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k3ng_rotator_controller/k3ng_rotator_controller.ino
Anthony Good 532a957671 2.0.2015092002 
Fixed issue with compiling DEBUG_GPS
2015-09-20 17:36:27 -04:00

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/* Arduino Rotator Controller
Anthony Good
K3NG
anthony.good@gmail.com
Code contributions, testing, ideas, bug fixes, hardware, support, encouragement, and/or bourbon provided by:
John W3SA
Gord VO1GPK
Anthony M0UPU
Pete VE5VA
Marcin SP5IOU
Hjalmar OZ1JHM
Sverre LA3ZA
Bent OZ1CT
Erick WB6KCN
Norm N3YKF
Jan OK2ZAW
Jim M0CKE
Mike AD0CZ
Paolo IT9IPQ
Antonio IZ7DDA
Johan PA3FPQ
Jurgen PE1LWT
Gianfranco IZ8EWD
Jasper PA2J
Pablo EA4TX
Máximo EA1DDO
Matt VK5ZM
...and others
Translations provided by
Máximo EA1DDO
Jan OK2ZAW
Paolo IT9IPQ
Ismael PY4PI
Robert DL5ROB
(If you contributed something and I forgot to put your name and call in here, *please* email me!)
***************************************************************************************************************
*
* This program is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License
*
* http://creativecommons.org/licenses/by-nc-sa/3.0/
*
* http://creativecommons.org/licenses/by-nc-sa/3.0/legalcode
*
*
***************************************************************************************************************
All copyrights are the property of their respective owners
Full documentation is currently located here: https://github.com/k3ng/k3ng_rotator_controller/wiki
Rules for using this code:
Rule #1: Read the documentation.
Rule #2: Refer to rule #1.
Rule #3: Help others.
Rule #4: Have fun.
New in this release:
HH-12 encoder support
OPTION_PULSE_IGNORE_AMBIGUOUS_PULSES
\P PWM command is now \W
\P is Park command
park_in_progress_pin // goes high when a park has been initiated and rotation is in progress
parked_pin // goes high when in a parked position
heading_reading_inhibit_pin
FEATURE_LIMIT_SENSE
#define az_limit_sense_pin 0 // input - low stops azimuthal rotation
#define el_limit_sense_pin 0 // input - low stops elevation rotation
\Axxx command - manually set azimuth, xxx = azimuth (FEATURE_AZ_POSITION_ROTARY_ENCODER or FEATURE_AZ_POSITION_PULSE_INPUT only)
\Bxxx command - manually set elevation, xxx = elevation (FEATURE_EL_POSITION_POTENTIOMETER or FEATURE_EL_POSITION_ROTARY_ENCODER only)
fixed bug with preset encoder start and kill button
FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
FEATURE_EL_POSITION_INCREMENTAL_ENCODER
OPTION_INCREMENTAL_ENCODER_PULLUPS
#define AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV 8000.0
#define EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV 8000.0
AZIMUTH_STARTING_POINT_DEFAULT and AZIMUTH_ROTATION_CAPABILITY_DEFAULT are now persistent
Yaesu P35, P45, and Z commands no longer write to eeprom
control_port points to the hardware port for computer interface
remote_unit_port points to the hardware port for interfacing to remote unit
removed OPTION_SERIAL1, 2, 3, 4
SS command: SS0 = control port, SS1 = remote unit port
No longer need to manually uncomment hh12.h or object declarations
No longer need to manually uncomment LiquidCrystal lcd()
No longer need to manually uncomment Adafruit_ADXL345 accel
No longer need to manually uncomment ADXL345 accel
No longer need to manually uncomment Adafruit_LSM303 lsm;
No longer need to manually uncomment HMC5883L compass;
FEATURE_4_BIT_LCD_DISPLAY
FEATURE_ADAFRUIT_I2C_LCD
FEATURE_YOURDUINO_I2C_LCD
FEATURE_RFROBOT_I2C_DISPLAY
No longer need to uncomment:
FEATURE_LCD_DISPLAY
FEATURE_I2C_LCD
any include files
serial led duration now set by SERIAL_LED_TIME_MS
#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
start of remote unit pin control
remote unit pin control (add 100 to a pin number define to map to remote unit pin)
FEATURE_CLOCK
FEATURE_MOON_TRACKING
#define DEFAULT_LATITUDE 40.889958
#define DEFAULT_LONGITUDE -75.585972
#define INTERNAL_CLOCK_CORRECTION 0.00145
\C - show clock
\O - set clock \OYYYYMMDDHHmm
\Mx - x = 0: deactive moon tracking; x = 1: activate moon tracking
\Gxxxxxx - set coordinates via grid square (example: \GFN20EV)
Park is now deactivated when issuing a Yaesu command (other than C) or when doing manual rotation
FEATURE_GPS
#define GPS_PORT_MAPPED_TO &Serial2
#define GPS_PORT_BAUD_RATE 9600
#define SYNC_TIME_WITH_GPS 1
#define SYNC_COORDINATES_WITH_GPS 1
#define GPS_SYNC_PERIOD_SECONDS 10 // how long to consider internal clock syncronized after a GPS reading
#define GPS_VALID_FIX_AGE_MS 10000 // consider a GPS reading valid if the fix age is less than this
FEATURE_SUN_TRACKING
\Ux - x = 0: deactive sun tracking; x = 1: activate sun tracking
FEATURE_AZ_POSITION_INCREMENTAL_ENCODER & FEATURE_EL_POSITION_INCREMENTAL_ENCODER coding
Updated debug output format
\XS - calibration az and el to sun heading - there are calculation bugs
fixed initialize_serial() compilaton error when neither yaesu or easycom protocol is selected in features
fixed bugs in \XS and \XM
\XS and\XM now working on all sensor types
moon_tracking_active_pin
sun_tracking_active_pin
moon_tracking_activate_line
sun_tracking_activate_line
moon_tracking_button
sun_tracking_button
\A azimuth calibration now also works with sensors other than rotary encoders and pulse input
\B elevation calibration now also works with sensors other than rotary encoders and pulse input
OPTION_BUTTON_RELEASE_NO_SLOWDOWN
Fixed God-awful bug that caused Arduino to crash when running FEATURE_GPS. Note to self: never declare a char in a switch case. It causes unpredicatable, unexplainable evil stuff to occur.
Fixed bug with elevation PWM
gps_sync pin - goes high when clock is GPS synchronized
FEATURE_RTC_PCF8583
\O command also programs realtime clocks now
Fixed bug in PWM outputs when changing direction
Ethernet now working with backslash commands, Yaesu commands, and Easycom commands
Fixed bug in Easycom (non-standard) AZ and EL commands
Ethernet remote unit slave support (slave only, master using ethernet not done yet)
#define GPS_MIRROR_PORT &Serial3
OPTION_DISPLAY_SMALL_CLOCK
#define LCD_SMALL_CLOCK_POSITION LEFT
OPTION_DISPLAY_GPS_INDICATOR
#define LCD_GPS_INDICATOR_POSITION RIGHT
OPTION_DISPLAY_MOON_TRACKING_CONTINUOUSLY
#define LCD_MOON_TRACKING_ROW 3
#define LCD_MOON_TRACKING_UPDATE_INTERVAL 5000
OPTION_DISPLAY_SUN_TRACKING_CONTINUOUSLY
#define LCD_SUN_TRACKING_ROW 4
#define LCD_SUN_TRACKING_UPDATE_INTERVAL 5000
#define LCD_ROWS 4
fixed bug with Yourduino LCD display initialization (thanks PA3FPQ)
added GPS counters to debug output
FEATURE_POWER_SWITCH
#define POWER_SWITCH_IDLE_TIMEOUT 15 (unit: minutes)
#define power_switch 0
OPTION_DISPLAY_MOON_OR_SUN_TRACKING_CONDITIONAL
#define LCD_MOON_OR_SUN_TRACKING_CONDITIONAL_ROW 3
OPTION_DISPLAY_BIG_CLOCK
#define GPS_UPDATE_LATENCY_COMPENSATION_MS 200
#define AZIMUTH_CALIBRATION_FROM_ARRAY {180,630}
#define AZIMUTH_CALIBRATION_TO_ARRAY {180,630}
#define ELEVATION_CALIBRATION_FROM_ARRAY {-180,0,180}
#define ELEVATION_CALIBRATION_TO_ARRAY {-180,0,180}
#define rotate_cw_ccw 0
#define az_stepper_motor_direction 0
#define el_stepper_motor_direction 0
bug fix for long clock display
performance improvement for az / el display on LCD
#define az_stepper_motor_pulse 0
#define el_stepper_motor_pulse 0
OPTION_DISPLAY_ALT_HHMM_CLOCK_AND_MAIDENHEAD
#define LCD_SMALL_CLOCK_AND_MAIDENHEAD_POSITION
#define LCD_SMALL_CLOCK_AND_MAIDENHEAD_ROW 4
#define LCD_GPS_INDICATOR_ROW 1
OPTION_EXTERNAL_ANALOG_REFERENCE
more debug_print conversion
OPTION_DISPLAY_SMALL_CLOCK renamed to OPTION_DISPLAY_HHMM_CLOCK
LCD_SMALL_CLOCK_POSITION renamed to LCD_HHMM_CLOCK_POSITION
OPTION_DISPLAY_HHMMSS_CLOCK
OPTION_DISPLAY_DISABLE_DIRECTION_STATUS
OPTION_DISPLAY_SMALL_CLOCK_AND_MAIDENHEAD renamed to OPTION_DISPLAY_ALT_HHMM_CLOCK_AND_MAIDENHEAD
OPTION_DISPLAY_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD
#define LCD_HHMM_CLOCK_POSITION LEFT //LEFT or RIGHT
#define LCD_HHMMSS_CLOCK_POSITION LEFT //LEFT or RIGHT
#define LCD_ALT_HHMM_CLOCK_AND_MAIDENHEAD_POSITION LEFT
#define LCD_ALT_HHMM_CLOCK_AND_MAIDENHEAD_ROW 1
#define LCD_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD_POSITION LEFT
#define LCD_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD_ROW 1
OPTION_DISPLAY_DISABLE_DIRECTION_STATUS changed to OPTION_DISPLAY_DIRECTION_STATUS
worked on FEATURE_TWO_DECIMAL_PLACE_HEADINGS
LANGUAGE_ENGLISH
Easycom improvements - space and LF are now also command delimiters. Also fixed bug with one decimal place. Works with PSTRotator
Fixed issue with LCD display updating when target az or target el was changed during rotation
I2C_LCD_COLOR also applies to Yourduino LCD display
HH-12 elevation bug fix
FEATURE_MASTER_WITH_SERIAL_SLAVE
FEATURE_MASTER_WITH_ETHERNET_SLAVE
FEATURE_EL_POSITION_MEMSIC_2125 under development - not working yet
fixed a bug with azimuth and elevation offset zeroing out first decimal place
Ethernet master/slave link!
#define ETHERNET_SLAVE_IP_ADDRESS 192,168,1,173
#define ETHERNET_SLAVE_TCP_PORT 23
#define ETHERNET_SLAVE_RECONNECT_TIME_MS 250
Changed master/slave AZ and EL command result format: AZxxx.xxxxxx EL+xxx.xxxxxx
Slave CL command
OPTION_SYNC_MASTER_CLOCK_TO_SLAVE
fixed "if (clock_status == SLAVE_SYNC) {clock_status = FREE_RUNNING;}" compile error
OPTION_CLOCK_ALWAYS_HAVE_HOUR_LEADING_ZERO
OPTION_DISABLE_HMC5883L_ERROR_CHECKING
HARDWARE_EA4TX_ARS_USB
HARDWARE_M0UPU
rotator_hardware.h file
rotator_features_ea4tx_ars_usb.h
rotator_pins_ea4tx_ars_usb.h
#define AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV 2000.0
#define EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV 2000.0
FEATURE_EL_POSITION_INCREMENTAL_ENCODER now does 360 degrees of rotation rather than 720
OPTION_PRESET_ENCODER_0_360_DEGREES
service_rotation() - fixed rollover bug with az and el slow down
Fixed decimal place issue with Easycom AZ and EL query commands
FEATURE_EL_POSITION_INCREMENTAL_ENCODER - fixed storage and retrieval of elevation in eeprom
Bug fix - stop command wouldn't work when in slow down
AZ_INITIALLY_IN_SLOW_DOWN_PWM
EL_INITIALLY_IN_SLOW_DOWN_PWM
Fixed compilation error when FEATURE_JOYSTICK_CONTROL is activated and FEATURE_ELEVATION_CONTROL is disabled
FEATURE_ANALOG_OUTPUT_PINS (rotator_features.h) (documented 2015-04-16)
FEATURE_AZ_POSITION_LSM303 is now FEATURE_AZ_POSITION_ADAFRUIT_LSM303 (rotator_features.h) (documented 2015-04-16)
FEATURE_EL_POSITION_LSM303 is now FEATURE_EL_POSITION_ADAFRUIT_LSM303 (rotator_features.h) (documented 2015-04-16)
LANGUAGE_CZECH (rotator_features.h) (documented)
FEATURE_AZ_POSITION_POLOLU_LSM303 (rotator_features.h) (code contributed by AD0CZ) (documented 2015-04-16)
FEATURE_EL_POSITION_POLOLU_LSM303 (rotator_features.h) (documented 2015-04-16)
#define POLOLU_LSM_303_MIN_ARRAY {+59, +19, -731} (rotator_settings.h) (documented 2015-04-16)
#define POLOLU_LSM_303_MAX_ARRAY {+909, +491, +14} (rotator_settings.h) (documented 2015-04-16)
DEBUG_POLOLU_LSM303_CALIBRATION (rotator_features.h)
bug fixed with brake_release() affecting elevation brake (thanks Paolo, IT9IPQ)
LANGUAGE_ITALIAN code donated by Paolo, IT9IPQ
OPTION_DISPLAY_VERSION_ON_STARTUP code provided by Paolo, IT9IPQ
Fixed bug with LANGUAGE_CZECH (thanks Radek, OK2NMA)
Change in Easycom response terminator (now uses whatever command terminator was sent to it)
Easycom AZ EL command string response change to +xxx.xx +xxx.xx
OPTION_HAMLIB_EASYCOM_AZ_EL_COMMAND_HACK
LANGUAGE_PORTUGUESE_BRASIL (thanks Ismael, PY4PI)
check_brake_release() bug fix
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
AZ_INCREMENTAL_ENCODER_ZERO_PULSE_POSITION
EL_INCREMENTAL_ENCODER_ZERO_PULSE_POSITION
OPTION_BLINK_OVERLAP_LED and OPTION_OVERLAP_LED_BLINK_MS setting
FEATURE_SUN_PUSHBUTTON_AZ_EL_CALIBRATION and FEATURE_MOON_PUSHBUTTON_AZ_EL_CALIBRATION; pin_sun_pushbutton_calibration, pin_moon_pushbutton_calibration
Rolled FEATURE_STEPPER_MOTOR_EXPERIMENTAL_CODE_2 into FEATURE_STEPPER_MOTOR
Working on FEATURE_AUTOCORRECT
Bug fix involving FEATURE_AZ_POSITION_HH12_AS5045_SSI and azimuth_offset (thanks Johan, PA3FPQ and Jurgen, PE1LWT)
Bug fix - wasn't initializing rotate_cw_ccw (thanks Erick, WB6KCN)
Bug fix with OPTION_DISPLAY_VERSION_ON_STARTUP and 2 row displays (thanks Gianfranco, IZ8EWD)
OPTION_EL_PULSE_DEBOUNCE code - (thanks Gianfranco, IZ8EWD)
#define EL_POSITION_PULSE_DEBOUNCE 500 // in ms
OPTION_HH12_10_BIT_READINGS in hh12.h (thanks Johan PA3FPQ)
Correction from Johan PA3FPQ on OPTION_HH12_10_BIT_READINGS
#define BRAKE_ACTIVE_STATE HIGH
#define BRAKE_INACTIVE_STATE LOW
OPTION_SCANCON_2RMHF3600_INC_ENCODER - thanks Jasper, PA2J
Fixed compile bug with OPTION_EL_MANUAL_ROTATE_LIMITS) when FEATURE_ELEVATION_CONTROL is not enabled
Eliminated az_stepper_motor_direction and el_stepper_motor_direction. Use rotate_* pins instead!
Self-resetting functionality
Fixed bug with OPTION_DISPLAY_DIRECTION_STATUS updating
Improved the self reset with a non-blocking 5 second delay
Added remote slave commands:
RC - read coordinates (returns RCxx.xxxx -xxx.xxxx)
GS - query GPS status (returns GS0 (no sync) or GS1 (sync))
OPTION_SYNC_MASTER_COORDINATES_TO_SLAVE
reset_pin
Updated for Arduino 1.6.1
Fixed compilation issue with FEATURE_ELEVATION_CORRECTION and Arduino 1.6.x
OPTION_RESET_METHOD_JMP_ASM_0
Change /E command to do setup() for system reset
Fixed calculation issues with FEATURE_ELEVATION_CORRECTION
Fixed bug with FEATURE_AZIMUTH_CORRECTION and FEATURE_ELEVATION_CORRECTION rounding off to nearest degree
2.0.2015040401 Changed configuration.azimuth_offset to use raw_azimuth rather than azimuth for calculation
2.0.2015040402 Fixed bug with compiling FEATURE_MASTER_WITH_ETHERNET_SLAVE without FEATURE_CLOCK
2.0.2015050401 Fixed bug with WNW being display on LCD direction indicator rather than WSW (Thanks Radek, OK2NMA)
2.0.2015051301
Fixed bug with remote slave AZ and EL commands not returning decimal places (i.e. xxx.000000)
Working on remote unit double backslash commands
2.0.2015051901 LANGUAGE_GERMAN (Thanks Ronny, DM2RM) (documented in wiki)
2.0.2015052501
Working on SEI Bus and A2 Encoders
Working on remote unit double backslash commands
2.0.2015061601
Working on converting over LCD display code to k3ngdisplay library
#define DISPLAY_DEGREES_STRING "\xDF"
last_az_incremental_encoder_position & az_incremental_encoder_position changed to long
k3ng_remote_rotator_controller class
2.0.2015070301
Fixed compile error involving clock_temp_string in display code when compiling multiple clock display widgets is attempted
Still working on new display code and local/remote unit code
2.0.2015070302
FEATURE_AZ_POSITION_INCREMENTAL_ENCODER conversion to long data types (Thanks Daniel Cussen)
2.0.2015070401
gps_sync pin bug fixed
2.0.2015071201
FEATURE_YWROBOT_I2C_DISPLAY (code provided by Máximo EA1DDO)
2.0.2015071701
FEATURE_AZ_POSITION_INCREMENTAL_ENCODER code fixed (Thanks Daniel Cussen)
2.0.2015090401
Breaking out portions of ino file into .h files...
