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2020.05.11.02

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Added OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP which is disabled by default.  By default the controller will ignore at boot up GS-232 commands that start rotation or change the configuration.
        Related setting (new): ROTATIONAL_AND_CONFIGURATION_CMD_IGNORE_TIME_MS 5000   (ignore commands the first 5 seconds after boot up)
This commit is contained in:
Anthony Good 2020-05-11 19:58:10 -04:00
parent 0f74085281
commit be47f2143f
11 changed files with 461 additions and 303 deletions
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731
k3ng_rotator_controller/k3ng_rotator_controller.ino
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@ -485,6 +485,10 @@
2020.05.11.01
Handle ARDUINO_AVR_MICRO having Serial port as Serial_ class and Serial1 as HardwareSerial class
2020.05.11.02
Added OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP which is disabled by default. By default the controller will ignore at boot up GS-232 commands that start rotation or change the configuration.
Related setting (new): ROTATIONAL_AND_CONFIGURATION_CMD_IGNORE_TIME_MS 5000 (ignore commands the first 5 seconds after boot up)
All library files should be placed in directories likes \sketchbook\libraries\library1\ , \sketchbook\libraries\library2\ , etc.
Anything rotator_*.* should be in the ino directory!
@ -497,7 +501,7 @@
*/
#define CODE_VERSION "2020.05.11.01"
#define CODE_VERSION "2020.05.11.02"
#include <avr/pgmspace.h>
#include <EEPROM.h>
@ -10531,19 +10535,19 @@ void az_position_pulse_interrupt_handler(){
}
#ifdef OPTION_AZ_POSITION_PULSE_HARD_LIMIT
if (az_position_pulse_input_azimuth < azimuth_starting_point) {
az_position_pulse_input_azimuth = azimuth_starting_point;
}
if (az_position_pulse_input_azimuth > (azimuth_starting_point + azimuth_rotation_capability)) {
az_position_pulse_input_azimuth = (azimuth_starting_point + azimuth_rotation_capability);
}
#else
if (az_position_pulse_input_azimuth < 0) {
az_position_pulse_input_azimuth += 360;
}
if (az_position_pulse_input_azimuth >= 360) {
az_position_pulse_input_azimuth -= 360;
}
if (az_position_pulse_input_azimuth < azimuth_starting_point) {
az_position_pulse_input_azimuth = azimuth_starting_point;
}
if (az_position_pulse_input_azimuth > (azimuth_starting_point + azimuth_rotation_capability)) {
az_position_pulse_input_azimuth = (azimuth_starting_point + azimuth_rotation_capability);
}
#else
if (az_position_pulse_input_azimuth < 0) {
az_position_pulse_input_azimuth += 360;
}
if (az_position_pulse_input_azimuth >= 360) {
az_position_pulse_input_azimuth -= 360;
}
#endif // OPTION_AZ_POSITION_PULSE_HARD_LIMIT
} /* az_position_pulse_interrupt_handler */
@ -14538,7 +14542,7 @@ void process_yaesu_command(byte * yaesu_command_buffer, int yaesu_command_buffer
#ifdef FEATURE_TIMED_BUFFER
int parsed_value2 = 0;
int parsed_value2 = 0;
#endif //FEATURE_TIMED_BUFFER
strcpy(return_string,"");
@ -14546,9 +14550,9 @@ void process_yaesu_command(byte * yaesu_command_buffer, int yaesu_command_buffer
switch (yaesu_command_buffer[0]) { // look at the first character of the command
case 'C': // C - return current azimuth
#ifdef DEBUG_PROCESS_YAESU
if (debug_mode) {
debug.print("yaesu_serial_command: C\n");
}
if (debug_mode) {
debug.print("yaesu_serial_command: C\n");
}
#endif // DEBUG_PROCESS_YAESU
#ifdef OPTION_DELAY_C_CMD_OUTPUT
delay(400);
@ -14575,15 +14579,17 @@ void process_yaesu_command(byte * yaesu_command_buffer, int yaesu_command_buffer
#ifndef OPTION_GS_232B_EMULATION
if (elevation < 0) {
strcat(return_string,"-0");
} else {
strcat(return_string,"+0");
}
if (elevation < 0) {
strcat(return_string,"-0");
} else {
strcat(return_string,"+0");
}
#endif
#ifdef OPTION_GS_232B_EMULATION
strcat(return_string,"EL=");
strcat(return_string,"EL=");
#endif
dtostrf(int(elevation / HEADING_MULTIPLIER),0,0,tempstring);
if (int(elevation / HEADING_MULTIPLIER) < 10) {
strcat(return_string,("0"));
@ -14601,15 +14607,15 @@ void process_yaesu_command(byte * yaesu_command_buffer, int yaesu_command_buffer
#endif // FEATURE_ELEVATION_CONTROL
#ifndef FEATURE_ELEVATION_CONTROL
if ((yaesu_command_buffer[1] == '2') && (yaesu_command_buffer_index > 1)) { // did we get the C2 command?
#ifndef OPTION_GS_232B_EMULATION
strcat(return_string,"+0000"); // return a dummy elevation since we don't have the elevation feature turned on
