mirror of
https://github.com/k3ng/k3ng_rotator_controller.git
synced 2025-02-21 01:31:24 +00:00
2.0.2014120201
This commit is contained in:
Anthony Good
parent
e01318a410
commit
dca62e6692
@ -1,114 +0,0 @@
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/***************************************************************************
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This is a library for the LSM303 Accelerometer and magnentometer/compass
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Designed specifically to work with the Adafruit LSM303DLHC Breakout
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These displays use I2C to communicate, 2 pins are required to interface.
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Adafruit invests time and resources providing this open source code,
|
||||
please support Adafruit andopen-source hardware by purchasing products
|
||||
from Adafruit!
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||||
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Written by Kevin Townsend for Adafruit Industries.
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BSD license, all text above must be included in any redistribution
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***************************************************************************/
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#include <Adafruit_LSM303.h>
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/***************************************************************************
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CONSTRUCTOR
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***************************************************************************/
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bool Adafruit_LSM303::begin()
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{
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Wire.begin();
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Serial.println("Wire");
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// Enable the accelerometer
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write8(LSM303_ADDRESS_ACCEL, LSM303_REGISTER_ACCEL_CTRL_REG1_A, 0x27);
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// Enable the magnetometer
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write8(LSM303_ADDRESS_MAG, LSM303_REGISTER_MAG_MR_REG_M, 0x00);
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return true;
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}
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/***************************************************************************
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PUBLIC FUNCTIONS
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***************************************************************************/
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void Adafruit_LSM303::read()
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{
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// Read the accelerometer
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Wire.beginTransmission((byte)LSM303_ADDRESS_ACCEL);
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Wire.write(LSM303_REGISTER_ACCEL_OUT_X_L_A | 0x80);
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Wire.endTransmission();
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Wire.requestFrom((byte)LSM303_ADDRESS_ACCEL, (byte)6);
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// Wait around until enough data is available
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while (Wire.available() < 6);
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uint8_t xlo = Wire.read();
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uint8_t xhi = Wire.read();
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uint8_t ylo = Wire.read();
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uint8_t yhi = Wire.read();
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uint8_t zlo = Wire.read();
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uint8_t zhi = Wire.read();
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// Shift values to create properly formed integer (low byte first)
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accelData.x = (xlo | (xhi << 8)) >> 4;
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accelData.y = (ylo | (yhi << 8)) >> 4;
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accelData.z = (zlo | (zhi << 8)) >> 4;
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// Read the magnetometer
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Wire.beginTransmission((byte)LSM303_ADDRESS_MAG);
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Wire.write(LSM303_REGISTER_MAG_OUT_X_H_M);
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Wire.endTransmission();
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Wire.requestFrom((byte)LSM303_ADDRESS_MAG, (byte)6);
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// Wait around until enough data is available
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while (Wire.available() < 6);
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// Note high before low (different than accel)
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xhi = Wire.read();
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xlo = Wire.read();
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zhi = Wire.read();
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zlo = Wire.read();
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yhi = Wire.read();
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ylo = Wire.read();
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// Shift values to create properly formed integer (low byte first)
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magData.x = (xlo | (xhi << 8));
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magData.y = (ylo | (yhi << 8));
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magData.z = (zlo | (zhi << 8));
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// ToDo: Calculate orientation
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magData.orientation = 0.0;
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}
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void Adafruit_LSM303::setMagGain(lsm303MagGain gain)
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{
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write8(LSM303_ADDRESS_MAG, LSM303_REGISTER_MAG_CRB_REG_M, (byte)gain);
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}
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/***************************************************************************
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PRIVATE FUNCTIONS
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***************************************************************************/
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void Adafruit_LSM303::write8(byte address, byte reg, byte value)
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{
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Wire.beginTransmission(address);
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Wire.write(reg);
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Wire.write(value);
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Wire.endTransmission();
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}
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byte Adafruit_LSM303::read8(byte address, byte reg)
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{
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byte value;
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Wire.beginTransmission(address);
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Wire.write(reg);
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Wire.endTransmission();
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Wire.requestFrom(address, (byte)1);
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value = Wire.read();
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Wire.endTransmission();
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return value;
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}
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@ -1,124 +0,0 @@
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/***************************************************************************
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This is a library for the LSM303 Accelerometer and magnentometer/compass
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Designed specifically to work with the Adafruit LSM303DLHC Breakout
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These displays use I2C to communicate, 2 pins are required to interface.
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Adafruit invests time and resources providing this open source code,
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please support Adafruit andopen-source hardware by purchasing products
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from Adafruit!
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Written by Kevin Townsend for Adafruit Industries.
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BSD license, all text above must be included in any redistribution
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***************************************************************************/
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#ifndef __LSM303_H__
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#define __LSM303_H__
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#if (ARDUINO >= 100)
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#endif
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#include "Wire.h"
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#define LSM303_ADDRESS_ACCEL (0x32 >> 1) // 0011001x
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#define LSM303_ADDRESS_MAG (0x3C >> 1) // 0011110x
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#define LSM303_ID (0b11010100)
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class Adafruit_LSM303
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{
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public:
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typedef enum
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{ // DEFAULT TYPE
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LSM303_REGISTER_ACCEL_CTRL_REG1_A = 0x20, // 00000111 rw
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LSM303_REGISTER_ACCEL_CTRL_REG2_A = 0x21, // 00000000 rw
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LSM303_REGISTER_ACCEL_CTRL_REG3_A = 0x22, // 00000000 rw
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LSM303_REGISTER_ACCEL_CTRL_REG4_A = 0x23, // 00000000 rw
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LSM303_REGISTER_ACCEL_CTRL_REG5_A = 0x24, // 00000000 rw
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LSM303_REGISTER_ACCEL_CTRL_REG6_A = 0x25, // 00000000 rw
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LSM303_REGISTER_ACCEL_REFERENCE_A = 0x26, // 00000000 r
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LSM303_REGISTER_ACCEL_STATUS_REG_A = 0x27, // 00000000 r
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LSM303_REGISTER_ACCEL_OUT_X_L_A = 0x28,
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LSM303_REGISTER_ACCEL_OUT_X_H_A = 0x29,
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LSM303_REGISTER_ACCEL_OUT_Y_L_A = 0x2A,
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LSM303_REGISTER_ACCEL_OUT_Y_H_A = 0x2B,
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LSM303_REGISTER_ACCEL_OUT_Z_L_A = 0x2C,
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LSM303_REGISTER_ACCEL_OUT_Z_H_A = 0x2D,
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LSM303_REGISTER_ACCEL_FIFO_CTRL_REG_A = 0x2E,
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LSM303_REGISTER_ACCEL_FIFO_SRC_REG_A = 0x2F,
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LSM303_REGISTER_ACCEL_INT1_CFG_A = 0x30,
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LSM303_REGISTER_ACCEL_INT1_SOURCE_A = 0x31,
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LSM303_REGISTER_ACCEL_INT1_THS_A = 0x32,
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LSM303_REGISTER_ACCEL_INT1_DURATION_A = 0x33,
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LSM303_REGISTER_ACCEL_INT2_CFG_A = 0x34,
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LSM303_REGISTER_ACCEL_INT2_SOURCE_A = 0x35,
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LSM303_REGISTER_ACCEL_INT2_THS_A = 0x36,
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LSM303_REGISTER_ACCEL_INT2_DURATION_A = 0x37,
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LSM303_REGISTER_ACCEL_CLICK_CFG_A = 0x38,
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LSM303_REGISTER_ACCEL_CLICK_SRC_A = 0x39,
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LSM303_REGISTER_ACCEL_CLICK_THS_A = 0x3A,
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LSM303_REGISTER_ACCEL_TIME_LIMIT_A = 0x3B,
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LSM303_REGISTER_ACCEL_TIME_LATENCY_A = 0x3C,
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LSM303_REGISTER_ACCEL_TIME_WINDOW_A = 0x3D
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} lsm303AccelRegisters_t;
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typedef enum
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{
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LSM303_REGISTER_MAG_CRA_REG_M = 0x00,
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LSM303_REGISTER_MAG_CRB_REG_M = 0x01,
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LSM303_REGISTER_MAG_MR_REG_M = 0x02,
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LSM303_REGISTER_MAG_OUT_X_H_M = 0x03,
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LSM303_REGISTER_MAG_OUT_X_L_M = 0x04,
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LSM303_REGISTER_MAG_OUT_Z_H_M = 0x05,
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LSM303_REGISTER_MAG_OUT_Z_L_M = 0x06,
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LSM303_REGISTER_MAG_OUT_Y_H_M = 0x07,
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LSM303_REGISTER_MAG_OUT_Y_L_M = 0x08,
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LSM303_REGISTER_MAG_SR_REG_Mg = 0x09,
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LSM303_REGISTER_MAG_IRA_REG_M = 0x0A,
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LSM303_REGISTER_MAG_IRB_REG_M = 0x0B,
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LSM303_REGISTER_MAG_IRC_REG_M = 0x0C,
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LSM303_REGISTER_MAG_TEMP_OUT_H_M = 0x31,
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LSM303_REGISTER_MAG_TEMP_OUT_L_M = 0x32
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} lsm303MagRegisters_t;
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typedef enum
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{
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LSM303_MAGGAIN_1_3 = 0x20, // +/- 1.3
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LSM303_MAGGAIN_1_9 = 0x40, // +/- 1.9
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LSM303_MAGGAIN_2_5 = 0x60, // +/- 2.5
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LSM303_MAGGAIN_4_0 = 0x80, // +/- 4.0
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LSM303_MAGGAIN_4_7 = 0xA0, // +/- 4.7
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LSM303_MAGGAIN_5_6 = 0xC0, // +/- 5.6
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LSM303_MAGGAIN_8_1 = 0xE0 // +/- 8.1
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} lsm303MagGain;
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typedef struct lsm303AccelData_s
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{
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float x;
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float y;
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float z;
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} lsm303AccelData;
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typedef struct lsm303MagData_s
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{
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float x;
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float y;
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float z;
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float orientation;
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} lsm303MagData;
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bool begin(void);
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void read(void);
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void setMagGain(lsm303MagGain gain);
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lsm303AccelData accelData; // Last read accelerometer data will be available here
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lsm303MagData magData; // Last read magnetometer data will be available here
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void write8(byte address, byte reg, byte value);
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byte read8(byte address, byte reg);
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private:
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};
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#endif
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570
LSM303.cpp
570
LSM303.cpp
@ -1,570 +0,0 @@
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#include <LSM303.h>
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#include <Wire.h>
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#include <math.h>
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// Defines ////////////////////////////////////////////////////////////////
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// The Arduino two-wire interface uses a 7-bit number for the address,
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// and sets the last bit correctly based on reads and writes
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#define D_SA0_HIGH_ADDRESS 0b0011101 // D with SA0 high
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#define D_SA0_LOW_ADDRESS 0b0011110 // D with SA0 low or non-D magnetometer
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#define NON_D_MAG_ADDRESS 0b0011110 // D with SA0 low or non-D magnetometer
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#define NON_D_ACC_SA0_LOW_ADDRESS 0b0011000 // non-D accelerometer with SA0 low
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#define NON_D_ACC_SA0_HIGH_ADDRESS 0b0011001 // non-D accelerometer with SA0 high
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#define TEST_REG_NACK -1
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#define D_WHO_ID 0x49
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#define DLM_WHO_ID 0x3C
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// Constructors ////////////////////////////////////////////////////////////////
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LSM303::LSM303(void)
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{
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/*
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These values lead to an assumed magnetometer bias of 0.
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Use the Calibrate example program to determine appropriate values
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for your particular unit. The Heading example demonstrates how to
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adjust these values in your own sketch.