#include "rotator_clock_and_gps.h"
#include "rotator_command_processing.h"
#include "rotator_moon_and_sun.h"
#include "rotator_ethernet.h"
#include "rotator_stepper.h"
2.0.2015090402
#include "rotator_language.h"
OPTION_SAVE_MEMORY_EXCLUDE_REMOTE_CMDS
/?FS command - Full Status Report
2.0.2015090601
Updates to rotator_language.h
Fixed k3ngdisplay.h / LiquidCrystal.h compilation problems with Arduino IDE
Integrated DebugClass (debug.h and debug.cpp) contributed from Matt VK5ZM
2.0.2015092001
LANGUAGE_FRENCH (contributed by Marc-Andre, VE2EVN)
fixed issue with rotator_analog_az inferring with other pins if defined but not used
2.0.2015092002
Fixed issue with compiling DEBUG_GPS
*/
#define CODE_VERSION "2.0.2015092002"
#include <avr/pgmspace.h>
#include <EEPROM.h>
#include <math.h>
#include <avr/wdt.h>
#include "rotator_hardware.h"
#ifdef HARDWARE_EA4TX_ARS_USB
#include "rotator_features_ea4tx_ars_usb.h"
#endif
#ifdef HARDWARE_WB6KCN
#include "rotator_features_wb6kcn.h"
#endif
#ifdef HARDWARE_M0UPU
#include "rotator_features_m0upu.h"
#endif
#ifdef HARDWARE_TEST
#include "rotator_features_test.h"
#endif
#if !defined(HARDWARE_CUSTOM)
#include "rotator_features.h"
#endif
#include "rotator_dependencies.h"
#include "debug.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
#if defined(FEATURE_ADAFRUIT_I2C_LCD)
#include <Adafruit_MCP23017.h> // required for Adafruit I2C LCD display
#include <Adafruit_RGBLCDShield.h> // required for Adafruit I2C LCD display
#endif
#if defined(FEATURE_YOURDUINO_I2C_LCD) || defined(FEATURE_RFROBOT_I2C_DISPLAY)
#include <LiquidCrystal_I2C.h> // required for YourDuino.com or DFRobot I2C LCD display
#endif
#if defined(FEATURE_YOURDUINO_I2C_LCD)
#include <LCD.h> // required for YourDuino.com I2C LCD display
#endif
#ifdef FEATURE_LCD_DISPLAY
#include "k3ngdisplay.h" // if you're getting an error on this line when compiling, you probably need to move k3ngdisplay.h and k3ngdisplay.cpp to your ino directory
#endif
#ifdef FEATURE_WIRE_SUPPORT
#include <Wire.h> // required for FEATURE_I2C_LCD, any ADXL345 feature, FEATURE_AZ_POSITION_HMC5883L, FEATURE_EL_POSITION_ADAFRUIT_LSM303
#endif
#if defined(FEATURE_AZ_POSITION_HMC5883L)
#include <HMC5883L.h> // required for HMC5883L digital compass support
#endif
#if defined(FEATURE_EL_POSITION_ADXL345_USING_ADAFRUIT_LIB) || defined(FEATURE_AZ_POSITION_ADAFRUIT_LSM303) || defined(FEATURE_EL_POSITION_ADAFRUIT_LSM303)
#include <Adafruit_Sensor.h> // required for any Adafruit sensor libraries
#endif
#if defined(FEATURE_EL_POSITION_ADXL345_USING_LOVE_ELECTRON_LIB)
#include <ADXL345.h> // required for elevation ADXL345 accelerometer using Love Electronics ADXL345 library
#endif
#if defined(FEATURE_EL_POSITION_ADXL345_USING_ADAFRUIT_LIB)
#include <Adafruit_ADXL345_U.h> // required for elevation ADXL345 accelerometer using Adafruit ADXL345 library (FEATURE_EL_POSITION_ADXL345_USING_ADAFRUIT_LIB)
#endif
#if defined(FEATURE_EL_POSITION_ADAFRUIT_LSM303) || defined(FEATURE_AZ_POSITION_ADAFRUIT_LSM303)
#include <Adafruit_LSM303.h> // required for azimuth and/or elevation using LSM303 compass and/or accelerometer
#endif
#ifdef FEATURE_AZ_POSITION_POLOLU_LSM303
#include <LSM303.h>
#endif
#if defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING)
#include "moon2.h"
#endif // defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING)
#ifdef FEATURE_SUN_TRACKING
#include "sunpos.h"
#endif // FEATURE_SUN_TRACKING
#ifdef FEATURE_GPS
#include "TinyGPS.h"
#endif // FEATURE_GPS
#ifdef FEATURE_RTC_DS1307
#include "RTClib.h"
#endif // FEATURE_RTC_DS1307
#ifdef FEATURE_RTC_PCF8583
#include "PCF8583.h"
#endif //FEATURE_RTC_PCF8583
#ifdef FEATURE_ETHERNET
#include "SPI.h"
#include "Ethernet.h"
#endif
#include "rotator.h"
#ifdef HARDWARE_EA4TX_ARS_USB
#include "rotator_pins_ea4tx_ars_usb.h"
#endif
#ifdef HARDWARE_M0UPU
#include "rotator_pins_m0upu.h"
#endif
#ifdef HARDWARE_WB6KCN
#include "rotator_pins_wb6kcn.h"
#endif
#ifdef HARDWARE_TEST
#include "rotator_pins_test.h"
#endif
#if !defined(HARDWARE_CUSTOM)
#include "rotator_pins.h"
#endif
#ifdef HARDWARE_EA4TX_ARS_USB
#include "rotator_settings_ea4tx_ars_usb.h"
#endif
#ifdef HARDWARE_WB6KCN
#include "rotator_settings_wb6kcn.h"
#endif
#ifdef HARDWARE_M0UPU
#include "rotator_settings_m0upu.h"
#endif
#ifdef HARDWARE_TEST
#include "rotator_settings_test.h"
#endif
#if !defined(HARDWARE_CUSTOM)
#include "rotator_settings.h"
#endif
#ifdef FEATURE_STEPPER_MOTOR
#include "TimerFive.h"
#endif
/*----------------------- variables -------------------------------------*/
byte incoming_serial_byte = 0;
byte reset_the_unit = 0;
#ifdef FEATURE_TWO_DECIMAL_PLACE_HEADINGS
long azimuth = 0;
long raw_azimuth = 0;
long target_azimuth = 0;
long target_raw_azimuth = 0;
long azimuth_starting_point = AZIMUTH_STARTING_POINT_DEFAULT;
long azimuth_rotation_capability = AZIMUTH_ROTATION_CAPABILITY_DEFAULT;
#else
int azimuth = 0;
int raw_azimuth = 0;
int target_azimuth = 0;
int target_raw_azimuth = 0;
int azimuth_starting_point = AZIMUTH_STARTING_POINT_DEFAULT;
int azimuth_rotation_capability = AZIMUTH_ROTATION_CAPABILITY_DEFAULT;
#endif
byte control_port_buffer[COMMAND_BUFFER_SIZE];
int control_port_buffer_index = 0;
byte az_state = IDLE;
byte debug_mode = DEFAULT_DEBUG_STATE;
int analog_az = 0;
unsigned long last_debug_output_time = 0;
unsigned long az_last_rotate_initiation = 0;
byte azimuth_button_was_pushed = 0;
byte brake_az_engaged = 0;
byte brake_el_engaged = 0;
byte configuration_dirty = 0;
unsigned long last_serial_receive_time = 0;
byte az_slowstart_active = AZ_SLOWSTART_DEFAULT;
byte az_slowdown_active = AZ_SLOWDOWN_DEFAULT;
byte az_request = 0;
int az_request_parm = 0;
byte az_request_queue_state = NONE;
unsigned long az_slowstart_start_time = 0;
byte az_slow_start_step = 0;
unsigned long az_last_step_time = 0;
byte az_slow_down_step = 0;
unsigned long az_timed_slow_down_start_time = 0;
byte backslash_command = 0;
struct config_t {
byte magic_number;
int analog_az_full_ccw;
int analog_az_full_cw;
int analog_el_0_degrees;
int analog_el_max_elevation;
float last_azimuth;
float last_elevation;
//int last_az_incremental_encoder_position;
long last_az_incremental_encoder_position;
int last_el_incremental_encoder_position;
float azimuth_offset;
float elevation_offset;
byte az_stepper_motor_last_pin_state;
byte el_stepper_motor_last_pin_state;
byte az_stepper_motor_last_direction;
byte el_stepper_motor_last_direction;
} configuration;
#ifdef FEATURE_TIMED_BUFFER
int timed_buffer_azimuths[TIMED_INTERVAL_ARRAY_SIZE];
int timed_buffer_number_entries_loaded = 0;
int timed_buffer_entry_pointer = 0;
int timed_buffer_interval_value_seconds = 0;
unsigned long last_timed_buffer_action_time = 0;
byte timed_buffer_status = EMPTY;
#endif // FEATURE_TIMED_BUFFER
byte normal_az_speed_voltage = 0;
byte current_az_speed_voltage = 0;
#ifdef FEATURE_ELEVATION_CONTROL
int elevation = 0;
int target_elevation = 0;
byte el_request = 0;
int el_request_parm = 0;
byte el_request_queue_state = NONE;
byte el_slowstart_active = EL_SLOWSTART_DEFAULT;
byte el_slowdown_active = EL_SLOWDOWN_DEFAULT;
unsigned long el_slowstart_start_time = 0;
byte el_slow_start_step = 0;
unsigned long el_last_step_time = 0;
byte el_slow_down_step = 0;
unsigned long el_timed_slow_down_start_time = 0;
byte normal_el_speed_voltage = 0;
byte current_el_speed_voltage = 0;
int display_elevation = 0;
byte el_state = IDLE;
int analog_el = 0;
unsigned long el_last_rotate_initiation = 0;
#ifdef FEATURE_TIMED_BUFFER
int timed_buffer_elevations[TIMED_INTERVAL_ARRAY_SIZE];
#endif // FEATURE_TIMED_BUFFER
byte elevation_button_was_pushed = 0;
#endif // FEATURE_ELEVATION_CONTROL
#if defined(FEATURE_LCD_DISPLAY)
byte push_lcd_update = 0;
#endif // FEATURE_LCD_DISPLAY
#ifdef FEATURE_ROTARY_ENCODER_SUPPORT
#ifdef OPTION_ENCODER_HALF_STEP_MODE // Use the half-step state table (emits a code at 00 and 11)
const unsigned char ttable[6][4] = {
{ 0x3, 0x2, 0x1, 0x0 }, { 0x23, 0x0, 0x1, 0x0 },
{ 0x13, 0x2, 0x0, 0x0 }, { 0x3, 0x5, 0x4, 0x0 },
{ 0x3, 0x3, 0x4, 0x10 }, { 0x3, 0x5, 0x3, 0x20 }
};
#else // Use the full-step state table (emits a code at 00 only)
const unsigned char ttable[7][4] = {
{ 0x0, 0x2, 0x4, 0x0 }, { 0x3, 0x0, 0x1, 0x10 },
{ 0x3, 0x2, 0x0, 0x0 }, { 0x3, 0x2, 0x1, 0x0 },
{ 0x6, 0x0, 0x4, 0x0 }, { 0x6, 0x5, 0x0, 0x10 },
{ 0x6, 0x5, 0x4, 0x0 },
};
#endif // OPTION_ENCODER_HALF_STEP_MODE
#ifdef FEATURE_AZ_PRESET_ENCODER // Rotary Encoder State Tables
#if defined(FEATURE_ONE_DECIMAL_PLACE_HEADINGS) || defined(FEATURE_TWO_DECIMAL_PLACE_HEADINGS)
double az_encoder_raw_degrees = 0;
#else
int az_encoder_raw_degrees = 0;
#endif
volatile unsigned char az_encoder_state = 0;
#ifdef FEATURE_EL_PRESET_ENCODER
volatile unsigned char el_encoder_state = 0;
#if defined(FEATURE_ONE_DECIMAL_PLACE_HEADINGS) || defined(FEATURE_TWO_DECIMAL_PLACE_HEADINGS)
double el_encoder_degrees = 0;
#else
int el_encoder_degrees = 0;
#endif
#endif // FEATURE_EL_PRESET_ENCODER
byte preset_encoders_state = ENCODER_IDLE;
#endif // FEATURE_AZ_PRESET_ENCODER
#endif // FEATURE_ROTARY_ENCODER_SUPPORT
#ifdef DEBUG_PROFILE_LOOP_TIME
float average_loop_time = 0;
#endif // DEBUG_PROFILE_LOOP_TIME
#ifdef FEATURE_AZ_POSITION_PULSE_INPUT
volatile float az_position_pulse_input_azimuth = 0;
volatile byte last_known_az_state = 0;
#endif // FEATURE_AZ_POSITION_PULSE_INPUT
#ifdef FEATURE_EL_POSITION_PULSE_INPUT
volatile float el_position_pulse_input_elevation = 0;
volatile byte last_known_el_state = 0;
#ifdef OPTION_EL_PULSE_DEBOUNCE
unsigned long last_el_pulse_debounce = 0;
#endif //OPTION_EL_PULSE_DEBOUNCE
#endif // FEATURE_EL_POSITION_PULSE_INPUT
#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_MASTER_WITH_SERIAL_SLAVE)
byte serial_read_event_flag[] = { 0, 0, 0, 0, 0 };
byte control_port_buffer_carriage_return_flag = 0;
#endif
#if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
byte remote_unit_port_buffer[COMMAND_BUFFER_SIZE];
int remote_unit_port_buffer_index = 0;
byte remote_unit_port_buffer_carriage_return_flag = 0;
unsigned long serial1_last_receive_time = 0;
byte remote_unit_command_submitted = 0;
unsigned long last_remote_unit_command_time = 0;
unsigned int remote_unit_command_timeouts = 0;
unsigned int remote_unit_bad_results = 0;
unsigned long remote_unit_good_results = 0;
unsigned int remote_unit_incoming_buffer_timeouts = 0;
byte remote_unit_command_results_available = 0;
float remote_unit_command_result_float = 0;
byte remote_port_rx_sniff = 0;
byte remote_port_tx_sniff = 0;
byte suspend_remote_commands = 0;
#if defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE) && defined(FEATURE_CLOCK)
byte clock_synced_to_remote = 0;
#endif
#endif //FEATURE_MASTER_WITH_SERIAL_SLAVE
#ifdef DEBUG_POSITION_PULSE_INPUT
// unsigned int az_position_pule_interrupt_handler_flag = 0;
// unsigned int el_position_pule_interrupt_handler_flag = 0;
volatile unsigned long az_pulse_counter = 0;
volatile unsigned long el_pulse_counter = 0;
volatile unsigned int az_pulse_counter_ambiguous = 0;
volatile unsigned int el_pulse_counter_ambiguous = 0;
#endif // DEBUG_POSITION_PULSE_INPUT
#ifdef FEATURE_PARK
byte park_status = NOT_PARKED;
byte park_serial_initiated = 0;
#endif // FEATURE_PARK
#ifdef FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
volatile long az_incremental_encoder_position = 0;
volatile byte az_3_phase_encoder_last_phase_a_state = 0;
volatile byte az_3_phase_encoder_last_phase_b_state = 0;
#ifdef DEBUG_AZ_POSITION_INCREMENTAL_ENCODER
volatile long az_position_incremental_encoder_interrupt = 0;
#endif // DEBUG_AZ_POSITION_INCREMENTAL_ENCODER
#endif // FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
#ifdef FEATURE_EL_POSITION_INCREMENTAL_ENCODER
volatile long el_incremental_encoder_position = 0;
volatile byte el_3_phase_encoder_last_phase_a_state = 0;
volatile byte el_3_phase_encoder_last_phase_b_state = 0;
#ifdef DEBUG_EL_POSITION_INCREMENTAL_ENCODER
volatile long el_position_incremental_encoder_interrupt = 0;
#endif // DEBUG_EL_POSITION_INCREMENTAL_ENCODER
#endif // FEATURE_EL_POSITION_INCREMENTAL_ENCODER
#ifdef FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
volatile byte read_azimuth_lock = 0;
#endif
#ifdef FEATURE_EL_POSITION_INCREMENTAL_ENCODER
volatile byte read_elevation_lock = 0;
#endif
#if defined(FEATURE_AZ_POSITION_INCREMENTAL_ENCODER) || defined(FEATURE_EL_POSITION_INCREMENTAL_ENCODER)
volatile byte service_rotation_lock = 0;
#endif
#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION) || defined(FEATURE_CLOCK) || defined(UNDER_DEVELOPMENT_REMOTE_UNIT_COMMANDS)
HardwareSerial * control_port;
#endif
#if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE)
HardwareSerial * remote_unit_port;
#endif
#if defined(FEATURE_GPS)
HardwareSerial * gps_port;
#ifdef GPS_MIRROR_PORT
HardwareSerial * (gps_mirror_port);
#endif //GPS_MIRROR_PORT
#endif //defined(FEATURE_GPS)
#if defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING) || defined(FEATURE_CLOCK) || (defined(FEATURE_GPS) && defined(FEATURE_REMOTE_UNIT_SLAVE))
double latitude = DEFAULT_LATITUDE;
double longitude = DEFAULT_LONGITUDE;
#endif
#ifdef FEATURE_MOON_TRACKING
byte moon_tracking_active = 0;
byte moon_visible = 0;
double moon_azimuth = 0;
double moon_elevation = 0;
#endif // FEATURE_MOON_TRACKING
#ifdef FEATURE_SUN_TRACKING
float sun_azimuth = 0;
float sun_elevation = 0;
cTime c_time;
cLocation c_loc;
cSunCoordinates c_sposn;
byte sun_visible = 0;
byte sun_tracking_active = 0;
#endif // FEATURE_SUN_TRACKING
#ifdef FEATURE_CLOCK
unsigned long clock_years = 0;
unsigned long clock_months = 0;
unsigned long clock_days = 0;
unsigned long clock_hours = 0;
unsigned long clock_minutes = 0;
unsigned long clock_seconds = 0;
int clock_year_set = 2014;
byte clock_month_set = 1;
byte clock_day_set = 1;
byte clock_sec_set = 0;
unsigned long clock_hour_set = 0;
unsigned long clock_min_set = 0;
unsigned long millis_at_last_calibration = 0;
#endif // FEATURE_CLOCK
#if defined(FEATURE_GPS) || defined(FEATURE_RTC) || defined(FEATURE_CLOCK)
byte clock_status = FREE_RUNNING;
#endif // defined(FEATURE_GPS) || defined(FEATURE_RTC)
#ifdef FEATURE_GPS
byte gps_data_available = 0;
#endif // FEATURE_GPS
#ifdef FEATURE_ETHERNET
byte mac[] = {ETHERNET_MAC_ADDRESS};
IPAddress ip(ETHERNET_IP_ADDRESS);
IPAddress gateway(ETHERNET_IP_GATEWAY);
IPAddress subnet(ETHERNET_IP_SUBNET_MASK);
EthernetClient ethernetclient0;
EthernetServer ethernetserver0(ETHERNET_TCP_PORT_0);
#ifdef ETHERNET_TCP_PORT_1
EthernetClient ethernetclient1;
EthernetServer ethernetserver1(ETHERNET_TCP_PORT_1);
#endif //ETHERNET_TCP_PORT_1
#ifdef FEATURE_MASTER_WITH_ETHERNET_SLAVE
EthernetClient ethernetslavelinkclient0;
IPAddress slave_unit_ip(ETHERNET_SLAVE_IP_ADDRESS);
byte ethernetslavelinkclient0_state = ETHERNET_SLAVE_DISCONNECTED;
unsigned int ethernet_slave_reconnects = 0;
#endif //FEATURE_MASTER_WITH_ETHERNET_SLAVE
#endif //FEATURE_ETHERNET
#ifdef FEATURE_POWER_SWITCH
unsigned long last_activity_time = 0;
#endif //FEATURE_POWER_SWITCH
#ifdef FEATURE_STEPPER_MOTOR
volatile unsigned int az_stepper_freq_count = 0;
#ifdef FEATURE_ELEVATION_CONTROL
volatile unsigned int el_stepper_freq_count = 0;
#endif //FEATURE_ELEVATION_CONTROL
volatile unsigned long service_stepper_motor_pulse_pins_count = 0;
#endif //FEATURE_STEPPER_MOTOR
#ifdef FEATURE_AZIMUTH_CORRECTION
float azimuth_calibration_from[] = AZIMUTH_CALIBRATION_FROM_ARRAY;
float azimuth_calibration_to[] = AZIMUTH_CALIBRATION_TO_ARRAY;
#endif // FEATURE_AZIMUTH_CORRECTION
#ifdef FEATURE_ELEVATION_CORRECTION
float elevation_calibration_from[] = ELEVATION_CALIBRATION_FROM_ARRAY;
float elevation_calibration_to[] = ELEVATION_CALIBRATION_TO_ARRAY;
#endif // FEATURE_ELEVATION_CORRECTION
#ifdef FEATURE_AUTOCORRECT
byte autocorrect_state_az = AUTOCORRECT_INACTIVE;
float autocorrect_az = 0;
unsigned long autocorrect_az_submit_time = 0;
#ifdef FEATURE_ELEVATION_CONTROL
byte autocorrect_state_el = AUTOCORRECT_INACTIVE;
float autocorrect_el = 0;
unsigned long autocorrect_el_submit_time = 0;
#endif //FEATURE_ELEVATION_CONTROL
#endif //FEATURE_AUTOCORRECT
#ifdef FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
float az_a2_encoder = 0;
#endif //FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
#ifdef FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
float el_a2_encoder = 0;
#endif //FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
DebugClass debug;
#if defined(FEATURE_4_BIT_LCD_DISPLAY) || defined(FEATURE_ADAFRUIT_I2C_LCD) || defined(FEATURE_YOURDUINO_I2C_LCD) || defined(FEATURE_YWROBOT_I2C_DISPLAY)
K3NGdisplay k3ngdisplay(LCD_COLUMNS,LCD_ROWS,LCD_UPDATE_TIME);
#endif
#ifdef FEATURE_AZ_POSITION_HMC5883L
HMC5883L compass;
#endif //FEATURE_AZ_POSITION_HMC5883L
#ifdef FEATURE_EL_POSITION_ADXL345_USING_LOVE_ELECTRON_LIB
ADXL345 accel;
#endif //FEATURE_EL_POSITION_ADXL345_USING_LOVE_ELECTRON_LIB
#ifdef FEATURE_EL_POSITION_ADXL345_USING_ADAFRUIT_LIB
Adafruit_ADXL345_Unified accel = Adafruit_ADXL345_Unified(12345);
#endif //FEATURE_EL_POSITION_ADXL345_USING_ADAFRUIT_LIB
#if defined(FEATURE_EL_POSITION_ADAFRUIT_LSM303) || defined(FEATURE_AZ_POSITION_ADAFRUIT_LSM303)
Adafruit_LSM303 lsm;
#endif
#if defined(FEATURE_AZ_POSITION_POLOLU_LSM303) || defined(FEATURE_EL_POSITION_POLOLU_LSM303)
LSM303 compass;
LSM303::vector<int16_t> running_min = {32767, 32767, 32767}, running_max = {-32768, -32768, -32768};
char report[80];
#endif //FEATURE_AZ_POSITION_POLOLU_LSM303
#ifdef FEATURE_AZ_POSITION_HH12_AS5045_SSI
#include "hh12.h"
hh12 azimuth_hh12;
#endif //FEATURE_AZ_POSITION_HH12_AS5045_SSI
#ifdef FEATURE_EL_POSITION_HH12_AS5045_SSI
#include "hh12.h"
hh12 elevation_hh12;
#endif //FEATURE_EL_POSITION_HH12_AS5045_SSI
#ifdef FEATURE_GPS
TinyGPS gps;
#endif //FEATURE_GPS
#ifdef FEATURE_RTC_DS1307
RTC_DS1307 rtc;
#endif //FEATURE_RTC_DS1307
#ifdef FEATURE_RTC_PCF8583
PCF8583 rtc(0xA0);
#endif //FEATURE_RTC_PCF8583
#ifdef HARDWARE_EA4TX_ARS_USB
#undef LCD_COLUMNS
#undef LCD_ROWS
#define LCD_COLUMNS 16
#define LCD_ROWS 2
#endif //HARDWARE_EA4TX_ARS_USB
#ifdef HARDWARE_M0UPU
#undef LCD_ROWS
#define LCD_ROWS 2
#endif //HARDWARE_M0UPU
#ifdef FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
#define AZ_A2_ENCODER_RESOLUTION 32767 /*36000*/
#define AZ_A2_ENCODER_ADDRESS 0x00
#define AZ_QUERY_FREQUENCY_MS 250
#define AZ_A2_ENCODER_MODE MODE_TWO_BYTE_POSITION /*|MODE_MULTITURN*/
#endif //FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
#ifdef FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
#define EL_A2_ENCODER_RESOLUTION 32767 /*36000*/
#define EL_A2_ENCODER_ADDRESS 0x00
#define EL_QUERY_FREQUENCY_MS 250
#define EL_A2_ENCODER_MODE MODE_MULTITURN /*|MODE_TWO_BYTE_POSITION*/
#endif //FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
#if defined(FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER) || defined(FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER)
#include "sei_bus.h"
SEIbus SEIbus1(&Serial1,9600,pin_sei_bus_busy,pin_sei_bus_send_receive);
// (Serial Port,Baud Rate,Busy Pin,Send/Receive Pin)
#define SEI_BUS_COMMAND_TIMEOUT_MS 6000
#endif
//yyyyyyyyy
#include "rotator_clock_and_gps.h"
#include "rotator_command_processing.h"
#include "rotator_moon_and_sun.h"
#include "rotator_ethernet.h"
#include "rotator_stepper.h"
#include "rotator_language.h"
/* ------------------ let's start doing some stuff now that we got the formalities out of the way --------------------*/
void setup() {
delay(1000);
initialize_serial();
initialize_peripherals();
read_settings_from_eeprom();
initialize_pins();
read_azimuth(0);
initialize_display();
initialize_rotary_encoders();
initialize_interrupts();
} /* setup */
/*-------------------------- here's where the magic happens --------------------------------*/
void loop() {
#ifdef DEBUG_LOOP
debug.print("loop()\n");
Serial.flush();
#endif // DEBUG_LOOP
check_serial();
read_headings();
#ifndef FEATURE_REMOTE_UNIT_SLAVE
service_request_queue();
service_rotation();
az_check_operation_timeout();
#ifdef FEATURE_TIMED_BUFFER
check_timed_interval();
#endif // FEATURE_TIMED_BUFFER
read_headings();
check_buttons();
check_overlap();
check_brake_release();
#ifdef FEATURE_ELEVATION_CONTROL
el_check_operation_timeout();
#endif
#endif // ndef FEATURE_REMOTE_UNIT_SLAVE
//read_headings();
#ifdef FEATURE_LCD_DISPLAY
update_display();
#endif
#ifndef FEATURE_REMOTE_UNIT_SLAVE
#ifdef OPTION_AZ_MANUAL_ROTATE_LIMITS
check_az_manual_rotate_limit();
#endif
#if defined(OPTION_EL_MANUAL_ROTATE_LIMITS) && defined(FEATURE_ELEVATION_CONTROL)
check_el_manual_rotate_limit();
#endif
check_az_speed_pot();
#ifdef FEATURE_AZ_PRESET_ENCODER // Rotary Encoder or Preset Selector
check_preset_encoders();
#else
check_az_preset_potentiometer();
#endif // FEATURE_AZ_PRESET_ENCODER
#endif // ndef FEATURE_REMOTE_UNIT_SLAVE
#ifdef DEBUG_DUMP
output_debug();
#endif //DEBUG_DUMP
read_headings();
#ifndef FEATURE_REMOTE_UNIT_SLAVE
service_rotation();
#endif
check_for_dirty_configuration();
#ifdef DEBUG_PROFILE_LOOP_TIME
profile_loop_time();
#endif //DEBUG_PROFILE_LOOP_TIME
#ifdef FEATURE_REMOTE_UNIT_SLAVE
service_remote_unit_serial_buffer();
#endif // FEATURE_REMOTE_UNIT_SLAVE
#if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
service_remote_communications_incoming_buffer();
#endif // defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
#ifdef FEATURE_JOYSTICK_CONTROL
check_joystick();
#endif // FEATURE_JOYSTICK_CONTROL
#ifdef FEATURE_ROTATION_INDICATOR_PIN
service_rotation_indicator_pin();
#endif // FEATURE_ROTATION_INDICATOR_PIN
#ifdef FEATURE_PARK
service_park();
#endif // FEATURE_PARK
#ifdef FEATURE_LIMIT_SENSE
check_limit_sense();
#endif // FEATURE_LIMIT_SENSE
#ifdef FEATURE_MOON_TRACKING
service_moon_tracking();
#endif // FEATURE_MOON_TRACKING
#ifdef FEATURE_SUN_TRACKING
service_sun_tracking();
#endif // FEATURE_SUN_TRACKING
#ifdef FEATURE_GPS
service_gps();
#endif // FEATURE_GPS
read_headings();
#ifndef FEATURE_REMOTE_UNIT_SLAVE
service_rotation();
#endif
#ifdef FEATURE_RTC
service_rtc();
#endif // FEATURE_RTC
#ifdef FEATURE_ETHERNET
service_ethernet();
#endif // FEATURE_ETHERNET
#ifdef FEATURE_POWER_SWITCH
service_power_switch();
#endif //FEATURE_POWER_SWITCH
#if defined(FEATURE_CLOCK) && defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE) && (defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE))
sync_master_clock_to_slave();
#endif
#if defined(OPTION_SYNC_MASTER_COORDINATES_TO_SLAVE) && (defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE))
sync_master_coordinates_to_slave();
#endif
service_blink_led();
#ifdef FEATURE_ANALOG_OUTPUT_PINS
service_analog_output_pins();
#endif //FEATURE_ANALOG_OUTPUT_PINS
#if defined(FEATURE_SUN_PUSHBUTTON_AZ_EL_CALIBRATION) && defined(FEATURE_SUN_TRACKING)
check_sun_pushbutton_calibration();
#endif //defined(FEATURE_SUN_PUSHBUTTON_AZ_EL_CALIBRATION) && defined(FEATURE_SUN_TRACKING)
#if defined(FEATURE_MOON_PUSHBUTTON_AZ_EL_CALIBRATION) && defined(FEATURE_MOON_TRACKING)
check_moon_pushbutton_calibration();
#endif //defined(FEATURE_MOON_PUSHBUTTON_AZ_EL_CALIBRATION) && defined(FEATURE_MOON_TRACKING)
#if defined(FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER) || defined(FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER)
service_a2_encoders();
#endif //defined(FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER) || defined(FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER)
check_for_reset_flag();
} /* loop */
/* -------------------------------------- subroutines -----------------------------------------------
Where the real work happens...
