mirror of
https://github.com/k3ng/k3ng_rotator_controller.git
synced 2024-12-21 06:03:12 +00:00
399 lines
17 KiB
C
Executable File
399 lines
17 KiB
C
Executable File
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/* -------------------------- rotation settings ---------------------------------------*/
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#define AZIMUTH_STARTING_POINT_DEFAULT 180 // the starting point in degrees of the azimuthal rotator
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#define AZIMUTH_ROTATION_CAPABILITY_DEFAULT 360 // the default rotation capability of the rotator in degrees
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#define ELEVATION_MAXIMUM_DEGREES 180 // change this to set the maximum elevation in degrees
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/* --------------------------- Settings ------------------------------------------------
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You can tweak these, but read the online documentation!
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*/
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// analog voltage calibration - these are default values; you can either tweak these or set via the Yaesu O and F commands (and O2 and F2)....
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#define ANALOG_AZ_FULL_CCW 4
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#define ANALOG_AZ_FULL_CW 1009
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#define ANALOG_EL_0_DEGREES 2
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#define ANALOG_EL_MAX_ELEVATION 1018 // maximum elevation is normally 180 degrees unless change below for ELEVATION_MAXIMUM_DEGREES
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#define ANALOG_AZ_OVERLAP_DEGREES 540 // if overlap_led above is enabled, turn on overlap led line if azimuth is greater than this setting
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// you must use raw azimuth (if the azimuth on the rotator crosses over to 0 degrees, add 360
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// for example, on a Yaesu 450 degree rotator with a starting point of 180 degrees, and an overlap LED
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// turning on when going CW and crossing 180, ANALOG_AZ_OVERLAP_DEGREES should be set for 540 (180 + 360)
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// PWM speed voltage settings
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#define PWM_SPEED_VOLTAGE_X1 74 // 0 to 255
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#define PWM_SPEED_VOLTAGE_X2 128 // 0 to 255
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#define PWM_SPEED_VOLTAGE_X3 191 // 0 to 255
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#define PWM_SPEED_VOLTAGE_X4 253 // 0 to 255
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//AZ
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#define AZ_SLOWSTART_DEFAULT 1 // 0 = off ; 1 = on
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#define AZ_SLOWDOWN_DEFAULT 1 // 0 = off ; 1 = on
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#define AZ_SLOW_START_UP_TIME 550 // if slow start is enabled, the unit will ramp up speed for this many milliseconds
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#define AZ_SLOW_START_STARTING_PWM 2 // PWM starting value for slow start (must be < 256)
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#define AZ_SLOW_START_STEPS 20 // must be < 256
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#define SLOW_DOWN_BEFORE_TARGET_AZ 5.0 // if slow down is enabled, slowdown will be activated within this many degrees of target azimuth
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#define AZ_SLOW_DOWN_PWM_START 150 // starting PWM value for slow down (must be < 256)
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#define AZ_SLOW_DOWN_PWM_STOP 10 // ending PWM value for slow down (must be < 256)
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#define AZ_SLOW_DOWN_STEPS 200 //20 // must be < 256
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#define AZ_INITIALLY_IN_SLOW_DOWN_PWM 10 // PWM value to start at if we're starting in the slow down zone (1 - 255)
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//EL
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#define EL_SLOWSTART_DEFAULT 1 // 0 = off ; 1 = on
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#define EL_SLOWDOWN_DEFAULT 1 // 0 = off ; 1 = on
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#define EL_SLOW_START_UP_TIME 200 // if slow start is enabled, the unit will ramp up speed for this many milliseconds
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#define EL_SLOW_START_STARTING_PWM 3 // PWM starting value for slow start (must be < 256 and > 0)
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#define EL_SLOW_START_STEPS 20 // must be < 256
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#define SLOW_DOWN_BEFORE_TARGET_EL 20.0 //5.0 // if slow down is enabled, slowdown will be activated within this many degrees of target elevtion
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#define EL_SLOW_DOWN_PWM_START 50 //150 // starting PWM value for slow down (must be < 256 and > 0)
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#define EL_SLOW_DOWN_PWM_STOP 1 // ending PWM value for slow down (must be < 256 and > 0)
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#define EL_SLOW_DOWN_STEPS 500 //200
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#define EL_INITIALLY_IN_SLOW_DOWN_PWM 10 // PWM value to start at if we're starting in the slow down zone (1 - 255)
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#define TIMED_SLOW_DOWN_TIME 500
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//Variable frequency output settings - LOWEST FREQUENCY IS 31 HERTZ DUE TO ARDUINO tone() FUNCTION LIMITATIONS!
