment defines below if you're specifically using any of this hardware
Uncomment defines below if you're specifically using any of this hardware and edit the appropriate special features, pins, and settings files
*/
//#define HARDWARE_M0UPU
//#define HARDWARE_EA4TX_ARS_USB // if using EA4TX ARS USB hardware, customize rotator_features_e4tx_ars_usb.h (not rotator_features.h)
//#define HARDWARE_WB6KCN // customize rotator_features_wb6kcn.h, rotators_pins_wb6kcn.h, rotator_settings_wb6kcn.h
//#define HARDWARE_M0UPU // customize rotator_features_m0upu.h, rotators_pins_m0upu.h, rotator_settings_m0upu.h
//#define HARDWARE_EA4TX_ARS_USB // customize rotator_features_e4tx_ars_usb.h, rotators_pins_e4tx_ars_usb.h, rotator_settings_e4tx_ars_usb.h
//#define HARDWARE_WB6KCN // customize rotator_features_wb6kcn.h, rotators_pins_wb6kcn.h, rotator_settings_wb6kcn.h
// do not modify anything below this line
#if defined(HARDWARE_M0UPU) || defined(HARDWARE_EA4TX_ARS_USB) || defined(HARDWARE_WB6KCN)
#define HARDWARE_CUSTOM
#endif

6
rotator_pins.h
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@ -109,9 +109,9 @@
#endif //FEATURE_AZ_POSITION_HH_12
#ifdef FEATURE_EL_POSITION_HH12_AS5045_SSI
#define el_hh12_clock_pin 11
#define el_hh12_cs_pin 12
#define el_hh12_data_pin 13
#define el_hh12_clock_pin 11 //53 //11
#define el_hh12_cs_pin 12 //52 //12
#define el_hh12_data_pin 13 //51 //13
#endif //FEATURE_EL_POSITION_HH_12
#ifdef FEATURE_PARK

8
rotator_settings.h
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@ -473,8 +473,12 @@ You can tweak these, but read the online documentation!
// #define AZIMUTH_CALIBRATION_TO_ARRAY {359,0}
#define ELEVATION_CALIBRATION_FROM_ARRAY {-180,0,180}
#define ELEVATION_CALIBRATION_TO_ARRAY {-180,0,180}
#define ELEVATION_CALIBRATION_FROM_ARRAY {-360,0,360}
#define ELEVATION_CALIBRATION_TO_ARRAY {-360,0,360}
// example: reverse elevation sensing
//#define ELEVATION_CALIBRATION_FROM_ARRAY {0,180,360}
//#define ELEVATION_CALIBRATION_TO_ARRAY {180,0,-180}
#define ANALOG_OUTPUT_MAX_EL_DEGREES 180

594
rotator_settings_ea4tx_ars_usb.h Normal file
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@ -0,0 +1,594 @@
/* -------------------------- rotation settings ---------------------------------------*/
#define AZIMUTH_STARTING_POINT_DEFAULT 180 // the starting point in degrees of the azimuthal rotator
#define AZIMUTH_ROTATION_CAPABILITY_DEFAULT 450 // the default rotation capability of the rotator in degrees
#define ELEVATION_MAXIMUM_DEGREES 180 // change this to set the maximum elevation in degrees
/* --------------------------- Settings ------------------------------------------------
You can tweak these, but read the online documentation!
*/
// analog voltage calibration - these are default values; you can either tweak these or set via the Yaesu O and F commands (and O2 and F2)....
#define ANALOG_AZ_FULL_CCW 4
#define ANALOG_AZ_FULL_CW 1009
#define ANALOG_EL_0_DEGREES 2
#define ANALOG_EL_MAX_ELEVATION 1018 // maximum elevation is normally 180 degrees unless change below for ELEVATION_MAXIMUM_DEGREES
#define ANALOG_AZ_OVERLAP_DEGREES 540 // if overlap_led above is enabled, turn on overlap led line if azimuth is greater than this setting
// you must use raw azimuth (if the azimuth on the rotator crosses over to 0 degrees, add 360
// for example, on a Yaesu 450 degree rotator with a starting point of 180 degrees, and an overlap LED
// turning on when going CW and crossing 180, ANALOG_AZ_OVERLAP_DEGREES should be set for 540 (180 + 360)
#define OPTION_OVERLAP_LED_BLINK_MS 100
// PWM speed voltage settings
#define PWM_SPEED_VOLTAGE_X1 64 // 0 to 255
#define PWM_SPEED_VOLTAGE_X2 128 // 0 to 255
#define PWM_SPEED_VOLTAGE_X3 191 // 0 to 255
#define PWM_SPEED_VOLTAGE_X4 253 // 0 to 255
//AZ
#define AZ_SLOWSTART_DEFAULT 0 // 0 = off ; 1 = on
#define AZ_SLOWDOWN_DEFAULT 0 // 0 = off ; 1 = on
#define AZ_SLOW_START_UP_TIME 2000 // if slow start is enabled, the unit will ramp up speed for this many milliseconds
#define AZ_SLOW_START_STARTING_PWM 1 // PWM starting value for slow start (must be < 256)
#define AZ_SLOW_START_STEPS 20 // must be < 256
#define SLOW_DOWN_BEFORE_TARGET_AZ 10.0 // if slow down is enabled, slowdown will be activated within this many degrees of target azimuth
#define AZ_SLOW_DOWN_PWM_START 200 // starting PWM value for slow down (must be < 256)
#define AZ_SLOW_DOWN_PWM_STOP 20 // ending PWM value for slow down (must be < 256)
#define AZ_SLOW_DOWN_STEPS 200 //20 // must be < 256
#define AZ_INITIALLY_IN_SLOW_DOWN_PWM 50 // PWM value to start at if we're starting in the slow down zone (1 - 255)
//EL
#define EL_SLOWSTART_DEFAULT 0 // 0 = off ; 1 = on
#define EL_SLOWDOWN_DEFAULT 0 // 0 = off ; 1 = on
#define EL_SLOW_START_UP_TIME 2000 // if slow start is enabled, the unit will ramp up speed for this many milliseconds
#define EL_SLOW_START_STARTING_PWM 1 // PWM starting value for slow start (must be < 256)
#define EL_SLOW_START_STEPS 20 // must be < 256
#define SLOW_DOWN_BEFORE_TARGET_EL 10.0 // if slow down is enabled, slowdown will be activated within this many degrees of target elevation
#define EL_SLOW_DOWN_PWM_START 200 // starting PWM value for slow down (must be < 256)
#define EL_SLOW_DOWN_PWM_STOP 20 // ending PWM value for slow down (must be < 256)
#define EL_SLOW_DOWN_STEPS 20
#define EL_INITIALLY_IN_SLOW_DOWN_PWM 50 // PWM value to start at if we're starting in the slow down zone (1 - 255)
#define TIMED_SLOW_DOWN_TIME 2000
//Variable frequency output settings - LOWEST FREQUENCY IS 31 HERTZ DUE TO ARDUINO tone() FUNCTION LIMITATIONS!