*/
#if defined(FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER) || defined(FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER)
void service_a2_encoders(){
static unsigned long last_sei_bus_command_submit_time = 0;
static byte submitted_sei_bus_command = 0;
static byte last_command_encoder_address = 0;
static unsigned long last_encoder_queried_resolution = 0;
float normalized_position = 0;
#ifdef FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
static byte executed_az_change_resolution = 0;
static byte executed_az_change_mode_power_up = 0;
static unsigned long last_az_position_query_time = 0;
static byte az_a2_position_queried = 0;
#endif //FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
#ifdef FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
static byte executed_el_change_resolution = 0;
static byte executed_el_change_mode_power_up = 0;
static unsigned long last_el_position_query_time = 0;
static byte el_a2_position_queried = 0;
#endif //FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
#ifdef DEBUG_A2_ENCODER_LOOPBACK_TEST
static byte did_loopback_tests = 0;
if (!did_loopback_tests){
debug_mode = 1;
#ifdef FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
debug.print("service_a2_encoders: Starting az encoder loopback test...");
if (SEIbus1.a2_encoder_loopback_test(AZ_A2_ENCODER_ADDRESS)){
Serial.println("completed successfully!");
} else {
Serial.println("failed!");
}
#endif //FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
#ifdef FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
debug.print("service_a2_encoders: Starting el encoder loopback test...");
if (SEIbus1.a2_encoder_loopback_test(EL_A2_ENCODER_ADDRESS)){
Serial.println("completed successfully!");
} else {
Serial.println("failed!");
}
#endif //FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
delay(1000);
did_loopback_tests = 1;
}
#endif //DEBUG_A2_ENCODER_LOOPBACK_TEST
// initializations
#ifdef FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
if ((!executed_az_change_resolution) && (SEIbus1.command_in_progress == 0) && (!submitted_sei_bus_command)) {
if (SEIbus1.a2_encoder_change_resolution(AZ_A2_ENCODER_ADDRESS,AZ_A2_ENCODER_RESOLUTION)){
submitted_sei_bus_command = 1;
executed_az_change_resolution = 1;
last_command_encoder_address = AZ_A2_ENCODER_ADDRESS;
#ifdef DEBUG_A2_ENCODER
debug.println("service_a2_encoders: a2_encoder_change_resolution submitted: az");
#endif
} else {
#ifdef DEBUG_A2_ENCODER
debug.println("service_a2_encoders: a2_encoder_change_resolution unsuccesfully submitted: az");
#endif
}
last_sei_bus_command_submit_time = millis();
}
#endif //FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
#ifdef FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
if ((!executed_el_change_resolution) && (SEIbus1.command_in_progress == 0) && (!submitted_sei_bus_command)) {
if (SEIbus1.a2_encoder_change_resolution(EL_A2_ENCODER_ADDRESS,EL_A2_ENCODER_RESOLUTION)){
submitted_sei_bus_command = 1;
executed_el_change_resolution = 1;
last_command_encoder_address = EL_A2_ENCODER_ADDRESS;
#ifdef DEBUG_A2_ENCODER
debug.println("service_a2_encoders: a2_encoder_change_resolution submitted: el");
#endif
} else {
#ifdef DEBUG_A2_ENCODER
debug.println("service_a2_encoders: a2_encoder_change_resolution unsuccesfully submitted: el");
#endif
}
last_sei_bus_command_submit_time = millis();
}
#endif //FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
#ifdef FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
if ((!executed_az_change_mode_power_up) && (SEIbus1.command_in_progress == 0) && (!submitted_sei_bus_command)) {
if (SEIbus1.a2_encoder_change_mode_power_up(AZ_A2_ENCODER_ADDRESS,AZ_A2_ENCODER_MODE)){
submitted_sei_bus_command = 1;
executed_az_change_mode_power_up = 1;
last_command_encoder_address = AZ_A2_ENCODER_ADDRESS;
#ifdef DEBUG_A2_ENCODER
debug.println("service_a2_encoders: a2_encoder_change_mode_power_up submitted: az");
#endif
} else {
#ifdef DEBUG_A2_ENCODER
debug.println("service_a2_encoders: a2_encoder_change_mode_power_up unsuccesfully submitted: az");
#endif
}
last_sei_bus_command_submit_time = millis();
}
#endif //FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
#ifdef FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
if ((!executed_el_change_mode_power_up) && (SEIbus1.command_in_progress == 0) && (!submitted_sei_bus_command)) {
if (SEIbus1.a2_encoder_change_mode_power_up(EL_A2_ENCODER_ADDRESS,EL_A2_ENCODER_MODE)){
submitted_sei_bus_command = 1;
executed_el_change_mode_power_up = 1;
last_command_encoder_address = EL_A2_ENCODER_ADDRESS;
#ifdef DEBUG_A2_ENCODER
debug.println("service_a2_encoders: a2_encoder_change_mode_power_up submitted: el");
#endif
} else {
#ifdef DEBUG_A2_ENCODER
debug.println("service_a2_encoders: a2_encoder_change_mode_power_up unsuccesfully submitted: el");
#endif
}
last_sei_bus_command_submit_time = millis();
}
#endif //FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
// periodic position query
#ifdef FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
if (((millis() - last_az_position_query_time) >= AZ_QUERY_FREQUENCY_MS) && (SEIbus1.command_in_progress == 0) && (!submitted_sei_bus_command)) {
if (SEIbus1.a2_encoder_read_position(AZ_A2_ENCODER_ADDRESS)){
submitted_sei_bus_command = 1;
last_command_encoder_address = AZ_A2_ENCODER_ADDRESS;
last_encoder_queried_resolution = AZ_A2_ENCODER_RESOLUTION;
az_a2_position_queried = 1;
#ifdef DEBUG_A2_ENCODER
debug.println("service_a2_encoders: a2_encoder_read_position submitted: az");
#endif
} else {
#ifdef DEBUG_A2_ENCODER
debug.println("service_a2_encoders: a2_encoder_read_position unsuccesfully submitted: az");
#endif
}
last_sei_bus_command_submit_time = millis();
last_az_position_query_time = millis();
}
#endif //FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
#ifdef FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
if (((millis() - last_el_position_query_time) >= EL_QUERY_FREQUENCY_MS) && (SEIbus1.command_in_progress == 0) && (!submitted_sei_bus_command)) {
if (SEIbus1.a2_encoder_read_position(EL_A2_ENCODER_ADDRESS)){
submitted_sei_bus_command = 1;
last_command_encoder_address = EL_A2_ENCODER_ADDRESS;
last_encoder_queried_resolution = EL_A2_ENCODER_RESOLUTION;
el_a2_position_queried = 1;
#ifdef DEBUG_A2_ENCODER
debug.println("service_a2_encoders: a2_encoder_read_position submitted: el");
#endif
} else {
#ifdef DEBUG_A2_ENCODER
debug.println("service_a2_encoders: a2_encoder_read_position unsuccesfully submitted: el");
#endif
}
last_sei_bus_command_submit_time = millis();
last_el_position_query_time = millis();
}
#endif //FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
SEIbus1.service();
// if there are command results available, process them
if ((SEIbus1.command_result_ready[last_command_encoder_address] == 1) && (submitted_sei_bus_command)){
switch(SEIbus1.last_command[last_command_encoder_address]){
#ifdef DEBUG_A2_ENCODER
case SEI_BUS_A2_ENCODER_READ_FACTORY_INFO:
debug.print("service_a2_encoders: Model:");
debug.print(SEIbus1.model_number);
debug.print(" Version:");
debug.print(SEIbus1.version_number,2);
debug.print(" Serial:");
debug.print(SEIbus1.serial_number,0);
debug.print(" ");
debug.print(SEIbus1.year);
debug.print("-");
debug.print(SEIbus1.month);
debug.print("-");
debug.print(SEIbus1.day);
debug.println("");
break;
case SEI_BUS_A2_ENCODER_CMD_READ_POS_TIME_STATUS:
debug.print("service_a2_encoders: Time: ");
debug.print(SEIbus1.time,0);
debug.println("");
case SEI_BUS_A2_ENCODER_CMD_READ_POS_STATUS:
debug.print("service_a2_encoders: Status: ");
switch(SEIbus1.status & B11110000){
case STATUS_NO_ERROR: debug.println("OK"); break;
case STATUS_NOT_ENOUGH_LIGHT: debug.println("NOT_ENOUGH_LIGHT"); break;
case STATUS_TOO_MUCH_LIGHT: debug.println("TOO_MUCH_LIGHT"); break;
case STATUS_MISALIGNMENT_OR_DUST_1: debug.println("MISALIGNMENT_OR_DUST_1"); break;
case STATUS_MISALIGNMENT_OR_DUST_2: debug.println("MISALIGNMENT_OR_DUST_2"); break;
case STATUS_MISALIGNMENT_OR_DUST_3: debug.println("MISALIGNMENT_OR_DUST_3"); break;
case STATUS_HARDWARE_PROBLEM: debug.println("HARDWARE_PROBLEM"); break;
case STATUS_FAST_MODE_ERROR: debug.println("FAST_MODE_ERROR"); break;
case STATUS_MULTITURN_NOT_INIT: debug.println("MULTITURN_NOT_INIT"); break;
}
case SEI_BUS_A2_ENCODER_READ_RESOLUTION:
debug.print("service_a2_encoders: Resolution: ");
debug.print(SEIbus1.resolution,0);
debug.println("");
break;
case SEI_BUS_A2_ENCODER_CHANGE_RESOLUTION:
debug.println("service_a2_encoders: Resolution set.");
break;
case SEI_BUS_A2_ENCODER_READ_SERIAL_NUMBER:
debug.print("service_a2_encoders: Serial number is ");
debug.print(SEIbus1.serial_number,0);
debug.println("");
break;
case SEI_BUS_A2_ENCODER_SET_ABSOLUTE_POSITION:
debug.println("service_a2_encoders: Set absolute position.");
break;
case SEI_BUS_A2_ENCODER_SET_ORIGIN:
debug.println("service_a2_encoders: Set origin executed.");
break;
case SEI_BUS_A2_ENCODER_CHANGE_MODE_TEMPORARY:
debug.println("service_a2_encoders: Changed mode temporarily.");
break;
case SEI_BUS_A2_ENCODER_CHANGE_MODE_POWER_UP:
debug.println("service_a2_encoders: Changed power up mode.");
break;
case SEI_BUS_A2_ENCODER_READ_MODE:
debug.print("service_a2_encoders: Modes set: ");
if (SEIbus1.mode & MODE_REVERSE){debug.print("MODE_REVERSE ");}
if (SEIbus1.mode & MODE_STROBE){debug.print("MODE_STROBE ");}
if (SEIbus1.mode & MODE_MULTITURN){debug.print("MODE_MULTITURN ");}
if (SEIbus1.mode & MODE_TWO_BYTE_POSITION){debug.print("MODE_TWO_BYTE_POSITION ");}
if (SEIbus1.mode & MODE_INCREMENTAL){debug.print("MODE_INCREMENTAL ");}
if (SEIbus1.mode & MODE_DIVIDE_BY_256){debug.print("MODE_DIVIDE_BY_256 ");}
debug.println("");
break;
case SEI_BUS_A2_ENCODER_RESET:
debug.println("service_a2_encoders: Completed reset.");
break;
#endif //#DEBUG_A2_ENCODER
case SEI_BUS_A2_ENCODER_CMD_READ_POS:
#ifdef DEBUG_A2_ENCODER
debug.print("service_a2_encoders: Position Raw: ");
debug.print(SEIbus1.position,0);
debug.print("\tNormalized: ");
normalized_position = (SEIbus1.position/(float(last_encoder_queried_resolution)/360.0));
debug.print(normalized_position,4);
debug.print("\tRollover Compensated: ");
normalized_position = (SEIbus1.position_rollover_compensated/(float(last_encoder_queried_resolution)/360.0));
debug.print(normalized_position, 4);
debug.println("");
#endif //#DEBUG_A2_ENCODER
#ifdef FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
if (az_a2_position_queried){
az_a2_encoder = (SEIbus1.position/(float(last_encoder_queried_resolution)/360.0));
az_a2_position_queried = 0;
}
#endif //FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
#ifdef FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
if (el_a2_position_queried){
el_a2_encoder = (SEIbus1.position_rollover_compensated/(float(last_encoder_queried_resolution)/360.0));
el_a2_position_queried = 0;
}
#endif //FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
break;
#ifdef DEBUG_A2_ENCODER
default:
debug.println("service_a2_encoders: Unknown command completed.");
break;
#endif //#DEBUG_A2_ENCODER
}
submitted_sei_bus_command = 0;
}
// if a command has been in progress for awhile with no result, give up on the command
if (((millis() - last_sei_bus_command_submit_time) > SEI_BUS_COMMAND_TIMEOUT_MS) && (submitted_sei_bus_command)) {
submitted_sei_bus_command = 0;
#ifdef DEBUG_A2_ENCODER
debug.println("service_a2_encoders: command timeout");
#endif
}
}
#endif //#if defined(FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER) || defined(FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER)
// --------------------------------------------------------------
void read_headings(){
#ifdef DEBUG_LOOP
debug.print("read_headings()\n");
#endif // DEBUG_LOOP
read_azimuth(0);
#ifdef FEATURE_ELEVATION_CONTROL
read_elevation(0);
#endif
}
// --------------------------------------------------------------
void service_blink_led(){
#ifdef blink_led
static unsigned long last_blink_led_transition = 0;
static byte blink_led_status = 0;
if (((millis() - last_blink_led_transition) >= 1000) && (blink_led != 0)) {
if (blink_led_status) {
digitalWriteEnhanced(blink_led, LOW);
blink_led_status = 0;
} else {
digitalWriteEnhanced(blink_led, HIGH);
blink_led_status = 1;
}
last_blink_led_transition = millis();
}
#endif // blink_led
} /* service_blink_led */
// --------------------------------------------------------------
void check_for_reset_flag(){
static unsigned long detected_reset_flag_time = 0;
if (reset_the_unit){
if (detected_reset_flag_time == 0){
detected_reset_flag_time = millis();
} else {
if ((millis()-detected_reset_flag_time) > 5000){ // let things run for 5 seconds
#ifdef reset_pin
digitalWrite(reset_pin,HIGH);
#else // reset_pin
#ifdef OPTION_RESET_METHOD_JMP_ASM_0
asm volatile (" jmp 0"); // reboot! // doesn't work on Arduino Mega but works on SainSmart Mega.
//wdt_enable(WDTO_30MS); while(1) {}; //doesn't work on Mega
#else //OPTION_RESET_METHOD_JMP_ASM_0
setup();
reset_the_unit = 0;
#endif //OPTION_RESET_METHOD_JMP_ASM_0
#endif //reset_pin
}
}
}
}
// --------------------------------------------------------------
#ifdef DEBUG_PROFILE_LOOP_TIME
void profile_loop_time(){
static unsigned long last_time = 0;
static unsigned long last_print_time = 0;
average_loop_time = (average_loop_time + (millis() - last_time)) / 2.0;
last_time = millis();
if (debug_mode) {
if ((millis() - last_print_time) > 1000) {
debug.print("avg loop time: ");
debug.print(average_loop_time, 2);
debug.println("");
last_print_time = millis();
}
}
} /* profile_loop_time */
#endif //DEBUG_PROFILE_LOOP_TIME
// --------------------------------------------------------------
void check_az_speed_pot() {
static unsigned long last_pot_check_time = 0;
int pot_read = 0;
byte new_azimuth_speed_voltage = 0;
if (az_speed_pot /*&& azimuth_speed_voltage*/ && ((millis() - last_pot_check_time) > 500)) {
pot_read = analogReadEnhanced(az_speed_pot);
new_azimuth_speed_voltage = map(pot_read, SPEED_POT_LOW, SPEED_POT_HIGH, SPEED_POT_LOW_MAP, SPEED_POT_HIGH_MAP);
if (new_azimuth_speed_voltage != normal_az_speed_voltage) {
#ifdef DEBUG_AZ_SPEED_POT
if (debug_mode) {
debug.print("check_az_speed_pot: normal_az_speed_voltage: ");
debug.print(normal_az_speed_voltage);
debug.print(" new_azimuth_speed_voltage:");
debug.print(new_azimuth_speed_voltage);
debug.println("");
}
#endif // DEBUG_AZ_SPEED_POT
normal_az_speed_voltage = new_azimuth_speed_voltage;
update_az_variable_outputs(normal_az_speed_voltage);
#if defined(OPTION_EL_SPEED_FOLLOWS_AZ_SPEED) && defined(FEATURE_ELEVATION_CONTROL)
normal_el_speed_voltage = new_azimuth_speed_voltage;
update_el_variable_outputs(normal_el_speed_voltage);
#endif // OPTION_EL_SPEED_FOLLOWS_AZ_SPEED
}
last_pot_check_time = millis();
}
} /* check_az_speed_pot */
// --------------------------------------------------------------
void check_az_preset_potentiometer() {
byte check_pot = 0;
static unsigned long last_pot_check_time = 0;
static int last_pot_read = 9999;
int pot_read = 0;
int new_pot_azimuth = 0;
byte button_read = 0;
static byte pot_changed_waiting = 0;
if (az_preset_pot) {
if (last_pot_read == 9999) { // initialize last_pot_read the first time we hit this subroutine
last_pot_read = analogReadEnhanced(az_preset_pot);
}
if (!pot_changed_waiting) {
if (preset_start_button) { // if we have a preset start button, check it
button_read = digitalReadEnhanced(preset_start_button);
if (button_read == BUTTON_ACTIVE_STATE) {
check_pot = 1;
}
} else { // if not, check the pot every 500 mS
if ((millis() - last_pot_check_time) < 250) {
check_pot = 1;
}
}
if (check_pot) {
pot_read = analogReadEnhanced(az_preset_pot);
new_pot_azimuth = map(pot_read, AZ_PRESET_POT_FULL_CW, AZ_PRESET_POT_FULL_CCW, AZ_PRESET_POT_FULL_CW_MAP, AZ_PRESET_POT_FULL_CCW_MAP);
if ((abs(last_pot_read - pot_read) > 4) && (abs(new_pot_azimuth - (raw_azimuth / HEADING_MULTIPLIER)) > AZIMUTH_TOLERANCE)) {
pot_changed_waiting = 1;
#ifdef DEBUG_AZ_PRESET_POT
if (debug_mode) {
debug.println("check_az_preset_potentiometer: in pot_changed_waiting");
}
#endif // DEBUG_AZ_PRESET_POT
last_pot_read = pot_read;
}
}
last_pot_check_time = millis();
} else { // we're in pot change mode
pot_read = analogReadEnhanced(az_preset_pot);
if (abs(pot_read - last_pot_read) > 3) { // if the pot has changed, reset the timer
last_pot_check_time = millis();
last_pot_read = pot_read;
} else {
if ((millis() - last_pot_check_time) >= 250) { // has it been awhile since the last pot change?
new_pot_azimuth = map(pot_read, AZ_PRESET_POT_FULL_CW, AZ_PRESET_POT_FULL_CCW, AZ_PRESET_POT_FULL_CW_MAP, AZ_PRESET_POT_FULL_CCW_MAP);
#ifdef DEBUG_AZ_PRESET_POT
if (debug_mode) {
debug.print("check_az_preset_potentiometer: pot change - current raw_azimuth: ");
debug.print(raw_azimuth / HEADING_MULTIPLIER,0);
debug.print(" new_azimuth: ");
debug.print(new_pot_azimuth);
debug.println("");
}
#endif // DEBUG_AZ_PRESET_POT
submit_request(AZ, REQUEST_AZIMUTH_RAW, new_pot_azimuth * HEADING_MULTIPLIER, 44);
pot_changed_waiting = 0;
last_pot_read = pot_read;
last_pot_check_time = millis();
}
}
}
} // if (az_preset_pot)
} /* check_az_preset_potentiometer */
// --------------------------------------------------------------
void initialize_rotary_encoders(){
#ifdef DEBUG_LOOP
debug.print("initialize_rotary_encoders()\n");
Serial.flush();
#endif // DEBUG_LOOP
#ifdef FEATURE_AZ_PRESET_ENCODER
pinModeEnhanced(az_rotary_preset_pin1, INPUT);
pinModeEnhanced(az_rotary_preset_pin2, INPUT);
az_encoder_raw_degrees = raw_azimuth;
#ifdef OPTION_ENCODER_ENABLE_PULLUPS
digitalWriteEnhanced(az_rotary_preset_pin1, HIGH);
digitalWriteEnhanced(az_rotary_preset_pin2, HIGH);
#endif // OPTION_ENCODER_ENABLE_PULLUPS
#endif // FEATURE_AZ_PRESET_ENCODER
#if defined(FEATURE_EL_PRESET_ENCODER) && defined(FEATURE_ELEVATION_CONTROL)
pinModeEnhanced(el_rotary_preset_pin1, INPUT);
pinModeEnhanced(el_rotary_preset_pin2, INPUT);
el_encoder_degrees = elevation;
#ifdef OPTION_ENCODER_ENABLE_PULLUPS
digitalWriteEnhanced(el_rotary_preset_pin1, HIGH);
digitalWriteEnhanced(el_rotary_preset_pin2, HIGH);
#endif // OPTION_ENCODER_ENABLE_PULLUPS
#endif // defined(FEATURE_EL_PRESET_ENCODER) && defined(FEATURE_ELEVATION_CONTROL)
#ifdef FEATURE_AZ_POSITION_ROTARY_ENCODER
pinModeEnhanced(az_rotary_position_pin1, INPUT);
pinModeEnhanced(az_rotary_position_pin2, INPUT);
#ifdef OPTION_ENCODER_ENABLE_PULLUPS
digitalWriteEnhanced(az_rotary_position_pin1, HIGH);
digitalWriteEnhanced(az_rotary_position_pin2, HIGH);
#endif // OPTION_ENCODER_ENABLE_PULLUPS
#endif // FEATURE_AZ_POSITION_ROTARY_ENCODER
#ifdef FEATURE_EL_POSITION_ROTARY_ENCODER
pinModeEnhanced(el_rotary_position_pin1, INPUT);
pinModeEnhanced(el_rotary_position_pin2, INPUT);
#ifdef OPTION_ENCODER_ENABLE_PULLUPS
digitalWriteEnhanced(el_rotary_position_pin1, HIGH);
digitalWriteEnhanced(el_rotary_position_pin2, HIGH);
#endif // OPTION_ENCODER_ENABLE_PULLUPS
#endif // FEATURE_EL_POSITION_ROTARY_ENCODER
#ifdef FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
pinMode(az_incremental_encoder_pin_phase_a, INPUT);
pinMode(az_incremental_encoder_pin_phase_b, INPUT);
pinMode(az_incremental_encoder_pin_phase_z, INPUT);
#ifdef OPTION_INCREMENTAL_ENCODER_PULLUPS
digitalWrite(az_incremental_encoder_pin_phase_a, HIGH);
digitalWrite(az_incremental_encoder_pin_phase_b, HIGH);
digitalWrite(az_incremental_encoder_pin_phase_z, HIGH);
#endif // OPTION_INCREMENTAL_ENCODER_PULLUPS
attachInterrupt(AZ_POSITION_INCREMENTAL_ENCODER_A_PIN_INTERRUPT, az_position_incremental_encoder_interrupt_handler, CHANGE);