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// (Except when used with FEATURE_STEPPER_MOTOR and FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE)
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#define AZ_VARIABLE_FREQ_OUTPUT_LOW 5 //32 // Frequency in hertz of minimum speed
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#define AZ_VARIABLE_FREQ_OUTPUT_HIGH 1000 //100 // Frequency in hertz of maximum speed
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#define EL_VARIABLE_FREQ_OUTPUT_LOW 5 //32 // Frequency in hertz of minimum speed
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#define EL_VARIABLE_FREQ_OUTPUT_HIGH 500 // Frequency in hertz of maximum speed
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// Settings for OPTION_AZ_MANUAL_ROTATE_LIMITS
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#define AZ_MANUAL_ROTATE_CCW_LIMIT 179 // if using a rotator that starts at 180 degrees, set this to something like 185
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#define AZ_MANUAL_ROTATE_CW_LIMIT 539 // add 360 to this if you go past 0 degrees (i.e. 180 CW after 0 degrees = 540)
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// Settings for OPTION_EL_MANUAL_ROTATE_LIMITS
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#define EL_MANUAL_ROTATE_DOWN_LIMIT 10
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#define EL_MANUAL_ROTATE_UP_LIMIT 170
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// Speed pot settings
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#define SPEED_POT_LOW 0
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#define SPEED_POT_HIGH 1023
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#define SPEED_POT_LOW_MAP 1
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#define SPEED_POT_HIGH_MAP 255
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// Azimuth preset pot settings
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#define AZ_PRESET_POT_FULL_CW 0
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#define AZ_PRESET_POT_FULL_CCW 1023
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#define AZ_PRESET_POT_FULL_CW_MAP 180 // azimuth pot fully counter-clockwise degrees
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#define AZ_PRESET_POT_FULL_CCW_MAP 630 // azimuth pot fully clockwise degrees
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#define ENCODER_PRESET_TIMEOUT 5000
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// various code settings
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#define AZIMUTH_TOLERANCE 0.10 // rotator will stop within X degrees when doing autorotation
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#define ELEVATION_TOLERANCE 0.1 //1.0
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#define OPERATION_TIMEOUT 120000 // timeout for any rotation operation in mS ; 120 seconds is usually enough unless you have the speed turned down
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#define TIMED_INTERVAL_ARRAY_SIZE 20
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#define CONTROL_PORT_BAUD_RATE 9600
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#define REMOTE_UNIT_PORT_BAUD_RATE 9600
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#define GPS_PORT_BAUD_RATE 9600
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#define GPS_MIRROR_PORT_BAUD_RATE 9600
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#define CONTROL_PORT_MAPPED_TO &Serial // change this line to map the control port to a different serial port (Serial1, Serial2, etc.)