#define AZ_VARIABLE_FREQ_OUTPUT_LOW 31 // Frequency in hertz of minimum speed
#define AZ_VARIABLE_FREQ_OUTPUT_HIGH 5000 //100 // Frequency in hertz of maximum speed
#define EL_VARIABLE_FREQ_OUTPUT_LOW 31 // Frequency in hertz of minimum speed
#define EL_VARIABLE_FREQ_OUTPUT_HIGH 100 // Frequency in hertz of maximum speed
// Settings for OPTION_AZ_MANUAL_ROTATE_LIMITS
#define AZ_MANUAL_ROTATE_CCW_LIMIT 0 // if using a rotator that starts at 180 degrees, set this to something like 185
#define AZ_MANUAL_ROTATE_CW_LIMIT 535 // add 360 to this if you go past 0 degrees (i.e. 180 CW after 0 degrees = 540)
// Settings for OPTION_EL_MANUAL_ROTATE_LIMITS
#define EL_MANUAL_ROTATE_DOWN_LIMIT -1
#define EL_MANUAL_ROTATE_UP_LIMIT 181
// Speed pot settings
#define SPEED_POT_LOW 0
#define SPEED_POT_HIGH 1023
#define SPEED_POT_LOW_MAP 1
#define SPEED_POT_HIGH_MAP 255
// Azimuth preset pot settings
#define AZ_PRESET_POT_FULL_CW 0
#define AZ_PRESET_POT_FULL_CCW 1023
#define AZ_PRESET_POT_FULL_CW_MAP 180 // azimuth pot fully counter-clockwise degrees
#define AZ_PRESET_POT_FULL_CCW_MAP 630 // azimuth pot fully clockwise degrees
#define ENCODER_PRESET_TIMEOUT 5000
// various code settings
#define AZIMUTH_TOLERANCE 3.0 // rotator will stop within X degrees when doing autorotation
#define ELEVATION_TOLERANCE 0.1 //1.0
#define OPERATION_TIMEOUT 120000 // timeout for any rotation operation in mS ; 120 seconds is usually enough unless you have the speed turned down
#define TIMED_INTERVAL_ARRAY_SIZE 20
#define CONTROL_PORT_BAUD_RATE 9600
#define REMOTE_UNIT_PORT_BAUD_RATE 9600
#define GPS_PORT_BAUD_RATE 9600
#define GPS_MIRROR_PORT_BAUD_RATE 9600
#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
#define GPS_PORT_MAPPED_TO &Serial2 // change this line to map the GPS port to a different serial port
//#define GPS_MIRROR_PORT &Serial1 //3 // use this to mirror output from a GPS unit into the Arduino out another port (uncomment to enable)
#define LCD_COLUMNS 20 //16
#define LCD_ROWS 4 //2 // this is automatically set below for HARDWARE_EA4TX_ARS_USB and HARDWARE_M0UPU
#define LCD_UPDATE_TIME 1000 // LCD update time in milliseconds
#define I2C_LCD_COLOR GREEN // default color of I2C LCD display, including Adafruit and Yourduino; some Yourduino may want this as LED_ON
#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
#define LCD_BIG_CLOCK_ROW 4
#define LCD_GPS_INDICATOR_POSITION RIGHT //LEFT or RIGHT
#define LCD_GPS_INDICATOR_ROW 1
#define LCD_MOON_TRACKING_ROW 3 // LCD display row for OPTION_DISPLAY_MOON_TRACKING_CONTINUOUSLY
#define LCD_MOON_TRACKING_UPDATE_INTERVAL 5000
#define LCD_SUN_TRACKING_ROW 4 // LCD display row for OPTION_DISPLAY_SUN_TRACKING_CONTINUOUSLY
#define LCD_SUN_TRACKING_UPDATE_INTERVAL 5000
#define LCD_MOON_OR_SUN_TRACKING_CONDITIONAL_ROW 3 // LCD display row for OPTION_DISPLAY_MOON_OR_SUN_TRACKING_CONDITIONAL
#define SPLASH_SCREEN_TIME 3000
#define AZ_BRAKE_DELAY 3000 // in milliseconds
#define EL_BRAKE_DELAY 3000 // in milliseconds
#define BRAKE_ACTIVE_STATE HIGH
#define BRAKE_INACTIVE_STATE LOW
#define EEPROM_MAGIC_NUMBER 104
#define EEPROM_WRITE_DIRTY_CONFIG_TIME 30 //time in seconds
#if defined(FEATURE_TWO_DECIMAL_PLACE_HEADINGS)
#define HEADING_MULTIPLIER 100L
#define LCD_HEADING_MULTIPLIER 100.0
#define LCD_DECIMAL_PLACES 2
#endif //FEATURE_TWO_DECIMAL_PLACE_HEADINGS
#if defined(FEATURE_ONE_DECIMAL_PLACE_HEADINGS)
#define HEADING_MULTIPLIER 10
#define LCD_HEADING_MULTIPLIER 10.0
#define LCD_DECIMAL_PLACES 1
#endif //FEATURE_ONE_DECIMAL_PLACE_HEADINGS
#if !defined(FEATURE_ONE_DECIMAL_PLACE_HEADINGS) && !defined(FEATURE_TWO_DECIMAL_PLACE_HEADINGS)
#define HEADING_MULTIPLIER 1
#define LCD_HEADING_MULTIPLIER 1.0
#define LCD_DECIMAL_PLACES 0
#endif //!defined(FEATURE_ONE_DECIMAL_PLACE_HEADINGS) && !defined(FEATURE_TWO_DECIMAL_PLACE_HEADINGS)
#define AZ_POSITION_ROTARY_ENCODER_DEG_PER_PULSE 0.5
#define EL_POSITION_ROTARY_ENCODER_DEG_PER_PULSE 0.5
#define AZ_POSITION_PULSE_DEG_PER_PULSE 0.5
#define EL_POSITION_PULSE_DEG_PER_PULSE 0.5
#define PARK_AZIMUTH 360.0 * HEADING_MULTIPLIER // replace the 0.0 with your park azimuth; azimuth is in raw degrees (i.e. on a 180 degree starting point rotator, 0 degrees = 360)
#define PARK_ELEVATION 0.0 * HEADING_MULTIPLIER // replace the 0.0 with your park elevation
#define COMMAND_BUFFER_SIZE 50
#define REMOTE_BUFFER_TIMEOUT_MS 250
#define REMOTE_UNIT_COMMAND_TIMEOUT_MS 2000
#define AZ_REMOTE_UNIT_QUERY_TIME_MS 150 // how often we query the remote remote for azimuth