attachInterrupt(AZ_POSITION_INCREMENTAL_ENCODER_B_PIN_INTERRUPT, az_position_incremental_encoder_interrupt_handler, CHANGE);
delay(250);
az_3_phase_encoder_last_phase_a_state = digitalRead(az_incremental_encoder_pin_phase_a);
az_3_phase_encoder_last_phase_b_state = digitalRead(az_incremental_encoder_pin_phase_b);
#endif // FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
#if defined(FEATURE_EL_POSITION_INCREMENTAL_ENCODER) && defined(FEATURE_ELEVATION_CONTROL)
pinMode(el_incremental_encoder_pin_phase_a, INPUT);
pinMode(el_incremental_encoder_pin_phase_b, INPUT);
pinMode(el_incremental_encoder_pin_phase_z, INPUT);
#ifdef OPTION_INCREMENTAL_ENCODER_PULLUPS
digitalWrite(el_incremental_encoder_pin_phase_a, HIGH);
digitalWrite(el_incremental_encoder_pin_phase_b, HIGH);
digitalWrite(el_incremental_encoder_pin_phase_z, HIGH);
#endif // OPTION_INCREMENTAL_ENCODER_PULLUPS
attachInterrupt(EL_POSITION_INCREMENTAL_ENCODER_A_PIN_INTERRUPT, el_position_incremental_encoder_interrupt_handler, CHANGE);
attachInterrupt(EL_POSITION_INCREMENTAL_ENCODER_B_PIN_INTERRUPT, el_position_incremental_encoder_interrupt_handler, CHANGE);
delay(250);
el_3_phase_encoder_last_phase_a_state = digitalRead(el_incremental_encoder_pin_phase_a);
el_3_phase_encoder_last_phase_b_state = digitalRead(el_incremental_encoder_pin_phase_b);
#endif // defined(FEATURE_EL_POSITION_INCREMENTAL_ENCODER) && defined(FEATURE_ELEVATION_CONTROL)
} /* initialize_rotary_encoders */
// --------------------------------------------------------------
#ifdef FEATURE_AZ_PRESET_ENCODER
void check_preset_encoders(){
static unsigned long last_encoder_change_time = 0;
byte button_read = HIGH;
byte number_columns = 0;
static byte submit_encoder_change = 0;
static unsigned long last_preset_start_button_start = 0;
static unsigned long last_preset_start_button_kill = 0;
static unsigned long last_encoder_move = 0;
#ifdef FEATURE_AZ_PRESET_ENCODER
static unsigned long az_timestamp[5];
#endif // FEATURE_AZ_PRESET_ENCODER
#ifdef FEATURE_EL_PRESET_ENCODER
static unsigned long el_timestamp[5];
#endif // FEATURE_EL_PRESET_ENCODER
#ifdef FEATURE_AZ_PRESET_ENCODER
az_encoder_state = ttable[az_encoder_state & 0xf][((digitalReadEnhanced(az_rotary_preset_pin2) << 1) | digitalReadEnhanced(az_rotary_preset_pin1))];
unsigned char az_encoder_result = az_encoder_state & 0x30;
#ifdef DEBUG_PRESET_ENCODERS
static byte last_az_rotary_preset_pin1 = 0;
static byte last_az_rotary_preset_pin2 = 0;
if ((debug_mode) && (( last_az_rotary_preset_pin1 != digitalReadEnhanced(az_rotary_preset_pin1)) || ( last_az_rotary_preset_pin2 != digitalReadEnhanced(az_rotary_preset_pin2)))) {
debug.print("check_preset_encoders: az_rotary_preset_pin1: ");
debug.print(digitalReadEnhanced(az_rotary_preset_pin1));
debug.print(" az_rotary_preset_pin2: ");
debug.print(digitalReadEnhanced(az_rotary_preset_pin2));
debug.print(" encoder_result: ");
debug.print(az_encoder_result);
debug.println("");
}
last_az_rotary_preset_pin1 = digitalReadEnhanced(az_rotary_preset_pin1);
last_az_rotary_preset_pin2 = digitalReadEnhanced(az_rotary_preset_pin2);
#endif // DEBUG_PRESET_ENCODERS
#endif // FEATURE_AZ_PRESET_ENCODER
#ifdef FEATURE_EL_PRESET_ENCODER
el_encoder_state = ttable[el_encoder_state & 0xf][((digitalReadEnhanced(el_rotary_preset_pin2) << 1) | digitalReadEnhanced(el_rotary_preset_pin1))];
unsigned char el_encoder_result = el_encoder_state & 0x30;
#endif // FEATURE_EL_PRESET_ENCODER
#ifdef FEATURE_AZ_PRESET_ENCODER
if (az_encoder_result) { // If rotary encoder modified
az_timestamp[0] = az_timestamp[1]; // Encoder step timer
az_timestamp[1] = az_timestamp[2];
az_timestamp[2] = az_timestamp[3];
az_timestamp[3] = az_timestamp[4];
az_timestamp[4] = millis();
last_encoder_move = millis();
#ifdef DEBUG_PRESET_ENCODERS
char tempchar[12] = "";
if (debug_mode) {
debug.print("check_preset_encoders: az_timestamps:");
for (int y = 0; y < 5; y++) {
debug.print(" ");
dtostrf(az_timestamp[y],0,0,tempchar);
debug.print(tempchar);
}
debug.println("");
}
#endif // DEBUG_PRESET_ENCODERS
unsigned long az_elapsed_time = (az_timestamp[4] - az_timestamp[0]); // Encoder step time difference for 10's step
#ifdef OPTION_PRESET_ENCODER_RELATIVE_CHANGE
if ((preset_encoders_state == ENCODER_IDLE) || (preset_encoders_state == ENCODER_EL_PENDING)) {
if (az_request_queue_state == IN_PROGRESS_TO_TARGET) {
az_encoder_raw_degrees = target_raw_azimuth;
} else {
az_encoder_raw_degrees = raw_azimuth;
}
}
#endif // OPTION_PRESET_ENCODER_RELATIVE_CHANGE
// bbbbbb
#ifndef OPTION_PRESET_ENCODER_0_360_DEGREES
if (az_encoder_result == DIR_CW) {
#ifdef DEBUG_PRESET_ENCODERS
debug.print("check_preset_encoders: az CW");
#endif // DEBUG_PRESET_ENCODERS
if (az_elapsed_time < 250 /* mSec */) {
az_encoder_raw_degrees += (5 * HEADING_MULTIPLIER);
} else { az_encoder_raw_degrees += (1 * HEADING_MULTIPLIER); }; // Single deg increase unless encoder turned quickly then 10's step
// if (az_encoder_raw_degrees >=(360*HEADING_MULTIPLIER)) {az_encoder_raw_degrees -= (360*HEADING_MULTIPLIER);};
if (az_encoder_raw_degrees > ((azimuth_starting_point + azimuth_rotation_capability) * HEADING_MULTIPLIER)) {
az_encoder_raw_degrees =
((azimuth_starting_point * HEADING_MULTIPLIER)
/* + ((azimuth_starting_point+azimuth_rotation_capability)*HEADING_MULTIPLIER) - az_encoder_raw_degrees*/);
}
}
if (az_encoder_result == DIR_CCW) {
#ifdef DEBUG_PRESET_ENCODERS
debug.print("check_preset_encoders: az CCW");
#endif // DEBUG_PRESET_ENCODERS
if (az_elapsed_time < 250 /* mSec */) {
az_encoder_raw_degrees -= (5 * HEADING_MULTIPLIER);
} else { az_encoder_raw_degrees -= (1 * HEADING_MULTIPLIER); }; // Single deg decrease unless encoder turned quickly then 10's step
// if (az_encoder_raw_degrees < 0) {az_encoder_raw_degrees = (360*HEADING_MULTIPLIER);};
if (az_encoder_raw_degrees < (azimuth_starting_point * HEADING_MULTIPLIER)) {
az_encoder_raw_degrees = (((azimuth_starting_point + azimuth_rotation_capability) * HEADING_MULTIPLIER)
/*- (az_encoder_raw_degrees-(azimuth_starting_point*HEADING_MULTIPLIER))*/);
}
}
#else //ndef OPTION_PRESET_ENCODER_0_360_DEGREES
if (az_encoder_result == DIR_CW) {
#ifdef DEBUG_PRESET_ENCODERS
debug.print("check_preset_encoders: az CW");
#endif // DEBUG_PRESET_ENCODERS
if (az_elapsed_time < 250) { // Single deg increase unless encoder turned quickly then 10's step
az_encoder_raw_degrees += (5 * HEADING_MULTIPLIER);
} else {
az_encoder_raw_degrees += (1 * HEADING_MULTIPLIER);
}
if (az_encoder_raw_degrees > (360 * HEADING_MULTIPLIER)) {
//az_encoder_raw_degrees = (360 * HEADING_MULTIPLIER);
az_encoder_raw_degrees = 0;
//} else {
// if (az_encoder_raw_degrees < 0) {
// az_encoder_raw_degrees = 0;
// }
}
}
if (az_encoder_result == DIR_CCW) {
#ifdef DEBUG_PRESET_ENCODERS
debug.print("check_preset_encoders: az CCW");
#endif // DEBUG_PRESET_ENCODERS
if (az_elapsed_time < 250) { // Single deg decrease unless encoder turned quickly then 10's step
az_encoder_raw_degrees -= (5 * HEADING_MULTIPLIER);
} else {
az_encoder_raw_degrees -= (1 * HEADING_MULTIPLIER);
}
//if (az_encoder_raw_degrees > (360 * HEADING_MULTIPLIER)) {
// az_encoder_raw_degrees = (360 * HEADING_MULTIPLIER);
//} else {
if (az_encoder_raw_degrees < 0) {
//az_encoder_raw_degrees = 0;
az_encoder_raw_degrees = 359 * HEADING_MULTIPLIER;
}
//}
}
#endif //ndef OPTION_PRESET_ENCODER_0_360_DEGREES
last_encoder_change_time = millis(); // Encoder Check Timer
if (preset_encoders_state == ENCODER_IDLE) {
preset_encoders_state = ENCODER_AZ_PENDING;
} else {
if (preset_encoders_state == ENCODER_EL_PENDING) {
preset_encoders_state = ENCODER_AZ_EL_PENDING;
}
}
#ifdef DEBUG_PRESET_ENCODERS
debug.print("check_preset_encoders: az target: ");
dtostrf((az_encoder_raw_degrees / HEADING_MULTIPLIER),0,1,tempchar);
debug.println(tempchar);
#endif // DEBUG_PRESET_ENCODERS
} // if (az_encoder_result)
#endif // FEATURE_AZ_PRESET_ENCODER
#ifdef FEATURE_EL_PRESET_ENCODER
#ifdef OPTION_PRESET_ENCODER_RELATIVE_CHANGE
if ((preset_encoders_state == ENCODER_IDLE) || (preset_encoders_state == ENCODER_AZ_PENDING)) {
if (el_request_queue_state == IN_PROGRESS_TO_TARGET) {
el_encoder_degrees = target_elevation;
} else {
el_encoder_degrees = elevation;
}
}
#endif // OPTION_PRESET_ENCODER_RELATIVE_CHANGE
if (el_encoder_result) { // If rotary encoder modified
el_timestamp[0] = el_timestamp[1]; // Encoder step timer
el_timestamp[1] = el_timestamp[2];
el_timestamp[2] = el_timestamp[3];
el_timestamp[3] = el_timestamp[4];
el_timestamp[4] = millis();
last_encoder_move = millis();
unsigned long el_elapsed_time = (el_timestamp[4] - el_timestamp[0]); // Encoder step time difference for 10's step
if (el_encoder_result == DIR_CW) { // Rotary Encoder CW 0 - 359 Deg
#ifdef DEBUG_PRESET_ENCODERS
debug.println("check_preset_encoders: el CW");
#endif // DEBUG_PRESET_ENCODERS
if (el_elapsed_time < 250) {
el_encoder_degrees += (5 * HEADING_MULTIPLIER);
} else { el_encoder_degrees += (1 * HEADING_MULTIPLIER); }; // Single deg increase unless encoder turned quickly then 10's step
if (el_encoder_degrees > (180 * HEADING_MULTIPLIER)) {
el_encoder_degrees = (180 * HEADING_MULTIPLIER);
}
;
}
if (el_encoder_result == DIR_CCW) {
#ifdef DEBUG_PRESET_ENCODERS
debug.println("check_preset_encoders: el CCW");
#endif // DEBUG_PRESET_ENCODERS
// Rotary Encoder CCW 359 - 0 Deg
if (el_elapsed_time < 250) {
el_encoder_degrees -= (5 * HEADING_MULTIPLIER);
} else { el_encoder_degrees -= (1 * HEADING_MULTIPLIER); }; // Single deg decrease unless encoder turned quickly then 10's step
if (el_encoder_degrees < 0) {
el_encoder_degrees = 0;
}
;
}
last_encoder_change_time = millis(); // Encoder Check Timer
if (preset_encoders_state == ENCODER_IDLE) {
preset_encoders_state = ENCODER_EL_PENDING;
} else {
if (preset_encoders_state == ENCODER_AZ_PENDING) {
preset_encoders_state = ENCODER_AZ_EL_PENDING;
}
}
#ifdef DEBUG_PRESET_ENCODERS
debug.print("check_preset_encoders: el target: ");
char tempchar[16];
dtostrf(el_encoder_degrees / HEADING_MULTIPLIER,0,1,tempchar);
debug.println(tempchar);
#endif // DEBUG_PRESET_ENCODERS
} // if (el_encoder_result)
#endif // FEATURE_EL_PRESET_ENCODER
if ((preset_encoders_state != ENCODER_IDLE) && (!submit_encoder_change)) { // Check button or timer
if (preset_start_button) { // if we have a preset start button, check it
button_read = digitalReadEnhanced(preset_start_button);
if (button_read == BUTTON_ACTIVE_STATE) {
submit_encoder_change = 1;
last_preset_start_button_start = millis();
#ifdef DEBUG_PRESET_ENCODERS
debug.println("check_preset_encoders: preset_start_button submit_encoder_change");
#endif // DEBUG_PRESET_ENCODERS
}
} else {
if ((millis() - last_encoder_change_time) > 2000) { // if enc not changed for more than 2 sec, rotate to target
#ifdef DEBUG_PRESET_ENCODERS
debug.println("check_preset_encoders: timer submit_encoder_change");
#endif // DEBUG_PRESET_ENCODERS
submit_encoder_change = 1;
}
}
} // if (!enc_changed_waiting)
if (preset_start_button) { // if we have a preset start button, check it
button_read = digitalReadEnhanced(preset_start_button);
if ((button_read == BUTTON_ACTIVE_STATE) && (!submit_encoder_change) && ((millis() - last_preset_start_button_start) > 250)
&& ((millis() - last_preset_start_button_kill) > 250) && (preset_encoders_state == ENCODER_IDLE)) {
#ifdef DEBUG_PRESET_ENCODERS
debug.println("check_preset_encoders: preset button kill");
#endif // DEBUG_PRESET_ENCODERS
#ifdef FEATURE_AZ_PRESET_ENCODER
if (az_state != IDLE) {
submit_request(AZ, REQUEST_KILL, 0, 45);
}
#endif // FEATURE_AZ_PRESET_ENCODER
#if defined(FEATURE_EL_PRESET_ENCODER) && defined(FEATURE_ELEVATION_CONTROL)
if (el_state != IDLE) {
submit_request(EL, REQUEST_KILL, 0, 46);
}
#endif // defined(FEATURE_EL_PRESET_ENCODER) && defined(FEATURE_ELEVATION_CONTROL)
last_preset_start_button_kill = millis();
}
}
if ((submit_encoder_change) && (button_read == BUTTON_INACTIVE_STATE)) {
#ifdef DEBUG_PRESET_ENCODERS
debug.println("check_preset_encoders: submit_encoder_change ");
#endif // DEBUG_PRESET_ENCODERS
if ((preset_encoders_state == ENCODER_AZ_PENDING) || (preset_encoders_state == ENCODER_AZ_EL_PENDING)) {
#ifndef OPTION_PRESET_ENCODER_0_360_DEGREES
submit_request(AZ, REQUEST_AZIMUTH_RAW, az_encoder_raw_degrees, 47);
#else
submit_request(AZ, REQUEST_AZIMUTH, az_encoder_raw_degrees, 47);
#endif //ndef OPTION_PRESET_ENCODER_0_360_DEGREES
}
#ifdef FEATURE_EL_PRESET_ENCODER
if ((preset_encoders_state == ENCODER_EL_PENDING) || (preset_encoders_state == ENCODER_AZ_EL_PENDING)) {
submit_request(EL, REQUEST_ELEVATION, el_encoder_degrees, 48);
}
#endif // FEATURE_EL_PRESET_ENCODER
preset_encoders_state = ENCODER_IDLE;
submit_encoder_change = 0;
} // if (submit_encoder_change)
if ((preset_start_button) && (preset_encoders_state != ENCODER_IDLE) && ((millis() - last_encoder_move) > ENCODER_PRESET_TIMEOUT)) { // timeout if we have a preset start button
preset_encoders_state = ENCODER_IDLE;
#ifdef FEATURE_LCD_DISPLAY
push_lcd_update = 1; // push an LCD update
#endif // FEATURE_LCD_DISPLAY
}
} /* check_preset_encoders */
#endif // FEATURE_AZ_PRESET_ENCODER
// --------------------------------------------------------------
#ifdef OPTION_AZ_MANUAL_ROTATE_LIMITS
void check_az_manual_rotate_limit() {
if ((current_az_state() == ROTATING_CCW) && (raw_azimuth <= (AZ_MANUAL_ROTATE_CCW_LIMIT * HEADING_MULTIPLIER))) {
#ifdef DEBUG_AZ_MANUAL_ROTATE_LIMITS
debug.print("check_az_manual_rotate_limit: stopping - hit AZ_MANUAL_ROTATE_CCW_LIMIT of ");
debug.print(AZ_MANUAL_ROTATE_CCW_LIMIT);
debug.println("");
#endif // DEBUG_AZ_MANUAL_ROTATE_LIMITS
submit_request(AZ, REQUEST_KILL, 0, 49);
}
if ((current_az_state() == ROTATING_CW) && (raw_azimuth >= (AZ_MANUAL_ROTATE_CW_LIMIT * HEADING_MULTIPLIER))) {
#ifdef DEBUG_AZ_MANUAL_ROTATE_LIMITS
debug.print("check_az_manual_rotate_limit: stopping - hit AZ_MANUAL_ROTATE_CW_LIMIT of ");
debug.print(AZ_MANUAL_ROTATE_CW_LIMIT);
debug.println("");
#endif // DEBUG_AZ_MANUAL_ROTATE_LIMITS
submit_request(AZ, REQUEST_KILL, 0, 50);
}
} /* check_az_manual_rotate_limit */
#endif // #ifdef OPTION_AZ_MANUAL_ROTATE_LIMITS
// --------------------------------------------------------------
#if defined(OPTION_EL_MANUAL_ROTATE_LIMITS) && defined(FEATURE_ELEVATION_CONTROL)
void check_el_manual_rotate_limit() {
if ((current_el_state() == ROTATING_DOWN) && (elevation <= (EL_MANUAL_ROTATE_DOWN_LIMIT * HEADING_MULTIPLIER))) {
#ifdef DEBUG_EL_MANUAL_ROTATE_LIMITS
debug.print("check_el_manual_rotate_limit: stopping - hit EL_MANUAL_ROTATE_DOWN_LIMIT of ");
debug.print(EL_MANUAL_ROTATE_DOWN_LIMIT);
debug.println("");
#endif // DEBUG_EL_MANUAL_ROTATE_LIMITS
submit_request(EL, REQUEST_KILL, 0, 51);
}
if ((current_el_state() == ROTATING_UP) && (elevation >= (EL_MANUAL_ROTATE_UP_LIMIT * HEADING_MULTIPLIER))) {
#ifdef DEBUG_EL_MANUAL_ROTATE_LIMITS
debug.print("check_el_manual_rotate_limit: stopping - hit EL_MANUAL_ROTATE_UP_LIMIT of ");
debug.print(EL_MANUAL_ROTATE_UP_LIMIT);
debug.println("");
#endif // DEBUG_EL_MANUAL_ROTATE_LIMITS
submit_request(EL, REQUEST_KILL, 0, 52);
}
} /* check_el_manual_rotate_limit */
#endif // #ifdef OPTION_EL_MANUAL_ROTATE_LIMITS
// --------------------------------------------------------------
void check_brake_release() {
static byte in_az_brake_release_delay = 0;
static unsigned long az_brake_delay_start_time = 0;
#ifdef FEATURE_ELEVATION_CONTROL
static byte in_el_brake_release_delay = 0;
static unsigned long el_brake_delay_start_time = 0;
#endif // FEATURE_ELEVATION_CONTROL
if ((az_state == IDLE) && (brake_az_engaged)) {
if (in_az_brake_release_delay) {
if ((millis() - az_brake_delay_start_time) > AZ_BRAKE_DELAY) {
brake_release(AZ, BRAKE_RELEASE_OFF);
in_az_brake_release_delay = 0;
}
} else {
az_brake_delay_start_time = millis();
in_az_brake_release_delay = 1;
}
}
if ((az_state != IDLE) && (brake_az_engaged)) {in_az_brake_release_delay = 0;}
#ifdef FEATURE_ELEVATION_CONTROL
if ((el_state == IDLE) && (brake_el_engaged)) {
if (in_el_brake_release_delay) {
if ((millis() - el_brake_delay_start_time) > EL_BRAKE_DELAY) {
brake_release(EL, BRAKE_RELEASE_OFF);
in_el_brake_release_delay = 0;
}
} else {
el_brake_delay_start_time = millis();
in_el_brake_release_delay = 1;
}
}
if ((el_state != IDLE) && (brake_el_engaged)) {in_el_brake_release_delay = 0;}
#endif // FEATURE_ELEVATION_CONTROL
} /* check_brake_release */
// --------------------------------------------------------------
void brake_release(byte az_or_el, byte operation){
if (az_or_el == AZ) {
if (brake_az) {
if (operation == BRAKE_RELEASE_ON) {
digitalWriteEnhanced(brake_az, BRAKE_ACTIVE_STATE);
brake_az_engaged = 1;
#ifdef DEBUG_BRAKE
debug.println("brake_release: brake_az BRAKE_RELEASE_ON");
#endif // DEBUG_BRAKE
} else {
digitalWriteEnhanced(brake_az, BRAKE_INACTIVE_STATE);
brake_az_engaged = 0;
#ifdef DEBUG_BRAKE
debug.println("brake_release: brake_az BRAKE_RELEASE_OFF");
#endif // DEBUG_BRAKE
}
}
} else {
#ifdef FEATURE_ELEVATION_CONTROL
if (operation == BRAKE_RELEASE_ON) {
if (brake_el) {
digitalWriteEnhanced(brake_el, BRAKE_ACTIVE_STATE);
brake_el_engaged = 1;
#ifdef DEBUG_BRAKE
debug.println("brake_release: brake_el BRAKE_RELEASE_ON");
#endif // DEBUG_BRAKE
} else {
digitalWriteEnhanced(brake_el, BRAKE_INACTIVE_STATE);
brake_el_engaged = 0;
#ifdef DEBUG_BRAKE
debug.println("brake_release: brake_el BRAKE_RELEASE_OFF");
#endif // DEBUG_BRAKE
}
}
#endif // FEATURE_ELEVATION_CONTROL
}
} /* brake_release */
// --------------------------------------------------------------
void check_overlap(){
static byte overlap_led_status = 0;
static unsigned long last_check_time;
#ifdef OPTION_BLINK_OVERLAP_LED
static unsigned long last_overlap_led_transition = 0;
static byte blink_status = 0;
#endif //OPTION_BLINK_OVERLAP_LED
if ((overlap_led) && ((millis() - last_check_time) > 500)) {
// if ((analog_az > (500*HEADING_MULTIPLIER)) && (azimuth > (ANALOG_AZ_OVERLAP_DEGREES*HEADING_MULTIPLIER)) && (!overlap_led_status)) {
if ((raw_azimuth > (ANALOG_AZ_OVERLAP_DEGREES * HEADING_MULTIPLIER)) && (!overlap_led_status)) {
digitalWriteEnhanced(overlap_led, HIGH);
overlap_led_status = 1;
#ifdef OPTION_BLINK_OVERLAP_LED
last_overlap_led_transition = millis();
blink_status = 1;
#endif //OPTION_BLINK_OVERLAP_LED
#ifdef DEBUG_OVERLAP
debug.println("check_overlap: in overlap");
#endif // DEBUG_OVERLAP
} else {
// if (((analog_az < (500*HEADING_MULTIPLIER)) || (azimuth < (ANALOG_AZ_OVERLAP_DEGREES*HEADING_MULTIPLIER))) && (overlap_led_status)) {
if ((raw_azimuth < (ANALOG_AZ_OVERLAP_DEGREES * HEADING_MULTIPLIER)) && (overlap_led_status)) {
digitalWriteEnhanced(overlap_led, LOW);
overlap_led_status = 0;
#ifdef DEBUG_OVERLAP
debug.println("check_overlap: overlap off");
#endif // DEBUG_OVERLAP
}
}
last_check_time = millis();
}
#ifdef OPTION_BLINK_OVERLAP_LED
if ((overlap_led_status) && ((millis() - last_overlap_led_transition) >= OPTION_OVERLAP_LED_BLINK_MS)){
if (blink_status){
digitalWriteEnhanced(overlap_led, LOW);
blink_status = 0;
} else {
digitalWriteEnhanced(overlap_led, HIGH);
blink_status = 1;
}
last_overlap_led_transition = millis();
}
#endif //OPTION_BLINK_OVERLAP_LED
} /* check_overlap */
// --------------------------------------------------------------
void clear_command_buffer(){
control_port_buffer_index = 0;
control_port_buffer[0] = 0;
}
// --------------------------------------------------------------
#ifdef FEATURE_REMOTE_UNIT_SLAVE
void service_remote_unit_serial_buffer(){
// Goody 2015-03-09 - this may be dead code - all done in check_serial() and proces_remote_slave_command?