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*/
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m_min = (LSM303::vector<int16_t>){-32767, -32767, -32767};
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m_max = (LSM303::vector<int16_t>){+32767, +32767, +32767};
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_device = device_auto;
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io_timeout = 0; // 0 = no timeout
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did_timeout = false;
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}
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// Public Methods //////////////////////////////////////////////////////////////
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// Did a timeout occur in readAcc(), readMag(), or read() since the last call to timeoutOccurred()?
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bool LSM303::timeoutOccurred()
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{
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bool tmp = did_timeout;
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did_timeout = false;
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return tmp;
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}
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void LSM303::setTimeout(unsigned int timeout)
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{
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io_timeout = timeout;
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}
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unsigned int LSM303::getTimeout()
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{
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return io_timeout;
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}
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bool LSM303::init(deviceType device, sa0State sa0)
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{
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// determine device type if necessary
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if (device == device_auto)
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{
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if (testReg(D_SA0_HIGH_ADDRESS, WHO_AM_I) == D_WHO_ID)
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{
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// device responds to address 0011101 with D ID; it's a D with SA0 high
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device = device_D;
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sa0 = sa0_high;
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}
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else if (testReg(D_SA0_LOW_ADDRESS, WHO_AM_I) == D_WHO_ID)
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{
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// device responds to address 0011110 with D ID; it's a D with SA0 low
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device = device_D;
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sa0 = sa0_low;
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}
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// Remaining possibilities: DLHC, DLM, or DLH. DLHC seems to respond to WHO_AM_I request the
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// same way as DLM, even though this register isn't documented in its datasheet, so instead,
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// guess if it's a DLHC based on acc address (Pololu boards pull SA0 low on DLM and DLH;
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// DLHC doesn't have SA0 but uses same acc address as DLH/DLM with SA0 high).
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else if (testReg(NON_D_ACC_SA0_HIGH_ADDRESS, CTRL_REG1_A) != TEST_REG_NACK)
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{
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// device responds to address 0011001; guess that it's a DLHC
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device = device_DLHC;
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sa0 = sa0_high;
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}
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// Remaining possibilities: DLM or DLH. Check acc with SA0 low address to make sure it's responsive
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else if (testReg(NON_D_ACC_SA0_LOW_ADDRESS, CTRL_REG1_A) != TEST_REG_NACK)
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{
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// device responds to address 0011000 with DLM ID; guess that it's a DLM
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sa0 = sa0_low;
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// Now check WHO_AM_I_M
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if (testReg(NON_D_MAG_ADDRESS, WHO_AM_I_M) == DLM_WHO_ID)
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{
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device = device_DLM;
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}
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else
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{
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device = device_DLH;
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}
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}
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else
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{
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// device hasn't responded meaningfully, so give up
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return false;
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}
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}
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// determine SA0 if necessary
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if (sa0 == sa0_auto)
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{
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if (device == device_D)
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{
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if (testReg(D_SA0_HIGH_ADDRESS, WHO_AM_I) == D_WHO_ID)
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{
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sa0 = sa0_high;
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}
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else if (testReg(D_SA0_LOW_ADDRESS, WHO_AM_I) == D_WHO_ID)
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{
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sa0 = sa0_low;
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}
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else
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{
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// no response on either possible address; give up
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return false;
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}
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}
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else if (device == device_DLM || device == device_DLH)
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{
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if (testReg(NON_D_ACC_SA0_HIGH_ADDRESS, CTRL_REG1_A) != TEST_REG_NACK)
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{
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sa0 = sa0_high;
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}
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else if (testReg(NON_D_ACC_SA0_LOW_ADDRESS, CTRL_REG1_A) != TEST_REG_NACK)
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{
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sa0 = sa0_low;
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}
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else
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{
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// no response on either possible address; give up
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return false;
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}
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}
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}
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_device = device;
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// set device addresses and translated register addresses
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switch (device)
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{
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case device_D:
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acc_address = mag_address = (sa0 == sa0_high) ? D_SA0_HIGH_ADDRESS : D_SA0_LOW_ADDRESS;
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translated_regs[-OUT_X_L_M] = D_OUT_X_L_M;
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translated_regs[-OUT_X_H_M] = D_OUT_X_H_M;
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translated_regs[-OUT_Y_L_M] = D_OUT_Y_L_M;
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translated_regs[-OUT_Y_H_M] = D_OUT_Y_H_M;
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translated_regs[-OUT_Z_L_M] = D_OUT_Z_L_M;
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translated_regs[-OUT_Z_H_M] = D_OUT_Z_H_M;
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break;
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case device_DLHC:
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acc_address = NON_D_ACC_SA0_HIGH_ADDRESS; // DLHC doesn't have SA0 but uses same acc address as DLH/DLM with SA0 high
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mag_address = NON_D_MAG_ADDRESS;
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translated_regs[-OUT_X_H_M] = DLHC_OUT_X_H_M;
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translated_regs[-OUT_X_L_M] = DLHC_OUT_X_L_M;
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translated_regs[-OUT_Y_H_M] = DLHC_OUT_Y_H_M;
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translated_regs[-OUT_Y_L_M] = DLHC_OUT_Y_L_M;
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translated_regs[-OUT_Z_H_M] = DLHC_OUT_Z_H_M;
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translated_regs[-OUT_Z_L_M] = DLHC_OUT_Z_L_M;
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break;
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case device_DLM:
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acc_address = (sa0 == sa0_high) ? NON_D_ACC_SA0_HIGH_ADDRESS : NON_D_ACC_SA0_LOW_ADDRESS;
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mag_address = NON_D_MAG_ADDRESS;
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translated_regs[-OUT_X_H_M] = DLM_OUT_X_H_M;
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translated_regs[-OUT_X_L_M] = DLM_OUT_X_L_M;
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translated_regs[-OUT_Y_H_M] = DLM_OUT_Y_H_M;
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translated_regs[-OUT_Y_L_M] = DLM_OUT_Y_L_M;
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translated_regs[-OUT_Z_H_M] = DLM_OUT_Z_H_M;
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translated_regs[-OUT_Z_L_M] = DLM_OUT_Z_L_M;
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break;
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case device_DLH:
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acc_address = (sa0 == sa0_high) ? NON_D_ACC_SA0_HIGH_ADDRESS : NON_D_ACC_SA0_LOW_ADDRESS;
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mag_address = NON_D_MAG_ADDRESS;
|
||||
translated_regs[-OUT_X_H_M] = DLH_OUT_X_H_M;
|
||||
translated_regs[-OUT_X_L_M] = DLH_OUT_X_L_M;
|
||||
translated_regs[-OUT_Y_H_M] = DLH_OUT_Y_H_M;
|
||||
translated_regs[-OUT_Y_L_M] = DLH_OUT_Y_L_M;
|
||||
translated_regs[-OUT_Z_H_M] = DLH_OUT_Z_H_M;
|
||||
translated_regs[-OUT_Z_L_M] = DLH_OUT_Z_L_M;
|
||||
break;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
/*
|
||||
Enables the LSM303's accelerometer and magnetometer. Also:
|
||||
- Sets sensor full scales (gain) to default power-on values, which are
|
||||
+/- 2 g for accelerometer and +/- 1.3 gauss for magnetometer
|
||||
(+/- 4 gauss on LSM303D).
|
||||
- Selects 50 Hz ODR (output data rate) for accelerometer and 7.5 Hz
|
||||
ODR for magnetometer (6.25 Hz on LSM303D). (These are the ODR
|
||||
settings for which the electrical characteristics are specified in
|
||||
the datasheets.)
|
||||
- Enables high resolution modes (if available).
|
||||
Note that this function will also reset other settings controlled by
|
||||
the registers it writes to.
|
||||
*/
|
||||
void LSM303::enableDefault(void)
|
||||
{
|
||||
|
||||
if (_device == device_D)
|
||||
{
|
||||
// Accelerometer
|
||||
|
||||
// 0x57 = 0b01010111
|
||||
// AFS = 0 (+/- 2 g full scale)
|
||||
writeReg(CTRL2, 0x00);
|
||||
|
||||
// 0x57 = 0b01010111
|
||||
// AODR = 0101 (50 Hz ODR); AZEN = AYEN = AXEN = 1 (all axes enabled)
|
||||
writeReg(CTRL1, 0x57);
|
||||
|
||||
// Magnetometer
|
||||
|
||||
// 0x64 = 0b01100100
|
||||
// M_RES = 11 (high resolution mode); M_ODR = 001 (6.25 Hz ODR)
|
||||
writeReg(CTRL5, 0x64);
|
||||
|
||||
// 0x20 = 0b00100000
|
||||
// MFS = 01 (+/- 4 gauss full scale)
|
||||
writeReg(CTRL6, 0x20);
|
||||
|
||||
// 0x00 = 0b00000000
|
||||
// MLP = 0 (low power mode off); MD = 00 (continuous-conversion mode)
|
||||
writeReg(CTRL7, 0x00);
|
||||
}
|
||||
else if (_device == device_DLHC)
|
||||
{
|
||||
// Accelerometer
|
||||
|
||||
// 0x08 = 0b00001000
|
||||
// FS = 00 (+/- 2 g full scale); HR = 1 (high resolution enable)
|
||||
writeAccReg(CTRL_REG4_A, 0x08);
|
||||
|
||||
// 0x47 = 0b01000111
|
||||
// ODR = 0100 (50 Hz ODR); LPen = 0 (normal mode); Zen = Yen = Xen = 1 (all axes enabled)
|
||||
writeAccReg(CTRL_REG1_A, 0x47);
|
||||
|
||||
// Magnetometer
|
||||
|
||||
// 0x0C = 0b00001100
|
||||
// DO = 011 (7.5 Hz ODR)
|
||||
writeMagReg(CRA_REG_M, 0x0C);
|
||||
|
||||
// 0x20 = 0b00100000
|
||||
// GN = 001 (+/- 1.3 gauss full scale)
|
||||
writeMagReg(CRB_REG_M, 0x20);
|
||||
|
||||
// 0x00 = 0b00000000
|
||||
// MD = 00 (continuous-conversion mode)
|
||||
writeMagReg(MR_REG_M, 0x00);
|
||||
}
|
||||
else // DLM, DLH
|
||||
{
|
||||
// Accelerometer
|
||||
|
||||
// 0x00 = 0b00000000
|
||||
// FS = 00 (+/- 2 g full scale)
|
||||
writeAccReg(CTRL_REG4_A, 0x00);
|
||||
|
||||
// 0x27 = 0b00100111
|
||||
// PM = 001 (normal mode); DR = 00 (50 Hz ODR); Zen = Yen = Xen = 1 (all axes enabled)
|
||||
writeAccReg(CTRL_REG1_A, 0x27);
|
||||
|
||||
// Magnetometer
|
||||
|
||||
// 0x0C = 0b00001100
|
||||
// DO = 011 (7.5 Hz ODR)
|
||||
writeMagReg(CRA_REG_M, 0x0C);
|
||||
|
||||
// 0x20 = 0b00100000
|
||||
// GN = 001 (+/- 1.3 gauss full scale)
|
||||
writeMagReg(CRB_REG_M, 0x20);
|
||||
|
||||
// 0x00 = 0b00000000
|
||||
// MD = 00 (continuous-conversion mode)
|
||||
writeMagReg(MR_REG_M, 0x00);
|
||||
}
|
||||
}
|
||||
|
||||
// Writes an accelerometer register
|
||||
void LSM303::writeAccReg(regAddr reg, byte value)
|
||||
{
|
||||
Wire.beginTransmission(acc_address);
|
||||
Wire.write((byte)reg);
|
||||
Wire.write(value);
|
||||
last_status = Wire.endTransmission();
|
||||
}
|
||||
|
||||
// Reads an accelerometer register
|
||||
byte LSM303::readAccReg(regAddr reg)
|
||||
{
|
||||
byte value;
|
||||
|
||||
Wire.beginTransmission(acc_address);
|
||||
Wire.write((byte)reg);
|
||||
last_status = Wire.endTransmission();
|
||||
Wire.requestFrom(acc_address, (byte)1);
|
||||
value = Wire.read();
|
||||
Wire.endTransmission();
|
||||
|
||||
return value;
|
||||
}
|
||||
|
||||
// Writes a magnetometer register
|
||||
void LSM303::writeMagReg(regAddr reg, byte value)
|
||||
{
|
||||
Wire.beginTransmission(mag_address);
|
||||
Wire.write((byte)reg);
|
||||
Wire.write(value);
|
||||
last_status = Wire.endTransmission();
|
||||
}
|
||||
|
||||
// Reads a magnetometer register
|
||||
byte LSM303::readMagReg(regAddr reg)
|
||||
{
|
||||
byte value;
|
||||
|
||||
// if dummy register address (magnetometer Y/Z), look up actual translated address (based on device type)
|
||||
if (reg < 0)
|
||||
{
|
||||
reg = translated_regs[-reg];
|
||||
}
|
||||
|
||||
Wire.beginTransmission(mag_address);
|
||||
Wire.write((byte)reg);
|
||||
last_status = Wire.endTransmission();
|
||||
Wire.requestFrom(mag_address, (byte)1);
|
||||
value = Wire.read();
|
||||
Wire.endTransmission();
|
||||
|
||||
return value;
|
||||
}
|
||||
|
||||
void LSM303::writeReg(regAddr reg, byte value)
|
||||
{
|
||||
// mag address == acc_address for LSM303D, so it doesn't really matter which one we use.