#else
strcat(return_string,"EL=000");
#endif
} else {
//strcat(return_string,"\n");
}
if ((yaesu_command_buffer[1] == '2') && (yaesu_command_buffer_index > 1)) { // did we get the C2 command?
#ifndef OPTION_GS_232B_EMULATION
strcat(return_string,"+0000"); // return a dummy elevation since we don't have the elevation feature turned on
#else
strcat(return_string,"EL=000");
#endif
} else {
//strcat(return_string,"\n");
}
#endif // FEATURE_ELEVATION_CONTROL
break;
@ -14617,132 +14623,218 @@ void process_yaesu_command(byte * yaesu_command_buffer, int yaesu_command_buffer
//-----------------end of C command-----------------
#ifdef FEATURE_AZ_POSITION_POTENTIOMETER
case 'F': // F - full scale calibration
#ifdef DEBUG_PROCESS_YAESU
if (debug_mode) {
debug.print("yaesu_serial_command: F\n");
}
#endif // DEBUG_PROCESS_YAESU
#ifdef FEATURE_ELEVATION_CONTROL
if ((yaesu_command_buffer[1] == '2') && (yaesu_command_buffer_index > 1)) { // did we get the F2 command?
case 'F': // F - full scale calibration
#ifdef DEBUG_PROCESS_YAESU
if (debug_mode) {
debug.print("yaesu_serial_command: F\n");
}
#endif // DEBUG_PROCESS_YAESU
#ifdef FEATURE_ELEVATION_CONTROL
if ((yaesu_command_buffer[1] == '2') && (yaesu_command_buffer_index > 1)) { // did we get the F2 command?
clear_serial_buffer();
#if defined(OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP)
if (source_port == CONTROL_PORT0){
control_port->println(F("Elevate to 180 (or max elevation) and send keystroke..."));
}
get_keystroke();
read_elevation(1);
configuration.analog_el_max_elevation = analog_el;
write_settings_to_eeprom();
strcpy(return_string,"Wrote to memory");
#else
if (millis() > ROTATIONAL_AND_CONFIGURATION_CMD_IGNORE_TIME_MS){
if (source_port == CONTROL_PORT0){
control_port->println(F("Elevate to 180 (or max elevation) and send keystroke..."));
}
get_keystroke();
read_elevation(1);
configuration.analog_el_max_elevation = analog_el;
write_settings_to_eeprom();
strcpy(return_string,"Wrote to memory");
}
#endif // OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP
return;
}
#endif //FEATURE_ELEVATION_CONTROL
clear_serial_buffer();
if (source_port == CONTROL_PORT0){
control_port->println(F("Elevate to 180 (or max elevation) and send keystroke..."));
}
get_keystroke();
read_elevation(1);
configuration.analog_el_max_elevation = analog_el;
write_settings_to_eeprom();
strcpy(return_string,"Wrote to memory");
return;
}
#endif
clear_serial_buffer();
if (source_port == CONTROL_PORT0){
control_port->println(F("Rotate to full CW and send keystroke..."));
get_keystroke();
}
read_azimuth(1);
configuration.analog_az_full_cw = analog_az;
write_settings_to_eeprom();
strcpy(return_string,"Wrote to memory");
break;
#if defined(OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP)
if (source_port == CONTROL_PORT0){
control_port->println(F("Rotate to full CW and send keystroke..."));
get_keystroke();
}
read_azimuth(1);
configuration.analog_az_full_cw = analog_az;
write_settings_to_eeprom();
strcpy(return_string,"Wrote to memory");
#else
if (millis() > ROTATIONAL_AND_CONFIGURATION_CMD_IGNORE_TIME_MS){
if (source_port == CONTROL_PORT0){
control_port->println(F("Rotate to full CW and send keystroke..."));
get_keystroke();
}
read_azimuth(1);
configuration.analog_az_full_cw = analog_az;
write_settings_to_eeprom();
strcpy(return_string,"Wrote to memory");
}
#endif // OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP
break;
#endif // FEATURE_AZ_POSITION_POTENTIOMETER
case 'H': print_help(source_port); break; // H - print help - depricated
case 'L': // L - manual left (CCW) rotation
#ifdef DEBUG_PROCESS_YAESU
if (debug_mode) {
debug.print("yaesu_serial_command: L\n");
}
if (debug_mode) {
debug.print("yaesu_serial_command: L\n");
}
#endif // DEBUG_PROCESS_YAESU
submit_request(AZ, REQUEST_CCW, 0, 21);
//strcpy(return_string,"\n");
#ifdef FEATURE_PARK
deactivate_park();
#endif // FEATURE_PARK
#if defined(OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP)
submit_request(AZ, REQUEST_CCW, 0, 21);
//strcpy(return_string,"\n");
#ifdef FEATURE_PARK
deactivate_park();
#endif // FEATURE_PARK
#else
if (millis() > ROTATIONAL_AND_CONFIGURATION_CMD_IGNORE_TIME_MS){
submit_request(AZ, REQUEST_CCW, 0, 21);
//strcpy(return_string,"\n");
#ifdef FEATURE_PARK
deactivate_park();
#endif // FEATURE_PARK
}
#endif //OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP
break;
#ifdef FEATURE_AZ_POSITION_POTENTIOMETER
case 'O': // O - offset calibration
#ifdef DEBUG_PROCESS_YAESU
if (debug_mode) {
debug.print("yaesu_serial_command: O\n");
}
#endif // DEBUG_PROCESS_YAESU
case 'O': // O - offset calibration
#ifdef DEBUG_PROCESS_YAESU
if (debug_mode) {
debug.print("yaesu_serial_command: O\n");
}
#endif // DEBUG_PROCESS_YAESU
#ifdef FEATURE_ELEVATION_CONTROL
if ((yaesu_command_buffer[1] == '2') && (yaesu_command_buffer_index > 1)) { // did we get the O2 command?
clear_serial_buffer();
if (source_port == CONTROL_PORT0){
control_port->println(F("Elevate to 0 degrees and send keystroke..."));
}
get_keystroke();
read_elevation(1);
configuration.analog_el_0_degrees = analog_el;
write_settings_to_eeprom();
strcpy(return_string,"Wrote to memory");
return;
}
#endif
clear_serial_buffer();
if (source_port == CONTROL_PORT0){
control_port->println(F("Rotate to full CCW and send keystroke..."));
}
get_keystroke();
read_azimuth(1);
configuration.analog_az_full_ccw = analog_az;
write_settings_to_eeprom();
strcpy(return_string,"Wrote to memory");
break;
#ifdef FEATURE_ELEVATION_CONTROL
if ((yaesu_command_buffer[1] == '2') && (yaesu_command_buffer_index > 1)) { // did we get the O2 command?
clear_serial_buffer();
#if defined(OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP)
if (source_port == CONTROL_PORT0){
control_port->println(F("Elevate to 0 degrees and send keystroke..."));
}
get_keystroke();
read_elevation(1);
configuration.analog_el_0_degrees = analog_el;
write_settings_to_eeprom();
strcpy(return_string,"Wrote to memory");
#else
if (millis() > ROTATIONAL_AND_CONFIGURATION_CMD_IGNORE_TIME_MS){
if (source_port == CONTROL_PORT0){
control_port->println(F("Elevate to 0 degrees and send keystroke..."));
}
get_keystroke();
read_elevation(1);
configuration.analog_el_0_degrees = analog_el;
write_settings_to_eeprom();
strcpy(return_string,"Wrote to memory");
}
#endif //OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP
return;
}
#endif // FEATURE_ELEVATION_CONTROL
clear_serial_buffer();
#if defined(OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP)
if (source_port == CONTROL_PORT0){
control_port->println(F("Rotate to full CCW and send keystroke..."));
}
get_keystroke();
read_azimuth(1);
configuration.analog_az_full_ccw = analog_az;
write_settings_to_eeprom();
strcpy(return_string,"Wrote to memory");
#else
if (millis() > ROTATIONAL_AND_CONFIGURATION_CMD_IGNORE_TIME_MS){
if (source_port == CONTROL_PORT0){
control_port->println(F("Rotate to full CCW and send keystroke..."));
}
get_keystroke();
read_azimuth(1);
configuration.analog_az_full_ccw = analog_az;
write_settings_to_eeprom();
strcpy(return_string,"Wrote to memory");
}
#endif
break;
#endif // FEATURE_AZ_POSITION_POTENTIOMETER
case 'R': // R - manual right (CW) rotation
#ifdef DEBUG_PROCESS_YAESU
if (debug_mode) {
debug.print("yaesu_serial_command: R\n");
}
if (debug_mode) {
debug.print("yaesu_serial_command: R\n");
}
#endif // DEBUG_PROCESS_YAESU
submit_request(AZ, REQUEST_CW, 0, 22);
strcpy(return_string,"\n");
#ifdef FEATURE_PARK
deactivate_park();
#endif // FEATURE_PARK
#if defined(OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP)
submit_request(AZ, REQUEST_CW, 0, 22);
strcpy(return_string,"\n");
#ifdef FEATURE_PARK
deactivate_park();
#endif // FEATURE_PARK
#else
if (millis() > ROTATIONAL_AND_CONFIGURATION_CMD_IGNORE_TIME_MS){
submit_request(AZ, REQUEST_CW, 0, 22);
strcpy(return_string,"\n");
#ifdef FEATURE_PARK
deactivate_park();
#endif // FEATURE_PARK
}
#endif
break;
case 'A': // A - CW/CCW rotation stop
#ifdef DEBUG_PROCESS_YAESU
if (debug_mode) {
debug.print("yaesu_serial_command: A\n");
}
if (debug_mode) {
debug.print("yaesu_serial_command: A\n");
}
#endif // DEBUG_PROCESS_YAESU
submit_request(AZ, REQUEST_STOP, 0, 23);
//strcpy(return_string,"\n");
#ifdef FEATURE_PARK
deactivate_park();
deactivate_park();
#endif // FEATURE_PARK
break;
case 'S': // S - all stop
#ifdef DEBUG_PROCESS_YAESU
if (debug_mode) {
debug.print("yaesu_serial_command: S\n");
}
if (debug_mode) {
debug.print("yaesu_serial_command: S\n");
}
#endif // DEBUG_PROCESS_YAESU
submit_request(AZ, REQUEST_STOP, 0, 24);
#ifdef FEATURE_ELEVATION_CONTROL
submit_request(EL, REQUEST_STOP, 0, 25);
submit_request(EL, REQUEST_STOP, 0, 25);
#endif
#ifdef FEATURE_TIMED_BUFFER
clear_timed_buffer();
clear_timed_buffer();
#endif // FEATURE_TIMED_BUFFER