/*
*
* This implements a protocol for host unit to remote unit communications
*
*
* Remote Slave Unit Protocol Reference
*
* PG - ping
* AZ - read azimuth
* EL - read elevation
* DOxx - digital pin initialize as output;
* DIxx - digital pin initialize as input
* DPxx - digital pin initialize as input with pullup
* DRxx - digital pin read
* DLxx - digital pin write low
* DHxx - digital pin write high
* DTxxyyyy - digital pin tone output
* NTxx - no tone
* ARxx - analog pin read
* AWxxyyy - analog pin write
* SWxy - serial write byte
* SDx - deactivate serial read event; x = port #
* SSxyyyyyy... - serial write sting; x = port #, yyyy = string of characters to send
* SAx - activate serial read event; x = port #
* RB - reboot
*
* Responses
*
* ER - report an error (remote to host only)
* EV - report an event (remote to host only)
* OK - report success (remote to host only)
* CS - report a cold start (remote to host only)
*
* Error Codes
*
* ER01 - Serial port buffer timeout
* ER02 - Command syntax error
*
* Events
*
* EVSxy - Serial port read event; x = serial port number, y = byte returned
*
*
*/
static String command_string; // changed to static 2013-03-27
byte command_good = 0;
if (control_port_buffer_carriage_return_flag) {
if (control_port_buffer_index < 3) {
control_port->println(F("ER02")); // we don't have enough characters - syntax error
} else {
command_string = String(char(toupper(control_port_buffer[0]))) + String(char(toupper(control_port_buffer[1])));
#ifdef DEBUG_SERVICE_SERIAL_BUFFER
debug.print("serial_serial_buffer: command_string: ");
debug.print(command_string);
debug.print("$ control_port_buffer_index: ");
debug.print(control_port_buffer_index);
debug.println("");
#endif // DEBUG_SERVICE_SERIAL_BUFFER
if ((command_string == "SS") && (control_port_buffer[2] > 47) && (control_port_buffer[2] < 53)) { // this is a variable length command
command_good = 1;
for (byte x = 3; x < control_port_buffer_index; x++) {
switch (control_port_buffer[2] - 48) {
case 0: control_port->write(control_port_buffer[x]); break;
#if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE)
case 1: remote_unit_port->write(control_port_buffer[x]); break;
#endif
}
}
}
if (control_port_buffer_index == 3) {
if (command_string == "PG") {
control_port->println(F("PG")); command_good = 1;
} // PG - ping
if (command_string == "RB") {
wdt_enable(WDTO_30MS); while (1) {
}
} // RB - reboot
if (command_string == "AZ") {
control_port->print(F("AZ"));
if (raw_azimuth < 1000) {
control_port->print("0");
}
if (raw_azimuth < 100) {
control_port->print("0");
}
if (raw_azimuth < 10) {
control_port->print("0");
}
control_port->println(raw_azimuth);
command_good = 1;
}
#ifdef FEATURE_ELEVATION_CONTROL
if (command_string == "EL") {
control_port->print(F("EL"));
if (elevation >= 0) {
control_port->print("+");
} else {
control_port->print("-");
}
if (abs(elevation) < 1000) {
control_port->print("0");
}
if (abs(elevation) < 100) {
control_port->print("0");
}
if (abs(elevation) < 10) {
control_port->print("0");
}
control_port->println(abs(elevation));
command_good = 1;
}
#endif // FEATURE_ELEVATION_CONTROL
} // end of three byte commands
if (control_port_buffer_index == 4) {
if ((command_string == "SA") & (control_port_buffer[2] > 47) && (control_port_buffer[2] < 53)) {
serial_read_event_flag[control_port_buffer[2] - 48] = 1;
command_good = 1;
control_port->println("OK");
}
if ((command_string == "SD") & (control_port_buffer[2] > 47) && (control_port_buffer[2] < 53)) {
serial_read_event_flag[control_port_buffer[2] - 48] = 0;
command_good = 1;
control_port->println("OK");
}
}
if (control_port_buffer_index == 5) {
if (command_string == "SW") { // Serial Write command
switch (control_port_buffer[2]) {
case '0': control_port->write(control_port_buffer[3]); command_good = 1; break;
#if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE)
case '1': remote_unit_port->write(control_port_buffer[3]); command_good = 1; break;
#endif
}
}
if (command_string == "DO") {
if ((((control_port_buffer[2] > 47) && (control_port_buffer[2] < 58)) || (toupper(control_port_buffer[2]) == 'A')) && (control_port_buffer[3] > 47) && (control_port_buffer[3] < 58)) {
command_good = 1;
byte pin_value = 0;
if (toupper(control_port_buffer[2]) == 'A') {
pin_value = get_analog_pin(control_port_buffer[3] - 48);
} else {
pin_value = ((control_port_buffer[2] - 48) * 10) + (control_port_buffer[3] - 48);
}
#ifdef DEBUG_SERVICE_SERIAL_BUFFER
debug.print("service_serial_buffer: pin_value: ");
debug.print(pin_value);
debug.println("");
#endif // DEBUG_SERVICE_SERIAL_BUFFER
control_port->println("OK");
pinModeEnhanced(pin_value, OUTPUT);
}
}
if (command_string == "DH") {
if ((((control_port_buffer[2] > 47) && (control_port_buffer[2] < 58)) || (toupper(control_port_buffer[2]) == 'A')) && (control_port_buffer[3] > 47) && (control_port_buffer[3] < 58)) {
command_good = 1;
byte pin_value = 0;
if (toupper(control_port_buffer[2]) == 'A') {
pin_value = get_analog_pin(control_port_buffer[3] - 48);
} else {
pin_value = ((control_port_buffer[2] - 48) * 10) + (control_port_buffer[3] - 48);
}
digitalWriteEnhanced(pin_value, HIGH);
control_port->println("OK");
}
}
if (command_string == "DL") {
if ((((control_port_buffer[2] > 47) && (control_port_buffer[2] < 58)) || (toupper(control_port_buffer[2]) == 'A')) && (control_port_buffer[3] > 47) && (control_port_buffer[3] < 58)) {
command_good = 1;
byte pin_value = 0;
if (toupper(control_port_buffer[2]) == 'A') {
pin_value = get_analog_pin(control_port_buffer[3] - 48);
} else {
pin_value = ((control_port_buffer[2] - 48) * 10) + (control_port_buffer[3] - 48);
}
digitalWriteEnhanced(pin_value, LOW);
control_port->println("OK");
}
}
if (command_string == "DI") {
if ((((control_port_buffer[2] > 47) && (control_port_buffer[2] < 58)) || (toupper(control_port_buffer[2]) == 'A')) && (control_port_buffer[3] > 47) && (control_port_buffer[3] < 58)) {
command_good = 1;
byte pin_value = 0;
if (toupper(control_port_buffer[2]) == 'A') {
pin_value = get_analog_pin(control_port_buffer[3] - 48);
} else {
pin_value = ((control_port_buffer[2] - 48) * 10) + (control_port_buffer[3] - 48);
}
pinModeEnhanced(pin_value, INPUT);
control_port->println("OK");
}
}
if (command_string == "DP") {
if ((((control_port_buffer[2] > 47) && (control_port_buffer[2] < 58)) || (toupper(control_port_buffer[2]) == 'A')) && (control_port_buffer[3] > 47) && (control_port_buffer[3] < 58)) {
command_good = 1;
byte pin_value = 0;
if (toupper(control_port_buffer[2]) == 'A') {
pin_value = get_analog_pin(control_port_buffer[3] - 48);
} else {
pin_value = ((control_port_buffer[2] - 48) * 10) + (control_port_buffer[3] - 48);
}
// pinModeEnhanced(pin_value,INPUT_PULLUP);
pinModeEnhanced(pin_value, INPUT);
digitalWriteEnhanced(pin_value, HIGH);
control_port->println("OK");
}
}
if (command_string == "DR") {
if ((((control_port_buffer[2] > 47) && (control_port_buffer[2] < 58)) || (toupper(control_port_buffer[2]) == 'A')) && (control_port_buffer[3] > 47) && (control_port_buffer[3] < 58)) {
command_good = 1;
byte pin_value = 0;
if (toupper(control_port_buffer[2]) == 'A') {
pin_value = get_analog_pin(control_port_buffer[3] - 48);
} else {
pin_value = ((control_port_buffer[2] - 48) * 10) + (control_port_buffer[3] - 48);
}
byte pin_read = digitalReadEnhanced(pin_value);
control_port->print("DR");
control_port->write(control_port_buffer[2]);
control_port->write(control_port_buffer[3]);
if (pin_read) {
control_port->println("1");
} else {
control_port->println("0");
}
}
}
if (command_string == "AR") {
if ((((control_port_buffer[2] > 47) && (control_port_buffer[2] < 58)) || (toupper(control_port_buffer[2]) == 'A')) && (control_port_buffer[3] > 47) && (control_port_buffer[3] < 58)) {
command_good = 1;
byte pin_value = 0;
if (toupper(control_port_buffer[2]) == 'A') {
pin_value = get_analog_pin(control_port_buffer[3] - 48);
} else {
pin_value = ((control_port_buffer[2] - 48) * 10) + (control_port_buffer[3] - 48);
}
int pin_read = analogReadEnhanced(pin_value);
control_port->print("AR");
control_port->write(control_port_buffer[2]);
control_port->write(control_port_buffer[3]);
if (pin_read < 1000) {
control_port->print("0");
}
if (pin_read < 100) {
control_port->print("0");
}
if (pin_read < 10) {
control_port->print("0");
}
control_port->println(pin_read);
}
}
if (command_string == "NT") {
if ((((control_port_buffer[2] > 47) && (control_port_buffer[2] < 58)) || (toupper(control_port_buffer[2]) == 'A')) && (control_port_buffer[3] > 47) && (control_port_buffer[3] < 58)) {
command_good = 1;
byte pin_value = 0;
if (toupper(control_port_buffer[2]) == 'A') {
pin_value = get_analog_pin(control_port_buffer[3] - 48);
} else {
pin_value = ((control_port_buffer[2] - 48) * 10) + (control_port_buffer[3] - 48);
}
noTone(pin_value);
control_port->println("OK");
}
}
} // if (control_port_buffer_index == 5)
if (control_port_buffer_index == 8) {
if (command_string == "AW") {
if ((((control_port_buffer[2] > 47) && (control_port_buffer[2] < 58)) || (toupper(control_port_buffer[2]) == 'A')) && (control_port_buffer[3] > 47) && (control_port_buffer[3] < 58)) {
byte pin_value = 0;
if (toupper(control_port_buffer[2]) == 'A') {
pin_value = get_analog_pin(control_port_buffer[3] - 48);
} else {
pin_value = ((control_port_buffer[2] - 48) * 10) + (control_port_buffer[3] - 48);
}
int write_value = ((control_port_buffer[4] - 48) * 100) + ((control_port_buffer[5] - 48) * 10) + (control_port_buffer[6] - 48);
if ((write_value >= 0) && (write_value < 256)) {
analogWriteEnhanced(pin_value, write_value);
control_port->println("OK");
command_good = 1;
}
}
}
}
if (control_port_buffer_index == 9) {
if (command_string == "DT") {
if ((((control_port_buffer[2] > 47) && (control_port_buffer[2] < 58)) || (toupper(control_port_buffer[2]) == 'A')) && (control_port_buffer[3] > 47) && (control_port_buffer[3] < 58)) {
byte pin_value = 0;
if (toupper(control_port_buffer[2]) == 'A') {
pin_value = get_analog_pin(control_port_buffer[3] - 48);
} else {
pin_value = ((control_port_buffer[2] - 48) * 10) + (control_port_buffer[3] - 48);
}
int write_value = ((control_port_buffer[4] - 48) * 1000) + ((control_port_buffer[5] - 48) * 100) + ((control_port_buffer[6] - 48) * 10) + (control_port_buffer[7] - 48);
if ((write_value >= 0) && (write_value <= 9999)) {
tone(pin_value, write_value);
control_port->println("OK");
command_good = 1;
}
}
}
}
if (!command_good) {
control_port->println(F("ER02"));
}
}
control_port_buffer_carriage_return_flag = 0;
control_port_buffer_index = 0;
} else {
if (((millis() - last_serial_receive_time) > REMOTE_BUFFER_TIMEOUT_MS) && control_port_buffer_index) {
control_port->println(F("ER01"));
control_port_buffer_index = 0;
}
}
} /* service_remote_unit_serial_buffer */
#endif // FEATURE_REMOTE_UNIT_SLAVE
// --------------------------------------------------------------
void check_serial(){
#ifdef DEBUG_LOOP
debug.print("check_serial\n");
Serial.flush();
#endif // DEBUG_LOOP
static unsigned long serial_led_time = 0;
float tempfloat = 0;
char return_string[100] = "";
#if !defined(FEATURE_AZ_POSITION_ROTARY_ENCODER) && !defined(FEATURE_AZ_POSITION_PULSE_INPUT)
long place_multiplier = 0;
byte decimalplace = 0;
#endif
#ifdef FEATURE_CLOCK
int temp_year = 0;
byte temp_month = 0;
byte temp_day = 0;
byte temp_minute = 0;
byte temp_hour = 0;
#endif // FEATURE_CLOCK
#if defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING)
char grid[10] = "";
byte hit_error = 0;
#endif // defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING)
#if defined(FEATURE_AZ_POSITION_ROTARY_ENCODER) || defined(FEATURE_AZ_POSITION_PULSE_INPUT)
int new_azimuth = 9999;
#endif
#ifdef FEATURE_ELEVATION_CONTROL
#if defined(FEATURE_EL_POSITION_ROTARY_ENCODER) || defined(FEATURE_EL_POSITION_PULSE_INPUT)
int new_elevation = 9999;
#endif // FEATURE_ELEVATION_CONTROL
#endif // defined(FEATURE_AZ_POSITION_ROTARY_ENCODER) || defined(FEATURE_AZ_POSITION_PULSE_INPUT)
#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION) || defined(UNDER_DEVELOPMENT_REMOTE_UNIT_COMMANDS)
if ((serial_led) && (serial_led_time != 0) && ((millis() - serial_led_time) > SERIAL_LED_TIME_MS)) {
digitalWriteEnhanced(serial_led, LOW);
serial_led_time = 0;
}
if (control_port->available()) {
if (serial_led) {
digitalWriteEnhanced(serial_led, HIGH); // blink the LED just to say we got something
serial_led_time = millis();
}
#ifdef FEATURE_POWER_SWITCH
last_activity_time = millis();
#endif //FEATURE_POWER_SWITCH
#ifdef DEBUG_SERIAL
int control_port_available = control_port->available();
#endif // DEBUG_SERIAL
incoming_serial_byte = control_port->read();
last_serial_receive_time = millis();
#ifdef DEBUG_SERIAL
debug.print("check_serial: control_port: ");
debug.print(control_port_available);
debug.print(":");
debug.print(incoming_serial_byte);
debug.println("");
#endif // DEBUG_SERIAL
if ((incoming_serial_byte > 96) && (incoming_serial_byte < 123)) { // uppercase it
incoming_serial_byte = incoming_serial_byte - 32;
}
#ifdef FEATURE_EASYCOM_EMULATION //Easycom uses spaces, linefeeds, and carriage returns as command delimiters----------
// Easycom only
if ((control_port_buffer[0] == '\\') or (control_port_buffer[0] == '/') or ((control_port_buffer_index == 0) && ((incoming_serial_byte == '\\') || (incoming_serial_byte == '/')))) {
// if it's a backslash command add it to the buffer if it's not a line feed or carriage return
if ((incoming_serial_byte != 10) && (incoming_serial_byte != 13)) {
control_port_buffer[control_port_buffer_index] = incoming_serial_byte;
control_port_buffer_index++;
}
} else {
// if it's an easycom command add it to the buffer if it's not a line feed, carriage return, or space
if ((incoming_serial_byte != 10) && (incoming_serial_byte != 13) && (incoming_serial_byte != 32)) {
control_port_buffer[control_port_buffer_index] = incoming_serial_byte;
control_port_buffer_index++;
}
}
// if it is an Easycom command and we have a space, line feed, or carriage return, process it
if (((incoming_serial_byte == 10) || (incoming_serial_byte == 13) || (incoming_serial_byte == 32)) && (control_port_buffer[0] != '\\') && (control_port_buffer[0] != '/')){
#if defined(OPTION_HAMLIB_EASYCOM_AZ_EL_COMMAND_HACK) && defined(FEATURE_ELEVATION_CONTROL)
if ((control_port_buffer[0]=='A') && (control_port_buffer[1]=='Z') && (control_port_buffer_index == 2)){
unsigned long start_time_hack = millis();
if (!control_port->available()){
while (((millis() - start_time_hack) < 200) && (!control_port->available())){} // wait 200 mS for something else to pop up on the serial port
}
if (control_port->available()){ // is there also 'EL ' waiting for us in the buffer?
start_time_hack = millis();
while ( (control_port->available()) && ((millis() - start_time_hack) < 200) ) {
control_port->read();
}
control_port_buffer[0] = 'Z';
process_easycom_command(control_port_buffer,1,CONTROL_PORT0,return_string);
//control_port->println(return_string);
control_port->print(return_string);
#ifndef OPTION_HAMLIB_EASYCOM_NO_TERMINATOR_CHARACTER_HACK
control_port->write(incoming_serial_byte);
#endif //OPTION_HAMLIB_EASYCOM_NO_TERMINATOR_CHARACTER_HACK
} else { // we got just a bare AZ command
process_easycom_command(control_port_buffer,control_port_buffer_index,CONTROL_PORT0,return_string);
//control_port->println(return_string);
control_port->print(return_string);
#ifndef OPTION_HAMLIB_EASYCOM_NO_TERMINATOR_CHARACTER_HACK
control_port->write(incoming_serial_byte);
#endif //OPTION_HAMLIB_EASYCOM_NO_TERMINATOR_CHARACTER_HACK
}
} else {
if (control_port_buffer_index > 1){
process_easycom_command(control_port_buffer,control_port_buffer_index,CONTROL_PORT0,return_string);
//control_port->println(return_string);
control_port->print(return_string);
#ifndef OPTION_HAMLIB_EASYCOM_NO_TERMINATOR_CHARACTER_HACK
control_port->write(incoming_serial_byte);
#endif //OPTION_HAMLIB_EASYCOM_NO_TERMINATOR_CHARACTER_HACK
}
}
#else //defined(OPTION_HAMLIB_EASYCOM_AZ_EL_COMMAND_HACK) && defined(FEATURE_ELEVATION_CONTROL)
if (control_port_buffer_index > 1){
process_easycom_command(control_port_buffer,control_port_buffer_index,CONTROL_PORT0,return_string);
//control_port->println(return_string);
control_port->print(return_string);
#ifndef OPTION_HAMLIB_EASYCOM_NO_TERMINATOR_CHARACTER_HACK
control_port->write(incoming_serial_byte);
#endif //OPTION_HAMLIB_EASYCOM_NO_TERMINATOR_CHARACTER_HACK
}
#endif //defined(OPTION_HAMLIB_EASYCOM_AZ_EL_COMMAND_HACK) && defined(FEATURE_ELEVATION_CONTROL)
clear_command_buffer();
} else {
// if it is a backslash command, process it if we have a carriage return
if ((incoming_serial_byte == 13) && ((control_port_buffer[0] == '\\') or (control_port_buffer[0] == '/'))){
process_backslash_command(control_port_buffer, control_port_buffer_index, CONTROL_PORT0, return_string);
control_port->println(return_string);
clear_command_buffer();
}
}
#else //FEATURE_EASYCOM_EMULATION ------------------------------------------------------
// Yaesu, Remote Slave
if ((incoming_serial_byte != 10) && (incoming_serial_byte != 13)) { // add it to the buffer if it's not a line feed or carriage return
control_port_buffer[control_port_buffer_index] = incoming_serial_byte;
control_port_buffer_index++;
}
if (incoming_serial_byte == 13) { // do we have a carriage return?
if ((control_port_buffer[0] == '\\') or (control_port_buffer[0] == '/')) {
process_backslash_command(control_port_buffer, control_port_buffer_index, CONTROL_PORT0, return_string);
} else {
#ifdef FEATURE_YAESU_EMULATION
process_yaesu_command(control_port_buffer,control_port_buffer_index,CONTROL_PORT0,return_string);
#endif //FEATURE_YAESU_EMULATION
#ifdef FEATURE_REMOTE_UNIT_SLAVE
process_remote_slave_command(control_port_buffer,control_port_buffer_index,CONTROL_PORT0,return_string);
#endif //FEATURE_REMOTE_UNIT_SLAVE
}
control_port->println(return_string);
clear_command_buffer();
}
#endif //FEATURE_EASYCOM_EMULATION--------------------------
} // if (control_port->available())
#endif // defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
// remote unit port servicing
#if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE)
if (remote_unit_port->available()) {
incoming_serial_byte = remote_unit_port->read();
#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
// if (serial_read_event_flag[1]) {
// control_port->print("EVS1");
// control_port->write(incoming_serial_byte);
// control_port->println();
// }
if (remote_port_rx_sniff) {
control_port->write(incoming_serial_byte);
}
#endif //defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
if ((incoming_serial_byte != 10) && (remote_unit_port_buffer_index < COMMAND_BUFFER_SIZE)) {
// incoming_serial_byte = toupper(incoming_serial_byte);
remote_unit_port_buffer[remote_unit_port_buffer_index] = incoming_serial_byte;
remote_unit_port_buffer_index++;
if ((incoming_serial_byte == 13) || (remote_unit_port_buffer_index == COMMAND_BUFFER_SIZE)) {
remote_unit_port_buffer_carriage_return_flag = 1;
}
}
serial1_last_receive_time = millis();
}
#endif // defined(FEATURE_MASTER_WITH_SERIAL_SLAVE)
#ifdef FEATURE_GPS
if (gps_port->available()) {
byte gps_port_read = gps_port->read();
#ifdef GPS_MIRROR_PORT
gps_mirror_port->write(gps_port_read);
#endif //GPS_MIRROR_PORT
#ifdef DEBUG_GPS_SERIAL
debug.print(gps_port_read);
//port_flush();
#endif //DEBUG_GPS_SERIAL
if (gps.encode(gps_port_read)) {
gps_data_available = 1;
}
}
#endif // FEATURE_GPS
#if defined(GPS_MIRROR_PORT) && defined(FEATURE_GPS)
if (gps_mirror_port->available()) {
gps_port->write(gps_mirror_port->read());
}
#endif //defined(GPS_MIRROR_PORT) && defined(FEATURE_GPS)
} /* check_serial */
// --------------------------------------------------------------
void check_buttons(){
#ifdef FEATURE_ADAFRUIT_BUTTONS
int buttons = 0;
buttons = lcd.readButtons();
if (buttons & BUTTON_RIGHT) {
#else
if (button_cw && (digitalReadEnhanced(button_cw) == BUTTON_ACTIVE_STATE)) {
#endif // FEATURE_ADAFRUIT_BUTTONS
if (azimuth_button_was_pushed == 0) {
#ifdef DEBUG_BUTTONS
debug.println("check_buttons: button_cw pushed");
#endif // DEBUG_BUTTONS
#ifdef OPTION_AZ_MANUAL_ROTATE_LIMITS
if (raw_azimuth < (AZ_MANUAL_ROTATE_CW_LIMIT * HEADING_MULTIPLIER)) {
#endif
submit_request(AZ, REQUEST_CW, 0, 61);
azimuth_button_was_pushed = 1;
#ifdef OPTION_AZ_MANUAL_ROTATE_LIMITS
} else {
#ifdef DEBUG_BUTTONS
debug.println("check_buttons: exceeded AZ_MANUAL_ROTATE_CW_LIMIT");
#endif // DEBUG_BUTTONS
}
#endif
}
} else {
#ifdef FEATURE_ADAFRUIT_BUTTONS
if (buttons & BUTTON_LEFT) {
#else
if (button_ccw && (digitalReadEnhanced(button_ccw) == BUTTON_ACTIVE_STATE)) {
#endif // FEATURE_ADAFRUIT_BUTTONS
if (azimuth_button_was_pushed == 0) {
#ifdef DEBUG_BUTTONS
debug.println("check_buttons: button_ccw pushed");
#endif // DEBUG_BUTTONS
#ifdef OPTION_AZ_MANUAL_ROTATE_LIMITS
if (raw_azimuth > (AZ_MANUAL_ROTATE_CCW_LIMIT * HEADING_MULTIPLIER)) {
#endif
submit_request(AZ, REQUEST_CCW, 0, 62);
azimuth_button_was_pushed = 1;
#ifdef OPTION_AZ_MANUAL_ROTATE_LIMITS
} else {
#ifdef DEBUG_BUTTONS
debug.println("check_buttons: exceeded AZ_MANUAL_ROTATE_CCW_LIMIT");
#endif // DEBUG_BUTTONS
}
#endif // OPTION_AZ_MANUAL_ROTATE_LIMITS
}
}
}
#ifdef FEATURE_ADAFRUIT_BUTTONS
if ((azimuth_button_was_pushed) && (!(buttons & 0x12))) {
#ifdef DEBUG_BUTTONS
debug.println("check_buttons: no button depressed");
#endif // DEBUG_BUTTONS
submit_request(AZ, REQUEST_STOP, 0, 63);
azimuth_button_was_pushed = 0;
}
#else
if ((azimuth_button_was_pushed) && (digitalReadEnhanced(button_ccw) == BUTTON_INACTIVE_STATE) && (digitalReadEnhanced(button_cw) == BUTTON_INACTIVE_STATE)) {
delay(200);
if ((digitalReadEnhanced(button_ccw) == BUTTON_INACTIVE_STATE) && (digitalReadEnhanced(button_cw) == BUTTON_INACTIVE_STATE)) {
#ifdef DEBUG_BUTTONS
debug.println("check_buttons: no AZ button depressed");
#endif // DEBUG_BUTTONS
#ifndef OPTION_BUTTON_RELEASE_NO_SLOWDOWN
submit_request(AZ, REQUEST_STOP, 0, 64);
#else
submit_request(AZ, REQUEST_KILL, 0, 65);
#endif // OPTION_BUTTON_RELEASE_NO_SLOWDOWN
azimuth_button_was_pushed = 0;
}
}