#define EL_REMOTE_UNIT_QUERY_TIME_MS 150 // how often we query the remote remote for elevation
#define ROTATE_PIN_INACTIVE_VALUE LOW
#define ROTATE_PIN_ACTIVE_VALUE HIGH
#define AZIMUTH_SMOOTHING_FACTOR 0 // value = 0 to 99.9
#define ELEVATION_SMOOTHING_FACTOR 0 // value = 0 to 99.9
#define AZIMUTH_MEASUREMENT_FREQUENCY_MS 100 // this does not apply if using FEATURE_AZ_POSITION_GET_FROM_REMOTE_UNIT
#define ELEVATION_MEASUREMENT_FREQUENCY_MS 100 // this does not apply if using FEATURE_EL_POSITION_GET_FROM_REMOTE_UNIT
#define JOYSTICK_WAIT_TIME_MS 100
#define ROTATION_INDICATOR_PIN_ACTIVE_STATE HIGH
#define ROTATION_INDICATOR_PIN_INACTIVE_STATE LOW
#define ROTATION_INDICATOR_PIN_TIME_DELAY_SECONDS 0
#define ROTATION_INDICATOR_PIN_TIME_DELAY_MINUTES 0
#define AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV 2000.0
#define EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV 2000.0
#define AZ_INCREMENTAL_ENCODER_ZERO_PULSE_POSITION 0 // can be 0 to 4 x AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV
#define EL_INCREMENTAL_ENCODER_ZERO_PULSE_POSITION 0 // can be 0 to 4 x EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV
#define SERIAL_LED_TIME_MS 250
#define DEFAULT_LATITUDE 40.889958
#define DEFAULT_LONGITUDE -75.585972
#define MOON_TRACKING_CHECK_INTERVAL 5000
#define MOON_AOS_AZIMUTH_MIN 0
#define MOON_AOS_AZIMUTH_MAX 360
#define MOON_AOS_ELEVATION_MIN 0
#define MOON_AOS_ELEVATION_MAX 180
#define SUN_TRACKING_CHECK_INTERVAL 5000
#define SUN_AOS_AZIMUTH_MIN 0
#define SUN_AOS_AZIMUTH_MAX 360
#define SUN_AOS_ELEVATION_MIN 0
#define SUN_AOS_ELEVATION_MAX 180
#ifdef LANGUAGE_ENGLISH // English language support (copy leading and trailing spaces when making your own language section)
#define MOON_STRING "moon "
#define SUN_STRING "sun "
#define AZ_TARGET_STRING "Az Target "
#define EL_TARGET_STRING "El Target "
#define TARGET_STRING "Target "
#define PARKED_STRING "Parked"
#define ROTATING_CW_STRING "Rotating CW"
#define ROTATING_CCW_STRING "Rotating CCW"
#define ROTATING_TO_STRING "Rotating to "
#define ELEVATING_TO_STRING "Elevating to "
#define ELEVATING_UP_STRING "Elevating Up"
#define ELEVATING_DOWN_STRING "Elevating Down"
#define ROTATING_STRING "Rotating "
#define CW_STRING "CW"
#define CCW_STRING "CCW"
#define UP_STRING "UP"
#define DOWN_STRING "DOWN"
#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"
#define W_STRING "W"
#define S_STRING "S"
#define E_STRING "E"
#define NW_STRING "NW"
#define SW_STRING "SW"
#define SE_STRING "SE"
#define NE_STRING "NE"
#define NNW_STRING "NNW"
#define WNW_STRING "WNW"
#define WSW_STRING "WSW"
#define SSW_STRING "SSW"
#define SSE_STRING "SSE"
#define ESE_STRING "ESE"
#define ENE_STRING "ENE"
#define NNE_STRING "NNE"
#endif //LANGUAGE_ENGLISH
#ifdef LANGUAGE_SPANISH // Courtesy of Maximo, EA1DDO
#define MOON_STRING "Luna "
#define SUN_STRING "Sol "
#define AZ_TARGET_STRING "Az Objetivo "
#define EL_TARGET_STRING "El Objetivo "
#define TARGET_STRING "Objetivo "
#define PARKED_STRING "Aparcado"
#define ROTATING_CW_STRING "Girando Dcha"
#define ROTATING_CCW_STRING "Girando Izq"
#define ROTATING_TO_STRING "Girando a "
#define ELEVATING_TO_STRING "Elevando a "
#define ELEVATING_UP_STRING "Subiendo"
#define ELEVATING_DOWN_STRING "Bajando"
#define ROTATING_STRING "Girando "
#define CW_STRING "Dcha"
#define CCW_STRING "Izq"
#define UP_STRING "Arriba"
#define DOWN_STRING "Abajo"
#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"
#define W_STRING "O"
#define S_STRING "S"
#define E_STRING "E"
#define NW_STRING "NO"
#define SW_STRING "SO"
#define SE_STRING "SE"
#define NE_STRING "NE"
#define NNW_STRING "NNO"
#define WNW_STRING "ONO"
#define WSW_STRING "OSO"
#define SSW_STRING "SSO"
#define SSE_STRING "SSE"
#define ESE_STRING "ESE"
#define ENE_STRING "ENE"
#define NNE_STRING "NNE"
#endif //LANGUAGE_SPANISH
#ifdef LANGUAGE_CZECH // courtesy of Jan, OK2ZAW
#define MOON_STRING "mesic "
#define SUN_STRING "slunce "
#define AZ_TARGET_STRING "Az cíl "
#define EL_TARGET_STRING "El cíl "
#define TARGET_STRING "Cil "
#define PARKED_STRING "Parkovat"
#define ROTATING_CW_STRING "Otacim CW"
#define ROTATING_CCW_STRING "Otacim CCW"
#define ROTATING_TO_STRING "Otacim na "
#define ELEVATING_TO_STRING "Elevovat na "
#define ELEVATING_UP_STRING "Elevovat nahoru"
#define ELEVATING_DOWN_STRING "Elevovat dolu"
#define ROTATING_STRING "Otacet "
#define CW_STRING "CW"
#define CCW_STRING "CCW"
#define UP_STRING "Nahoru"
#define DOWN_STRING "Dolu"
#define AZIMUTH_STRING "Azimut "