//strcpy(return_string,"");
#ifdef FEATURE_PARK
deactivate_park();
deactivate_park();
#endif // FEATURE_PARK
break;
@ -14758,45 +14850,51 @@ void process_yaesu_command(byte * yaesu_command_buffer, int yaesu_command_buffer
if (yaesu_command_buffer_index > 4) { // if there are more than 4 characters in the command buffer, we got a timed interval command
#ifdef FEATURE_TIMED_BUFFER
clear_timed_buffer();
parsed_value = ((int(yaesu_command_buffer[1]) - 48) * 100) + ((int(yaesu_command_buffer[2]) - 48) * 10) + (int(yaesu_command_buffer[3]) - 48);
if ((parsed_value > 0) && (parsed_value < 1000)) {
timed_buffer_interval_value_seconds = parsed_value;
for (int x = 5; x < yaesu_command_buffer_index; x = x + 4) {
parsed_value = ((int(yaesu_command_buffer[x]) - 48) * 100) + ((int(yaesu_command_buffer[x + 1]) - 48) * 10) + (int(yaesu_command_buffer[x + 2]) - 48);
if ((parsed_value >= 0) && (parsed_value <= (azimuth_starting_point + azimuth_rotation_capability))) { // is it a valid azimuth?
timed_buffer_azimuths[timed_buffer_number_entries_loaded] = parsed_value * HEADING_MULTIPLIER;
timed_buffer_number_entries_loaded++;
timed_buffer_status = LOADED_AZIMUTHS;
if (timed_buffer_number_entries_loaded > TIMED_INTERVAL_ARRAY_SIZE) { // is the array full?
submit_request(AZ, REQUEST_AZIMUTH, timed_buffer_azimuths[0], 26); // array is full, go to the first azimuth
timed_buffer_entry_pointer = 1;
clear_timed_buffer();
parsed_value = ((int(yaesu_command_buffer[1]) - 48) * 100) + ((int(yaesu_command_buffer[2]) - 48) * 10) + (int(yaesu_command_buffer[3]) - 48);
if ((parsed_value > 0) && (parsed_value < 1000)) {
timed_buffer_interval_value_seconds = parsed_value;
for (int x = 5; x < yaesu_command_buffer_index; x = x + 4) {
parsed_value = ((int(yaesu_command_buffer[x]) - 48) * 100) + ((int(yaesu_command_buffer[x + 1]) - 48) * 10) + (int(yaesu_command_buffer[x + 2]) - 48);
if ((parsed_value >= 0) && (parsed_value <= (azimuth_starting_point + azimuth_rotation_capability))) { // is it a valid azimuth?
timed_buffer_azimuths[timed_buffer_number_entries_loaded] = parsed_value * HEADING_MULTIPLIER;
timed_buffer_number_entries_loaded++;
timed_buffer_status = LOADED_AZIMUTHS;
if (timed_buffer_number_entries_loaded > TIMED_INTERVAL_ARRAY_SIZE) { // is the array full?
submit_request(AZ, REQUEST_AZIMUTH, timed_buffer_azimuths[0], 26); // array is full, go to the first azimuth
timed_buffer_entry_pointer = 1;
return;
}
} else { // we hit an invalid bearing
timed_buffer_status = EMPTY;
timed_buffer_number_entries_loaded = 0;
strcpy(return_string,"?>"); // error
return;
}
} else { // we hit an invalid bearing
timed_buffer_status = EMPTY;
timed_buffer_number_entries_loaded = 0;
strcpy(return_string,"?>"); // error
return;
}
submit_request(AZ, REQUEST_AZIMUTH, timed_buffer_azimuths[0], 27); // go to the first azimuth
timed_buffer_entry_pointer = 1;
} else {
strcpy(return_string,"?>"); // error
}
submit_request(AZ, REQUEST_AZIMUTH, timed_buffer_azimuths[0], 27); // go to the first azimuth
timed_buffer_entry_pointer = 1;
} else {
strcpy(return_string,"?>"); // error
}
#else
strcpy(return_string,"?>");
strcpy(return_string,"?>");
#endif // FEATURE_TIMED_BUFFER
return;
} else { // if there are four characters, this is just a single direction setting
if (yaesu_command_buffer_index == 4) {
parsed_value = ((int(yaesu_command_buffer[1]) - 48) * 100) + ((int(yaesu_command_buffer[2]) - 48) * 10) + (int(yaesu_command_buffer[3]) - 48);
#ifdef FEATURE_TIMED_BUFFER
clear_timed_buffer();
clear_timed_buffer();
#endif // FEATURE_TIMED_BUFFER
if ((parsed_value >= 0) && (parsed_value <= (azimuth_starting_point + azimuth_rotation_capability))) {
submit_request(AZ, REQUEST_AZIMUTH, (parsed_value * HEADING_MULTIPLIER), 28);
#if defined(OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP)
submit_request(AZ, REQUEST_AZIMUTH, (parsed_value * HEADING_MULTIPLIER), 28);
#else
if (millis() > ROTATIONAL_AND_CONFIGURATION_CMD_IGNORE_TIME_MS){
submit_request(AZ, REQUEST_AZIMUTH, (parsed_value * HEADING_MULTIPLIER), 28);
}
#endif
return;
}
}
@ -14807,12 +14905,12 @@ void process_yaesu_command(byte * yaesu_command_buffer, int yaesu_command_buffer
#ifdef FEATURE_TIMED_BUFFER
case 'N': // N - number of loaded timed interval entries
#ifdef DEBUG_PROCESS_YAESU
if (debug_mode) {
debug.print("yaesu_serial_command: N\n");
}
if (debug_mode) {
debug.print("yaesu_serial_command: N\n");
}
#endif // DEBUG_PROCESS_YAESU