#endif // FEATURE_ADAFRUIT_BUTTONS
#ifdef FEATURE_ELEVATION_CONTROL
#ifdef FEATURE_ADAFRUIT_BUTTONS
if (buttons & 0x08) {
#else
if (button_up && (digitalReadEnhanced(button_up) == BUTTON_ACTIVE_STATE)) {
#endif // FEATURE_ADAFRUIT_BUTTONS
if (elevation_button_was_pushed == 0) {
submit_request(EL, REQUEST_UP, 0, 66);
elevation_button_was_pushed = 1;
#ifdef DEBUG_BUTTONS
debug.println("check_buttons: button_up pushed");
#endif // DEBUG_BUTTONS
}
} else {
#ifdef FEATURE_ADAFRUIT_BUTTONS
if (buttons & 0x04) {
#else
if (button_down && (digitalReadEnhanced(button_down) == BUTTON_ACTIVE_STATE)) {
#endif // FEATURE_ADAFRUIT_BUTTONS
if (elevation_button_was_pushed == 0) {
submit_request(EL, REQUEST_DOWN, 0, 67);
elevation_button_was_pushed = 1;
#ifdef DEBUG_BUTTONS
debug.println("check_buttons: button_down pushed");
#endif // DEBUG_BUTTONS
}
}
}
#ifdef FEATURE_ADAFRUIT_BUTTONS
if ((elevation_button_was_pushed) && (!(buttons & 0x0C))) {
#ifdef DEBUG_BUTTONS
debug.println("check_buttons: no EL button depressed");
#endif // DEBUG_BUTTONS
#ifndef OPTION_BUTTON_RELEASE_NO_SLOWDOWN
submit_request(EL, REQUEST_STOP, 0, 68);
#else
submit_request(EL, REQUEST_KILL, 0, 69);
#endif // OPTION_BUTTON_RELEASE_NO_SLOWDOWN
elevation_button_was_pushed = 0;
}
#else
if ((elevation_button_was_pushed) && (digitalReadEnhanced(button_up) == BUTTON_INACTIVE_STATE) && (digitalReadEnhanced(button_down) == BUTTON_INACTIVE_STATE)) {
delay(200);
if ((digitalReadEnhanced(button_up) == BUTTON_INACTIVE_STATE) && (digitalReadEnhanced(button_down) == BUTTON_INACTIVE_STATE)) {
#ifdef DEBUG_BUTTONS
debug.println("check_buttons: no EL button depressed");
#endif // DEBUG_BUTTONS
#ifndef OPTION_BUTTON_RELEASE_NO_SLOWDOWN
submit_request(EL, REQUEST_STOP, 0, 70);
#else
submit_request(EL, REQUEST_KILL, 0, 71);
#endif // OPTION_BUTTON_RELEASE_NO_SLOWDOWN
elevation_button_was_pushed = 0;
}
}
#endif // FEATURE_ADAFRUIT_BUTTONS
#endif // FEATURE_ELEVATION_CONTROL
#ifdef FEATURE_PARK
static byte park_button_pushed = 0;
static unsigned long last_time_park_button_pushed = 0;
if (button_park) {
if ((digitalReadEnhanced(button_park) == BUTTON_ACTIVE_STATE)) {
park_button_pushed = 1;
last_time_park_button_pushed = millis();
#ifdef DEBUG_BUTTONS
debug.println("check_buttons: button_park pushed");
#endif // DEBUG_BUTTONS
} else {
if ((park_button_pushed) && ((millis() - last_time_park_button_pushed) >= 250)) {
if (park_status != PARK_INITIATED) {
#ifdef DEBUG_BUTTONS
debug.println("check_buttons: executing park");
#endif // DEBUG_BUTTONS
initiate_park();
} else {
#ifdef DEBUG_BUTTONS
debug.println("check_buttons: park aborted");
#endif // DEBUG_BUTTONS
submit_request(AZ, REQUEST_KILL, 0, 72);
#ifdef FEATURE_ELEVATION_CONTROL
submit_request(EL, REQUEST_KILL, 0, 73);
#endif // FEATURE_ELEVATION_CONTROL
}
park_button_pushed = 0;
}
}
}
#endif /* ifdef FEATURE_PARK */
if (button_stop) {
if ((digitalReadEnhanced(button_stop) == BUTTON_ACTIVE_STATE)) {
#ifdef DEBUG_BUTTONS
debug.println("check_buttons: button_stop pushed");
#endif // DEBUG_BUTTONS
#ifndef OPTION_BUTTON_RELEASE_NO_SLOWDOWN
submit_request(AZ, REQUEST_STOP, 0, 74);
#else
submit_request(AZ, REQUEST_KILL, 0, 75);
#endif // OPTION_BUTTON_RELEASE_NO_SLOWDOWN
#ifdef FEATURE_ELEVATION_CONTROL
#ifndef OPTION_BUTTON_RELEASE_NO_SLOWDOWN
submit_request(EL, REQUEST_STOP, 0, 76);
#else
submit_request(EL, REQUEST_KILL, 0, 77);
#endif // OPTION_BUTTON_RELEASE_NO_SLOWDOWN
#endif // FEATURE_ELEVATION_CONTROL
}
}
#ifdef FEATURE_MOON_TRACKING
static byte moon_tracking_button_pushed = 0;
static unsigned long last_time_moon_tracking_button_pushed = 0;
if (moon_tracking_button) {
if ((digitalReadEnhanced(moon_tracking_button) == BUTTON_ACTIVE_STATE)) {
moon_tracking_button_pushed = 1;
last_time_moon_tracking_button_pushed = millis();
#ifdef DEBUG_BUTTONS
debug.println("check_buttons: moon_tracking_button pushed");
#endif // DEBUG_BUTTONS
} else {
if ((moon_tracking_button_pushed) && ((millis() - last_time_moon_tracking_button_pushed) >= 250)) {
if (!moon_tracking_active) {
#ifdef DEBUG_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");
#endif // DEBUG_BUTTONS
moon_tracking_active = 0;
}
moon_tracking_button_pushed = 0;
}
}
}
#endif // FEATURE_MOON_TRACKING
#ifdef FEATURE_SUN_TRACKING
static byte sun_tracking_button_pushed = 0;
static unsigned long last_time_sun_tracking_button_pushed = 0;
if (sun_tracking_button) {
if ((digitalReadEnhanced(sun_tracking_button) == BUTTON_ACTIVE_STATE)) {
sun_tracking_button_pushed = 1;
last_time_sun_tracking_button_pushed = millis();
#ifdef DEBUG_BUTTONS
debug.println("check_buttons: sun_tracking_button pushed");
#endif // DEBUG_BUTTONS
} else {
if ((sun_tracking_button_pushed) && ((millis() - last_time_sun_tracking_button_pushed) >= 250)) {
if (!sun_tracking_active) {
#ifdef DEBUG_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");
#endif // DEBUG_BUTTONS
sun_tracking_active = 0;
}
sun_tracking_button_pushed = 0;
}
}
}
#endif // FEATURE_SUN_TRACKING
} /* check_buttons */
// --------------------------------------------------------------
#ifdef FEATURE_LCD_DISPLAY
char * idle_status(){
#ifdef OPTION_DISPLAY_DIRECTION_STATUS
return azimuth_direction(azimuth);
#endif //OPTION_DISPLAY_DIRECTION_STATUS
return("");
}
#endif //FEATURE_LCD_DISPLAY
// --------------------------------------------------------------
#if defined(FEATURE_LCD_DISPLAY) && defined(OPTION_DISPLAY_DIRECTION_STATUS)
char * azimuth_direction(int azimuth_in){
azimuth_in = azimuth_in / HEADING_MULTIPLIER;
if (azimuth_in > 348) {
return N_STRING;
}
if (azimuth_in > 326) {
return NNW_STRING;
}
if (azimuth_in > 303) {
return NW_STRING;
}
if (azimuth_in > 281) {
return WNW_STRING;
}
if (azimuth_in > 258) {
return W_STRING;
}
if (azimuth_in > 236) {
return WSW_STRING;
}
if (azimuth_in > 213) {
return SW_STRING;
}
if (azimuth_in > 191) {
return SSW_STRING;
}
if (azimuth_in > 168) {
return S_STRING;
}
if (azimuth_in > 146) {
return SSE_STRING;
}
if (azimuth_in > 123) {
return SE_STRING;
}
if (azimuth_in > 101) {
return ESE_STRING;
}
if (azimuth_in > 78) {
return E_STRING;
}
if (azimuth_in > 56) {
return ENE_STRING;
}
if (azimuth_in > 33) {
return NE_STRING;
}
if (azimuth_in > 11) {
return NNE_STRING;
}
return N_STRING;
} /* azimuth_direction */
#endif /* ifdef FEATURE_LCD_DISPLAY */
// --------------------------------------------------------------
#if defined(FEATURE_LCD_DISPLAY)
void update_display(){
byte force_display_update_now = 0;
char workstring[32] = "";
char workstring2[32] = "";
byte row_override[LCD_ROWS];
for (int x = 0;x < LCD_ROWS;x++){row_override[x] = 0;}
k3ngdisplay.clear_pending_buffer();
// OPTION_DISPLAY_DIRECTION_STATUS - azimuth direction display ***********************************************************************************
#if defined(OPTION_DISPLAY_DIRECTION_STATUS)
strcpy(workstring,azimuth_direction(azimuth)); // TODO - add left/right/center
k3ngdisplay.print_center_fixed_field_size(workstring,LCD_DIRECTION_ROW-1,LCD_STATUS_FIELD_SIZE);
#endif //defined(OPTION_DISPLAY_DIRECTION_STATUS)
// OPTION_DISPLAY_HEADING - show heading ***********************************************************************************
#if defined(OPTION_DISPLAY_HEADING)
#if !defined(FEATURE_ELEVATION_CONTROL) // ---------------- az only -----------------------------------
strcpy(workstring,AZIMUTH_STRING);
dtostrf(azimuth / LCD_HEADING_MULTIPLIER, 1, LCD_DECIMAL_PLACES, workstring2);
#ifdef OPTION_LCD_HEADING_FIELD_FIXED_DECIMAL_PLACE
if ((azimuth/ LCD_HEADING_MULTIPLIER) < 100){strcat(workstring," ");}
if ((azimuth/ LCD_HEADING_MULTIPLIER) < 10){strcat(workstring," ");}
#endif //OPTION_LCD_HEADING_FIELD_FIXED_DECIMAL_PLACE
strcat(workstring,workstring2);
strcat(workstring,DISPLAY_DEGREES_STRING);
k3ngdisplay.print_center_fixed_field_size(workstring,LCD_HEADING_ROW-1,LCD_HEADING_FIELD_SIZE);
#else // --------------------az & el---------------------------------
#if defined(FEATURE_ONE_DECIMAL_PLACE_HEADINGS) || defined(FEATURE_TWO_DECIMAL_PLACE_HEADINGS)
if ((azimuth >= 1000) && (elevation >= 1000)) {
strcpy(workstring,AZ_STRING);
} else {
strcpy(workstring,AZ_SPACE_STRING);
}
#else
strcpy(workstring,AZ_SPACE_STRING);
#endif // efined(FEATURE_ONE_DECIMAL_PLACE_HEADINGS) || defined(FEATURE_TWO_DECIMAL_PLACE_HEADINGS)
dtostrf(azimuth/ LCD_HEADING_MULTIPLIER, 3, LCD_DECIMAL_PLACES, workstring2);
#ifdef OPTION_LCD_HEADING_FIELD_FIXED_DECIMAL_PLACE
if ((azimuth/ LCD_HEADING_MULTIPLIER) < 100){strcat(workstring," ");}
if ((azimuth/ LCD_HEADING_MULTIPLIER) < 10){strcat(workstring," ");}
#endif //OPTION_LCD_HEADING_FIELD_FIXED_DECIMAL_PLACE
strcat(workstring,workstring2);
#if !defined(FEATURE_ONE_DECIMAL_PLACE_HEADINGS) && !defined(FEATURE_TWO_DECIMAL_PLACE_HEADINGS)
if (LCD_COLUMNS > 14) {
strcat(workstring.DISPLAY_DEGREES_STRING);
}
#else
if ((LCD_COLUMNS > 18) || ((azimuth < 100) && (elevation < 100))) {
strcat(workstring,DISPLAY_DEGREES_STRING);
}
#endif
#if defined(FEATURE_ONE_DECIMAL_PLACE_HEADINGS) || defined(FEATURE_TWO_DECIMAL_PLACE_HEADINGS)
if ((elevation >= 1000) && (azimuth >= 1000)) {
strcat(workstring,SPACE_EL_STRING);
} else {
strcat(workstring,SPACE_EL_SPACE_STRING);
}
#else
strcat(workstring,SPACE_EL_SPACE_STRING);
#endif // defined(FEATURE_ONE_DECIMAL_PLACE_HEADINGS) || defined(FEATURE_TWO_DECIMAL_PLACE_HEADINGS)
dtostrf(elevation / LCD_HEADING_MULTIPLIER, 1, LCD_DECIMAL_PLACES, workstring2);
#ifdef OPTION_LCD_HEADING_FIELD_FIXED_DECIMAL_PLACE
if ((elevation/ LCD_HEADING_MULTIPLIER) < 100){strcat(workstring," ");}
if ((elevation/ LCD_HEADING_MULTIPLIER) < 10){strcat(workstring," ");}
#endif //OPTION_LCD_HEADING_FIELD_FIXED_DECIMAL_PLACE
strcat(workstring,workstring2);
#if !defined(FEATURE_ONE_DECIMAL_PLACE_HEADINGS) && !defined(FEATURE_TWO_DECIMAL_PLACE_HEADINGS)
if (LCD_COLUMNS > 14) {
strcat(workstring,DISPLAY_DEGREES_STRING);
}
#else
if ((LCD_COLUMNS > 18) || ((azimuth < 100) && (elevation < 100))) {
strcat(workstring,DISPLAY_DEGREES_STRING);
}
#endif
k3ngdisplay.print_center_fixed_field_size(workstring,LCD_HEADING_ROW-1,LCD_HEADING_FIELD_SIZE);
#endif // FEATURE_ELEVATION_CONTROL
#endif //defined(OPTION_DISPLAY_HEADING)
// OPTION_DISPLAY_STATUS***********************************************************************************
#if defined(OPTION_DISPLAY_STATUS)
#if !defined(FEATURE_ELEVATION_CONTROL) // ---------------- az only ----------------------------------------------
if (az_state != IDLE) {
if (az_request_queue_state == IN_PROGRESS_TO_TARGET) {
if (current_az_state() == ROTATING_CW) {
strcpy(workstring,CW_STRING);
} else {
strcpy(workstring,CCW_STRING);
}
strcat(workstring," ");
dtostrf(target_azimuth / LCD_HEADING_MULTIPLIER, 1, LCD_DECIMAL_PLACES, workstring2);
strcat(workstring,workstring2);
strcat(workstring,DISPLAY_DEGREES_STRING);
} else {
if (current_az_state() == ROTATING_CW) {
strcpy(workstring,CW_STRING);
} else {
strcpy(workstring,CCW_STRING);
}
}
k3ngdisplay.print_center_fixed_field_size(workstring,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
row_override[LCD_STATUS_ROW] = 1;
}
#if defined(FEATURE_PARK)
static byte last_park_status = NOT_PARKED;
static unsigned long last_park_message_update_time = 0;
static byte park_message_in_effect = 0;
if (park_status != last_park_status){
switch(park_status){
case PARKED:
k3ngdisplay.print_center_fixed_field_size(PARKED_STRING,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
row_override[LCD_STATUS_ROW] = 1;
park_message_in_effect = 1;
break;
case PARK_INITIATED:
k3ngdisplay.print_center_fixed_field_size(PARKING_STRING,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
row_override[LCD_STATUS_ROW] = 1;
park_message_in_effect = 1;
break;
case NOT_PARKED:
park_message_in_effect = 0;
break;
}
last_park_status = park_status;
last_park_message_update_time = millis();
}
if (park_message_in_effect){
if ((millis() - last_park_message_update_time) > PARKING_STATUS_DISPLAY_TIME_MS){
park_message_in_effect = 0;
} else {
row_override[LCD_STATUS_ROW] = 1;
switch(park_status){
case PARKED:
k3ngdisplay.print_center_fixed_field_size(PARKED_STRING,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
break;
case PARK_INITIATED:
k3ngdisplay.print_center_fixed_field_size(PARKING_STRING,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
break;
}
}
}
#endif // FEATURE_PARK
//zzzzzz
#ifdef FEATURE_AZ_PRESET_ENCODER
float target = 0;
if (preset_encoders_state == ENCODER_AZ_PENDING) {
target = az_encoder_raw_degrees;
if (target > (359 * LCD_HEADING_MULTIPLIER)) {
target = target - (360 * LCD_HEADING_MULTIPLIER);
}
if (target > (359 * LCD_HEADING_MULTIPLIER)) {
target = target - (360 * LCD_HEADING_MULTIPLIER);
}
strcpy(workstring,TARGET_STRING);
dtostrf(target / LCD_HEADING_MULTIPLIER, 1, LCD_DECIMAL_PLACES, workstring2);
strcat(workstring,workstring2);
strcat(workstring,DISPLAY_DEGREES_STRING);
k3ngdisplay.print_center_fixed_field_size(workstring,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
row_override[LCD_STATUS_ROW] = 1;
}
#endif //FEATURE_AZ_PRESET_ENCODER
#else // az & el ----------------------------------------------------------------------------
strcpy(workstring,"");
if (az_state != IDLE) {
if (az_request_queue_state == IN_PROGRESS_TO_TARGET) {
if (current_az_state() == ROTATING_CW) {
strcat(workstring,CW_STRING);
} else {
strcat(workstring,CCW_STRING);
}
strcat(workstring," ");
dtostrf(target_azimuth / LCD_HEADING_MULTIPLIER, 1, LCD_DECIMAL_PLACES, workstring2);
strcat(workstring,workstring2);
strcat(workstring,DISPLAY_DEGREES_STRING);
row_override[LCD_STATUS_ROW] = 1;
} else {
if (current_az_state() == ROTATING_CW) {
strcpy(workstring,CW_STRING);
} else {
strcpy(workstring,CCW_STRING);
}
}
}
if (el_state != IDLE) {
if (az_state != IDLE){
strcat(workstring," ");
}
if (el_request_queue_state == IN_PROGRESS_TO_TARGET) {
if (current_az_state() == ROTATING_UP) {
strcat(workstring,UP_STRING);
} else {
strcat(workstring,DOWN_STRING);
}
strcat(workstring," ");
dtostrf(target_elevation / LCD_HEADING_MULTIPLIER, 1, LCD_DECIMAL_PLACES, workstring2);
strcat(workstring,workstring2);
strcat(workstring,DISPLAY_DEGREES_STRING);
row_override[LCD_STATUS_ROW] = 1;
} else {
if (current_el_state() == ROTATING_UP) {
strcat(workstring,UP_STRING);
} else {
strcat(workstring,DOWN_STRING);
}
}
}
if ((az_state != IDLE) || (el_state != IDLE)){
k3ngdisplay.print_center_fixed_field_size(workstring,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
} //<added
#if defined(FEATURE_PARK)
static byte last_park_status = NOT_PARKED;
static unsigned long last_park_message_update_time = 0;
static byte park_message_in_effect = 0;
if (park_status != last_park_status){
switch(park_status){
case PARKED:
k3ngdisplay.print_center_fixed_field_size(PARKED_STRING,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
row_override[LCD_STATUS_ROW] = 1;
park_message_in_effect = 1;
break;
case PARK_INITIATED:
k3ngdisplay.print_center_fixed_field_size(PARKING_STRING,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
row_override[LCD_STATUS_ROW] = 1;
park_message_in_effect = 1;
break;
case NOT_PARKED:
park_message_in_effect = 0;
break;
}
last_park_status = park_status;
last_park_message_update_time = millis();
}
if (park_message_in_effect){
if ((millis() - last_park_message_update_time) > PARKING_STATUS_DISPLAY_TIME_MS){
park_message_in_effect = 0;
} else {
row_override[LCD_STATUS_ROW] = 1;
switch(park_status){
case PARKED:
k3ngdisplay.print_center_fixed_field_size(PARKED_STRING,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
break;
case PARK_INITIATED:
k3ngdisplay.print_center_fixed_field_size(PARKING_STRING,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
break;
}
}
}
#endif // FEATURE_PARK
#if defined(FEATURE_AZ_PRESET_ENCODER) && !defined(FEATURE_EL_PRESET_ENCODER)
float target = 0;
if (preset_encoders_state == ENCODER_AZ_PENDING) {
target = az_encoder_raw_degrees;
if (target > (359 * LCD_HEADING_MULTIPLIER)) {
target = target - (360 * LCD_HEADING_MULTIPLIER);
}
if (target > (359 * LCD_HEADING_MULTIPLIER)) {
target = target - (360 * LCD_HEADING_MULTIPLIER);
}
strcpy(workstring,TARGET_STRING);
dtostrf(target / LCD_HEADING_MULTIPLIER, 1, LCD_DECIMAL_PLACES, workstring2);
strcat(workstring,workstring2);
strcat(workstring,DISPLAY_DEGREES_STRING);
k3ngdisplay.print_center_fixed_field_size(workstring,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
row_override[LCD_STATUS_ROW] = 1;
}
#endif //defined(FEATURE_AZ_PRESET_ENCODER) && !defined(FEATURE_EL_PRESET_ENCODER)
//zzzzz
#if defined(FEATURE_AZ_PRESET_ENCODER) && defined(FEATURE_EL_PRESET_ENCODER)
float target = az_encoder_raw_degrees;
if (target > (359 * LCD_HEADING_MULTIPLIER)) {
target = target - (360 * LCD_HEADING_MULTIPLIER);
}
if (target > (359 * LCD_HEADING_MULTIPLIER)) {
target = target - (360 * LCD_HEADING_MULTIPLIER);
}
if (preset_encoders_state != ENCODER_IDLE) {
switch (preset_encoders_state) {
case ENCODER_AZ_PENDING:
strcpy(workstring,AZ_TARGET_STRING);
dtostrf(target / LCD_HEADING_MULTIPLIER, 1, LCD_DECIMAL_PLACES, workstring2);
strcat(workstring,workstring2);
strcat(workstring,DISPLAY_DEGREES_STRING);
k3ngdisplay.print_center_fixed_field_size(workstring,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
row_override[LCD_STATUS_ROW] = 1;
break;
case ENCODER_EL_PENDING:
strcpy(workstring,EL_TARGET_STRING);
dtostrf(el_encoder_degrees / LCD_HEADING_MULTIPLIER, 1, LCD_DECIMAL_PLACES, workstring2);
strcat(workstring,workstring2);
strcat(workstring,DISPLAY_DEGREES_STRING);
k3ngdisplay.print_center_fixed_field_size(workstring,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
row_override[LCD_STATUS_ROW] = 1;
break;
case ENCODER_AZ_EL_PENDING:
strcpy(workstring,TARGET_STRING);
dtostrf(target / LCD_HEADING_MULTIPLIER, 1, LCD_DECIMAL_PLACES, workstring2);
strcat(workstring,workstring2);
strcat(workstring,DISPLAY_DEGREES_STRING);
strcat(workstring," ");
dtostrf(el_encoder_degrees / LCD_HEADING_MULTIPLIER, 1, LCD_DECIMAL_PLACES, workstring2);
strcat(workstring,workstring2);
strcat(workstring,DISPLAY_DEGREES_STRING);
k3ngdisplay.print_center_fixed_field_size(workstring,LCD_STATUS_ROW-1,LCD_STATUS_FIELD_SIZE);
row_override[LCD_STATUS_ROW] = 1;
break;
} // switch
} //if (preset_encoders_state != ENCODER_IDLE)
#endif //defined(FEATURE_AZ_PRESET_ENCODER) && !defined(FEATURE_EL_PRESET_ENCODER)
/*
*/
#endif //!defined(FEATURE_ELEVATION_CONTROL)
#endif //defined(OPTION_DISPLAY_STATUS)
// OPTION_DISPLAY_HHMMSS_CLOCK **************************************************************************************************
#if defined(OPTION_DISPLAY_HHMMSS_CLOCK) && defined(FEATURE_CLOCK)
static int last_clock_seconds = 0;
if (!row_override[LCD_HHMMSS_CLOCK_ROW]){
update_time();
#ifdef OPTION_CLOCK_ALWAYS_HAVE_HOUR_LEADING_ZERO
if (clock_hours < 10) {
strcat(workstring, "0");
}
dtostrf(clock_hours, 0, 0, workstring2);
strcat(workstring,workstring2);
#else
dtostrf(clock_hours, 0, 0, workstring2);
strcpy(workstring,workstring2);
#endif //OPTION_CLOCK_ALWAYS_HAVE_HOUR_LEADING_ZERO
strcat(workstring,":");
if (clock_minutes < 10) {
strcat(workstring, "0");
}
dtostrf(clock_minutes, 0, 0, workstring2);
strcat(workstring,workstring2);
strcat(workstring,":");
if (clock_seconds < 10) {
strcat(workstring, "0");
}
dtostrf(clock_seconds, 0, 0, workstring2);
strcat(workstring,workstring2);
if (LCD_HHMMSS_CLOCK_POSITION == LEFT){
k3ngdisplay.print_left_fixed_field_size(workstring,LCD_HHMMSS_CLOCK_ROW-1,8);
}
if (LCD_HHMMSS_CLOCK_POSITION == RIGHT){
k3ngdisplay.print_right_fixed_field_size(workstring,LCD_HHMMSS_CLOCK_ROW-1,8);
}
if (LCD_HHMMSS_CLOCK_POSITION == CENTER){
k3ngdisplay.print_center_fixed_field_size(workstring,LCD_HHMMSS_CLOCK_ROW-1,8);
}
if (last_clock_seconds != clock_seconds) {force_display_update_now = 1;}
last_clock_seconds = clock_seconds;
}
#endif //defined(OPTION_DISPLAY_HHMMSS_CLOCK) && defined(FEATURE_CLOCK)
// OPTION_DISPLAY_HHMM_CLOCK **************************************************************************************************
#if defined(OPTION_DISPLAY_HHMM_CLOCK) && defined(FEATURE_CLOCK)
if (!row_override[LCD_HHMM_CLOCK_ROW]){
update_time();
#ifdef OPTION_CLOCK_ALWAYS_HAVE_HOUR_LEADING_ZERO
if (clock_hours < 10) {
strcat(workstring, "0");
}
dtostrf(clock_hours, 0, 0, workstring2);
strcat(workstring,workstring2);
#else
dtostrf(clock_hours, 0, 0, workstring2);
strcpy(workstring,workstring2);
#endif //OPTION_CLOCK_ALWAYS_HAVE_HOUR_LEADING_ZERO
strcat(workstring,":");
if (clock_minutes < 10) {
strcat(workstring, "0");
}
dtostrf(clock_minutes, 0, 0, workstring2);
strcat(workstring,workstring2);
if (LCD_HHMM_CLOCK_POSITION == LEFT){
k3ngdisplay.print_left_fixed_field_size(workstring,LCD_HHMM_CLOCK_ROW-1,5);
}
if (LCD_HHMM_CLOCK_POSITION == RIGHT){
k3ngdisplay.print_right_fixed_field_size(workstring,LCD_HHMM_CLOCK_ROW-1,5);
}
if (LCD_HHMM_CLOCK_POSITION == CENTER){
k3ngdisplay.print_center_fixed_field_size(workstring,LCD_HHMM_CLOCK_ROW-1,5);
}
}
#endif //defined(OPTION_DISPLAY_HHMM_CLOCK) && defined(FEATURE_CLOCK)
// OPTION_DISPLAY_GPS_INDICATOR ********************************************************************
#if defined(OPTION_DISPLAY_GPS_INDICATOR) && defined(FEATURE_GPS) && defined(FEATURE_CLOCK)
if (((clock_status == GPS_SYNC) || (clock_status == SLAVE_SYNC_GPS)) && (!row_override[LCD_GPS_INDICATOR_ROW])){
if (LCD_GPS_INDICATOR_POSITION == LEFT){
k3ngdisplay.print_left_fixed_field_size(GPS_STRING,LCD_GPS_INDICATOR_ROW-1,3);
}
if (LCD_GPS_INDICATOR_POSITION == RIGHT){
k3ngdisplay.print_right_fixed_field_size(GPS_STRING,LCD_GPS_INDICATOR_ROW-1,3);
}
if (LCD_GPS_INDICATOR_POSITION == CENTER){
k3ngdisplay.print_center_fixed_field_size(GPS_STRING,LCD_GPS_INDICATOR_ROW-1,3);
}
}
#endif //defined(OPTION_DISPLAY_GPS_INDICATOR) && defined(FEATURE_GPS) && defined(FEATURE_CLOCK)
// OPTION_DISPLAY_MOON_TRACKING_CONTINUOUSLY *************************************************************
#if defined(OPTION_DISPLAY_MOON_TRACKING_CONTINUOUSLY) && defined(FEATURE_MOON_TRACKING)
static unsigned long last_moon_tracking_check_time = 0;
if (!row_override[LCD_MOON_TRACKING_ROW]){