|
||||
// Use writeMagReg so it can translate OUT_[XYZ]_[HL]_M
|
||||
if (_device == device_D || reg < CTRL_REG1_A)
|
||||
{
|
||||
writeMagReg(reg, value);
|
||||
}
|
||||
else
|
||||
{
|
||||
writeAccReg(reg, value);
|
||||
}
|
||||
}
|
||||
|
||||
// Note that this function will not work for reading TEMP_OUT_H_M and TEMP_OUT_L_M on the DLHC.
|
||||
// To read those two registers, use readMagReg() instead.
|
||||
byte LSM303::readReg(regAddr reg)
|
||||
{
|
||||
// mag address == acc_address for LSM303D, so it doesn't really matter which one we use.
|
||||
// Use writeMagReg so it can translate OUT_[XYZ]_[HL]_M
|
||||
if (_device == device_D || reg < CTRL_REG1_A)
|
||||
{
|
||||
return readMagReg(reg);
|
||||
}
|
||||
else
|
||||
{
|
||||
return readAccReg(reg);
|
||||
}
|
||||
}
|
||||
|
||||
// Reads the 3 accelerometer channels and stores them in vector a
|
||||
void LSM303::readAcc(void)
|
||||
{
|
||||
Wire.beginTransmission(acc_address);
|
||||
// assert the MSB of the address to get the accelerometer
|
||||
// to do slave-transmit subaddress updating.
|
||||
Wire.write(OUT_X_L_A | (1 << 7));
|
||||
last_status = Wire.endTransmission();
|
||||
Wire.requestFrom(acc_address, (byte)6);
|
||||
|
||||
unsigned int millis_start = millis();
|
||||
while (Wire.available() < 6) {
|
||||
if (io_timeout > 0 && ((unsigned int)millis() - millis_start) > io_timeout)
|
||||
{
|
||||
did_timeout = true;
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
byte xla = Wire.read();
|
||||
byte xha = Wire.read();
|
||||
byte yla = Wire.read();
|
||||
byte yha = Wire.read();
|
||||
byte zla = Wire.read();
|
||||
byte zha = Wire.read();
|
||||
|
||||
// combine high and low bytes
|
||||
// This no longer drops the lowest 4 bits of the readings from the DLH/DLM/DLHC, which are always 0
|
||||
// (12-bit resolution, left-aligned). The D has 16-bit resolution
|
||||
a.x = (int16_t)(xha << 8 | xla);
|
||||
a.y = (int16_t)(yha << 8 | yla);
|
||||
a.z = (int16_t)(zha << 8 | zla);
|
||||
}
|
||||
|
||||
// Reads the 3 magnetometer channels and stores them in vector m
|
||||
void LSM303::readMag(void)
|
||||
{
|
||||
Wire.beginTransmission(mag_address);
|
||||
// If LSM303D, assert MSB to enable subaddress updating
|
||||
// OUT_X_L_M comes first on D, OUT_X_H_M on others
|
||||
Wire.write((_device == device_D) ? translated_regs[-OUT_X_L_M] | (1 << 7) : translated_regs[-OUT_X_H_M]);
|
||||
last_status = Wire.endTransmission();
|
||||
Wire.requestFrom(mag_address, (byte)6);
|
||||
|
||||
unsigned int millis_start = millis();
|
||||
while (Wire.available() < 6) {
|
||||
if (io_timeout > 0 && ((unsigned int)millis() - millis_start) > io_timeout)
|
||||
{
|
||||
did_timeout = true;
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
byte xlm, xhm, ylm, yhm, zlm, zhm;
|
||||
|
||||
if (_device == device_D)
|
||||
{
|
||||
/// D: X_L, X_H, Y_L, Y_H, Z_L, Z_H
|
||||
xlm = Wire.read();
|
||||
xhm = Wire.read();
|
||||
ylm = Wire.read();
|
||||
yhm = Wire.read();
|
||||
zlm = Wire.read();
|
||||
zhm = Wire.read();
|
||||
}
|
||||
else
|
||||
{
|
||||
// DLHC, DLM, DLH: X_H, X_L...
|
||||
xhm = Wire.read();
|
||||
xlm = Wire.read();
|
||||
|
||||
if (_device == device_DLH)
|
||||
{
|
||||
// DLH: ...Y_H, Y_L, Z_H, Z_L
|
||||
yhm = Wire.read();
|
||||
ylm = Wire.read();
|
||||
zhm = Wire.read();
|
||||
zlm = Wire.read();
|
||||
}
|
||||
else
|
||||
{
|
||||
// DLM, DLHC: ...Z_H, Z_L, Y_H, Y_L
|
||||
zhm = Wire.read();
|
||||
zlm = Wire.read();
|
||||
yhm = Wire.read();
|
||||
ylm = Wire.read();
|
||||
}
|
||||
}
|
||||
|
||||
// combine high and low bytes
|
||||
m.x = (int16_t)(xhm << 8 | xlm);
|
||||
m.y = (int16_t)(yhm << 8 | ylm);
|
||||
m.z = (int16_t)(zhm << 8 | zlm);
|
||||
}
|
||||
|
||||
// Reads all 6 channels of the LSM303 and stores them in the object variables
|
||||
void LSM303::read(void)
|
||||
{
|
||||
readAcc();
|
||||
readMag();
|
||||
}
|
||||
|
||||
/*
|
||||
Returns the angular difference in the horizontal plane between a
|
||||
default vector and north, in degrees.
|
||||
|
||||
The default vector here is chosen to point along the surface of the
|
||||
PCB, in the direction of the top of the text on the silkscreen.
|
||||
This is the +X axis on the Pololu LSM303D carrier and the -Y axis on
|
||||
the Pololu LSM303DLHC, LSM303DLM, and LSM303DLH carriers.
|
||||
*/
|
||||
float LSM303::heading(void)
|
||||
{
|
||||
if (_device == device_D)
|
||||
{
|
||||
return heading((vector<int>){1, 0, 0});
|
||||
}
|
||||
else
|
||||
{
|
||||
return heading((vector<int>){0, -1, 0});
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
Returns the angular difference in the horizontal plane between the
|
||||
"from" vector and north, in degrees.
|
||||
|
||||
Description of heading algorithm:
|
||||
Shift and scale the magnetic reading based on calibration data to find
|
||||
the North vector. Use the acceleration readings to determine the Up
|
||||
vector (gravity is measured as an upward acceleration). The cross
|
||||
product of North and Up vectors is East. The vectors East and North
|
||||
form a basis for the horizontal plane. The From vector is projected
|
||||
into the horizontal plane and the angle between the projected vector
|
||||
and horizontal north is returned.
|
||||
*/
|
||||
template <typename T> float LSM303::heading(vector<T> from)
|
||||
{
|
||||
vector<int32_t> temp_m = {m.x, m.y, m.z};
|
||||
|
||||
// subtract offset (average of min and max) from magnetometer readings
|
||||
temp_m.x -= ((int32_t)m_min.x + m_max.x) / 2;
|
||||
temp_m.y -= ((int32_t)m_min.y + m_max.y) / 2;
|
||||
temp_m.z -= ((int32_t)m_min.z + m_max.z) / 2;
|
||||
|
||||
// compute E and N
|
||||
vector<float> E;
|
||||
vector<float> N;
|
||||
vector_cross(&temp_m, &a, &E);
|
||||
vector_normalize(&E);
|
||||
vector_cross(&a, &E, &N);
|
||||
vector_normalize(&N);
|
||||
|
||||
// compute heading
|
||||
float heading = atan2(vector_dot(&E, &from), vector_dot(&N, &from)) * 180 / M_PI;
|
||||
if (heading < 0) heading += 360;
|
||||
return heading;
|
||||
}
|
||||
|
||||
template <typename Ta, typename Tb, typename To> void LSM303::vector_cross(const vector<Ta> *a,const vector<Tb> *b, vector<To> *out)
|
||||
{
|
||||
out->x = (a->y * b->z) - (a->z * b->y);
|
||||
out->y = (a->z * b->x) - (a->x * b->z);
|
||||
out->z = (a->x * b->y) - (a->y * b->x);
|
||||
}
|
||||
|
||||
template <typename Ta, typename Tb> float LSM303::vector_dot(const vector<Ta> *a, const vector<Tb> *b)
|
||||
{
|
||||
return (a->x * b->x) + (a->y * b->y) + (a->z * b->z);
|
||||
}
|
||||
|
||||
void LSM303::vector_normalize(vector<float> *a)
|
||||
{
|
||||
float mag = sqrt(vector_dot(a, a));
|
||||
a->x /= mag;
|
||||
a->y /= mag;
|
||||
a->z /= mag;
|
||||
}
|
||||
|
||||
// Private Methods //////////////////////////////////////////////////////////////
|
||||
|
||||
int LSM303::testReg(byte address, regAddr reg)
|
||||
{
|
||||
Wire.beginTransmission(address);
|
||||
Wire.write((byte)reg);
|
||||
last_status = Wire.endTransmission();
|
||||
|
||||
Wire.requestFrom(address, (byte)1);
|
||||
if (Wire.available())
|
||||
return Wire.read();
|
||||
else
|
||||
return TEST_REG_NACK;
|
||||
}
|
||||
218
LSM303.h
218
LSM303.h
@ -1,218 +0,0 @@
|
||||
#ifndef LSM303_h
|
||||
#define LSM303_h
|
||||
|
||||