#ifdef FEATURE_PARK
deactivate_park();
deactivate_park();
#endif // FEATURE_PARK
sprintf(return_string,"%d",timed_buffer_number_entries_loaded);
break;
@ -14820,9 +14918,15 @@ void process_yaesu_command(byte * yaesu_command_buffer, int yaesu_command_buffer
#ifdef FEATURE_TIMED_BUFFER
case 'T': // T - initiate timed tracking
initiate_timed_buffer(source_port);
#if defined(OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP)
initiate_timed_buffer(source_port);
#else
if (millis() > ROTATIONAL_AND_CONFIGURATION_CMD_IGNORE_TIME_MS){
initiate_timed_buffer(source_port);
}
#endif
#ifdef FEATURE_PARK
deactivate_park();
deactivate_park();
#endif // FEATURE_PARK
break;
#endif // FEATURE_TIMED_BUFFER
@ -14881,75 +14985,88 @@ void process_yaesu_command(byte * yaesu_command_buffer, int yaesu_command_buffer
break;
#ifdef FEATURE_ELEVATION_CONTROL
case 'U': // U - manual up rotation
#ifdef DEBUG_PROCESS_YAESU
if (debug_mode) {
debug.print("yaesu_serial_command: U\n");
}
#endif // DEBUG_PROCESS_YAESU
#ifdef FEATURE_PARK
deactivate_park();
#endif // FEATURE_PARK
submit_request(EL, REQUEST_UP, 0, 29);
//strcpy(return_string,"\n");
break;
case 'D': // D - manual down rotation
#ifdef DEBUG_PROCESS_YAESU
if (debug_mode) {
debug.print("yaesu_serial_command: D\n");
}
#endif // DEBUG_PROCESS_YAESU
#ifdef FEATURE_PARK
deactivate_park();
#endif // FEATURE_PARK
submit_request(EL, REQUEST_DOWN, 0, 30);
//strcpy(return_string,"\n");
break;
case 'E': // E - stop elevation rotation
#ifdef DEBUG_PROCESS_YAESU
if (debug_mode) {
debug.print("yaesu_serial_command: E\n");
}
#endif // DEBUG_PROCESS_YAESU
#ifdef FEATURE_PARK
deactivate_park();
#endif // FEATURE_PARK
submit_request(EL, REQUEST_STOP, 0, 31);
//strcpy(return_string,"\n");
break;
case 'B': // B - return current elevation
#ifndef OPTION_GS_232B_EMULATION
if (elevation < 0) {
strcat(return_string,"-0");
} else {
strcat(return_string,"+0");
}
#else
strcat(return_string,"EL=");
#endif //OPTION_GS_232B_EMULATION
dtostrf(int(elevation / HEADING_MULTIPLIER),0,0,tempstring);
if (int(elevation / HEADING_MULTIPLIER) < 10) {
strcat(return_string,("0"));
}
if (int(elevation / HEADING_MULTIPLIER) < 100) {
strcat(return_string,"0");
}
strcat(return_string,tempstring);
break;
case 'U': // U - manual up rotation
#ifdef DEBUG_PROCESS_YAESU
if (debug_mode) {
debug.print("yaesu_serial_command: U\n");
}
#endif // DEBUG_PROCESS_YAESU
#ifdef FEATURE_PARK
deactivate_park();
#endif // FEATURE_PARK
#if defined(OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP)
submit_request(EL, REQUEST_UP, 0, 29);
#else
if (millis() > ROTATIONAL_AND_CONFIGURATION_CMD_IGNORE_TIME_MS){
submit_request(EL, REQUEST_UP, 0, 29);
}
#endif
//strcpy(return_string,"\n");
break;
case 'D': // D - manual down rotation
#ifdef DEBUG_PROCESS_YAESU
if (debug_mode) {
debug.print("yaesu_serial_command: D\n");
}
#endif // DEBUG_PROCESS_YAESU
#ifdef FEATURE_PARK
deactivate_park();
#endif // FEATURE_PARK
#if defined(OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP)
submit_request(EL, REQUEST_DOWN, 0, 30);
#else
if (millis() > ROTATIONAL_AND_CONFIGURATION_CMD_IGNORE_TIME_MS){
submit_request(EL, REQUEST_DOWN, 0, 30);
}
#endif
//strcpy(return_string,"\n");
break;
case 'E': // E - stop elevation rotation
#ifdef DEBUG_PROCESS_YAESU
if (debug_mode) {
debug.print("yaesu_serial_command: E\n");
}
#endif // DEBUG_PROCESS_YAESU
#ifdef FEATURE_PARK
deactivate_park();
#endif // FEATURE_PARK
submit_request(EL, REQUEST_STOP, 0, 31);
//strcpy(return_string,"\n");
break;
case 'B': // B - return current elevation
#ifndef OPTION_GS_232B_EMULATION
if (elevation < 0) {
strcat(return_string,"-0");
} else {
strcat(return_string,"+0");
}
#else
strcat(return_string,"EL=");
#endif //OPTION_GS_232B_EMULATION
dtostrf(int(elevation / HEADING_MULTIPLIER),0,0,tempstring);
if (int(elevation / HEADING_MULTIPLIER) < 10) {
strcat(return_string,("0"));
}
if (int(elevation / HEADING_MULTIPLIER) < 100) {
strcat(return_string,"0");
}
strcat(return_string,tempstring);
break;
#endif /* ifdef FEATURE_ELEVATION_CONTROL */
case 'W': // W - auto elevation rotation
#ifdef DEBUG_PROCESS_YAESU
if (debug_mode) {
debug.print("yaesu_serial_command: W\n");
}
if (debug_mode) {
debug.print("yaesu_serial_command: W\n");
}
#endif // DEBUG_PROCESS_YAESU
#ifdef FEATURE_PARK
deactivate_park();
deactivate_park();
#endif // FEATURE_PARK
@ -14959,34 +15076,34 @@ void process_yaesu_command(byte * yaesu_command_buffer, int yaesu_command_buffer