#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 "smer ^ KL"
#define W_STRING "smer < HK"
#define S_STRING "smer v ZS"
#define E_STRING "smer > VK"
#define NW_STRING "smer < W"
#define SW_STRING "smer v VP8"
#define SE_STRING "smer > HZ"
#define NE_STRING "smer ^ JA"
#define NNW_STRING "smer ^ VE"
#define WNW_STRING "smer < CO"
#define WSW_STRING "smer < PY"
#define SSW_STRING "smer v ZD9"
#define SSE_STRING "smer v 5R"
#define ESE_STRING "smer > 8Q"
#define ENE_STRING "smer > ZL"
#define NNE_STRING "smer ^ UA0"
#endif //LANGUAGE_CZECH
#ifdef LANGUAGE_ITALIAN // courtesy of Paolo, IT9IPQ
#define MOON_STRING "luna"
#define SUN_STRING "sole "
#define AZ_TARGET_STRING "Punta Az "
#define EL_TARGET_STRING "Punta El "
#define TARGET_STRING "Punta "
#define PARKED_STRING "Posa "
#define ROTATING_CW_STRING "Ruota DX > "
#define ROTATING_CCW_STRING "Ruota SX < "
#define ROTATING_TO_STRING "Ruota verso "
#define ELEVATING_TO_STRING "Alza verso "
#define ELEVATING_UP_STRING "Alzo Su "
#define ELEVATING_DOWN_STRING "Abbasso Giu' "
#define ROTATING_STRING "Ruota "
#define CW_STRING "DX"
#define CCW_STRING "SX "
#define UP_STRING "SU"
#define DOWN_STRING "GIU'"
#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"
#define W_STRING "W"
#define S_STRING "S"
#define E_STRING "E"
#define NW_STRING "NW"
#define SW_STRING "SW"
#define SE_STRING "SE"
#define NE_STRING "NE"
#define NNW_STRING "NNW"
#define WNW_STRING "WNW"
#define WSW_STRING "WSW"
#define SSW_STRING "SSW"
#define SSE_STRING "SSE"
#define ESE_STRING "ESE"
#define ENE_STRING "ENE"
#define NNE_STRING "NNE"
#endif //LANGUAGE_ITALIAN
#ifdef LANGUAGE_PORTUGUESE_BRASIL // courtesy of Ismael, PY4PI
#define MOON_STRING "lua "
#define SUN_STRING "sol "
#define AZ_TARGET_STRING "Objetivo Az "
#define EL_TARGET_STRING "Objetivo El "
#define TARGET_STRING "Objetivo "
#define PARKED_STRING "Estacionado"
#define ROTATING_CW_STRING "Rodando DIR"
#define ROTATING_CCW_STRING "Rodando ESQ"
#define ROTATING_TO_STRING "Rodando para "
#define ELEVATING_TO_STRING "Elevando para "
#define ELEVATING_UP_STRING "Subindo"
#define ELEVATING_DOWN_STRING "Descendo"
#define ROTATING_STRING "Rodando "
#define CW_STRING "DIR"
#define CCW_STRING "ESQ"
#define UP_STRING "SOBE"
#define DOWN_STRING "DESCE"
#define AZIMUTH_STRING "Azimute "
#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"
#define W_STRING "O"
#define S_STRING "S"
#define E_STRING "L"
#define NW_STRING "NO"
#define SW_STRING "SO"
#define SE_STRING "SL"
#define NE_STRING "NL"
#define NNW_STRING "NNO"
#define WNW_STRING "ONO"
#define WSW_STRING "OSO"
#define SSW_STRING "SSO"
#define SSE_STRING "SSL"
#define ESE_STRING "LSL"
#define ENE_STRING "LNL"
#define NNE_STRING "NNL"
#endif //LANGUAGE_PORTUGUESE_BRASIL
#define TRACKING_ACTIVE_CHAR "*"
#define TRACKING_INACTIVE_CHAR "-"
#define INTERNAL_CLOCK_CORRECTION 0.00145
#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
#define GPS_UPDATE_LATENCY_COMPENSATION_MS 200
#define SYNC_WITH_RTC_SECONDS 59 // syncronize internal clock with realtime clock every x seconds
#define SYNC_RTC_TO_GPS_SECONDS 12 // synchronize realtime clock to GPS every x seconds
#define SYNC_MASTER_CLOCK_TO_SLAVE_CLOCK_SECS 10 // for 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 clock
#define SYNC_MASTER_COORDINATES_TO_SLAVE_SECS 20 // for OPTION_SYNC_MASTER_COORDINATES_TO_SLAVE - use when GPS unit is connected to slave unit and you want to synchronize the master unit coordinates to the slave unit GPS
#define ETHERNET_MAC_ADDRESS 0xDE,0xAD,0xBE,0xEF,0xFE,0xEE //<-DON'T FORGET TO USE DIFFERENT MAC ADDRESSES FOR MASTER AND SLAVE!!!
#define ETHERNET_IP_ADDRESS 192,168,1,172 //<-DON'T FORGET TO USE DIFFERENT IP ADDRESSES FOR MASTER AND SLAVE!!!
#define ETHERNET_IP_GATEWAY 192,168,1,1
#define ETHERNET_IP_SUBNET_MASK 255,255,255,0
#define ETHERNET_TCP_PORT_0 23
#define ETHERNET_TCP_PORT_1 24
#define ETHERNET_MESSAGE_TIMEOUT_MS 5000
#define ETHERNET_PREAMBLE "K3NG" // used only with 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
#define POWER_SWITCH_IDLE_TIMEOUT 15 // use with FEATURE_POWER_SWITCH; units are minutes
#ifdef HARDWARE_EA4TX_ARS_USB
#define BUTTON_ACTIVE_STATE HIGH
#define BUTTON_INACTIVE_STATE LOW
#else
#define BUTTON_ACTIVE_STATE LOW
#define BUTTON_INACTIVE_STATE HIGH
#endif
/*
*
* Azimuth and Elevation calibraton tables - use with FEATURE_AZIMUTH_CORRECTION and/or FEATURE_ELEVATION_CORRECTION
*
* You must have the same number of entries in the _FROM_ and _TO_ arrays!