#include <Arduino.h> // for byte data type
|
||||
|
||||
class LSM303
|
||||
{
|
||||
public:
|
||||
template <typename T> struct vector
|
||||
{
|
||||
T x, y, z;
|
||||
};
|
||||
|
||||
enum deviceType { device_DLH, device_DLM, device_DLHC, device_D, device_auto };
|
||||
enum sa0State { sa0_low, sa0_high, sa0_auto };
|
||||
|
||||
// register addresses
|
||||
enum regAddr
|
||||
{
|
||||
TEMP_OUT_L = 0x05, // D
|
||||
TEMP_OUT_H = 0x06, // D
|
||||
|
||||
STATUS_M = 0x07, // D
|
||||
|
||||
INT_CTRL_M = 0x12, // D
|
||||
INT_SRC_M = 0x13, // D
|
||||
INT_THS_L_M = 0x14, // D
|
||||
INT_THS_H_M = 0x15, // D
|
||||
|
||||
OFFSET_X_L_M = 0x16, // D
|
||||
OFFSET_X_H_M = 0x17, // D
|
||||
OFFSET_Y_L_M = 0x18, // D
|
||||
OFFSET_Y_H_M = 0x19, // D
|
||||
OFFSET_Z_L_M = 0x1A, // D
|
||||
OFFSET_Z_H_M = 0x1B, // D
|
||||
REFERENCE_X = 0x1C, // D
|
||||
REFERENCE_Y = 0x1D, // D
|
||||
REFERENCE_Z = 0x1E, // D
|
||||
|
||||
CTRL0 = 0x1F, // D
|
||||
CTRL1 = 0x20, // D
|
||||
CTRL_REG1_A = 0x20, // DLH, DLM, DLHC
|
||||
CTRL2 = 0x21, // D
|
||||
CTRL_REG2_A = 0x21, // DLH, DLM, DLHC
|
||||
CTRL3 = 0x22, // D
|
||||
CTRL_REG3_A = 0x22, // DLH, DLM, DLHC
|
||||
CTRL4 = 0x23, // D
|
||||
CTRL_REG4_A = 0x23, // DLH, DLM, DLHC
|
||||
CTRL5 = 0x24, // D
|
||||
CTRL_REG5_A = 0x24, // DLH, DLM, DLHC
|
||||
CTRL6 = 0x25, // D
|
||||
CTRL_REG6_A = 0x25, // DLHC
|
||||
HP_FILTER_RESET_A = 0x25, // DLH, DLM
|
||||
CTRL7 = 0x26, // D
|
||||
REFERENCE_A = 0x26, // DLH, DLM, DLHC
|
||||
STATUS_A = 0x27, // D
|
||||
STATUS_REG_A = 0x27, // DLH, DLM, DLHC
|
||||
|
||||
OUT_X_L_A = 0x28,
|
||||
OUT_X_H_A = 0x29,
|
||||
OUT_Y_L_A = 0x2A,
|
||||
OUT_Y_H_A = 0x2B,
|
||||
OUT_Z_L_A = 0x2C,
|
||||
OUT_Z_H_A = 0x2D,
|
||||
|
||||
FIFO_CTRL = 0x2E, // D
|
||||
FIFO_CTRL_REG_A = 0x2E, // DLHC
|
||||
FIFO_SRC = 0x2F, // D
|
||||
FIFO_SRC_REG_A = 0x2F, // DLHC
|
||||
|
||||
IG_CFG1 = 0x30, // D
|
||||
INT1_CFG_A = 0x30, // DLH, DLM, DLHC
|
||||
IG_SRC1 = 0x31, // D
|
||||
INT1_SRC_A = 0x31, // DLH, DLM, DLHC
|
||||
IG_THS1 = 0x32, // D
|
||||
INT1_THS_A = 0x32, // DLH, DLM, DLHC
|
||||
IG_DUR1 = 0x33, // D
|
||||
INT1_DURATION_A = 0x33, // DLH, DLM, DLHC
|
||||
IG_CFG2 = 0x34, // D
|
||||
INT2_CFG_A = 0x34, // DLH, DLM, DLHC
|
||||
IG_SRC2 = 0x35, // D
|
||||
INT2_SRC_A = 0x35, // DLH, DLM, DLHC
|
||||
IG_THS2 = 0x36, // D
|
||||
INT2_THS_A = 0x36, // DLH, DLM, DLHC
|
||||
IG_DUR2 = 0x37, // D
|
||||
INT2_DURATION_A = 0x37, // DLH, DLM, DLHC
|
||||
|
||||
CLICK_CFG = 0x38, // D
|
||||
CLICK_CFG_A = 0x38, // DLHC
|
||||
CLICK_SRC = 0x39, // D
|
||||
CLICK_SRC_A = 0x39, // DLHC
|
||||
CLICK_THS = 0x3A, // D
|
||||
CLICK_THS_A = 0x3A, // DLHC
|
||||
TIME_LIMIT = 0x3B, // D
|
||||
TIME_LIMIT_A = 0x3B, // DLHC
|
||||
TIME_LATENCY = 0x3C, // D
|
||||
TIME_LATENCY_A = 0x3C, // DLHC
|
||||
TIME_WINDOW = 0x3D, // D
|
||||
TIME_WINDOW_A = 0x3D, // DLHC
|
||||
|
||||
Act_THS = 0x3E, // D
|
||||
Act_DUR = 0x3F, // D
|
||||
|
||||
CRA_REG_M = 0x00, // DLH, DLM, DLHC
|
||||
CRB_REG_M = 0x01, // DLH, DLM, DLHC
|
||||
MR_REG_M = 0x02, // DLH, DLM, DLHC
|
||||
|
||||
SR_REG_M = 0x09, // DLH, DLM, DLHC
|
||||
IRA_REG_M = 0x0A, // DLH, DLM, DLHC
|
||||
IRB_REG_M = 0x0B, // DLH, DLM, DLHC
|
||||
IRC_REG_M = 0x0C, // DLH, DLM, DLHC
|
||||
|
||||
WHO_AM_I_M = 0x0F, // DLM
|
||||
WHO_AM_I = 0x0F, // D
|
||||
|
||||
TEMP_OUT_H_M = 0x31, // DLHC
|
||||
TEMP_OUT_L_M = 0x32, // DLHC
|
||||
|
||||
|
||||
// dummy addresses for registers in different locations on different devices;
|
||||
// the library translates these based on device type
|
||||
// value with sign flipped is used as index into translated_regs array
|
||||
|
||||
OUT_X_H_M = -1,
|
||||
OUT_X_L_M = -2,
|
||||
OUT_Y_H_M = -3,
|
||||
OUT_Y_L_M = -4,
|
||||
OUT_Z_H_M = -5,
|
||||
OUT_Z_L_M = -6,
|
||||
// update dummy_reg_count if registers are added here!
|
||||
|
||||
// device-specific register addresses
|
||||
|
||||
DLH_OUT_X_H_M = 0x03,
|
||||
DLH_OUT_X_L_M = 0x04,
|
||||
DLH_OUT_Y_H_M = 0x05,
|
||||
DLH_OUT_Y_L_M = 0x06,
|
||||
DLH_OUT_Z_H_M = 0x07,
|
||||
DLH_OUT_Z_L_M = 0x08,
|
||||
|
||||
DLM_OUT_X_H_M = 0x03,
|
||||
DLM_OUT_X_L_M = 0x04,
|
||||
DLM_OUT_Z_H_M = 0x05,
|
||||
DLM_OUT_Z_L_M = 0x06,
|
||||
DLM_OUT_Y_H_M = 0x07,
|
||||
DLM_OUT_Y_L_M = 0x08,
|
||||
|
||||
DLHC_OUT_X_H_M = 0x03,
|
||||
DLHC_OUT_X_L_M = 0x04,
|
||||
DLHC_OUT_Z_H_M = 0x05,
|
||||
DLHC_OUT_Z_L_M = 0x06,
|
||||
DLHC_OUT_Y_H_M = 0x07,
|
||||
DLHC_OUT_Y_L_M = 0x08,
|
||||
|
||||
D_OUT_X_L_M = 0x08,
|
||||
D_OUT_X_H_M = 0x09,
|
||||
D_OUT_Y_L_M = 0x0A,
|
||||
D_OUT_Y_H_M = 0x0B,
|
||||
D_OUT_Z_L_M = 0x0C,
|
||||
D_OUT_Z_H_M = 0x0D
|
||||
};
|
||||
|
||||
vector<int16_t> a; // accelerometer readings
|
||||
vector<int16_t> m; // magnetometer readings
|
||||
vector<int16_t> m_max; // maximum magnetometer values, used for calibration
|
||||
vector<int16_t> m_min; // minimum magnetometer values, used for calibration
|
||||
|
||||
byte last_status; // status of last I2C transmission
|
||||
|
||||
LSM303(void);
|
||||
|
||||
bool init(deviceType device = device_auto, sa0State sa0 = sa0_auto);
|
||||
byte getDeviceType(void) { return _device; }
|
||||
|
||||
void enableDefault(void);
|
||||
|
||||
void writeAccReg(regAddr reg, byte value);
|
||||
byte readAccReg(regAddr reg);
|
||||
void writeMagReg(regAddr reg, byte value);
|
||||
byte readMagReg(regAddr reg);
|
||||
|
||||
void writeReg(regAddr reg, byte value);
|
||||
byte readReg(regAddr reg);
|
||||
|
||||
void readAcc(void);
|
||||
void readMag(void);
|
||||
void read(void);
|
||||
|
||||
void setTimeout(unsigned int timeout);
|
||||
unsigned int getTimeout(void);
|
||||
bool timeoutOccurred(void);
|
||||
|
||||
float heading(void);
|
||||
template <typename T> float heading(vector<T> from);
|
||||
|
||||
// vector functions
|
||||
template <typename Ta, typename Tb, typename To> static void vector_cross(const vector<Ta> *a, const vector<Tb> *b, vector<To> *out);
|
||||
template <typename Ta, typename Tb> static float vector_dot(const vector<Ta> *a,const vector<Tb> *b);
|
||||
static void vector_normalize(vector<float> *a);
|
||||
|
||||
private:
|
||||
deviceType _device; // chip type (DLH, DLM, or DLHC)
|
||||
byte acc_address;
|
||||
byte mag_address;
|
||||
|
||||
static const int dummy_reg_count = 6;
|
||||
regAddr translated_regs[dummy_reg_count + 1]; // index 0 not used
|
||||
|
||||
unsigned int io_timeout;
|
||||
bool did_timeout;
|
||||
|
||||
int testReg(byte address, regAddr reg);
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
103
TimerFive.cpp
Normal file
103
TimerFive.cpp
Normal file
@ -0,0 +1,103 @@
|
||||
/*
|
||||
* Interrupt and PWM utilities for 16 bit Timer5 on ATmega640/1280/2560
|
||||
* Original code by Jesse Tane for http://labs.ideo.com August 2008
|
||||
* Modified March 2009 by Jérôme Despatis and Jesse Tane for ATmega328 support
|
||||
* Modified June 2009 by Michael Polli and Jesse Tane to fix a bug in setPeriod() which caused the timer to stop
|
||||
* Modified Oct 2009 by Dan Clemens to work with timer3 of the ATMega1280 or Arduino Mega
|
||||
* Modified Aug 2011 by RobotFreak to work with timer5 of the ATMega640/1280/2560 or Arduino Mega/ADK
|
||||
*
|
||||
* This is free software. You can redistribute it and/or modify it under
|
||||
* the terms of Creative Commons Attribution 3.0 United States License.