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#define REMOTE_PORT_MAPPED_TO &Serial1 // change this line to map the remote_unit port to a different serial port
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#define GPS_PORT_MAPPED_TO &Serial2 // change this line to map the GPS port to a different serial port
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//#define GPS_MIRROR_PORT &Serial3 // use this to mirror output from a GPS unit into the Arduino out another port (uncomment to enable)
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#define OPTION_SEND_STRING_OUT_CONTROL_PORT_WHEN_INITIALIZING_STRING ("test\n\r")
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#define LCD_COLUMNS 20 //16
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#define LCD_ROWS 4 //2
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#define LCD_UPDATE_TIME 1000 // LCD update time in milliseconds
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#define LCD_HHMM_CLOCK_POSITION LEFT //LEFT or RIGHT
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#define LCD_HHMMSS_CLOCK_POSITION LEFT //LEFT or RIGHT
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#define LCD_ALT_HHMM_CLOCK_AND_MAIDENHEAD_POSITION LEFT
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#define LCD_ALT_HHMM_CLOCK_AND_MAIDENHEAD_ROW 1
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#define LCD_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD_POSITION LEFT
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#define LCD_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD_ROW 1
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#define LCD_BIG_CLOCK_ROW 4
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#define LCD_GPS_INDICATOR_POSITION RIGHT //LEFT or RIGHT
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#define LCD_GPS_INDICATOR_ROW 1
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#define LCD_MOON_TRACKING_ROW 3 // LCD display row for OPTION_DISPLAY_MOON_TRACKING_CONTINUOUSLY
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#define LCD_MOON_TRACKING_UPDATE_INTERVAL 5000
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#define LCD_SUN_TRACKING_ROW 4 // LCD display row for OPTION_DISPLAY_SUN_TRACKING_CONTINUOUSLY
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#define LCD_SUN_TRACKING_UPDATE_INTERVAL 5000
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#define LCD_MOON_OR_SUN_TRACKING_CONDITIONAL_ROW 3 // LCD display row for OPTION_DISPLAY_MOON_OR_SUN_TRACKING_CONDITIONAL
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#define SPLASH_SCREEN_TIME 3000
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#define LCD_HEADING_ROW 2
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#define LCD_HEADING_FIELD_SIZE 20
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#define LCD_STATUS_ROW 1
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#define LCD_STATUS_FIELD_SIZE 20
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#define LCD_DIRECTION_ROW 1
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#define LCD_HHMMSS_CLOCK_ROW 1
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#define LCD_HHMM_CLOCK_ROW 1
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#define PARKING_STATUS_DISPLAY_TIME_MS 5000
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#define AZ_BRAKE_DELAY 3000 // in milliseconds
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#define EL_BRAKE_DELAY 3000 // in milliseconds
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#define BRAKE_ACTIVE_STATE HIGH
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#define BRAKE_INACTIVE_STATE LOW
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#define EEPROM_MAGIC_NUMBER 103
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#define EEPROM_WRITE_DIRTY_CONFIG_TIME 30 //time in seconds
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#if defined(FEATURE_TWO_DECIMAL_PLACE_HEADINGS)
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#define HEADING_MULTIPLIER 100L
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#define LCD_HEADING_MULTIPLIER 100.0
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#define LCD_DECIMAL_PLACES 2
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#endif //FEATURE_TWO_DECIMAL_PLACE_HEADINGS
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#if defined(FEATURE_ONE_DECIMAL_PLACE_HEADINGS)
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#define HEADING_MULTIPLIER 10
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#define LCD_HEADING_MULTIPLIER 10.0
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#define LCD_DECIMAL_PLACES 1
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#endif //FEATURE_ONE_DECIMAL_PLACE_HEADINGS
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#if !defined(FEATURE_ONE_DECIMAL_PLACE_HEADINGS) && !defined(FEATURE_TWO_DECIMAL_PLACE_HEADINGS)
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#define HEADING_MULTIPLIER 1
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#define LCD_HEADING_MULTIPLIER 1.0
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#define LCD_DECIMAL_PLACES 0
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#endif //!defined(FEATURE_ONE_DECIMAL_PLACE_HEADINGS) && !defined(FEATURE_TWO_DECIMAL_PLACE_HEADINGS)
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#define AZ_POSITION_ROTARY_ENCODER_DEG_PER_PULSE 0.5
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#define EL_POSITION_ROTARY_ENCODER_DEG_PER_PULSE 0.5
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#define AZ_POSITION_PULSE_DEG_PER_PULSE 0.5