if (yaesu_command_buffer_index > 8) { // if there are more than 4 characters in the command buffer, we got a timed interval command
#if defined(FEATURE_TIMED_BUFFER) && defined(FEATURE_ELEVATION_CONTROL)
parsed_value = ((int(yaesu_command_buffer[1]) - 48) * 100) + ((int(yaesu_command_buffer[2]) - 48) * 10) + (int(yaesu_command_buffer[3]) - 48);
if ((parsed_value > 0) && (parsed_value < 1000)) {
timed_buffer_interval_value_seconds = parsed_value;
for (int x = 5; x < yaesu_command_buffer_index; x = x + 8) {
parsed_value = ((int(yaesu_command_buffer[x]) - 48) * 100) + ((int(yaesu_command_buffer[x + 1]) - 48) * 10) + (int(yaesu_command_buffer[x + 2]) - 48);
parsed_value2 = ((int(yaesu_command_buffer[x + 4]) - 48) * 100) + ((int(yaesu_command_buffer[x + 5]) - 48) * 10) + (int(yaesu_command_buffer[x + 6]) - 48);
if ((parsed_value > -1) && (parsed_value < 361) && (parsed_value2 > -1) && (parsed_value2 < 181)) { // is it a valid azimuth?
timed_buffer_azimuths[timed_buffer_number_entries_loaded] = (parsed_value * HEADING_MULTIPLIER);
timed_buffer_elevations[timed_buffer_number_entries_loaded] = (parsed_value2 * HEADING_MULTIPLIER);
timed_buffer_number_entries_loaded++;
timed_buffer_status = LOADED_AZIMUTHS_ELEVATIONS;
if (timed_buffer_number_entries_loaded > TIMED_INTERVAL_ARRAY_SIZE) { // is the array full?
x = yaesu_command_buffer_index; // array is full, go to the first azimuth and elevation
parsed_value = ((int(yaesu_command_buffer[1]) - 48) * 100) + ((int(yaesu_command_buffer[2]) - 48) * 10) + (int(yaesu_command_buffer[3]) - 48);
if ((parsed_value > 0) && (parsed_value < 1000)) {
timed_buffer_interval_value_seconds = parsed_value;
for (int x = 5; x < yaesu_command_buffer_index; x = x + 8) {
parsed_value = ((int(yaesu_command_buffer[x]) - 48) * 100) + ((int(yaesu_command_buffer[x + 1]) - 48) * 10) + (int(yaesu_command_buffer[x + 2]) - 48);
parsed_value2 = ((int(yaesu_command_buffer[x + 4]) - 48) * 100) + ((int(yaesu_command_buffer[x + 5]) - 48) * 10) + (int(yaesu_command_buffer[x + 6]) - 48);
if ((parsed_value > -1) && (parsed_value < 361) && (parsed_value2 > -1) && (parsed_value2 < 181)) { // is it a valid azimuth?
timed_buffer_azimuths[timed_buffer_number_entries_loaded] = (parsed_value * HEADING_MULTIPLIER);
timed_buffer_elevations[timed_buffer_number_entries_loaded] = (parsed_value2 * HEADING_MULTIPLIER);
timed_buffer_number_entries_loaded++;
timed_buffer_status = LOADED_AZIMUTHS_ELEVATIONS;
if (timed_buffer_number_entries_loaded > TIMED_INTERVAL_ARRAY_SIZE) { // is the array full?
x = yaesu_command_buffer_index; // array is full, go to the first azimuth and elevation
}
} else { // we hit an invalid bearing
timed_buffer_status = EMPTY;
timed_buffer_number_entries_loaded = 0;
strcpy(return_string,"?>"); // error
return;
}
} else { // we hit an invalid bearing
timed_buffer_status = EMPTY;
timed_buffer_number_entries_loaded = 0;
strcpy(return_string,"?>"); // error
return;
}
}
}
timed_buffer_entry_pointer = 1; // go to the first bearings
parsed_value = timed_buffer_azimuths[0];
parsed_elevation = timed_buffer_elevations[0];
timed_buffer_entry_pointer = 1; // go to the first bearings
parsed_value = timed_buffer_azimuths[0];
parsed_elevation = timed_buffer_elevations[0];
#else /* ifdef FEATURE_TIMED_BUFFER FEATURE_ELEVATION_CONTROL*/
strcpy(return_string,"?>");
strcpy(return_string,"?>");
#endif // FEATURE_TIMED_BUFFER FEATURE_ELEVATION_CONTROL
} else {
// this is a short form W command, just parse the azimuth and elevation and initiate rotation
@ -15001,24 +15118,29 @@ void process_yaesu_command(byte * yaesu_command_buffer, int yaesu_command_buffer
submit_request(AZ, REQUEST_AZIMUTH, parsed_value, 32);
} else {
#ifdef DEBUG_PROCESS_YAESU
if (debug_mode) {
debug.print("process_yaesu_command: W cmd az error");
}
if (debug_mode) {
debug.print("process_yaesu_command: W cmd az error");
}
#endif // DEBUG_PROCESS_YAESU
strcpy(return_string,"?>"); // bogus elevation - return and error and don't do anything
}
#else
if ((parsed_value >= 0) && (parsed_value <= ((azimuth_starting_point + azimuth_rotation_capability)* HEADING_MULTIPLIER)) && (parsed_elevation >= 0) && (parsed_elevation <= (ELEVATION_MAXIMUM_DEGREES * HEADING_MULTIPLIER))) {
//if ((parsed_value >= 0) && (parsed_value <= (360 * HEADING_MULTIPLIER)) && (parsed_elevation >= 0) && (parsed_elevation <= (180 * HEADING_MULTIPLIER))) {