|
||||
* To view a copy of this license, visit http://creativecommons.org/licenses/by/3.0/us/
|
||||
* or send a letter to Creative Commons, 171 Second Street, Suite 300, San Francisco, California, 94105, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
#include "TimerFive.h"
|
||||
|
||||
TimerFive Timer5; // preinstatiate
|
||||
|
||||
ISR(TIMER5_OVF_vect) // interrupt service routine that wraps a user defined function supplied by attachInterrupt
|
||||
{
|
||||
Timer5.isrCallback();
|
||||
}
|
||||
|
||||
void TimerFive::initialize(long microseconds)
|
||||
{
|
||||
TCCR5A = 0; // clear control register A
|
||||
TCCR5B = _BV(WGM53); // set mode as phase and frequency correct pwm, stop the timer
|
||||
setPeriod(microseconds);
|
||||
}
|
||||
|
||||
void TimerFive::setPeriod(long microseconds)
|
||||
{
|
||||
long cycles = (F_CPU * microseconds) / 2000000; // the counter runs backwards after TOP, interrupt is at BOTTOM so divide microseconds by 2
|
||||
if(cycles < RESOLUTION) clockSelectBits = _BV(CS50); // no prescale, full xtal
|
||||
else if((cycles >>= 3) < RESOLUTION) clockSelectBits = _BV(CS51); // prescale by /8
|
||||
else if((cycles >>= 3) < RESOLUTION) clockSelectBits = _BV(CS51) | _BV(CS50); // prescale by /64
|
||||
else if((cycles >>= 2) < RESOLUTION) clockSelectBits = _BV(CS52); // prescale by /256
|
||||
else if((cycles >>= 2) < RESOLUTION) clockSelectBits = _BV(CS52) | _BV(CS50); // prescale by /1024
|
||||
else cycles = RESOLUTION - 1, clockSelectBits = _BV(CS52) | _BV(CS50); // request was out of bounds, set as maximum
|
||||
ICR5 = pwmPeriod = cycles; // ICR1 is TOP in p & f correct pwm mode
|
||||
TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
|
||||
TCCR5B |= clockSelectBits; // reset clock select register
|
||||
}
|
||||
|
||||
void TimerFive::setPwmDuty(char pin, int duty)
|
||||
{
|
||||
unsigned long dutyCycle = pwmPeriod;
|
||||
dutyCycle *= duty;
|
||||
dutyCycle >>= 10;
|
||||
if(pin == 46) OCR5A = dutyCycle;
|
||||
if(pin == 45) OCR5B = dutyCycle;
|
||||
if(pin == 44) OCR5C = dutyCycle;
|
||||
}
|
||||
|
||||
void TimerFive::pwm(char pin, int duty, long microseconds) // expects duty cycle to be 10 bit (1024)
|
||||
{
|
||||
if(microseconds > 0) setPeriod(microseconds);
|
||||
|
||||
// sets data direction register for pwm output pin
|
||||
// activates the output pin
|
||||
if(pin == 46) { DDRE |= _BV(PORTL3); TCCR5A |= _BV(COM5A1); }
|
||||
if(pin == 45) { DDRE |= _BV(PORTL4); TCCR5A |= _BV(COM5B1); }
|
||||
if(pin == 44) { DDRE |= _BV(PORTL5); TCCR5A |= _BV(COM5C1); }
|
||||
setPwmDuty(pin, duty);
|
||||
start();
|
||||
}
|
||||
|
||||
void TimerFive::disablePwm(char pin)
|
||||
{
|
||||
if(pin == 46) TCCR5A &= ~_BV(COM5A1); // clear the bit that enables pwm on PE3
|
||||
if(pin == 45) TCCR5A &= ~_BV(COM5B1); // clear the bit that enables pwm on PE4
|
||||
if(pin == 44) TCCR5A &= ~_BV(COM5C1); // clear the bit that enables pwm on PE5
|
||||
}
|
||||
|
||||
void TimerFive::attachInterrupt(void (*isr)(), long microseconds)
|
||||
{
|
||||
if(microseconds > 0) setPeriod(microseconds);
|
||||
isrCallback = isr; // register the user's callback with the real ISR
|
||||
TIMSK5 = _BV(TOIE5); // sets the timer overflow interrupt enable bit
|
||||
sei(); // ensures that interrupts are globally enabled
|
||||
start();
|
||||
}
|
||||
|
||||
void TimerFive::detachInterrupt()
|
||||
{
|
||||
TIMSK5 &= ~_BV(TOIE5); // clears the timer overflow interrupt enable bit
|
||||
}
|
||||
|
||||
void TimerFive::start()
|
||||
{
|
||||
TCCR5B |= clockSelectBits;
|
||||
}
|
||||
|
||||
void TimerFive::stop()
|
||||
{
|
||||
TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52)); // clears all clock selects bits
|
||||
}
|
||||
|
||||
void TimerFive::restart()
|
||||
{
|
||||
TCNT5 = 0;
|
||||
}
|
||||
42
TimerFive.h
Executable file
42
TimerFive.h
Executable file
@ -0,0 +1,42 @@
|
||||
/*
|
||||
* Interrupt and PWM utilities for 16 bit Timer5 on ATmega640/1280/2560
|
||||
* Original code by Jesse Tane for http://labs.ideo.com August 2008
|
||||
* Modified March 2009 by Jérôme Despatis and Jesse Tane for ATmega328 support
|
||||
* Modified June 2009 by Michael Polli and Jesse Tane to fix a bug in setPeriod() which caused the timer to stop
|
||||
* Modified Aug 2011 by RobotFreak to work with timer5 of the ATMega640/1280/2560 or Arduino Mega/ADK
|
||||
*
|
||||
* This is free software. You can redistribute it and/or modify it under
|
||||
* the terms of Creative Commons Attribution 3.0 United States License.
|
||||
* To view a copy of this license, visit http://creativecommons.org/licenses/by/3.0/us/
|
||||
* or send a letter to Creative Commons, 171 Second Street, Suite 300, San Francisco, California, 94105, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
#include <avr/io.h>
|
||||
#include <avr/interrupt.h>
|
||||
|
||||
#define RESOLUTION 65536 // Timer5 is 16 bit
|
||||
|
||||
class TimerFive
|
||||
{
|
||||
public:
|
||||
|
||||
// properties
|
||||
unsigned int pwmPeriod;
|
||||
unsigned char clockSelectBits;
|
||||
|
||||
// methods
|
||||
void initialize(long microseconds=1000000);
|
||||
void start();
|
||||
void stop();
|
||||
void restart();
|
||||
void pwm(char pin, int duty, long microseconds=-1);
|
||||
void disablePwm(char pin);
|
||||
void attachInterrupt(void (*isr)(), long microseconds=-1);
|
||||
void detachInterrupt();
|
||||
void setPeriod(long microseconds);
|
||||
void setPwmDuty(char pin, int duty);
|
||||
void (*isrCallback)();
|
||||
};
|
||||
|
||||
extern TimerFive Timer5;
|
||||
@ -281,10 +281,12 @@
|
||||
configuration.az_stepper_motor_last_direction, configuration.az_stepper_motor_last_pin_state, configuration.el_stepper_motor_last_direction, configuration.el_stepper_motor_last_pin_state
|
||||
|
||||
OPTION_HAMLIB_EASYCOM_NO_TERMINATOR_CHARACTER_HACK ; HARDWARE_WB6KCN
|
||||
|
||||
FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
|
||||
*/
|
||||
|
||||
#define CODE_VERSION "2.0.2014112502"
|
||||
#define CODE_VERSION "2.0.2014120201"
|
||||
|
||||
#include <avr/pgmspace.h>
|
||||
#include <EEPROM.h>
|
||||
@ -302,6 +304,7 @@
|
||||
#endif
|
||||
#include "rotator_dependencies.h"
|
||||
|
||||
|
||||
#ifdef FEATURE_4_BIT_LCD_DISPLAY
|
||||
#include <LiquidCrystal.h> // required for classic 4 bit interface LCD display (FEATURE_4_BIT_LCD_DISPLAY)
|
||||
#endif // FEATURE_4_BIT_LCD_DISPLAY
|
||||
@ -356,6 +359,7 @@
|
||||
#include "Ethernet.h"
|
||||
#endif
|
||||
|
||||
|
||||
#include "rotator.h"
|
||||
#ifdef HARDWARE_EA4TX_ARS_USB
|
||||
#include "rotator_pins_ea4tx_ars_usb.h"
|
||||
@ -374,6 +378,9 @@
|
||||
#else
|
||||
#include "rotator_settings.h"
|
||||
#endif
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
#include "TimerFive.h"
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
@ -692,22 +699,15 @@ unsigned int ethernet_slave_reconnects = 0;
|
||||
unsigned long last_activity_time = 0;
|
||||
#endif //FEATURE_POWER_SWITCH
|
||||
|
||||
#ifdef FEATURE_STEPPER_MOTOR
|
||||
//byte az_stepper_motor_last_direction = STEPPER_UNDEF;
|
||||
//byte az_stepper_motor_last_pin_state = LOW;
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
unsigned long az_stepper_pulse_period_us = 0;
|
||||
unsigned long az_stepper_pulses_remaining = 0;
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
unsigned int az_stepper_freq_count = 0;
|
||||
#ifdef FEATURE_ELEVATION_CONTROL
|
||||
unsigned long el_stepper_pulse_period_us = 0;
|
||||
unsigned long el_stepper_pulses_remaining = 0;
|
||||
unsigned int el_stepper_freq_count = 0;
|
||||
#endif //FEATURE_ELEVATION_CONTROL
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#ifdef FEATURE_ELEVATION_CONTROL
|
||||
//byte el_stepper_motor_last_direction = STEPPER_UNDEF;
|
||||
//byte el_stepper_motor_last_pin_state = LOW;
|
||||
#endif //FEATURE_ELEVATION_CONTROL
|
||||
#endif //FEATURE_STEPPER_MOTOR
|
||||
unsigned long service_stepper_motor_pulse_pins_count = 0;
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
|
||||
|
||||
|
||||
#if defined(FEATURE_STEPPER_MOTOR) && defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE)
|
||||
byte az_stepper_freq_pin = 0;
|
||||
@ -2468,6 +2468,9 @@ void check_buttons(){
|
||||
debug_println("check_buttons: moon tracking on");
|
||||
#endif // DEBUG_BUTTONS
|
||||
moon_tracking_active = 1;
|
||||
#ifdef FEATURE_SUN_TRACKING
|
||||
sun_tracking_active = 0;
|
||||
#endif // FEATURE_SUN_TRACKING
|
||||
} else {
|
||||
#ifdef DEBUG_BUTTONS
|
||||
debug_println("check_buttons: moon tracking off");
|
||||
@ -2497,6 +2500,9 @@ void check_buttons(){
|
||||
debug_println("check_buttons: sun tracking on");
|
||||
#endif // DEBUG_BUTTONS
|
||||
sun_tracking_active = 1;
|
||||
#ifdef FEATURE_MOON_TRACKING
|
||||
moon_tracking_active = 0;
|
||||
#endif // FEATURE_MOON_TRACKING
|
||||
} else {
|
||||
#ifdef DEBUG_BUTTONS
|
||||
debug_print("check_buttons: sun tracking off");
|
||||
@ -4796,7 +4802,12 @@ void output_debug(){
|
||||
debug_println("");
|
||||
#endif //FEATURE_GPS
|
||||
|
||||
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
//debug_print("service_stepper_motor_pulse_pins_count: ");
|
||||
//char service_stepper_motor_pulse_pins_count_temp[12];
|
||||
//dtostrf(service_stepper_motor_pulse_pins_count,0,0,service_stepper_motor_pulse_pins_count_temp);
|
||||
//debug_println(service_stepper_motor_pulse_pins_count_temp);
|
||||
#endif FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
|
||||
debug_println("\n\n\n");
|
||||
|
||||
@ -4804,10 +4815,12 @@ void output_debug(){
|
||||
|
||||
last_debug_output_time = millis();
|
||||
|
||||
#endif //DEBUG_DUMP
|
||||
|
||||
|
||||
}
|
||||
#endif // defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
|
||||
|
||||
#endif //DEBUG_DUMP
|
||||
|
||||
} /* output_debug */
|
||||
|
||||
@ -4872,6 +4885,8 @@ void output_debug(){
|
||||
// --------------------------------------------------------------
|
||||
void print_to_port(char * print_this,byte port){
|
||||
|
||||
#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
|
||||
|
||||
switch(port){
|
||||
case CONTROL_PORT0: control_port->println(print_this);break;
|
||||
#ifdef FEATURE_ETHERNET
|
||||
@ -4881,6 +4896,8 @@ void print_to_port(char * print_this,byte port){
|
||||
#endif //ETHERNET_TCP_PORT_1
|
||||
#endif //FEATURE_ETHERNET
|
||||
}
|