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#define EL_POSITION_PULSE_DEG_PER_PULSE 0.5
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#define PARK_AZIMUTH 360.0 * HEADING_MULTIPLIER // replace the 0.0 with your park azimuth; azimuth is in raw degrees (i.e. on a 180 degree starting point rotator, 0 degrees = 360)
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#define PARK_ELEVATION 0.0 * HEADING_MULTIPLIER // replace the 0.0 with your park elevation
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#define COMMAND_BUFFER_SIZE 50
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#define REMOTE_BUFFER_TIMEOUT_MS 250
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#define REMOTE_UNIT_COMMAND_TIMEOUT_MS 2000
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#define AZ_REMOTE_UNIT_QUERY_TIME_MS 150 // how often we query the remote remote for azimuth
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#define EL_REMOTE_UNIT_QUERY_TIME_MS 150 // how often we query the remote remote for elevation
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#define ROTATE_PIN_INACTIVE_VALUE LOW
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#define ROTATE_PIN_ACTIVE_VALUE HIGH
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#define AZIMUTH_SMOOTHING_FACTOR 0 // value = 0 to 99.9
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#define ELEVATION_SMOOTHING_FACTOR 0 // value = 0 to 99.9
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#define AZIMUTH_MEASUREMENT_FREQUENCY_MS 100 // this does not apply if using FEATURE_AZ_POSITION_GET_FROM_REMOTE_UNIT
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#define ELEVATION_MEASUREMENT_FREQUENCY_MS 100 // this does not apply if using FEATURE_EL_POSITION_GET_FROM_REMOTE_UNIT
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#define JOYSTICK_WAIT_TIME_MS 100
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#define ROTATION_INDICATOR_PIN_ACTIVE_STATE HIGH
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#define ROTATION_INDICATOR_PIN_INACTIVE_STATE LOW
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#define ROTATION_INDICATOR_PIN_TIME_DELAY_SECONDS 0
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#define ROTATION_INDICATOR_PIN_TIME_DELAY_MINUTES 0
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#define AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV 2000.0
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#define EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV 2000.0
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#define AZ_INCREMENTAL_ENCODER_ZERO_PULSE_POSITION 0 // can be 0 to 4 x AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV
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#define EL_INCREMENTAL_ENCODER_ZERO_PULSE_POSITION 0 // can be 0 to 4 x EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV
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#define SERIAL_LED_TIME_MS 250
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#define DEFAULT_LATITUDE 40.889958
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#define DEFAULT_LONGITUDE -75.585972
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#define MOON_TRACKING_CHECK_INTERVAL 5000
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#define MOON_AOS_AZIMUTH_MIN 0
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#define MOON_AOS_AZIMUTH_MAX 360
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#define MOON_AOS_ELEVATION_MIN 0
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#define MOON_AOS_ELEVATION_MAX 180
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#define SUN_TRACKING_CHECK_INTERVAL 5000
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#define SUN_AOS_AZIMUTH_MIN 0
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#define SUN_AOS_AZIMUTH_MAX 360
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#define SUN_AOS_ELEVATION_MIN 0
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#define SUN_AOS_ELEVATION_MAX 180
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#define TRACKING_ACTIVE_CHAR "*"
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#define TRACKING_INACTIVE_CHAR "-"
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#define DISPLAY_DEGREES_STRING "\xDF"
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#define INTERNAL_CLOCK_CORRECTION 0.00145
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#define SYNC_TIME_WITH_GPS 1
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#define SYNC_COORDINATES_WITH_GPS 1
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#define GPS_SYNC_PERIOD_SECONDS 10 // how long to consider internal clock syncronized after a GPS reading
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#define GPS_VALID_FIX_AGE_MS 10000 // consider a GPS reading valid if the fix age is less than this
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#define GPS_UPDATE_LATENCY_COMPENSATION_MS 200
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#define SYNC_WITH_RTC_SECONDS 59 // syncronize internal clock with realtime clock every x seconds
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#define SYNC_RTC_TO_GPS_SECONDS 12 // synchronize realtime clock to GPS every x seconds
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#define SYNC_MASTER_CLOCK_TO_SLAVE_CLOCK_SECS 10 // for OPTION_SYNC_MASTER_CLOCK_TO_SLAVE - use when GPS unit is connected to slave unit and you want to synchronize the master unit clock to the slave unit clock
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#define ETHERNET_MAC_ADDRESS 0xDE,0xAD,0xBE,0xEF,0xFE,0xEE //<-DON'T FORGET TO USE DIFFERENT MAC ADDRESSES FOR MASTER AND SLAVE!!!