if (((millis()-last_moon_tracking_check_time) > LCD_MOON_TRACKING_UPDATE_INTERVAL)) {
update_moon_position();
last_moon_tracking_check_time = millis();
}
strcpy(workstring,"");
if (moon_tracking_active){
if (moon_visible){
strcat(workstring,TRACKING_ACTIVE_CHAR);
} else {
strcat(workstring,TRACKING_INACTIVE_CHAR);
}
}
strcat(workstring,MOON_STRING);
dtostrf(moon_azimuth,0,LCD_DECIMAL_PLACES,workstring2);
strcat(workstring,workstring2);
if ((LCD_COLUMNS>16) && ((moon_azimuth < 100) || (abs(moon_elevation)<100))) {strcat(workstring,DISPLAY_DEGREES_STRING);}
strcat(workstring," ");
dtostrf(moon_elevation,0,LCD_DECIMAL_PLACES,workstring2);
strcat(workstring,workstring2);
if ((LCD_COLUMNS>16) && ((moon_azimuth < 100) || (abs(moon_elevation)<100))) {strcat(workstring,DISPLAY_DEGREES_STRING);}
if (moon_tracking_active){
if (moon_visible){
strcat(workstring,TRACKING_ACTIVE_CHAR);
} else {
strcat(workstring,TRACKING_INACTIVE_CHAR);
}
}
k3ngdisplay.print_center_fixed_field_size(workstring,LCD_MOON_TRACKING_ROW-1,LCD_COLUMNS);
}
#endif //defined(OPTION_DISPLAY_MOON_TRACKING_CONTINUOUSLY) && defined(FEATURE_MOON_TRACKING)
// OPTION_DISPLAY_SUN_TRACKING_CONTINUOUSLY **********************************************************
#if defined(OPTION_DISPLAY_SUN_TRACKING_CONTINUOUSLY) && defined(FEATURE_SUN_TRACKING)
static unsigned long last_sun_tracking_check_time = 0;
if (!row_override[LCD_SUN_TRACKING_ROW]){
if ((millis()-last_sun_tracking_check_time) > LCD_SUN_TRACKING_UPDATE_INTERVAL) {
update_sun_position();
last_sun_tracking_check_time = millis();
}
strcpy(workstring,"");
if (sun_tracking_active){
if (sun_visible){
strcat(workstring,TRACKING_ACTIVE_CHAR);
} else {
strcat(workstring,TRACKING_INACTIVE_CHAR);
}
}
strcat(workstring,SUN_STRING);
dtostrf(sun_azimuth,0,LCD_DECIMAL_PLACES,workstring2);
strcat(workstring,workstring2);
if ((LCD_COLUMNS>16) && ((sun_azimuth < 100) || (abs(sun_elevation)<100))) {strcat(workstring,DISPLAY_DEGREES_STRING);}
strcat(workstring," ");
dtostrf(sun_elevation,0,LCD_DECIMAL_PLACES,workstring2);
strcat(workstring,workstring2);
if ((LCD_COLUMNS>16) && ((sun_azimuth < 100) || (abs(sun_elevation)<100))) {strcat(workstring,DISPLAY_DEGREES_STRING);}
if (sun_tracking_active){
if (sun_visible){
strcat(workstring,TRACKING_ACTIVE_CHAR);
} else {
strcat(workstring,TRACKING_INACTIVE_CHAR);
}
}
k3ngdisplay.print_center_fixed_field_size(workstring,LCD_SUN_TRACKING_ROW-1,LCD_COLUMNS);
}
#endif //defined(OPTION_DISPLAY_SUN_TRACKING_CONTINUOUSLY) && defined(FEATURE_SUN_TRACKING)
// OPTION_DISPLAY_ALT_HHMM_CLOCK_AND_MAIDENHEAD ****************************************************
#if defined(OPTION_DISPLAY_ALT_HHMM_CLOCK_AND_MAIDENHEAD) && defined(FEATURE_CLOCK)
static byte displaying_clock = 1;
static unsigned long last_hhmm_clock_maidenhead_switch_time = 0;
if (!row_override[LCD_ALT_HHMM_CLOCK_AND_MAIDENHEAD_ROW]){
if ((millis()-last_hhmm_clock_maidenhead_switch_time) > 5000){
if (displaying_clock){
displaying_clock = 0;
} else {
displaying_clock = 1;
}
last_hhmm_clock_maidenhead_switch_time = millis();
}
if (displaying_clock){
update_time();
strcpy(workstring, "");
#ifdef OPTION_CLOCK_ALWAYS_HAVE_HOUR_LEADING_ZERO
if (clock_hours < 10) {
strcpy(workstring, "0");
}
dtostrf(clock_hours, 0, 0, workstring2);
strcat(workstring,workstring2);
#else
dtostrf(clock_hours, 0, 0, workstring2);
strcpy(workstring,workstring2);
#endif //OPTION_CLOCK_ALWAYS_HAVE_HOUR_LEADING_ZERO
strcat(workstring,":");
if (clock_minutes < 10) {
strcat(workstring, "0");
}
dtostrf(clock_minutes, 0, 0, workstring2);
strcat(workstring,workstring2);
switch (LCD_ALT_HHMM_CLOCK_AND_MAIDENHEAD_POSITION){
case LEFT: k3ngdisplay.print_left_fixed_field_size(workstring,LCD_ALT_HHMM_CLOCK_AND_MAIDENHEAD_ROW-1,6); break;
case RIGHT: k3ngdisplay.print_right_fixed_field_size(workstring,LCD_ALT_HHMM_CLOCK_AND_MAIDENHEAD_ROW-1,6); break;
case CENTER: k3ngdisplay.print_center_fixed_field_size(workstring,LCD_ALT_HHMM_CLOCK_AND_MAIDENHEAD_ROW-1,6); break;
}
} else {
switch (LCD_ALT_HHMM_CLOCK_AND_MAIDENHEAD_POSITION){
case LEFT: k3ngdisplay.print_left_fixed_field_size(coordinates_to_maidenhead(latitude,longitude),LCD_ALT_HHMM_CLOCK_AND_MAIDENHEAD_ROW-1,6); break;
case RIGHT: k3ngdisplay.print_right_fixed_field_size(coordinates_to_maidenhead(latitude,longitude),LCD_ALT_HHMM_CLOCK_AND_MAIDENHEAD_ROW-1,6); break;
case CENTER: k3ngdisplay.print_center_fixed_field_size(coordinates_to_maidenhead(latitude,longitude),LCD_ALT_HHMM_CLOCK_AND_MAIDENHEAD_ROW-1,6); break;
}
}
}
#endif //defined(OPTION_DISPLAY_ALT_HHMM_CLOCK_AND_MAIDENHEAD) && defined(FEATURE_CLOCK)
// OPTION_DISPLAY_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD **********************************************************************
#if defined(OPTION_DISPLAY_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD) && defined(FEATURE_CLOCK)
static int last_clock_seconds = 0;
if (!row_override[LCD_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD_ROW]){
update_time();
#ifdef OPTION_CLOCK_ALWAYS_HAVE_HOUR_LEADING_ZERO
if (clock_hours < 10) {
strcat(workstring, "0");
}
dtostrf(clock_hours, 0, 0, workstring2);
strcat(workstring,workstring2);
#else
dtostrf(clock_hours, 0, 0, workstring2);
strcpy(workstring,workstring2);
#endif //OPTION_CLOCK_ALWAYS_HAVE_HOUR_LEADING_ZERO
strcat(workstring,":");
if (clock_minutes < 10) {
strcat(workstring, "0");
}
dtostrf(clock_minutes, 0, 0, workstring2);
strcat(workstring,workstring2);
strcat(workstring,":");
if (clock_seconds < 10) {
strcat(workstring, "0");
}
dtostrf(clock_seconds, 0, 0, workstring2);
strcat(workstring,workstring2);
strcat(workstring," ");
strcat(workstring,coordinates_to_maidenhead(latitude,longitude));
switch(LCD_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD_POSITION){
case LEFT: k3ngdisplay.print_left_fixed_field_size(workstring,LCD_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD_ROW-1,LCD_COLUMNS); break;
case RIGHT: k3ngdisplay.print_right_fixed_field_size(workstring,LCD_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD_ROW-1,LCD_COLUMNS); break;
case CENTER: k3ngdisplay.print_center_fixed_field_size(workstring,LCD_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD_ROW-1,LCD_COLUMNS); break;
}
if (last_clock_seconds != clock_seconds) {force_display_update_now = 1;}
last_clock_seconds = clock_seconds;
}
#endif //defined(OPTION_DISPLAY_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD) && defined(FEATURE_CLOCK)
// OPTION_DISPLAY_MOON_OR_SUN_TRACKING_CONDITIONAL *******************************************************
#ifdef OPTION_DISPLAY_MOON_OR_SUN_TRACKING_CONDITIONAL
// moon tracking ----
#ifdef FEATURE_MOON_TRACKING
static unsigned long last_moon_tracking_check_time = 0;
if ((!row_override[LCD_MOON_OR_SUN_TRACKING_CONDITIONAL_ROW]) && (moon_tracking_active)) {
if (((millis()-last_moon_tracking_check_time) > LCD_MOON_TRACKING_UPDATE_INTERVAL)) {
update_moon_position();
last_moon_tracking_check_time = millis();
}
if (moon_visible){
strcpy(workstring,TRACKING_ACTIVE_CHAR);
} else {
strcpy(workstring,TRACKING_INACTIVE_CHAR);
}
strcat(workstring,MOON_STRING);
dtostrf(moon_azimuth,0,LCD_DECIMAL_PLACES,workstring2);
strcat(workstring,workstring2);
if ((LCD_COLUMNS>16) && ((moon_azimuth < 100) || (abs(moon_elevation)<100))) {strcat(workstring,DISPLAY_DEGREES_STRING);}
strcat(workstring," ");
dtostrf(moon_elevation,0,LCD_DECIMAL_PLACES,workstring2);
strcat(workstring,workstring2);
if ((LCD_COLUMNS>16) && ((moon_azimuth < 100) || (abs(moon_elevation)<100))) {strcat(workstring,DISPLAY_DEGREES_STRING);}
if (moon_visible){
strcat(workstring,TRACKING_ACTIVE_CHAR);
} else {
strcat(workstring,TRACKING_INACTIVE_CHAR);
}
k3ngdisplay.print_center_fixed_field_size(workstring,LCD_MOON_OR_SUN_TRACKING_CONDITIONAL_ROW-1,LCD_COLUMNS);
}
#endif //FEATURE_MOON_TRACKING
// sun tracking ----
#ifdef FEATURE_SUN_TRACKING
static unsigned long last_sun_tracking_check_time = 0;
if ((!row_override[LCD_MOON_OR_SUN_TRACKING_CONDITIONAL_ROW]) && (sun_tracking_active)){
if ((millis()-last_sun_tracking_check_time) > LCD_SUN_TRACKING_UPDATE_INTERVAL) {
update_sun_position();
last_sun_tracking_check_time = millis();
}
if (sun_visible){
strcpy(workstring,TRACKING_ACTIVE_CHAR);
} else {
strcpy(workstring,TRACKING_INACTIVE_CHAR);
}
strcat(workstring,SUN_STRING);
dtostrf(sun_azimuth,0,LCD_DECIMAL_PLACES,workstring2);
strcat(workstring,workstring2);
if ((LCD_COLUMNS>16) && ((sun_azimuth < 100) || (abs(sun_elevation)<100))) {strcat(workstring,DISPLAY_DEGREES_STRING);}
strcat(workstring," ");
dtostrf(sun_elevation,0,LCD_DECIMAL_PLACES,workstring2);
strcat(workstring,workstring2);
if ((LCD_COLUMNS>16) && ((sun_azimuth < 100) || (abs(sun_elevation)<100))) {strcat(workstring,DISPLAY_DEGREES_STRING);}
if (sun_visible){
strcat(workstring,TRACKING_ACTIVE_CHAR);
} else {
strcat(workstring,TRACKING_INACTIVE_CHAR);
}
k3ngdisplay.print_center_fixed_field_size(workstring,LCD_MOON_OR_SUN_TRACKING_CONDITIONAL_ROW-1,LCD_COLUMNS);
}
#endif //FEATURE_SUN_TRACKING
#endif //OPTION_DISPLAY_MOON_OR_SUN_TRACKING_CONDITIONAL
// OPTION_DISPLAY_BIG_CLOCK **********************************************************
#if defined(OPTION_DISPLAY_BIG_CLOCK) && defined(FEATURE_CLOCK)
static byte big_clock_last_clock_seconds = 0;
if (!row_override[LCD_BIG_CLOCK_ROW]){
update_time();
k3ngdisplay.print_center_entire_row(clock_string(),LCD_BIG_CLOCK_ROW-1,0);
if (big_clock_last_clock_seconds != clock_seconds) {
force_display_update_now = 1;
big_clock_last_clock_seconds = clock_seconds;
}
}
#endif //defined(OPTION_DISPLAY_BIG_CLOCK) && defined(FEATURE_CLOCK)
// TODO: develop status row with HH:MM time, rotation status, direction, and GPS status?
// TODO: FEATURE_PARK {done, need to test}, FEATURE_AZ_PRESET_ENCODER and FEATURE_EL_PRESET_ENCODER in status widget {done, need to test}
//zzzzzz
// do it ! ************************************
k3ngdisplay.service(force_display_update_now);
//force_display_update_now = 0;
}
#endif // defined(FEATURE_LCD_DISPLAY)
// --------------------------------------------------------------
#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
void get_keystroke(){
while (control_port->available() == 0) {
}
while (control_port->available() > 0)
incoming_serial_byte = control_port->read();
}
#endif // defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
// --------------------------------------------------------------
#ifdef FEATURE_YAESU_EMULATION
void print_wrote_to_memory(){
control_port->println(F("Wrote to memory"));
}
#endif // FEATURE_YAESU_EMULATION
// --------------------------------------------------------------
#ifdef FEATURE_YAESU_EMULATION
void clear_serial_buffer(){
delay(200);
while (control_port->available()) incoming_serial_byte = control_port->read();
}
#endif // FEATURE_YAESU_EMULATION
// --------------------------------------------------------------
void read_settings_from_eeprom(){
byte * p = (byte *)(void *)&configuration;
unsigned int i;
int ee = 0;
for (i = 0; i < sizeof(configuration); i++) {
*p++ = EEPROM.read(ee++);
}
if (configuration.magic_number == EEPROM_MAGIC_NUMBER) {
#ifdef DEBUG_EEPROM
if (debug_mode) {
debug.println("read_settings_from_eeprom: reading settings from eeprom: ");
debug.print("\nanalog_az_full_ccw");
debug.print(configuration.analog_az_full_ccw);
debug.print("\nanalog_az_full_cw");
debug.print(configuration.analog_az_full_cw);
debug.print("\nanalog_el_0_degrees");
debug.print(configuration.analog_el_0_degrees);
debug.print("\nanalog_el_max_elevation");
debug.print(configuration.analog_el_max_elevation);
debug.print("\nlast_azimuth:");
debug.print(configuration.last_azimuth, 1);
debug.print("\nlast_elevation:");
debug.print(configuration.last_elevation, 1);
debug.print("\nlast_az_incremental_encoder_position:");
debug.print(configuration.last_az_incremental_encoder_position);
debug.print("\nlast_el_incremental_encoder_position:");
debug.print(configuration.last_el_incremental_encoder_position);
debug.print("\naz_offset:");
debug.print(configuration.azimuth_offset,2);
debug.print("\nel_offset:");
debug.print(configuration.elevation_offset,2);
debug.println("");
}
#endif // DEBUG_EEPROM
#if defined(FEATURE_AZ_POSITION_INCREMENTAL_ENCODER)
az_incremental_encoder_position = configuration.last_az_incremental_encoder_position;
#endif
#if defined(FEATURE_ELEVATION_CONTROL) && defined(FEATURE_EL_POSITION_INCREMENTAL_ENCODER)
el_incremental_encoder_position = configuration.last_el_incremental_encoder_position;
#endif
#if defined(FEATURE_AZ_POSITION_ROTARY_ENCODER)
raw_azimuth = int(configuration.last_azimuth * HEADING_MULTIPLIER);
if (raw_azimuth >= (360 * HEADING_MULTIPLIER)) {
azimuth = raw_azimuth - (360 * HEADING_MULTIPLIER);
} else {
azimuth = raw_azimuth;
}
#endif // defined(FEATURE_AZ_POSITION_ROTARY_ENCODER)
#if defined(FEATURE_ELEVATION_CONTROL) && defined(FEATURE_EL_POSITION_ROTARY_ENCODER)
elevation = int(configuration.last_elevation * HEADING_MULTIPLIER);
#endif // defined(FEATURE_EL_POSITION_ROTARY_ENCODER)
#ifdef FEATURE_AZ_POSITION_PULSE_INPUT
raw_azimuth = int(configuration.last_azimuth * HEADING_MULTIPLIER);
if (raw_azimuth >= (360 * HEADING_MULTIPLIER)) {
azimuth = raw_azimuth - (360 * HEADING_MULTIPLIER);
} else {
azimuth = raw_azimuth;
}
az_position_pulse_input_azimuth = configuration.last_azimuth;
#endif // FEATURE_AZ_POSITION_PULSE_INPUT
#if defined(FEATURE_ELEVATION_CONTROL) && defined(FEATURE_EL_POSITION_PULSE_INPUT)
elevation = int(configuration.last_elevation * HEADING_MULTIPLIER);
el_position_pulse_input_elevation = configuration.last_elevation;
#endif // FEATURE_EL_POSITION_PULSE_INPUT
#if defined(FEATURE_AZ_POSITION_PULSE_INPUT) || defined(FEATURE_AZ_POSITION_ROTARY_ENCODER)
configuration.azimuth_offset = 0;
#endif
#if defined(FEATURE_EL_POSITION_PULSE_INPUT) || defined(FEATURE_EL_POSITION_ROTARY_ENCODER)
configuration.elevation_offset = 0;
#endif
} else { // initialize eeprom with default values
#ifdef DEBUG_EEPROM
debug.println("read_settings_from_eeprom: uninitialized eeprom, calling initialize_eeprom_with_defaults()");
#endif // DEBUG_EEPROM
initialize_eeprom_with_defaults();
}
} /* read_settings_from_eeprom */
// --------------------------------------------------------------
void initialize_eeprom_with_defaults(){
#ifdef DEBUG_LOOP
debug.print("initialize_eeprom_with_defaults()\n");
Serial.flush();
#endif // DEBUG_LOOP
#ifdef DEBUG_EEPROM
debug.println("initialize_eeprom_with_defaults: writing eeprom");
#endif // DEBUG_EEPROM
configuration.analog_az_full_ccw = ANALOG_AZ_FULL_CCW;
configuration.analog_az_full_cw = ANALOG_AZ_FULL_CW;
configuration.analog_el_0_degrees = ANALOG_EL_0_DEGREES;
configuration.analog_el_max_elevation = ANALOG_EL_MAX_ELEVATION;
configuration.last_azimuth = raw_azimuth;
configuration.last_az_incremental_encoder_position = 0;
configuration.last_el_incremental_encoder_position = 0;
configuration.azimuth_offset = 0;
configuration.elevation_offset = 0;
#ifdef FEATURE_ELEVATION_CONTROL
configuration.last_elevation = elevation;
#else
configuration.last_elevation = 0;
#endif
#ifdef FEATURE_STEPPER_MOTOR
configuration.az_stepper_motor_last_direction = STEPPER_UNDEF;
configuration.az_stepper_motor_last_pin_state = LOW;
configuration.el_stepper_motor_last_direction = STEPPER_UNDEF;
configuration.el_stepper_motor_last_pin_state = LOW;
#endif //FEATURE_STEPPER_MOTOR
write_settings_to_eeprom();
} /* initialize_eeprom_with_defaults */
// --------------------------------------------------------------
void write_settings_to_eeprom(){
#ifdef DEBUG_EEPROM
debug.println("write_settings_to_eeprom: writing settings to eeprom");
#endif // DEBUG_EEPROM
configuration.magic_number = EEPROM_MAGIC_NUMBER;
const byte * p = (const byte *)(const void *)&configuration;
unsigned int i;
int ee = 0;
for (i = 0; i < sizeof(configuration); i++) {
EEPROM.write(ee++, *p++);
}
configuration_dirty = 0;
}
// --------------------------------------------------------------
void az_check_operation_timeout(){
// check if the last executed rotation operation has been going on too long
if (((millis() - az_last_rotate_initiation) > OPERATION_TIMEOUT) && (az_state != IDLE)) {
submit_request(AZ, REQUEST_KILL, 0, 78);
#ifdef DEBUG_AZ_CHECK_OPERATION_TIMEOUT
debug.println("az_check_operation_timeout: timeout reached, aborting rotation");
#endif // DEBUG_AZ_CHECK_OPERATION_TIMEOUT
}
}
// --------------------------------------------------------------
#ifdef FEATURE_TIMED_BUFFER
void clear_timed_buffer(){
timed_buffer_status = EMPTY;
timed_buffer_number_entries_loaded = 0;
timed_buffer_entry_pointer = 0;
}
#endif // FEATURE_TIMED_BUFFER
// --------------------------------------------------------------
#ifdef FEATURE_TIMED_BUFFER
void initiate_timed_buffer(byte source_port){
if (timed_buffer_status == LOADED_AZIMUTHS) {
timed_buffer_status = RUNNING_AZIMUTHS;
submit_request(AZ, REQUEST_AZIMUTH, timed_buffer_azimuths[1], 79);
last_timed_buffer_action_time = millis();
timed_buffer_entry_pointer = 2;
#ifdef DEBUG_TIMED_BUFFER
debug.println("initiate_timed_buffer: changing state to RUNNING_AZIMUTHS");
#endif // DEBUG_TIMED_BUFFER
} else {
#ifdef FEATURE_ELEVATION_CONTROL
if (timed_buffer_status == LOADED_AZIMUTHS_ELEVATIONS) {
timed_buffer_status = RUNNING_AZIMUTHS_ELEVATIONS;
submit_request(AZ, REQUEST_AZIMUTH, timed_buffer_azimuths[1], 80);
submit_request(EL, REQUEST_ELEVATION, timed_buffer_elevations[1], 81);
last_timed_buffer_action_time = millis();
timed_buffer_entry_pointer = 2;
#ifdef DEBUG_TIMED_BUFFER
debug.println("initiate_timed_buffer: changing state to RUNNING_AZIMUTHS_ELEVATIONS");
#endif // DEBUG_TIMED_BUFFER
} else {
print_to_port(">",source_port); // error
}
#endif
}
} /* initiate_timed_buffer */
#endif // FEATURE_TIMED_BUFFER
// --------------------------------------------------------------
#ifdef FEATURE_TIMED_BUFFER
void print_timed_buffer_empty_message(){
#ifdef DEBUG_TIMED_BUFFER
debug.println("check_timed_interval: completed timed buffer; changing state to EMPTY");
#endif // DEBUG_TIMED_BUFFER
}
#endif // FEATURE_TIMED_BUFFER
// --------------------------------------------------------------
#ifdef FEATURE_TIMED_BUFFER
void check_timed_interval(){
if ((timed_buffer_status == RUNNING_AZIMUTHS) && (((millis() - last_timed_buffer_action_time) / 1000) > timed_buffer_interval_value_seconds)) {
timed_buffer_entry_pointer++;
#ifdef DEBUG_TIMED_BUFFER
debug.println("check_timed_interval: executing next timed interval step - azimuths");
#endif // DEBUG_TIMED_BUFFER
submit_request(AZ, REQUEST_AZIMUTH, timed_buffer_azimuths[timed_buffer_entry_pointer - 1], 82);
last_timed_buffer_action_time = millis();
if (timed_buffer_entry_pointer == timed_buffer_number_entries_loaded) {
clear_timed_buffer();
print_timed_buffer_empty_message();
}
}
#ifdef FEATURE_ELEVATION_CONTROL
if ((timed_buffer_status == RUNNING_AZIMUTHS_ELEVATIONS) && (((millis() - last_timed_buffer_action_time) / 1000) > timed_buffer_interval_value_seconds)) {
timed_buffer_entry_pointer++;
#ifdef DEBUG_TIMED_BUFFER
debug.println("check_timed_interval: executing next timed interval step - az and el");
#endif // DEBUG_TIMED_BUFFER
submit_request(AZ, REQUEST_AZIMUTH, timed_buffer_azimuths[timed_buffer_entry_pointer - 1], 83);
submit_request(EL, REQUEST_ELEVATION, timed_buffer_elevations[timed_buffer_entry_pointer - 1], 84);
last_timed_buffer_action_time = millis();
if (timed_buffer_entry_pointer == timed_buffer_number_entries_loaded) {
clear_timed_buffer();
print_timed_buffer_empty_message();
}
}
#endif
} /* check_timed_interval */
#endif // FEATURE_TIMED_BUFFER
// --------------------------------------------------------------
void read_azimuth(byte force_read){
#ifdef FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
read_azimuth_lock = 1;
#endif
unsigned int previous_raw_azimuth = raw_azimuth;
static unsigned long last_measurement_time = 0;
#ifdef FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
static unsigned int incremental_encoder_previous_raw_azimuth = raw_azimuth;
#endif // FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
if (heading_reading_inhibit_pin) {
if (digitalReadEnhanced(heading_reading_inhibit_pin)) {
return;
}
}
#ifdef DEBUG_HEADING_READING_TIME
static unsigned long last_time = 0;
static unsigned long last_print_time = 0;
static float average_read_time = 0;
#endif // DEBUG_HEADING_READING_TIME
#ifdef DEBUG_HH12
static unsigned long last_hh12_debug = 0;
#endif
#ifndef FEATURE_AZ_POSITION_GET_FROM_REMOTE_UNIT
if (((millis() - last_measurement_time) > AZIMUTH_MEASUREMENT_FREQUENCY_MS) || (force_read)) {
#else
if (1) {
#endif
#ifdef FEATURE_AZ_POSITION_POTENTIOMETER
analog_az = analogReadEnhanced(rotator_analog_az);
raw_azimuth = map(analog_az, configuration.analog_az_full_ccw, configuration.analog_az_full_cw, (azimuth_starting_point * HEADING_MULTIPLIER), ((azimuth_starting_point + azimuth_rotation_capability) * HEADING_MULTIPLIER));
//raw_azimuth = map(analog_az* HEADING_MULTIPLIER, configuration.analog_az_full_ccw* HEADING_MULTIPLIER, configuration.analog_az_full_cw* HEADING_MULTIPLIER, (azimuth_starting_point * HEADING_MULTIPLIER), ((azimuth_starting_point + azimuth_rotation_capability) * HEADING_MULTIPLIER));
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
#endif // FEATURE_AZIMUTH_CORRECTION
raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
if (AZIMUTH_SMOOTHING_FACTOR > 0) {
raw_azimuth = (raw_azimuth * (1 - (AZIMUTH_SMOOTHING_FACTOR / 100.))) + (previous_raw_azimuth * (AZIMUTH_SMOOTHING_FACTOR / 100.));
}
if (raw_azimuth >= (360 * HEADING_MULTIPLIER)) {
azimuth = raw_azimuth - (360 * HEADING_MULTIPLIER);
if (azimuth >= (360 * HEADING_MULTIPLIER)) {
azimuth = azimuth - (360 * HEADING_MULTIPLIER);
}
} else {
if (raw_azimuth < 0) {
azimuth = raw_azimuth + (360 * HEADING_MULTIPLIER);
} else {
azimuth = raw_azimuth;
}
}
#endif // FEATURE_AZ_POSITION_POTENTIOMETER
#ifdef FEATURE_AZ_POSITION_GET_FROM_REMOTE_UNIT
#if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
static unsigned long last_remote_unit_az_query_time = 0;
// do we have a command result waiting for us?