||||
|
||||
#endif //defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
|
||||
|
||||
}
|
||||
|
||||
@ -5368,7 +5385,7 @@ void update_el_variable_outputs(byte speed_voltage){
|
||||
#endif // DEBUG_VARIABLE_OUTPUTS
|
||||
el_tone = map(speed_voltage, 0, 255, EL_VARIABLE_FREQ_OUTPUT_LOW, EL_VARIABLE_FREQ_OUTPUT_HIGH);
|
||||
|
||||
#ifndef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#if !defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE) && !defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2)
|
||||
if ((el_tone < 31) && (el_tone != 0)) {el_tone = 31;}
|
||||
if (el_tone > 20000) {el_tone = 20000;}
|
||||
if (el_tone > 0) {
|
||||
@ -5376,11 +5393,17 @@ void update_el_variable_outputs(byte speed_voltage){
|
||||
} else {
|
||||
noTone(el_stepper_motor_pulse);
|
||||
}
|
||||
#endif
|
||||
|
||||
//zzzzzzzz
|
||||
#else //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
set_el_stepper_freq(el_stepper_motor_pulse,el_tone);
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
set_el_stepper_freq(el_tone);
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
||||
@ -5491,7 +5514,7 @@ void update_az_variable_outputs(byte speed_voltage){
|
||||
#endif // DEBUG_VARIABLE_OUTPUTS
|
||||
az_tone = map(speed_voltage, 0, 255, AZ_VARIABLE_FREQ_OUTPUT_LOW, AZ_VARIABLE_FREQ_OUTPUT_HIGH);
|
||||
|
||||
#ifndef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#if !defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE) && !defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2)
|
||||
if ((az_tone < 31) && (az_tone != 0)) {az_tone = 31;}
|
||||
if (az_tone > 20000) {az_tone = 20000;}
|
||||
if (az_tone > 0) {
|
||||
@ -5499,10 +5522,16 @@ void update_az_variable_outputs(byte speed_voltage){
|
||||
} else {
|
||||
noTone(az_stepper_motor_pulse);
|
||||
}
|
||||
#else //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#endif
|
||||
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
set_az_stepper_freq(az_stepper_motor_pulse,az_tone);
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
set_az_stepper_freq(az_tone);
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
#ifdef DEBUG_VARIABLE_OUTPUTS
|
||||
@ -5570,11 +5599,24 @@ void rotator(byte rotation_action, byte rotation_type) {
|
||||
}
|
||||
if (rotate_ccw_freq) {
|
||||
noTone(rotate_ccw_freq);
|
||||
}
|
||||
}
|
||||
#ifdef FEATURE_STEPPER_MOTOR
|
||||
if (az_stepper_motor_pulse) {
|
||||
#if !defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE) && !defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2)
|
||||
noTone(az_stepper_motor_pulse);
|
||||
digitalWriteEnhanced(az_stepper_motor_pulse, LOW);
|
||||
}
|
||||
digitalWriteEnhanced(az_stepper_motor_pulse,LOW);
|
||||
#endif
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
set_az_stepper_freq(az_stepper_motor_pulse,0);
|
||||
digitalWriteEnhanced(az_stepper_motor_pulse,LOW);
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
set_az_stepper_freq(0);
|
||||
digitalWriteEnhanced(az_stepper_motor_pulse,LOW);
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
}
|
||||
#endif //FEATURE_STEPPER_MOTOR
|
||||
|
||||
} else {
|
||||
if (rotate_cw_pwm) {
|
||||
analogWriteEnhanced(rotate_cw_pwm, normal_az_speed_voltage);
|
||||
@ -5590,10 +5632,20 @@ void rotator(byte rotation_action, byte rotation_type) {
|
||||
}
|
||||
if (rotate_ccw_freq) {
|
||||
noTone(rotate_ccw_freq);
|
||||
}
|
||||
}
|
||||
#ifdef FEATURE_STEPPER_MOTOR
|
||||
if (az_stepper_motor_pulse) {
|
||||
#if !defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE) && !defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2)
|
||||
tone(az_stepper_motor_pulse, map(normal_az_speed_voltage, 0, 255, AZ_VARIABLE_FREQ_OUTPUT_LOW, AZ_VARIABLE_FREQ_OUTPUT_HIGH));
|
||||
}
|
||||
#endif
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
set_az_stepper_freq(az_stepper_motor_pulse,map(normal_az_speed_voltage, 0, 255, AZ_VARIABLE_FREQ_OUTPUT_LOW, AZ_VARIABLE_FREQ_OUTPUT_HIGH));
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
set_az_stepper_freq(map(normal_az_speed_voltage, 0, 255, AZ_VARIABLE_FREQ_OUTPUT_LOW, AZ_VARIABLE_FREQ_OUTPUT_HIGH));
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
}
|
||||
#endif //FEATURE_STEPPER_MOTOR
|
||||
}
|
||||
if (rotate_cw) {
|
||||
digitalWriteEnhanced(rotate_cw, ROTATE_PIN_ACTIVE_VALUE);
|
||||
@ -5647,12 +5699,23 @@ void rotator(byte rotation_action, byte rotation_type) {
|
||||
if (rotate_cw_freq) {
|
||||
noTone(rotate_cw_freq);
|
||||
}
|
||||
|
||||
#ifdef FEATURE_STEPPER_MOTOR
|
||||
if (az_stepper_motor_pulse) {
|
||||
#if !defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE) && !defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2)
|
||||
noTone(az_stepper_motor_pulse);
|
||||
digitalWriteEnhanced(az_stepper_motor_pulse, HIGH);
|
||||
}
|
||||
#endif //FEATURE_STEPPER_MOTOR
|
||||
digitalWriteEnhanced(az_stepper_motor_pulse,HIGH);
|
||||
#endif
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
set_az_stepper_freq(az_stepper_motor_pulse,0);
|
||||
digitalWriteEnhanced(az_stepper_motor_pulse,HIGH);
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
set_az_stepper_freq(0);
|
||||
digitalWriteEnhanced(az_stepper_motor_pulse,HIGH);
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
}
|
||||
#endif //FEATURE_STEPPER_MOTOR
|
||||
}
|
||||
break;
|
||||
case CCW:
|
||||
@ -5683,13 +5746,23 @@ void rotator(byte rotation_action, byte rotation_type) {
|
||||
}
|
||||
if (rotate_ccw_freq) {
|
||||
noTone(rotate_ccw_freq);
|
||||
}
|
||||
}
|
||||
#ifdef FEATURE_STEPPER_MOTOR
|
||||
if (az_stepper_motor_pulse) {
|
||||
#if !defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE) && !defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2)
|
||||
noTone(az_stepper_motor_pulse);
|
||||
digitalWriteEnhanced(az_stepper_motor_pulse, LOW);
|
||||
}
|
||||
#endif //FEATURE_STEPPER_MOTOR
|
||||
digitalWriteEnhanced(az_stepper_motor_pulse,LOW);
|
||||
#endif
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
set_az_stepper_freq(az_stepper_motor_pulse,0);
|
||||
digitalWriteEnhanced(az_stepper_motor_pulse,LOW);
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
set_az_stepper_freq(0);
|
||||
digitalWriteEnhanced(az_stepper_motor_pulse,LOW);
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
}
|
||||
#endif //FEATURE_STEPPER_MOTOR
|
||||
} else {
|
||||
if (rotate_cw_pwm) {
|
||||
analogWriteEnhanced(rotate_cw_pwm, 0); digitalWriteEnhanced(rotate_cw_pwm, LOW);
|
||||
@ -5705,12 +5778,20 @@ void rotator(byte rotation_action, byte rotation_type) {
|
||||
}
|
||||
if (rotate_ccw_freq) {
|
||||
tone(rotate_ccw_freq, map(normal_az_speed_voltage, 0, 255, AZ_VARIABLE_FREQ_OUTPUT_LOW, AZ_VARIABLE_FREQ_OUTPUT_HIGH));
|
||||
}
|
||||
}
|
||||
#ifdef FEATURE_STEPPER_MOTOR
|
||||
if (az_stepper_motor_pulse) {
|
||||
#if !defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE) && !defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2)
|
||||
tone(az_stepper_motor_pulse, map(normal_az_speed_voltage, 0, 255, AZ_VARIABLE_FREQ_OUTPUT_LOW, AZ_VARIABLE_FREQ_OUTPUT_HIGH));
|
||||
}
|
||||
#endif //FEATURE_STEPPER_MOTOR
|
||||
#endif
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
set_az_stepper_freq(az_stepper_motor_pulse,map(normal_az_speed_voltage, 0, 255, AZ_VARIABLE_FREQ_OUTPUT_LOW, AZ_VARIABLE_FREQ_OUTPUT_HIGH));
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
set_az_stepper_freq(map(normal_az_speed_voltage, 0, 255, AZ_VARIABLE_FREQ_OUTPUT_LOW, AZ_VARIABLE_FREQ_OUTPUT_HIGH));
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
}
|
||||
#endif //FEATURE_STEPPER_MOTOR
|
||||
}
|
||||
if (rotate_cw) {
|
||||
digitalWriteEnhanced(rotate_cw, ROTATE_PIN_INACTIVE_VALUE);
|
||||
@ -5796,14 +5877,18 @@ void rotator(byte rotation_action, byte rotation_type) {
|
||||
}
|
||||
#ifdef FEATURE_STEPPER_MOTOR
|
||||
if (el_stepper_motor_pulse) {
|
||||
#ifndef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#if !defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE) && !defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2)
|
||||
noTone(el_stepper_motor_pulse);
|
||||
digitalWriteEnhanced(el_stepper_motor_pulse,LOW);
|
||||
#else //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#endif
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
set_el_stepper_freq(el_stepper_motor_pulse,0);
|
||||
digitalWriteEnhanced(el_stepper_motor_pulse,LOW);
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
set_el_stepper_freq(0);
|
||||
digitalWriteEnhanced(el_stepper_motor_pulse,LOW);
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
}
|
||||
#endif //FEATURE_STEPPER_MOTOR
|
||||
} else {
|
||||
@ -5821,12 +5906,15 @@ void rotator(byte rotation_action, byte rotation_type) {
|
||||
}
|
||||
#ifdef FEATURE_STEPPER_MOTOR
|
||||
if (el_stepper_motor_pulse) {
|
||||
#ifndef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#if !defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE) && !defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2)
|
||||
tone(el_stepper_motor_pulse, map(normal_el_speed_voltage, 0, 255, EL_VARIABLE_FREQ_OUTPUT_LOW, EL_VARIABLE_FREQ_OUTPUT_HIGH));
|
||||
#else //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#endif
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
set_el_stepper_freq(el_stepper_motor_pulse,map(normal_el_speed_voltage, 0, 255, EL_VARIABLE_FREQ_OUTPUT_LOW, EL_VARIABLE_FREQ_OUTPUT_HIGH));
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
set_el_stepper_freq(map(normal_el_speed_voltage, 0, 255, EL_VARIABLE_FREQ_OUTPUT_LOW, EL_VARIABLE_FREQ_OUTPUT_HIGH));
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
}
|
||||
#endif //FEATURE_STEPPER_MOTOR
|
||||
if (rotate_down_freq) {
|
||||
@ -5880,13 +5968,18 @@ void rotator(byte rotation_action, byte rotation_type) {
|
||||
}
|
||||
#ifdef FEATURE_STEPPER_MOTOR
|
||||
if (el_stepper_motor_pulse) {
|
||||
#ifndef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#if !defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE) && !defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2)
|
||||
noTone(el_stepper_motor_pulse);
|
||||
digitalWriteEnhanced(el_stepper_motor_pulse,HIGH);
|
||||
#else //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#endif
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