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#define ETHERNET_IP_ADDRESS 192,168,1,172 //<-DON'T FORGET TO USE DIFFERENT IP ADDRESSES FOR MASTER AND SLAVE!!!
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#define ETHERNET_IP_GATEWAY 192,168,1,254
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#define ETHERNET_IP_SUBNET_MASK 255,255,255,0
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#define ETHERNET_TCP_PORT_0 23
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#define ETHERNET_TCP_PORT_1 24
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#define ETHERNET_MESSAGE_TIMEOUT_MS 5000
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#define ETHERNET_PREAMBLE "K3NG" // used only with Ethernet master/slave link
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#define ETHERNET_SLAVE_IP_ADDRESS 192,168,1,173
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#define ETHERNET_SLAVE_TCP_PORT 23
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#define ETHERNET_SLAVE_RECONNECT_TIME_MS 250
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#define POWER_SWITCH_IDLE_TIMEOUT 15 // use with FEATURE_POWER_SWITCH; units are minutes
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#ifdef HARDWARE_EA4TX_ARS_USB
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#define BUTTON_ACTIVE_STATE HIGH
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#define BUTTON_INACTIVE_STATE LOW
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#else
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#define BUTTON_ACTIVE_STATE LOW
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#define BUTTON_INACTIVE_STATE HIGH
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#endif
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/*
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*
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* Azimuth and Elevation calibraton tables - use with FEATURE_AZIMUTH_CORRECTION and/or FEATURE_ELEVATION_CORRECTION
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*
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* You must have the same number of entries in the _FROM_ and _TO_ arrays!
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*
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*/
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#define AZIMUTH_CALIBRATION_FROM_ARRAY {180,630} /* these are in "raw" degrees, i.e. when going east past 360 degrees, add 360 degrees*/
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#define AZIMUTH_CALIBRATION_TO_ARRAY {180,630}
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// example: reverse rotation sensing
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// #define AZIMUTH_CALIBRATION_FROM_ARRAY {0,359}
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// #define AZIMUTH_CALIBRATION_TO_ARRAY {359,0}
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//#define ELEVATION_CALIBRATION_FROM_ARRAY {-180,0,180}
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//#define ELEVATION_CALIBRATION_TO_ARRAY {-180,0,180}
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#define ELEVATION_CALIBRATION_FROM_ARRAY {0,269.9,270.0,359.9}
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#define ELEVATION_CALIBRATION_TO_ARRAY {0,269.9,-90.0,-0.1}
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#define ANALOG_OUTPUT_MAX_EL_DEGREES 180
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#define EL_POSITION_PULSE_DEBOUNCE 500 // in ms
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/* Pololu LSM303 Calibration tables
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*
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*
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* For use with FEATURE_AZ_POSITION_POLOLU_LSM303 and/or FEATURE_EL_POSITION_POLOLU_LSM303
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*
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Calibration values; the default values of +/-32767 for each axis
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lead to an assumed magnetometer bias of 0. Use the Calibrate example
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program to determine appropriate values for your particular unit.