submit_request(AZ, REQUEST_AZIMUTH, parsed_value, 33);
submit_request(EL, REQUEST_ELEVATION, parsed_elevation, 34);
#if defined(OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP)
submit_request(AZ, REQUEST_AZIMUTH, parsed_value, 33);
submit_request(EL, REQUEST_ELEVATION, parsed_elevation, 34);
#else
if (millis() > ROTATIONAL_AND_CONFIGURATION_CMD_IGNORE_TIME_MS){
submit_request(AZ, REQUEST_AZIMUTH, parsed_value, 33);
submit_request(EL, REQUEST_ELEVATION, parsed_elevation, 34);
}
#endif
} else {
#ifdef DEBUG_PROCESS_YAESU
if (debug_mode) {
debug.print("process_yaesu_command: W cmd az/el error");
}
if (debug_mode) {
debug.print("process_yaesu_command: W cmd az/el error");
}
#endif // DEBUG_PROCESS_YAESU
strcpy(return_string,"?>"); // bogus elevation - return and error and don't do anything
}
@ -15028,54 +15150,83 @@ void process_yaesu_command(byte * yaesu_command_buffer, int yaesu_command_buffer
break;
#ifdef OPTION_GS_232B_EMULATION
case 'P': // P - switch between 360 and 450 degree mode
case 'P': // P - switch between 360 and 450 degree mode
#if defined(OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP)
if ((yaesu_command_buffer[1] == '3') && (yaesu_command_buffer_index > 2)) { // P36 command
azimuth_rotation_capability = 360;
strcpy(return_string,"Mode 360 degree");
// write_settings_to_eeprom();
} else {
if ((yaesu_command_buffer[1] == '4') && (yaesu_command_buffer_index > 2)) { // P45 command
azimuth_rotation_capability = 450;
strcpy(return_string,"Mode 450 degree");
// write_settings_to_eeprom();
} else {
strcpy(return_string,"?>");
}
}
#else
if (millis() > ROTATIONAL_AND_CONFIGURATION_CMD_IGNORE_TIME_MS){
if ((yaesu_command_buffer[1] == '3') && (yaesu_command_buffer_index > 2)) { // P36 command
azimuth_rotation_capability = 360;
strcpy(return_string,"Mode 360 degree");
// write_settings_to_eeprom();
} else {
if ((yaesu_command_buffer[1] == '4') && (yaesu_command_buffer_index > 2)) { // P45 command
azimuth_rotation_capability = 450;
strcpy(return_string,"Mode 450 degree");
// write_settings_to_eeprom();
} else {
strcpy(return_string,"?>");
}
}
}
#endif
if ((yaesu_command_buffer[1] == '3') && (yaesu_command_buffer_index > 2)) { // P36 command
azimuth_rotation_capability = 360;
strcpy(return_string,"Mode 360 degree");
// write_settings_to_eeprom();
} else {
if ((yaesu_command_buffer[1] == '4') && (yaesu_command_buffer_index > 2)) { // P45 command
azimuth_rotation_capability = 450;
strcpy(return_string,"Mode 450 degree");
// write_settings_to_eeprom();
} else {
strcpy(return_string,"?>");
}
}
break;
case 'Z': // Z - Starting point toggle
break;
case 'Z': // Z - Starting point toggle
#if defined(OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP)
if (azimuth_starting_point == 180) {
azimuth_starting_point = 0;
strcpy(return_string,"N");
} else {
azimuth_starting_point = 180;
strcpy(return_string,"S");
}
strcat(return_string," Center");
#else
if (millis() > ROTATIONAL_AND_CONFIGURATION_CMD_IGNORE_TIME_MS){
if (azimuth_starting_point == 180) {
azimuth_starting_point = 0;
strcpy(return_string,"N");
} else {
azimuth_starting_point = 180;
strcpy(return_string,"S");
}
strcat(return_string," Center");
}
#endif
if (azimuth_starting_point == 180) {
azimuth_starting_point = 0;
strcpy(return_string,"N");
} else {
azimuth_starting_point = 180;
strcpy(return_string,"S");
}
strcat(return_string," Center");
// write_settings_to_eeprom();
break;
break;
#endif
default:
strcpy(return_string,"?>");
#ifdef DEBUG_PROCESS_YAESU
if (debug_mode) {
debug.print("process_yaesu_command: yaesu_command_buffer_index: ");
debug.print(yaesu_command_buffer_index);
for (int debug_x = 0; debug_x < yaesu_command_buffer_index; debug_x++) {
debug.print("process_yaesu_command: yaesu_command_buffer[");
debug.print(debug_x);
debug.print("]: ");
debug.print(yaesu_command_buffer[debug_x]);
debug.print(" ");
debug.write(yaesu_command_buffer[debug_x]);
debug.print("\n");;
if (debug_mode) {
debug.print("process_yaesu_command: yaesu_command_buffer_index: ");
debug.print(yaesu_command_buffer_index);
for (int debug_x = 0; debug_x < yaesu_command_buffer_index; debug_x++) {
debug.print("process_yaesu_command: yaesu_command_buffer[");
debug.print(debug_x);
debug.print("]: ");
debug.print(yaesu_command_buffer[debug_x]);
debug.print(" ");
debug.write(yaesu_command_buffer[debug_x]);
debug.print("\n");;
}
}
}
#endif // DEBUG_PROCESS_YAESU
} /* switch */