set_el_stepper_freq(el_stepper_motor_pulse,0);
|
||||
digitalWriteEnhanced(el_stepper_motor_pulse,HIGH);
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
set_el_stepper_freq(0);
|
||||
digitalWriteEnhanced(el_stepper_motor_pulse,HIGH);
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
|
||||
}
|
||||
#endif //FEATURE_STEPPER_MOTOR
|
||||
@ -5924,13 +6017,18 @@ void rotator(byte rotation_action, byte rotation_type) {
|
||||
}
|
||||
#ifdef FEATURE_STEPPER_MOTOR
|
||||
if (el_stepper_motor_pulse) {
|
||||
#ifndef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#if !defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE) && !defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2)
|
||||
noTone(el_stepper_motor_pulse);
|
||||
digitalWriteEnhanced(el_stepper_motor_pulse,LOW);
|
||||
#else //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#endif
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
set_el_stepper_freq(el_stepper_motor_pulse,0);
|
||||
digitalWriteEnhanced(el_stepper_motor_pulse,LOW);
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
set_el_stepper_freq(0);
|
||||
digitalWriteEnhanced(el_stepper_motor_pulse,LOW);
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
}
|
||||
#endif //FEATURE_STEPPER_MOTOR
|
||||
} else {
|
||||
@ -5951,13 +6049,18 @@ void rotator(byte rotation_action, byte rotation_type) {
|
||||
}
|
||||
#ifdef FEATURE_STEPPER_MOTOR
|
||||
if (el_stepper_motor_pulse) {
|
||||
#ifndef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#if !defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE) && !defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2)
|
||||
tone(el_stepper_motor_pulse, map(normal_el_speed_voltage, 0, 255, EL_VARIABLE_FREQ_OUTPUT_LOW, EL_VARIABLE_FREQ_OUTPUT_HIGH));
|
||||
digitalWriteEnhanced(el_stepper_motor_pulse,LOW);
|
||||
#else //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#endif
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
set_el_stepper_freq(el_stepper_motor_pulse,map(normal_el_speed_voltage, 0, 255, EL_VARIABLE_FREQ_OUTPUT_LOW, EL_VARIABLE_FREQ_OUTPUT_HIGH));
|
||||
digitalWriteEnhanced(el_stepper_motor_pulse,LOW);
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
set_el_stepper_freq(map(normal_el_speed_voltage, 0, 255, EL_VARIABLE_FREQ_OUTPUT_LOW, EL_VARIABLE_FREQ_OUTPUT_HIGH));
|
||||
digitalWriteEnhanced(el_stepper_motor_pulse,LOW);
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
}
|
||||
#endif //FEATURE_STEPPER_MOTOR
|
||||
}
|
||||
@ -6008,13 +6111,18 @@ void rotator(byte rotation_action, byte rotation_type) {
|
||||
}
|
||||
#ifdef FEATURE_STEPPER_MOTOR
|
||||
if (el_stepper_motor_pulse) {
|
||||
#ifndef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#if !defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE) && !defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2)
|
||||
noTone(el_stepper_motor_pulse);
|
||||
digitalWriteEnhanced(el_stepper_motor_pulse,HIGH);
|
||||
#else //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#endif
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
set_el_stepper_freq(el_stepper_motor_pulse,0);
|
||||
digitalWriteEnhanced(el_stepper_motor_pulse,HIGH);
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
set_el_stepper_freq(0);
|
||||
digitalWriteEnhanced(el_stepper_motor_pulse,HIGH);
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
}
|
||||
#endif //FEATURE_STEPPER_MOTOR
|
||||
}
|
||||
@ -6041,6 +6149,11 @@ void initialize_interrupts(){
|
||||
attachInterrupt(EL_POSITION_PULSE_PIN_INTERRUPT, el_position_pulse_interrupt_handler, FALLING);
|
||||
#endif // FEATURE_EL_POSITION_PULSE_INPUT
|
||||
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
Timer5.initialize(250); // 250 us = 4 khz rate
|
||||
Timer5.attachInterrupt(service_stepper_motor_pulse_pins);
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
|
||||
|
||||
}
|
||||
|
||||
@ -6332,6 +6445,7 @@ void initialize_pins(){
|
||||
#endif //FEATURE_ANALOG_OUTPUT_PINS
|
||||
|
||||
|
||||
|
||||
} /* initialize_pins */
|
||||
|
||||
// --------------------------------------------------------------
|
||||
@ -6820,7 +6934,7 @@ void service_rotation(){
|
||||
|
||||
|
||||
|
||||
#ifdef FEATURE_ELEVATION_CONTROL
|
||||
#ifdef FEATURE_ELEVATION_CONTROL
|
||||
if (el_state == INITIALIZE_NORMAL_UP) {
|
||||
update_el_variable_outputs(normal_el_speed_voltage);
|
||||
rotator(ACTIVATE, UP);
|
||||
@ -7027,9 +7141,12 @@ void service_rotation(){
|
||||
|
||||
// check rotation target --------------------------------------------------------------------------------------------------------
|
||||
if ((el_state != IDLE) && (el_request_queue_state == IN_PROGRESS_TO_TARGET) ) {
|
||||
read_elevation(0);
|
||||
if ((el_state == NORMAL_UP) || (el_state == SLOW_START_UP) || (el_state == SLOW_DOWN_UP)) {
|
||||
if ((abs(elevation - target_elevation) < (ELEVATION_TOLERANCE * HEADING_MULTIPLIER)) || ((elevation > target_elevation) && ((elevation - target_elevation) < ((ELEVATION_TOLERANCE + 5) * HEADING_MULTIPLIER)))) {
|
||||
#ifndef OPTION_NO_ELEVATION_CHECK_TARGET_DELAY
|
||||
delay(50);
|
||||
#endif //OPTION_NO_ELEVATION_CHECK_TARGET_DELAY
|
||||
read_elevation(0);
|
||||
if ((abs(elevation - target_elevation) < (ELEVATION_TOLERANCE * HEADING_MULTIPLIER)) || ((elevation > target_elevation) && ((elevation - target_elevation) < ((ELEVATION_TOLERANCE + 5) * HEADING_MULTIPLIER)))) {
|
||||
rotator(DEACTIVATE, UP);
|
||||
@ -7039,7 +7156,10 @@ void service_rotation(){
|
||||
#ifdef DEBUG_SERVICE_ROTATION
|
||||
debug_print("service_rotation: IDLE");
|
||||
#endif // DEBUG_SERVICE_ROTATION
|
||||
|
||||
/*control_port->println(abs(elevation - target_elevation));
|
||||
read_elevation(0);
|
||||
control_port->println(abs(elevation - target_elevation));
|
||||
control_port->println();*/
|
||||
#if defined(FEATURE_PARK)
|
||||
if ((park_status == PARK_INITIATED) && (az_state == IDLE)) {
|
||||
park_status = PARKED;
|
||||
@ -7049,10 +7169,13 @@ void service_rotation(){
|
||||
}
|
||||
}
|
||||
} else {
|
||||
if ((abs(elevation - target_elevation) < (ELEVATION_TOLERANCE * HEADING_MULTIPLIER)) || ((elevation < target_elevation) && ((target_elevation - elevation) < ((ELEVATION_TOLERANCE + 5) * HEADING_MULTIPLIER)))) {
|
||||
read_elevation(0);
|
||||
if ((abs(elevation - target_elevation) <= (ELEVATION_TOLERANCE * HEADING_MULTIPLIER)) || ((elevation < target_elevation) && ((target_elevation - elevation) < ((ELEVATION_TOLERANCE + 5) * HEADING_MULTIPLIER)))) {
|
||||
#ifndef OPTION_NO_ELEVATION_CHECK_TARGET_DELAY
|
||||
delay(50);
|
||||
#endif //OPTION_NO_ELEVATION_CHECK_TARGET_DELAY
|
||||
read_elevation(0);
|
||||
if ((abs(elevation - target_elevation) < (ELEVATION_TOLERANCE * HEADING_MULTIPLIER)) || ((elevation < target_elevation) && ((target_elevation - elevation) < ((ELEVATION_TOLERANCE + 5) * HEADING_MULTIPLIER)))) {
|
||||
if ((abs(elevation - target_elevation) <= (ELEVATION_TOLERANCE * HEADING_MULTIPLIER)) || ((elevation < target_elevation) && ((target_elevation - elevation) < ((ELEVATION_TOLERANCE + 5) * HEADING_MULTIPLIER)))) {
|
||||
rotator(DEACTIVATE, UP);
|
||||
rotator(DEACTIVATE, DOWN);
|
||||
el_state = IDLE;
|
||||
@ -7060,7 +7183,10 @@ void service_rotation(){
|
||||
#ifdef DEBUG_SERVICE_ROTATION
|
||||
debug_print("service_rotation: IDLE");
|
||||
#endif // DEBUG_SERVICE_ROTATION
|
||||
|
||||
/*control_port->println(abs(elevation - target_elevation));
|
||||
read_elevation(0);
|
||||
control_port->println(abs(elevation - target_elevation));
|
||||
control_port->println();*/
|
||||
#if defined(FEATURE_PARK)
|
||||
if ((park_status == PARK_INITIATED) && (az_state == IDLE)) {
|
||||
park_status = PARKED;
|
||||
@ -9680,9 +9806,9 @@ byte process_backslash_command(byte input_buffer[], int input_buffer_index, byte
|
||||
case '1':
|
||||
sun_tracking_active = 1;
|
||||
strcpy(return_string, "Sun tracking activated.");
|
||||
#ifdef FEATURE_MOON_TRACKING
|
||||
#ifdef FEATURE_MOON_TRACKING
|
||||
moon_tracking_active = 0;
|
||||
#endif // FEATURE_MOON_TRACKING
|
||||
#endif // FEATURE_MOON_TRACKING
|
||||
break;
|
||||
default: strcpy(return_string, "Error."); break;
|
||||
}
|
||||
@ -9868,9 +9994,12 @@ char * az_el_calibrated_string(){
|
||||
// --------------------------------------------------------------
|
||||
void debug_print(char * print_string){
|
||||
|
||||
#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
|
||||
|
||||
if (debug_mode & CONTROL_PORT0){
|
||||
control_port->print(print_string);
|
||||
}
|
||||
#endif //defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
|
||||
|
||||
#ifdef FEATURE_ETHERNET
|
||||
if (debug_mode & ETHERNET_PORT0){
|
||||
@ -9888,9 +10017,11 @@ void debug_print(char * print_string){
|
||||
// --------------------------------------------------------------
|
||||
void debug_println(char * print_string){
|
||||
|
||||
#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
|
||||
if (debug_mode & CONTROL_PORT0){
|
||||
control_port->println(print_string);
|
||||
}
|
||||
#endif //defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
|
||||
|
||||
#ifdef FEATURE_ETHERNET
|
||||
if (debug_mode & ETHERNET_PORT0){
|
||||
@ -9908,9 +10039,11 @@ void debug_println(char * print_string){
|
||||
// --------------------------------------------------------------
|
||||
void debug_print_char(char print_char){
|
||||
|
||||
#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
|
||||
if (debug_mode & CONTROL_PORT0){
|
||||
control_port->print(print_char);
|
||||
}
|
||||
#endif //defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
|
||||
|
||||
#ifdef FEATURE_ETHERNET
|
||||
if (debug_mode & ETHERNET_PORT0){
|
||||
@ -9927,9 +10060,11 @@ void debug_print_char(char print_char){
|
||||
// --------------------------------------------------------------
|
||||
void debug_write(char * print_string){
|
||||
|
||||
#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
|
||||
if (debug_mode & CONTROL_PORT0){
|
||||
control_port->write(print_string);
|
||||
}
|
||||
#endif //defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
|
||||
|
||||
#ifdef FEATURE_ETHERNET
|
||||
if (debug_mode & ETHERNET_PORT0){
|
||||
@ -9947,9 +10082,11 @@ void debug_write(char * print_string){
|
||||
// --------------------------------------------------------------
|
||||