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min: { +59, +19, -731} max: { +909, +491, +14}
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min: {32767, 32767, 32767} max: {-32768, -32768, -32768}
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*/
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#define POLOLU_LSM_303_MIN_ARRAY {+59, +19, -731}
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#define POLOLU_LSM_303_MAX_ARRAY {+909, +491, +14}
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#define AUTOCORRECT_TIME_MS_AZ 1000
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#define AUTOCORRECT_TIME_MS_EL 1000
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/* ---------------------------- object declarations ----------------------------------------------
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Object declarations are required for several devices, including LCD displays, compass devices, and accelerometers
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*/
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/*
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#if defined(FEATURE_4_BIT_LCD_DISPLAY) || defined(FEATURE_ADAFRUIT_I2C_LCD) || defined(FEATURE_YOURDUINO_I2C_LCD) || defined(FEATURE_YWROBOT_I2C_DISPLAY)
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K3NGdisplay k3ngdisplay(LCD_COLUMNS,LCD_ROWS,LCD_UPDATE_TIME);
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#endif
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#ifdef FEATURE_AZ_POSITION_HMC5883L
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HMC5883L compass;
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#endif //FEATURE_AZ_POSITION_HMC5883L
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#ifdef FEATURE_EL_POSITION_ADXL345_USING_LOVE_ELECTRON_LIB
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ADXL345 accel;
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#endif //FEATURE_EL_POSITION_ADXL345_USING_LOVE_ELECTRON_LIB
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#ifdef FEATURE_EL_POSITION_ADXL345_USING_ADAFRUIT_LIB
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Adafruit_ADXL345_Unified accel = Adafruit_ADXL345_Unified(12345);
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#endif //FEATURE_EL_POSITION_ADXL345_USING_ADAFRUIT_LIB
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#if defined(FEATURE_EL_POSITION_ADAFRUIT_LSM303) || defined(FEATURE_AZ_POSITION_ADAFRUIT_LSM303)
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Adafruit_LSM303 lsm;
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#endif
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#if defined(FEATURE_AZ_POSITION_POLOLU_LSM303) || defined(FEATURE_EL_POSITION_POLOLU_LSM303)
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LSM303 compass;
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LSM303::vector<int16_t> running_min = {32767, 32767, 32767}, running_max = {-32768, -32768, -32768};
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char report[80];
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#endif //FEATURE_AZ_POSITION_POLOLU_LSM303
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#ifdef FEATURE_AZ_POSITION_HH12_AS5045_SSI
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#include "hh12.h"
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hh12 azimuth_hh12;
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#endif //FEATURE_AZ_POSITION_HH12_AS5045_SSI
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#ifdef FEATURE_EL_POSITION_HH12_AS5045_SSI
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#include "hh12.h"
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hh12 elevation_hh12;
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#endif //FEATURE_EL_POSITION_HH12_AS5045_SSI
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#ifdef FEATURE_GPS
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TinyGPS gps;
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#endif //FEATURE_GPS
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#ifdef FEATURE_RTC_DS1307
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RTC_DS1307 rtc;
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#endif //FEATURE_RTC_DS1307
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#ifdef FEATURE_RTC_PCF8583
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PCF8583 rtc(0xA0);
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#endif //FEATURE_RTC_PCF8583
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#ifdef HARDWARE_EA4TX_ARS_USB
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#undef LCD_COLUMNS
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#undef LCD_ROWS
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#define LCD_COLUMNS 16
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#define LCD_ROWS 2
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#endif //HARDWARE_EA4TX_ARS_USB
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#ifdef HARDWARE_M0UPU
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#undef LCD_ROWS
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#define LCD_ROWS 2
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#endif //HARDWARE_M0UPU
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#ifdef FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
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#define AZ_A2_ENCODER_RESOLUTION 32767 //36000
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#define AZ_A2_ENCODER_ADDRESS 0x00
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#define AZ_QUERY_FREQUENCY_MS 250
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#define AZ_A2_ENCODER_MODE MODE_TWO_BYTE_POSITION//|MODE_MULTITURN
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#endif //FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
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#ifdef FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
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#define EL_A2_ENCODER_RESOLUTION 32767 //36000
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#define EL_A2_ENCODER_ADDRESS 0x00
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#define EL_QUERY_FREQUENCY_MS 250
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#define EL_A2_ENCODER_MODE MODE_MULTITURN//|MODE_TWO_BYTE_POSITION
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#endif //FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
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#if defined(FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER) || defined(FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER)
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#include "sei_bus.h"
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SEIbus SEIbus1(&Serial1,9600,pin_sei_bus_busy,pin_sei_bus_send_receive);
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// (Serial Port,Baud Rate,Busy Pin,Send/Receive Pin)
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#define SEI_BUS_COMMAND_TIMEOUT_MS 6000
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#endif
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*/ |