*
*/
#define AZIMUTH_CALIBRATION_FROM_ARRAY {180,630} /* these are in "raw" degrees, i.e. when going east past 360 degrees, add 360 degrees*/
#define AZIMUTH_CALIBRATION_TO_ARRAY {180,630}
// example: reverse rotation sensing
// #define AZIMUTH_CALIBRATION_FROM_ARRAY {0,359}
// #define AZIMUTH_CALIBRATION_TO_ARRAY {359,0}
#define ELEVATION_CALIBRATION_FROM_ARRAY {-180,0,180}
#define ELEVATION_CALIBRATION_TO_ARRAY {-180,0,180}
#define ANALOG_OUTPUT_MAX_EL_DEGREES 180
#define EL_POSITION_PULSE_DEBOUNCE 500 // in ms
/* Pololu LSM303 Calibration tables
*
*
* For use with FEATURE_AZ_POSITION_POLOLU_LSM303 and/or FEATURE_EL_POSITION_POLOLU_LSM303
*
Calibration values; the default values of +/-32767 for each axis
lead to an assumed magnetometer bias of 0. Use the Calibrate example
program to determine appropriate values for your particular unit.
min: { +59, +19, -731} max: { +909, +491, +14}
min: {32767, 32767, 32767} max: {-32768, -32768, -32768}
*/
#define POLOLU_LSM_303_MIN_ARRAY {+59, +19, -731}
#define POLOLU_LSM_303_MAX_ARRAY {+909, +491, +14}
#define AUTOCORRECT_TIME_MS_AZ 1000
#define AUTOCORRECT_TIME_MS_EL 1000
/* ---------------------------- object declarations ----------------------------------------------
Object declarations are required for several devices, including LCD displays, compass devices, and accelerometers
*/
#ifdef 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_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;
#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

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/* -------------------------- rotation settings ---------------------------------------*/
#define AZIMUTH_STARTING_POINT_DEFAULT 180 // the starting point in degrees of the azimuthal rotator
#define AZIMUTH_ROTATION_CAPABILITY_DEFAULT 450 // the default rotation capability of the rotator in degrees
#define ELEVATION_MAXIMUM_DEGREES 180 // change this to set the maximum elevation in degrees
/* --------------------------- Settings ------------------------------------------------
You can tweak these, but read the online documentation!
*/
// analog voltage calibration - these are default values; you can either tweak these or set via the Yaesu O and F commands (and O2 and F2)....
#define ANALOG_AZ_FULL_CCW 4
#define ANALOG_AZ_FULL_CW 1009
#define ANALOG_EL_0_DEGREES 2
#define ANALOG_EL_MAX_ELEVATION 1018 // maximum elevation is normally 180 degrees unless change below for ELEVATION_MAXIMUM_DEGREES
#define ANALOG_AZ_OVERLAP_DEGREES 540 // if overlap_led above is enabled, turn on overlap led line if azimuth is greater than this setting
// you must use raw azimuth (if the azimuth on the rotator crosses over to 0 degrees, add 360
// for example, on a Yaesu 450 degree rotator with a starting point of 180 degrees, and an overlap LED
// turning on when going CW and crossing 180, ANALOG_AZ_OVERLAP_DEGREES should be set for 540 (180 + 360)
#define OPTION_OVERLAP_LED_BLINK_MS 100
// PWM speed voltage settings
#define PWM_SPEED_VOLTAGE_X1 64 // 0 to 255
#define PWM_SPEED_VOLTAGE_X2 128 // 0 to 255
#define PWM_SPEED_VOLTAGE_X3 191 // 0 to 255
#define PWM_SPEED_VOLTAGE_X4 253 // 0 to 255
//AZ
#define AZ_SLOWSTART_DEFAULT 0 // 0 = off ; 1 = on
#define AZ_SLOWDOWN_DEFAULT 0 // 0 = off ; 1 = on
#define AZ_SLOW_START_UP_TIME 2000 // if slow start is enabled, the unit will ramp up speed for this many milliseconds
#define AZ_SLOW_START_STARTING_PWM 1 // PWM starting value for slow start (must be < 256)
#define AZ_SLOW_START_STEPS 20 // must be < 256
#define SLOW_DOWN_BEFORE_TARGET_AZ 10.0 // if slow down is enabled, slowdown will be activated within this many degrees of target azimuth
#define AZ_SLOW_DOWN_PWM_START 200 // starting PWM value for slow down (must be < 256)
#define AZ_SLOW_DOWN_PWM_STOP 20 // ending PWM value for slow down (must be < 256)
#define AZ_SLOW_DOWN_STEPS 200 //20 // must be < 256
#define AZ_INITIALLY_IN_SLOW_DOWN_PWM 50 // PWM value to start at if we're starting in the slow down zone (1 - 255)
//EL
#define EL_SLOWSTART_DEFAULT 0 // 0 = off ; 1 = on
#define EL_SLOWDOWN_DEFAULT 0 // 0 = off ; 1 = on
#define EL_SLOW_START_UP_TIME 2000 // if slow start is enabled, the unit will ramp up speed for this many milliseconds
#define EL_SLOW_START_STARTING_PWM 1 // PWM starting value for slow start (must be < 256)
#define EL_SLOW_START_STEPS 20 // must be < 256
#define SLOW_DOWN_BEFORE_TARGET_EL 10.0 // if slow down is enabled, slowdown will be activated within this many degrees of target elevation
#define EL_SLOW_DOWN_PWM_START 200 // starting PWM value for slow down (must be < 256)
#define EL_SLOW_DOWN_PWM_STOP 20 // ending PWM value for slow down (must be < 256)
#define EL_SLOW_DOWN_STEPS 20
#define EL_INITIALLY_IN_SLOW_DOWN_PWM 50 // PWM value to start at if we're starting in the slow down zone (1 - 255)
#define TIMED_SLOW_DOWN_TIME 2000
//Variable frequency output settings - LOWEST FREQUENCY IS 31 HERTZ DUE TO ARDUINO tone() FUNCTION LIMITATIONS!