void debug_print_int(int print_int){
|
||||
|
||||
#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
|
||||
if (debug_mode & CONTROL_PORT0){
|
||||
control_port->print(print_int);
|
||||
}
|
||||
#endif //defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
|
||||
|
||||
#ifdef FEATURE_ETHERNET
|
||||
if (debug_mode & ETHERNET_PORT0){
|
||||
@ -9968,9 +10105,11 @@ void debug_print_int(int print_int){
|
||||
// --------------------------------------------------------------
|
||||
void debug_write_int(int write_int){
|
||||
|
||||
#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
|
||||
if (debug_mode & CONTROL_PORT0){
|
||||
control_port->write(write_int);
|
||||
}
|
||||
#endif //defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
|
||||
|
||||
#ifdef FEATURE_ETHERNET
|
||||
if (debug_mode & ETHERNET_PORT0){
|
||||
@ -9992,9 +10131,11 @@ void debug_print_float(float print_float,byte places){
|
||||
|
||||
dtostrf(print_float,0,places,tempstring);
|
||||
|
||||
#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
|
||||
if (debug_mode & CONTROL_PORT0){
|
||||
control_port->print(tempstring);
|
||||
}
|
||||
#endif //defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
|
||||
|
||||
#ifdef FEATURE_ETHERNET
|
||||
if (debug_mode & ETHERNET_PORT0){
|
||||
@ -11420,7 +11561,8 @@ void process_remote_slave_command(byte * slave_command_buffer, int slave_command
|
||||
// --------------------------------------------------------------
|
||||
void port_flush(){
|
||||
|
||||
#ifdef CONTROL_PORT_MAPPED_TO
|
||||
|
||||
#if defined(CONTROL_PORT_MAPPED_TO) && (defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION))
|
||||
control_port->flush();
|
||||
#endif //CONTROL_PORT_MAPPED_TO
|
||||
|
||||
@ -11571,10 +11713,109 @@ void set_el_stepper_freq(byte pin, unsigned int frequency){
|
||||
}
|
||||
|
||||
#endif //defined(FEATURE_ELEVATION_CONTROL) && defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE) && defined(FEATURE_STEPPER_MOTOR)
|
||||
//------------------------------------------------------FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
#if defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2) && defined(FEATURE_STEPPER_MOTOR)
|
||||
void service_stepper_motor_pulse_pins(){
|
||||
|
||||
service_stepper_motor_pulse_pins_count++;
|
||||
|
||||
static unsigned int az_stepper_pin_transition_counter = 0;
|
||||
static byte az_stepper_pin_last_state = LOW;
|
||||
|
||||
if (az_stepper_freq_count > 0){
|
||||
az_stepper_pin_transition_counter++;
|
||||
if (az_stepper_pin_transition_counter >= az_stepper_freq_count){
|
||||
if (az_stepper_pin_last_state == LOW){
|
||||
digitalWrite(az_stepper_motor_pulse,HIGH);
|
||||
az_stepper_pin_last_state = HIGH;
|
||||
} else {
|
||||
digitalWrite(az_stepper_motor_pulse,LOW);
|
||||
az_stepper_pin_last_state = LOW;
|
||||
}
|
||||
az_stepper_pin_transition_counter = 0;
|
||||
}
|
||||
} else {
|
||||
az_stepper_pin_transition_counter = 0;
|
||||
}
|
||||
|
||||
#ifdef FEATURE_ELEVATION_CONTROL
|
||||
static unsigned int el_stepper_pin_transition_counter = 0;
|
||||
static byte el_stepper_pin_last_state = LOW;
|
||||
|
||||
if (el_stepper_freq_count > 0){
|
||||
el_stepper_pin_transition_counter++;
|
||||
if (el_stepper_pin_transition_counter >= el_stepper_freq_count){
|
||||
if (el_stepper_pin_last_state == LOW){
|
||||
digitalWrite(el_stepper_motor_pulse,HIGH);
|
||||
el_stepper_pin_last_state = HIGH;
|
||||
} else {
|
||||
digitalWrite(el_stepper_motor_pulse,LOW);
|
||||
el_stepper_pin_last_state = LOW;
|
||||
}
|
||||
el_stepper_pin_transition_counter = 0;
|
||||
}
|
||||
} else {
|
||||
el_stepper_pin_transition_counter = 0;
|
||||
}
|
||||
|
||||
#endif //FEATURE_ELEVATION_CONTROL
|
||||
|
||||
}
|
||||
#endif //defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2) && defined(FEATURE_STEPPER_MOTOR)
|
||||
|
||||
//------------------------------------------------------FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
#ifdef FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
void set_az_stepper_freq(unsigned int frequency){
|
||||
|
||||
if (frequency > 0) {
|
||||
az_stepper_freq_count = 2000 / frequency;
|
||||
} else {
|
||||
az_stepper_freq_count = 0;
|
||||
}
|
||||
|
||||
#ifdef DEBUG_STEPPER
|
||||
debug_print("set_az_stepper_freq: ");
|
||||
debug_print_int(frequency);
|
||||
debug_print(" az_stepper_freq_count:");
|
||||
debug_print_int(el_stepper_freq_count);
|
||||
debug_println("");
|
||||
#endif //DEBUG_STEPPER
|
||||
|
||||
}
|
||||
|
||||
#endif //FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
//------------------------------------------------------FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2
|
||||
#if defined(FEATURE_ELEVATION_CONTROL) && defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2) && defined(FEATURE_STEPPER_MOTOR)
|
||||
void set_el_stepper_freq(unsigned int frequency){
|
||||
|
||||
|
||||
if (frequency > 0) {
|
||||
el_stepper_freq_count = 2000 / frequency;
|
||||
} else {
|
||||
el_stepper_freq_count = 0;
|
||||
}
|
||||
|
||||
#ifdef DEBUG_STEPPER
|
||||
debug_print("set_el_stepper_freq: ");
|
||||
debug_print_int(frequency);
|
||||
debug_print(" el_stepper_freq_count:");
|
||||
debug_print_int(el_stepper_freq_count);
|
||||
debug_println("");
|
||||
#endif //DEBUG_STEPPER
|
||||
|
||||
}
|
||||
|
||||
#endif //defined(FEATURE_ELEVATION_CONTROL) && defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2) && defined(FEATURE_STEPPER_MOTOR)
|
||||
|
||||
//------------------------------------------------------
|
||||
|
||||
|
||||
|
||||
|
||||
#if defined(FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE) && defined(FEATURE_STEPPER_MOTOR)
|
||||
void service_stepper_motor_pulse_pins(){
|
||||
|
||||
|
||||
static byte az_stepper_freq_pin_active = 0;
|
||||
static unsigned long az_stepper_freq_pin_next_transition = 0;
|
||||
static byte az_stepper_freq_pin_last_state = 0;
|
||||
|
||||
@ -1,6 +1,9 @@
|
||||
|
||||
/* ---------------------- dependency checking - don't touch this unless you know what you are doing ---------------------*/
|
||||
|
||||
#if defined(FEATURE_YAESU_EMULATION) && defined(FEATURE_EASYCOM_EMULATION)
|
||||
#error "You can't activate both FEATURE_YAESU_EMULATION and FEATURE_EASYCOM_EMULATION!"
|
||||
#endif
|
||||
|
||||
#if (defined(FEATURE_EL_POSITION_GET_FROM_REMOTE_UNIT) || defined(FEATURE_AZ_POSITION_GET_FROM_REMOTE_UNIT)) && (!defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) && !defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE))
|
||||
#error "You must activate FEATURE_MASTER_WITH_SERIAL_SLAVE or FEATURE_MASTER_WITH_ETHERNET_SLAVE when using FEATURE_AZ_POSITION_GET_FROM_REMOTE_UNIT or FEATURE_EL_POSITION_GET_FROM_REMOTE_UNIT"
|
||||
|
||||
@ -19,6 +19,7 @@
|
||||
//#define FEATURE_ETHERNET
|
||||
//#define FEATURE_STEPPER_MOTOR
|
||||
//#define FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
//#define FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2 // requires this library: https://code.google.com/p/rogue-code/wiki/ToneLibraryDocumentation
|
||||
|
||||
#define LANGUAGE_ENGLISH
|
||||
//#define LANGUAGE_SPANISH
|
||||
@ -45,7 +46,7 @@
|
||||
//#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
|
||||
@ -114,10 +115,10 @@
|
||||
//#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_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_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)
|
||||
@ -125,6 +126,7 @@
|
||||
//#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
|
||||
|
||||
|
||||
|
||||
@ -142,9 +144,9 @@
|
||||
|
||||
|
||||
|
||||
#define DEFAULT_DEBUG_STATE 0// this should be set to zero unless you're debugging something at startup
|
||||
#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
|
||||
#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
|
||||
@ -192,6 +194,7 @@
|
||||
// #define DEBUG_SYNC_MASTER_CLOCK_TO_SLAVE
|
||||
// #define DEBUG_HMC5883L
|
||||
// #define DEBUG_POLOLU_LSM303_CALIBRATION
|
||||
// #define DEBUG_STEPPER
|
||||
|
||||
|
||||
|
||||
|
||||
@ -18,7 +18,8 @@
|
||||
//#define FEATURE_RTC_PCF8583
|
||||
//#define FEATURE_ETHERNET
|
||||
#define FEATURE_STEPPER_MOTOR
|
||||
#define FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
//#define FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE
|
||||
#define FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2 // requires this library: https://code.google.com/p/rogue-code/wiki/ToneLibraryDocumentation
|
||||
|
||||
#define LANGUAGE_ENGLISH
|
||||
//#define LANGUAGE_SPANISH
|
||||
@ -124,6 +125,7 @@
|
||||
//#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
|
||||
|
||||
|
||||
|
||||
@ -192,6 +194,7 @@
|
||||
// #define DEBUG_SYNC_MASTER_CLOCK_TO_SLAVE
|
||||
// #define DEBUG_HMC5883L
|
||||
// #define DEBUG_POLOLU_LSM303_CALIBRATION
|
||||
// #define DEBUG_STEPPER
|
||||
|
||||
|
||||
|
||||
|
||||
@ -6,4 +6,4 @@
|
||||
|
||||
//#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
|
||||
//#define HARDWARE_WB6KCN // customize rotator_features_wb6kcn.h, rotators_pins_wb6kcn.h, rotator_settings_wb6kcn.h
|
||||
@ -164,7 +164,7 @@
|
||||
#ifdef FEATURE_SUN_TRACKING
|
||||
#define sun_tracking_active_pin 0 // goes high when sun tracking is active
|
||||
#define sun_tracking_activate_line 0 // ground this pin to activate sun tracking (not for use with a button)
|
||||
#define sun_tracking_button 0 // use with a normally open momentary switch to ground
|
||||
#define sun_tracking_button 0 // use with a normally open momentary switch to ground
|
||||
#endif //FEATURE_SUN_TRACKING
|
||||
|
||||
#ifdef FEATURE_GPS
|
||||
|
||||
@ -186,4 +186,4 @@
|
||||
#endif //FEATURE_ANALOG_OUTPUT_PINS
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@ -99,9 +99,9 @@ You can tweak these, but read the online documentation!
|
||||
#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 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 &Serial3 // use this to mirror output from a GPS unit into the Arduino out another port (uncomment to enable)
|
||||
#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
|
||||
|
||||
@ -536,3 +536,5 @@ PCF8583 rtc(0xA0);
|
||||
#define LCD_ROWS 2
|
||||
#endif //HARDWARE_EA4TX_ARS_USB
|
||||
|
||||
|
||||
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user