1
k3ng_rotator_controller/rotator_features.h
View File

@ -175,3 +175,4 @@
// #define OPTION_GPS_EXCLUDE_MISSING_LF_CR_HANDLING
// #define OPTION_MORE_SERIAL_CHECKS
// #define OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE
// #define OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP // if disabled, rotational and configuration commands will be ignored on the serial port for the first 10 second after boot up

1
k3ng_rotator_controller/rotator_features_ea4tx_ars_usb.h
View File

@ -57,3 +57,4 @@
//#define OPTION_GPS_EXCLUDE_MISSING_LF_CR_HANDLING
//#define OPTION_MORE_SERIAL_CHECKS
//#define OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE
//#define OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP // if disabled, rotational and configuration commands will be ignored on the serial port for the first 10 second after boot up

1
k3ng_rotator_controller/rotator_features_m0upu.h
View File

@ -160,3 +160,4 @@
//#define OPTION_GPS_EXCLUDE_MISSING_LF_CR_HANDLING
//#define OPTION_MORE_SERIAL_CHECKS
//#define OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE
//#define OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP // if disabled, rotational and configuration commands will be ignored on the serial port for the first 10 second after boot up

3
k3ng_rotator_controller/rotator_features_test.h
View File

@ -112,7 +112,7 @@
#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 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
@ -181,6 +181,7 @@
// #define OPTION_GPS_EXCLUDE_MISSING_LF_CR_HANDLING
// #define OPTION_MORE_SERIAL_CHECKS
#define OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE
// #define OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP // if disabled, rotational and configuration commands will be ignored on the serial port for the first 10 second after boot up
// ######## ######## ###### ########

12
k3ng_rotator_controller/rotator_features_wb6kcn.h
View File

@ -152,13 +152,5 @@
//#define OPTION_GPS_EXCLUDE_MISSING_LF_CR_HANDLING
//#define OPTION_MORE_SERIAL_CHECKS
//#define OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE
/*
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.
*/
// #define OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP // if disabled, rotational and configuration commands will be ignored on the serial port for the first 10 second after boot up

3
k3ng_rotator_controller/rotator_settings.h
View File

@ -356,3 +356,6 @@ You can tweak these, but read the online documentation!
#define nexSerial Serial3
#define NEXTION_SERIAL_BAUD 115200
#define ROTATIONAL_AND_CONFIGURATION_CMD_IGNORE_TIME_MS 5000 // if OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP is enabled, ignore configuration and rotational command for this many mS after boot up

4
k3ng_rotator_controller/rotator_settings_ea4tx_ars_usb.h
View File

@ -345,4 +345,6 @@ You can tweak these, but read the online documentation!
//#define SET_I2C_BUS_SPEED 800000L // Can set up to 800 kHz, depending on devices. 800000L = 800 khz, 400000L = 400 khz. Default is 100 khz
#define nexSerial Serial3
#define NEXTION_SERIAL_BAUD 115200
#define NEXTION_SERIAL_BAUD 115200
#define ROTATIONAL_AND_CONFIGURATION_CMD_IGNORE_TIME_MS 5000 // if OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP is enabled, ignore configuration and rotational command for this many mS after boot up

4
k3ng_rotator_controller/rotator_settings_m0upu.h
View File

@ -345,4 +345,6 @@ You can tweak these, but read the online documentation!
//#define SET_I2C_BUS_SPEED 800000L // Can set up to 800 kHz, depending on devices. 800000L = 800 khz, 400000L = 400 khz. Default is 100 khz
#define nexSerial Serial3
#define NEXTION_SERIAL_BAUD 115200
#define NEXTION_SERIAL_BAUD 115200
#define ROTATIONAL_AND_CONFIGURATION_CMD_IGNORE_TIME_MS 5000 // if OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP is enabled, ignore configuration and rotational command for this many mS after boot up

2
k3ng_rotator_controller/rotator_settings_test.h
View File

@ -368,6 +368,8 @@ You can tweak these, but read the online documentation!
#define nexSerial Serial3
#define NEXTION_SERIAL_BAUD 115200
#define ROTATIONAL_AND_CONFIGURATION_CMD_IGNORE_TIME_MS 5000 // if OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP is enabled, ignore configuration and rotational command for this many mS after boot up
// ######## ######## ###### ########
// ## ## ## ## ##

2
k3ng_rotator_controller/rotator_settings_wb6kcn.h
View File

@ -346,4 +346,6 @@ You can tweak these, but read the online documentation!
//#define SET_I2C_BUS_SPEED 800000L // Can set up to 800 kHz, depending on devices. 800000L = 800 khz, 400000L = 400 khz. Default is 100 khz
#define ROTATIONAL_AND_CONFIGURATION_CMD_IGNORE_TIME_MS 5000 // if OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP is enabled, ignore configuration and rotational command for this many mS after boot up