#define AZ_VARIABLE_FREQ_OUTPUT_LOW 31 // Frequency in hertz of minimum speed
#define AZ_VARIABLE_FREQ_OUTPUT_HIGH 5000 //100 // Frequency in hertz of maximum speed
#define EL_VARIABLE_FREQ_OUTPUT_LOW 31 // Frequency in hertz of minimum speed
#define EL_VARIABLE_FREQ_OUTPUT_HIGH 100 // Frequency in hertz of maximum speed
// Settings for OPTION_AZ_MANUAL_ROTATE_LIMITS
#define AZ_MANUAL_ROTATE_CCW_LIMIT 0 // if using a rotator that starts at 180 degrees, set this to something like 185
#define AZ_MANUAL_ROTATE_CW_LIMIT 535 // add 360 to this if you go past 0 degrees (i.e. 180 CW after 0 degrees = 540)
// Settings for OPTION_EL_MANUAL_ROTATE_LIMITS
#define EL_MANUAL_ROTATE_DOWN_LIMIT -1
#define EL_MANUAL_ROTATE_UP_LIMIT 181
// Speed pot settings
#define SPEED_POT_LOW 0
#define SPEED_POT_HIGH 1023
#define SPEED_POT_LOW_MAP 1
#define SPEED_POT_HIGH_MAP 255
// Azimuth preset pot settings
#define AZ_PRESET_POT_FULL_CW 0
#define AZ_PRESET_POT_FULL_CCW 1023
#define AZ_PRESET_POT_FULL_CW_MAP 180 // azimuth pot fully counter-clockwise degrees
#define AZ_PRESET_POT_FULL_CCW_MAP 630 // azimuth pot fully clockwise degrees
#define ENCODER_PRESET_TIMEOUT 5000
// various code settings
#define AZIMUTH_TOLERANCE 3.0 // rotator will stop within X degrees when doing autorotation
#define ELEVATION_TOLERANCE 0.1 //1.0
#define OPERATION_TIMEOUT 120000 // timeout for any rotation operation in mS ; 120 seconds is usually enough unless you have the speed turned down
#define TIMED_INTERVAL_ARRAY_SIZE 20
#define CONTROL_PORT_BAUD_RATE 9600
#define REMOTE_UNIT_PORT_BAUD_RATE 9600
#define GPS_PORT_BAUD_RATE 9600
#define GPS_MIRROR_PORT_BAUD_RATE 9600
#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
#define GPS_PORT_MAPPED_TO &Serial2 // change this line to map the GPS port to a different serial port
//#define GPS_MIRROR_PORT &Serial1 //3 // use this to mirror output from a GPS unit into the Arduino out another port (uncomment to enable)
#define LCD_COLUMNS 20 //16
#define LCD_ROWS 4 //2 // this is automatically set below for HARDWARE_EA4TX_ARS_USB and HARDWARE_M0UPU
#define LCD_UPDATE_TIME 1000 // LCD update time in milliseconds
#define I2C_LCD_COLOR GREEN // default color of I2C LCD display, including Adafruit and Yourduino; some Yourduino may want this as LED_ON
#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
#define LCD_BIG_CLOCK_ROW 4
#define LCD_GPS_INDICATOR_POSITION RIGHT //LEFT or RIGHT
#define LCD_GPS_INDICATOR_ROW 1
#define LCD_MOON_TRACKING_ROW 3 // LCD display row for OPTION_DISPLAY_MOON_TRACKING_CONTINUOUSLY
#define LCD_MOON_TRACKING_UPDATE_INTERVAL 5000
#define LCD_SUN_TRACKING_ROW 4 // LCD display row for OPTION_DISPLAY_SUN_TRACKING_CONTINUOUSLY
#define LCD_SUN_TRACKING_UPDATE_INTERVAL 5000
#define LCD_MOON_OR_SUN_TRACKING_CONDITIONAL_ROW 3 // LCD display row for OPTION_DISPLAY_MOON_OR_SUN_TRACKING_CONDITIONAL
#define SPLASH_SCREEN_TIME 3000
#define AZ_BRAKE_DELAY 3000 // in milliseconds
#define EL_BRAKE_DELAY 3000 // in milliseconds
#define BRAKE_ACTIVE_STATE HIGH
#define BRAKE_INACTIVE_STATE LOW
#define EEPROM_MAGIC_NUMBER 104
#define EEPROM_WRITE_DIRTY_CONFIG_TIME 30 //time in seconds
#if defined(FEATURE_TWO_DECIMAL_PLACE_HEADINGS)
#define HEADING_MULTIPLIER 100L
#define LCD_HEADING_MULTIPLIER 100.0
#define LCD_DECIMAL_PLACES 2
#endif //FEATURE_TWO_DECIMAL_PLACE_HEADINGS
#if defined(FEATURE_ONE_DECIMAL_PLACE_HEADINGS)
#define HEADING_MULTIPLIER 10
#define LCD_HEADING_MULTIPLIER 10.0
#define LCD_DECIMAL_PLACES 1
#endif //FEATURE_ONE_DECIMAL_PLACE_HEADINGS
#if !defined(FEATURE_ONE_DECIMAL_PLACE_HEADINGS) && !defined(FEATURE_TWO_DECIMAL_PLACE_HEADINGS)
#define HEADING_MULTIPLIER 1
#define LCD_HEADING_MULTIPLIER 1.0
#define LCD_DECIMAL_PLACES 0
#endif //!defined(FEATURE_ONE_DECIMAL_PLACE_HEADINGS) && !defined(FEATURE_TWO_DECIMAL_PLACE_HEADINGS)
#define AZ_POSITION_ROTARY_ENCODER_DEG_PER_PULSE 0.5
#define EL_POSITION_ROTARY_ENCODER_DEG_PER_PULSE 0.5
#define AZ_POSITION_PULSE_DEG_PER_PULSE 0.5
#define EL_POSITION_PULSE_DEG_PER_PULSE 0.5
#define PARK_AZIMUTH 360.0 * HEADING_MULTIPLIER // replace the 0.0 with your park azimuth; azimuth is in raw degrees (i.e. on a 180 degree starting point rotator, 0 degrees = 360)
#define PARK_ELEVATION 0.0 * HEADING_MULTIPLIER // replace the 0.0 with your park elevation
#define COMMAND_BUFFER_SIZE 50
#define REMOTE_BUFFER_TIMEOUT_MS 250
#define REMOTE_UNIT_COMMAND_TIMEOUT_MS 2000
#define AZ_REMOTE_UNIT_QUERY_TIME_MS 150 // how often we query the remote remote for azimuth
#define EL_REMOTE_UNIT_QUERY_TIME_MS 150 // how often we query the remote remote for elevation
#define ROTATE_PIN_INACTIVE_VALUE LOW
#define ROTATE_PIN_ACTIVE_VALUE HIGH
#define AZIMUTH_SMOOTHING_FACTOR 0 // value = 0 to 99.9
#define ELEVATION_SMOOTHING_FACTOR 0 // value = 0 to 99.9
#define AZIMUTH_MEASUREMENT_FREQUENCY_MS 100 // this does not apply if using FEATURE_AZ_POSITION_GET_FROM_REMOTE_UNIT
#define ELEVATION_MEASUREMENT_FREQUENCY_MS 100 // this does not apply if using FEATURE_EL_POSITION_GET_FROM_REMOTE_UNIT
#define JOYSTICK_WAIT_TIME_MS 100
#define ROTATION_INDICATOR_PIN_ACTIVE_STATE HIGH
#define ROTATION_INDICATOR_PIN_INACTIVE_STATE LOW
#define ROTATION_INDICATOR_PIN_TIME_DELAY_SECONDS 0
#define ROTATION_INDICATOR_PIN_TIME_DELAY_MINUTES 0
#define AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV 2000.0
#define EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV 2000.0
#define AZ_INCREMENTAL_ENCODER_ZERO_PULSE_POSITION 0 // can be 0 to 4 x AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV
#define EL_INCREMENTAL_ENCODER_ZERO_PULSE_POSITION 0 // can be 0 to 4 x EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV
#define SERIAL_LED_TIME_MS 250
#define DEFAULT_LATITUDE 40.889958
#define DEFAULT_LONGITUDE -75.585972
#define MOON_TRACKING_CHECK_INTERVAL 5000
#define MOON_AOS_AZIMUTH_MIN 0
#define MOON_AOS_AZIMUTH_MAX 360
#define MOON_AOS_ELEVATION_MIN 0
#define MOON_AOS_ELEVATION_MAX 180
#define SUN_TRACKING_CHECK_INTERVAL 5000
#define SUN_AOS_AZIMUTH_MIN 0
#define SUN_AOS_AZIMUTH_MAX 360
#define SUN_AOS_ELEVATION_MIN 0
#define SUN_AOS_ELEVATION_MAX 180
#ifdef LANGUAGE_ENGLISH // English language support (copy leading and trailing spaces when making your own language section)
#define MOON_STRING "moon "
#define SUN_STRING "sun "
#define AZ_TARGET_STRING "Az Target "
#define EL_TARGET_STRING "El Target "
#define TARGET_STRING "Target "
#define PARKED_STRING "Parked"
#define ROTATING_CW_STRING "Rotating CW"
#define ROTATING_CCW_STRING "Rotating CCW"
#define ROTATING_TO_STRING "Rotating to "
#define ELEVATING_TO_STRING "Elevating to "
#define ELEVATING_UP_STRING "Elevating Up"
#define ELEVATING_DOWN_STRING "Elevating Down"
#define ROTATING_STRING "Rotating "
#define CW_STRING "CW"
#define CCW_STRING "CCW"
#define UP_STRING "UP"
#define DOWN_STRING "DOWN"
#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"
#define W_STRING "W"
#define S_STRING "S"
#define E_STRING "E"
#define NW_STRING "NW"
#define SW_STRING "SW"
#define SE_STRING "SE"
#define NE_STRING "NE"
#define NNW_STRING "NNW"
#define WNW_STRING "WNW"
#define WSW_STRING "WSW"
#define SSW_STRING "SSW"
#define SSE_STRING "SSE"
#define ESE_STRING "ESE"
#define ENE_STRING "ENE"
#define NNE_STRING "NNE"
#endif //LANGUAGE_ENGLISH
#ifdef LANGUAGE_SPANISH // Courtesy of Maximo, EA1DDO
#define MOON_STRING "Luna "
#define SUN_STRING "Sol "
#define AZ_TARGET_STRING "Az Objetivo "
#define EL_TARGET_STRING "El Objetivo "
#define TARGET_STRING "Objetivo "
#define PARKED_STRING "Aparcado"
#define ROTATING_CW_STRING "Girando Dcha"
#define ROTATING_CCW_STRING "Girando Izq"
#define ROTATING_TO_STRING "Girando a "
#define ELEVATING_TO_STRING "Elevando a "
#define ELEVATING_UP_STRING "Subiendo"
#define ELEVATING_DOWN_STRING "Bajando"
#define ROTATING_STRING "Girando "
#define CW_STRING "Dcha"
#define CCW_STRING "Izq"
#define UP_STRING "Arriba"
#define DOWN_STRING "Abajo"
#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"
#define W_STRING "O"
#define S_STRING "S"
#define E_STRING "E"
#define NW_STRING "NO"
#define SW_STRING "SO"
#define SE_STRING "SE"
#define NE_STRING "NE"
#define NNW_STRING "NNO"
#define WNW_STRING "ONO"
#define WSW_STRING "OSO"
#define SSW_STRING "SSO"
#define SSE_STRING "SSE"
#define ESE_STRING "ESE"
#define ENE_STRING "ENE"
#define NNE_STRING "NNE"
#endif //LANGUAGE_SPANISH
#ifdef LANGUAGE_CZECH // courtesy of Jan, OK2ZAW
#define MOON_STRING "mesic "
#define SUN_STRING "slunce "
#define AZ_TARGET_STRING "Az cíl "
#define EL_TARGET_STRING "El cíl "
#define TARGET_STRING "Cil "
#define PARKED_STRING "Parkovat"
#define ROTATING_CW_STRING "Otacim CW"
#define ROTATING_CCW_STRING "Otacim CCW"
#define ROTATING_TO_STRING "Otacim na "
#define ELEVATING_TO_STRING "Elevovat na "
#define ELEVATING_UP_STRING "Elevovat nahoru"
#define ELEVATING_DOWN_STRING "Elevovat dolu"
#define ROTATING_STRING "Otacet "
#define CW_STRING "CW"
#define CCW_STRING "CCW"
#define UP_STRING "Nahoru"
#define DOWN_STRING "Dolu"
#define AZIMUTH_STRING "Azimut "
#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 "smer ^ KL"
#define W_STRING "smer < HK"
#define S_STRING "smer v ZS"
#define E_STRING "smer > VK"
#define NW_STRING "smer < W"
#define SW_STRING "smer v VP8"
#define SE_STRING "smer > HZ"
#define NE_STRING "smer ^ JA"
#define NNW_STRING "smer ^ VE"
#define WNW_STRING "smer < CO"
#define WSW_STRING "smer < PY"
#define SSW_STRING "smer v ZD9"
#define SSE_STRING "smer v 5R"
#define ESE_STRING "smer > 8Q"
#define ENE_STRING "smer > ZL"
#define NNE_STRING "smer ^ UA0"
#endif //LANGUAGE_CZECH
#ifdef LANGUAGE_ITALIAN // courtesy of Paolo, IT9IPQ
#define MOON_STRING "luna"
#define SUN_STRING "sole "
#define AZ_TARGET_STRING "Punta Az "
#define EL_TARGET_STRING "Punta El "
#define TARGET_STRING "Punta "
#define PARKED_STRING "Posa "
#define ROTATING_CW_STRING "Ruota DX > "
#define ROTATING_CCW_STRING "Ruota SX < "
#define ROTATING_TO_STRING "Ruota verso "
#define ELEVATING_TO_STRING "Alza verso "
#define ELEVATING_UP_STRING "Alzo Su "
#define ELEVATING_DOWN_STRING "Abbasso Giu' "
#define ROTATING_STRING "Ruota "
#define CW_STRING "DX"
#define CCW_STRING "SX "
#define UP_STRING "SU"
#define DOWN_STRING "GIU'"
#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"
#define W_STRING "W"
#define S_STRING "S"
#define E_STRING "E"
#define NW_STRING "NW"
#define SW_STRING "SW"
#define SE_STRING "SE"
#define NE_STRING "NE"
#define NNW_STRING "NNW"
#define WNW_STRING "WNW"
#define WSW_STRING "WSW"
#define SSW_STRING "SSW"
#define SSE_STRING "SSE"
#define ESE_STRING "ESE"
#define ENE_STRING "ENE"
#define NNE_STRING "NNE"
#endif //LANGUAGE_ITALIAN
#ifdef LANGUAGE_PORTUGUESE_BRASIL // courtesy of Ismael, PY4PI
#define MOON_STRING "lua "
#define SUN_STRING "sol "
#define AZ_TARGET_STRING "Objetivo Az "
#define EL_TARGET_STRING "Objetivo El "
#define TARGET_STRING "Objetivo "
#define PARKED_STRING "Estacionado"
#define ROTATING_CW_STRING "Rodando DIR"
#define ROTATING_CCW_STRING "Rodando ESQ"
#define ROTATING_TO_STRING "Rodando para "
#define ELEVATING_TO_STRING "Elevando para "
#define ELEVATING_UP_STRING "Subindo"
#define ELEVATING_DOWN_STRING "Descendo"
#define ROTATING_STRING "Rodando "
#define CW_STRING "DIR"
#define CCW_STRING "ESQ"
#define UP_STRING "SOBE"
#define DOWN_STRING "DESCE"
#define AZIMUTH_STRING "Azimute "
#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"
#define W_STRING "O"
#define S_STRING "S"
#define E_STRING "L"
#define NW_STRING "NO"
#define SW_STRING "SO"
#define SE_STRING "SL"
#define NE_STRING "NL"
#define NNW_STRING "NNO"
#define WNW_STRING "ONO"
#define WSW_STRING "OSO"
#define SSW_STRING "SSO"
#define SSE_STRING "SSL"
#define ESE_STRING "LSL"
#define ENE_STRING "LNL"
#define NNE_STRING "NNL"
#endif //LANGUAGE_PORTUGUESE_BRASIL
#define TRACKING_ACTIVE_CHAR "*"
#define TRACKING_INACTIVE_CHAR "-"
#define INTERNAL_CLOCK_CORRECTION 0.00145
#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
#define GPS_UPDATE_LATENCY_COMPENSATION_MS 200
#define SYNC_WITH_RTC_SECONDS 59 // syncronize internal clock with realtime clock every x seconds
#define SYNC_RTC_TO_GPS_SECONDS 12 // synchronize realtime clock to GPS every x seconds
#define SYNC_MASTER_CLOCK_TO_SLAVE_CLOCK_SECS 10 // for 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 clock
#define SYNC_MASTER_COORDINATES_TO_SLAVE_SECS 20 // for OPTION_SYNC_MASTER_COORDINATES_TO_SLAVE - use when GPS unit is connected to slave unit and you want to synchronize the master unit coordinates to the slave unit GPS
#define ETHERNET_MAC_ADDRESS 0xDE,0xAD,0xBE,0xEF,0xFE,0xEE //<-DON'T FORGET TO USE DIFFERENT MAC ADDRESSES FOR MASTER AND SLAVE!!!
#define ETHERNET_IP_ADDRESS 192,168,1,172 //<-DON'T FORGET TO USE DIFFERENT IP ADDRESSES FOR MASTER AND SLAVE!!!
#define ETHERNET_IP_GATEWAY 192,168,1,1
#define ETHERNET_IP_SUBNET_MASK 255,255,255,0
#define ETHERNET_TCP_PORT_0 23
#define ETHERNET_TCP_PORT_1 24
#define ETHERNET_MESSAGE_TIMEOUT_MS 5000
#define ETHERNET_PREAMBLE "K3NG" // used only with 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
#define POWER_SWITCH_IDLE_TIMEOUT 15 // use with FEATURE_POWER_SWITCH; units are minutes
#ifdef HARDWARE_EA4TX_ARS_USB
#define BUTTON_ACTIVE_STATE HIGH
#define BUTTON_INACTIVE_STATE LOW
#else
#define BUTTON_ACTIVE_STATE LOW
#define BUTTON_INACTIVE_STATE HIGH
#endif
/*
*
* Azimuth and Elevation calibraton tables - use with FEATURE_AZIMUTH_CORRECTION and/or FEATURE_ELEVATION_CORRECTION
*
* You must have the same number of entries in the _FROM_ and _TO_ arrays!
*
*/
#define AZIMUTH_CALIBRATION_FROM_ARRAY {180,630} /* these are in "raw" degrees, i.e. when going east past 360 degrees, add 360 degrees*/
#define AZIMUTH_CALIBRATION_TO_ARRAY {180,630}
// example: reverse rotation sensing
// #define AZIMUTH_CALIBRATION_FROM_ARRAY {0,359}
// #define AZIMUTH_CALIBRATION_TO_ARRAY {359,0}
#define ELEVATION_CALIBRATION_FROM_ARRAY {-180,0,180}
#define ELEVATION_CALIBRATION_TO_ARRAY {-180,0,180}
#define ANALOG_OUTPUT_MAX_EL_DEGREES 180
#define EL_POSITION_PULSE_DEBOUNCE 500 // in ms
/* Pololu LSM303 Calibration tables
*
*
* For use with FEATURE_AZ_POSITION_POLOLU_LSM303 and/or FEATURE_EL_POSITION_POLOLU_LSM303
*
Calibration values; the default values of +/-32767 for each axis
lead to an assumed magnetometer bias of 0. Use the Calibrate example
program to determine appropriate values for your particular unit.
min: { +59, +19, -731} max: { +909, +491, +14}
min: {32767, 32767, 32767} max: {-32768, -32768, -32768}
*/
#define POLOLU_LSM_303_MIN_ARRAY {+59, +19, -731}
#define POLOLU_LSM_303_MAX_ARRAY {+909, +491, +14}
#define AUTOCORRECT_TIME_MS_AZ 1000
#define AUTOCORRECT_TIME_MS_EL 1000
/* ---------------------------- object declarations ----------------------------------------------
Object declarations are required for several devices, including LCD displays, compass devices, and accelerometers
*/
#ifdef 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_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;
#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