if (remote_unit_command_results_available == REMOTE_UNIT_AZ_COMMAND) {
#ifdef DEBUG_HEADING_READING_TIME
average_read_time = (average_read_time + (millis() - last_time)) / 2.0;
last_time = millis();
if (debug_mode) {
if ((millis() - last_print_time) > 1000) {
debug.println("read_azimuth: avg read frequency: ");
debug.print(average_read_time, 2);
debug.println("");
last_print_time = millis();
}
}
#endif // DEBUG_HEADING_READING_TIME
raw_azimuth = remote_unit_command_result_float * HEADING_MULTIPLIER;
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
#endif // FEATURE_AZIMUTH_CORRECTION
raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
if (AZIMUTH_SMOOTHING_FACTOR > 0) {
raw_azimuth = (raw_azimuth * (1 - (AZIMUTH_SMOOTHING_FACTOR / 100))) + (previous_raw_azimuth * (AZIMUTH_SMOOTHING_FACTOR / 100));
}
if (raw_azimuth >= (360 * HEADING_MULTIPLIER)) {
azimuth = raw_azimuth - (360 * HEADING_MULTIPLIER);
if (azimuth >= (360 * HEADING_MULTIPLIER)) {
azimuth = azimuth - (360 * HEADING_MULTIPLIER);
}
} else {
if (raw_azimuth < 0) {
azimuth = raw_azimuth + (360 * HEADING_MULTIPLIER);
} else {
azimuth = raw_azimuth;
}
}
remote_unit_command_results_available = 0;
} else {
// is it time to request the azimuth?
if ((millis() - last_remote_unit_az_query_time) > AZ_REMOTE_UNIT_QUERY_TIME_MS) {
if (submit_remote_command(REMOTE_UNIT_AZ_COMMAND, 0, 0)) {
last_remote_unit_az_query_time = millis();
}
}
}
#endif // defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
#endif // FEATURE_AZ_POSITION_GET_FROM_REMOTE_UNIT
#ifdef FEATURE_AZ_POSITION_ROTARY_ENCODER
static byte az_position_encoder_state = 0;
az_position_encoder_state = ttable[az_position_encoder_state & 0xf][((digitalReadEnhanced(az_rotary_position_pin2) << 1) | digitalReadEnhanced(az_rotary_position_pin1))];
byte az_position_encoder_result = az_position_encoder_state & 0x30;
if (az_position_encoder_result) {
if (az_position_encoder_result == DIR_CW) {
configuration.last_azimuth = configuration.last_azimuth + AZ_POSITION_ROTARY_ENCODER_DEG_PER_PULSE;
#ifdef DEBUG_POSITION_ROTARY_ENCODER
debug.println("read_azimuth: AZ_POSITION_ROTARY_ENCODER: CW");
#endif // DEBUG_POSITION_ROTARY_ENCODER
}
if (az_position_encoder_result == DIR_CCW) {
configuration.last_azimuth = configuration.last_azimuth - AZ_POSITION_ROTARY_ENCODER_DEG_PER_PULSE;
#ifdef DEBUG_POSITION_ROTARY_ENCODER
debug.println("read_azimuth: AZ_POSITION_ROTARY_ENCODER: CCW");
#endif // DEBUG_POSITION_ROTARY_ENCODER
}
#ifdef OPTION_AZ_POSITION_ROTARY_ENCODER_HARD_LIMIT
if (configuration.last_azimuth < azimuth_starting_point) {
configuration.last_azimuth = azimuth_starting_point;
}
if (configuration.last_azimuth > (azimuth_starting_point + azimuth_rotation_capability)) {
configuration.last_azimuth = (azimuth_starting_point + azimuth_rotation_capability);
}
#else
if (configuration.last_azimuth < 0) {
configuration.last_azimuth += 360;
}
if (configuration.last_azimuth >= 360) {
configuration.last_azimuth -= 360;
}
#endif // OPTION_AZ_POSITION_ROTARY_ENCODER_HARD_LIMIT
raw_azimuth = int(configuration.last_azimuth * HEADING_MULTIPLIER);
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
#endif // FEATURE_AZIMUTH_CORRECTION
if (raw_azimuth >= (360 * HEADING_MULTIPLIER)) {
azimuth = raw_azimuth - (360 * HEADING_MULTIPLIER);
} else {
azimuth = raw_azimuth;
}
configuration_dirty = 1;
}
#endif // FEATURE_AZ_POSITION_ROTARY_ENCODER
#ifdef FEATURE_AZ_POSITION_HMC5883L
MagnetometerScaled scaled = compass.ReadScaledAxis(); // scaled values from compass.
#ifdef DEBUG_HMC5883L
debug.print("read_azimuth: HMC5883L x:");
debug.print(scaled.XAxis,4);
debug.print(" y:");
debug.print(scaled.YAxis,4);
debug.println("");
#endif //DEBUG_HMC5883L
float heading = atan2(scaled.YAxis, scaled.XAxis);
// heading += declinationAngle;
// Correct for when signs are reversed.
if (heading < 0) heading += 2 * PI;
if (heading > 2 * PI) heading -= 2 * PI;
raw_azimuth = (heading * RAD_TO_DEG) * HEADING_MULTIPLIER; // radians to degree
if (AZIMUTH_SMOOTHING_FACTOR > 0) {
raw_azimuth = (raw_azimuth * (1 - (AZIMUTH_SMOOTHING_FACTOR / 100))) + (previous_raw_azimuth * (AZIMUTH_SMOOTHING_FACTOR / 100));
}
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
#endif // FEATURE_AZIMUTH_CORRECTION
raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
azimuth = raw_azimuth;
#endif // FEATURE_AZ_POSITION_HMC5883L
#ifdef FEATURE_AZ_POSITION_ADAFRUIT_LSM303
lsm.read();
float heading = atan2(lsm.magData.y, lsm.magData.x);
// heading += declinationAngle;
// Correct for when signs are reversed.
if (heading < 0) heading += 2 * PI;
if (heading > 2 * PI) heading -= 2 * PI;
raw_azimuth = (heading * RAD_TO_DEG) * HEADING_MULTIPLIER; // radians to degree
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
#endif // FEATURE_AZIMUTH_CORRECTION
raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
if (AZIMUTH_SMOOTHING_FACTOR > 0) {
raw_azimuth = (raw_azimuth * (1 - (AZIMUTH_SMOOTHING_FACTOR / 100))) + (previous_raw_azimuth * (AZIMUTH_SMOOTHING_FACTOR / 100));
}
azimuth = raw_azimuth;
#endif // FEATURE_AZ_POSITION_ADAFRUIT_LSM303
#ifdef FEATURE_AZ_POSITION_POLOLU_LSM303
compass.read();
#ifdef DEBUG_POLOLU_LSM303_CALIBRATION
running_min.x = min(running_min.x, compass.m.x);
running_min.y = min(running_min.y, compass.m.y);
running_min.z = min(running_min.z, compass.m.z);
running_max.x = max(running_max.x, compass.m.x);
running_max.y = max(running_max.y, compass.m.y);
running_max.z = max(running_max.z, compass.m.z);
snprintf(report, sizeof(report), "min: {%+6d, %+6d, %+6d} max: {%+6d, %+6d, %+6d}",
running_min.x, running_min.y, running_min.z,
running_max.x, running_max.y, running_max.z);
Serial.println(report);
#endif // DEBUG_POLOLU_LSM303_CALIBRATION
//lsm.read();
/*
When given no arguments, the heading() function returns the angular
difference in the horizontal plane between a default vector and
north, in degrees.
The default vector is chosen by the library 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.
To use a different vector as a reference, use the version of heading()
that takes a vector argument; for example, use
compass.heading((LSM303::vector<int>){0, 0, 1});
to use the +Z axis as a reference.
*/
float heading = compass.heading();
//float heading = atan2(lsm.magData.y, lsm.magData.x);
// heading += declinationAngle;
// Correct for when signs are reversed.
/*
if (heading < 0) heading += 2 * PI;
if (heading > 2 * PI) heading -= 2 * PI;
raw_azimuth = (heading * RAD_TO_DEG) * HEADING_MULTIPLIER; // radians to degree
*/
raw_azimuth = heading * HEADING_MULTIPLIER ; // pololu library returns float value of actual heading.
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
#endif // FEATURE_AZIMUTH_CORRECTION
raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
if (AZIMUTH_SMOOTHING_FACTOR > 0) {
raw_azimuth = (raw_azimuth * (1 - (AZIMUTH_SMOOTHING_FACTOR / 100))) + (previous_raw_azimuth * (AZIMUTH_SMOOTHING_FACTOR / 100));
}
azimuth = raw_azimuth;
#endif // FEATURE_AZ_POSITION_POLOLU_LSM303
#ifdef FEATURE_AZ_POSITION_PULSE_INPUT
#ifdef DEBUG_POSITION_PULSE_INPUT
// if (az_position_pule_interrupt_handler_flag) {
// control_port->print(F("read_azimuth: az_position_pusle_interrupt_handler_flag: "));
// control_port->println(az_position_pule_interrupt_handler_flag);
// az_position_pule_interrupt_handler_flag = 0;
// }
#endif // DEBUG_POSITION_PULSE_INPUT
static float last_az_position_pulse_input_azimuth = az_position_pulse_input_azimuth;
if (az_position_pulse_input_azimuth != last_az_position_pulse_input_azimuth) {
#ifdef DEBUG_POSITION_PULSE_INPUT
// if (debug_mode){
// control_port->print(F("read_azimuth: last_az_position_pulse_input_azimuth:"));
// control_port->print(last_az_position_pulse_input_azimuth);
// control_port->print(F(" az_position_pulse_input_azimuth:"));
// control_port->print(az_position_pulse_input_azimuth);
// control_port->print(F(" az_pulse_counter:"));
// control_port->println(az_pulse_counter);
// }
#endif // DEBUG_POSITION_PULSE_INPUT
configuration.last_azimuth = az_position_pulse_input_azimuth;
configuration_dirty = 1;
last_az_position_pulse_input_azimuth = az_position_pulse_input_azimuth;
raw_azimuth = int(configuration.last_azimuth * HEADING_MULTIPLIER);
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
#endif // FEATURE_AZIMUTH_CORRECTION
raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
if (raw_azimuth >= (360 * HEADING_MULTIPLIER)) {
azimuth = raw_azimuth - (360 * HEADING_MULTIPLIER);
} else {
azimuth = raw_azimuth;
}
}
#endif // FEATURE_AZ_POSITION_PULSE_INPUT
#ifdef FEATURE_AZ_POSITION_HH12_AS5045_SSI
raw_azimuth = int(azimuth_hh12.heading() * HEADING_MULTIPLIER);
#ifdef DEBUG_HH12
if ((millis() - last_hh12_debug) > 5000) {
debug.print(F("read_azimuth: HH-12 raw: "));
control_port->println(raw_azimuth);
last_hh12_debug = millis();
}
#endif // DEBUG_HH12
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
#endif // FEATURE_AZIMUTH_CORRECTION
raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
if (raw_azimuth >= (360 * HEADING_MULTIPLIER)) {
azimuth = raw_azimuth - (360 * HEADING_MULTIPLIER);
} else {
if (raw_azimuth < 0) {
azimuth = raw_azimuth + (360 * HEADING_MULTIPLIER);
} else {
azimuth = raw_azimuth;
}
}
#endif // FEATURE_AZ_POSITION_HH12_AS5045_SSI
/*
#ifdef FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
if (AZIMUTH_STARTING_POINT_DEFAULT == 0) {
raw_azimuth = (((((az_incremental_encoder_position) / ((long)AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4L)) * 360L)) * (long)HEADING_MULTIPLIER);
} else {
if (az_incremental_encoder_position > ((long)AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4L)) {
raw_azimuth = (((((az_incremental_encoder_position - ((long)AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4L)) / ((long)AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4L)) * 360L)) * (long)HEADING_MULTIPLIER);
} else {
raw_azimuth = (((((az_incremental_encoder_position + ((long)AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4L)) / ((long)AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4L)) * 360L)) * (long)HEADING_MULTIPLIER);
}
}
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
#endif // FEATURE_AZIMUTH_CORRECTION
raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
if (raw_azimuth >= (360 * HEADING_MULTIPLIER)) {
azimuth = raw_azimuth - (360 * HEADING_MULTIPLIER);
} else {
azimuth = raw_azimuth;
}
if (raw_azimuth != incremental_encoder_previous_raw_azimuth) {
configuration.last_az_incremental_encoder_position = az_incremental_encoder_position;
configuration_dirty = 1;
incremental_encoder_previous_raw_azimuth = raw_azimuth;
}
#endif // FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
*/
#ifdef FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
if (AZIMUTH_STARTING_POINT_DEFAULT == 0) {
raw_azimuth = (((((az_incremental_encoder_position) / (AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.)) * 360.0)) * HEADING_MULTIPLIER);
} else {
if (az_incremental_encoder_position > (AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.)) {
raw_azimuth = (((((az_incremental_encoder_position - (AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.)) / (AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.)) * 360.0)) * HEADING_MULTIPLIER);
} else {
raw_azimuth = (((((az_incremental_encoder_position + (AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.)) / (AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.)) * 360.0)) * HEADING_MULTIPLIER);
}
}
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
#endif // FEATURE_AZIMUTH_CORRECTION
raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
if (raw_azimuth >= (360 * HEADING_MULTIPLIER)) {
azimuth = raw_azimuth - (360 * HEADING_MULTIPLIER);
} else {
azimuth = raw_azimuth;
}
if (raw_azimuth != incremental_encoder_previous_raw_azimuth) {
configuration.last_az_incremental_encoder_position = az_incremental_encoder_position;
configuration_dirty = 1;
incremental_encoder_previous_raw_azimuth = raw_azimuth;
}
#endif // FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
last_measurement_time = millis();
}
#ifdef FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
raw_azimuth = az_a2_encoder * HEADING_MULTIPLIER;
#ifdef FEATURE_AZIMUTH_CORRECTION
raw_azimuth = (correct_azimuth(raw_azimuth / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
#endif // FEATURE_AZIMUTH_CORRECTION
raw_azimuth = raw_azimuth + (configuration.azimuth_offset * HEADING_MULTIPLIER);
azimuth = raw_azimuth;
#endif //FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER
#ifdef FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
read_azimuth_lock = 0;
#endif
} /* read_azimuth */
// --------------------------------------------------------------
void output_debug(){
#ifdef DEBUG_DUMP
char tempstring[32] = "";
#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION) || defined(UNDER_DEVELOPMENT_REMOTE_UNIT_COMMANDS)
if (((millis() - last_debug_output_time) >= 3000) && (debug_mode)) {
#ifdef DEBUG_GPS_SERIAL
debug.println("");
#endif //DEBUG_GPS_SERIAL
//port_flush();
debug.print("debug: \t");
debug.print(CODE_VERSION);
#ifdef HARDWARE_WB6KCN
debug.print(" HARDWARE_WB6KCN");
#endif
#ifdef HARDWARE_M0UPU
debug.print(" HARDWARE_M0UPU");
#endif
#ifdef HARDWARE_EA4TX_ARS_USB
debug.print(" HARDWARE_EA4TX_ARS_USB");
#endif
debug.print("\t\t");
#ifdef FEATURE_CLOCK
update_time();
sprintf(tempstring, "%s", clock_string());
debug.print(tempstring);
#else // FEATURE_CLOCK
dtostrf((millis() / 1000),0,0,tempstring);
debug.print(tempstring);
#endif // FEATURE_CLOCK
#if defined(FEATURE_GPS) || defined(FEATURE_RTC) || (defined(FEATURE_CLOCK) && defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE))
debug.print("\t");
debug.print(clock_status_string());
#endif // defined(FEATURE_GPS) || defined(FEATURE_RTC) || (defined(FEATURE_CLOCK) && defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE))
#if defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING)
debug.print("\t");
sprintf(tempstring, "%s", coordinate_string());
debug.print(tempstring);
debug.print(" ");
debug.print(coordinates_to_maidenhead(latitude,longitude));
#endif
debug.print("\t\t");
#ifdef DEBUG_MEMORY
void * HP = malloc(4);
if (HP) {free(HP);}
unsigned long free = (unsigned long)SP - (unsigned long)HP;
sprintf(tempstring,"%lu",(unsigned long)free);
debug.print(tempstring);
debug.print("b free");
#endif //DEBUG_MEMORY
#ifdef FEATURE_YAESU_EMULATION
debug.print("\t\tGS-232");
#ifdef OPTION_GS_232B_EMULATION
debug.print("B");
#else
debug.print("A");
#endif
#endif // FEATURE_YAESU_EMULATION
#ifdef FEATURE_PARK
switch (park_status) {
case NOT_PARKED: debug.print("\tNOT_PARKED"); break;
case PARK_INITIATED: debug.print("\tPARK_INITIATED"); break;
case PARKED: debug.print("\tPARKED"); break;
}
#endif // FEATURE_PARK
debug.print("\n");
debug.print("\tAZ: ");
switch (az_state) {
case IDLE: debug.print("IDLE"); break;
#ifndef HARDWARE_EA4TX_ARS_USB
case SLOW_START_CW: debug.print("SLOW_START_CW"); break;
case SLOW_START_CCW: debug.print("SLOW_START_CCW"); break;
#endif //ifndef HARDWARE_EA4TX_ARS_USB
case NORMAL_CW: debug.print("NORMAL_CW"); break;
case NORMAL_CCW: debug.print("NORMAL_CCW"); break;
#ifndef HARDWARE_EA4TX_ARS_USB
case SLOW_DOWN_CW: debug.print("SLOW_DOWN_CW"); break;
case SLOW_DOWN_CCW: debug.print("SLOW_DOWN_CCW"); break;
case INITIALIZE_SLOW_START_CW: debug.print("INITIALIZE_SLOW_START_CW"); break;
case INITIALIZE_SLOW_START_CCW: debug.print("INITIALIZE_SLOW_START_CCW"); break;
case INITIALIZE_TIMED_SLOW_DOWN_CW: debug.print("INITIALIZE_TIMED_SLOW_DOWN_CW"); break;
case INITIALIZE_TIMED_SLOW_DOWN_CCW: debug.print("INITIALIZE_TIMED_SLOW_DOWN_CCW"); break;
case TIMED_SLOW_DOWN_CW: debug.print("TIMED_SLOW_DOWN_CW"); break;
case TIMED_SLOW_DOWN_CCW: debug.print("TIMED_SLOW_DOWN_CCW"); break;
case INITIALIZE_DIR_CHANGE_TO_CW: debug.print("INITIALIZE_DIR_CHANGE_TO_CW"); break;
case INITIALIZE_DIR_CHANGE_TO_CCW: debug.print("INITIALIZE_DIR_CHANGE_TO_CCW"); break;
case INITIALIZE_NORMAL_CW: debug.print("INITIALIZE_NORMAL_CW"); break;
case INITIALIZE_NORMAL_CCW: debug.print("INITIALIZE_NORMAL_CCW"); break;
#endif //ifndef HARDWARE_EA4TX_ARS_USB
}
debug.print("\tQ: ");
switch (az_request_queue_state) {
case NONE: debug.print("-"); break;
case IN_QUEUE: debug.print("IN_QUEUE"); break;
case IN_PROGRESS_TIMED: debug.print("IN_PROGRESS_TIMED"); break;
case IN_PROGRESS_TO_TARGET: debug.print("IN_PROGRESS_TO_TARGET"); break;
}
debug.print(" AZ: ");
debug.print((azimuth / LCD_HEADING_MULTIPLIER), LCD_DECIMAL_PLACES);
debug.print(" (raw: ");
debug.print((raw_azimuth / LCD_HEADING_MULTIPLIER), LCD_DECIMAL_PLACES);
debug.print(")");
if (az_state != IDLE) {
debug.print(" Target: ");
debug.print((target_azimuth / LCD_HEADING_MULTIPLIER), LCD_DECIMAL_PLACES);
debug.print(" (raw: ");
debug.print((target_raw_azimuth / LCD_HEADING_MULTIPLIER), LCD_DECIMAL_PLACES);
debug.print(")");
debug.print(" Secs_left: ");
debug.print((OPERATION_TIMEOUT - (millis() - az_last_rotate_initiation)) / 1000);
}
#ifdef FEATURE_AZ_POSITION_POTENTIOMETER
debug.print(" Analog: ");
dtostrf(analog_az,0,0,tempstring);
debug.print(tempstring);
debug.print(" (");
dtostrf(configuration.analog_az_full_ccw,0,0,tempstring);
debug.print(tempstring);
debug.print("-");
dtostrf(configuration.analog_az_full_cw,0,0,tempstring);
debug.print(tempstring);
debug.print(") ");
#endif // FEATURE_AZ_POSITION_POTENTIOMETER
debug.print("\t[");
debug.print(azimuth_starting_point);
debug.print("+");
debug.print(azimuth_rotation_capability);
debug.print("]");
#ifndef HARDWARE_EA4TX_ARS_USB
debug.print(" AZ Speed Norm: ");
debug.print(normal_az_speed_voltage);
debug.print(" Current: ");
debug.print(current_az_speed_voltage);
if (az_speed_pot) {
debug.print(" AZ Speed Pot: ");
debug.print(analogReadEnhanced(az_speed_pot));
}
if (az_preset_pot) {
debug.print(" AZ Preset Pot Analog: ");
debug.print(analogReadEnhanced(az_preset_pot));
debug.print(" AZ Preset Pot Setting: ");
dtostrf((map(analogReadEnhanced(az_preset_pot), AZ_PRESET_POT_FULL_CW, AZ_PRESET_POT_FULL_CCW, AZ_PRESET_POT_FULL_CW_MAP, AZ_PRESET_POT_FULL_CCW_MAP)),0,0,tempstring);
debug.print(tempstring);
}
debug.print("\tOffset: ");
dtostrf(configuration.azimuth_offset,0,2,tempstring);
debug.print(tempstring);
#endif // ndef HARDWARE_EA4TX_ARS_USB
debug.println("");
#ifdef FEATURE_ELEVATION_CONTROL
debug.print("\tEL: ");
switch (el_state) {
case IDLE: debug.print("IDLE"); break;
#ifndef HARDWARE_EA4TX_ARS_USB
case SLOW_START_UP: debug.print("SLOW_START_UP"); break;
case SLOW_START_DOWN: debug.print("SLOW_START_DOWN"); break;
#endif //ifndef HARDWARE_EA4TX_ARS_USB
case NORMAL_UP: debug.print("NORMAL_UP"); break;
case NORMAL_DOWN: debug.print("NORMAL_DOWN"); break;
#ifndef HARDWARE_EA4TX_ARS_USB
case SLOW_DOWN_DOWN: debug.print("SLOW_DOWN_DOWN"); break;
case SLOW_DOWN_UP: debug.print("SLOW_DOWN_UP"); break;
case TIMED_SLOW_DOWN_UP: debug.print("TIMED_SLOW_DOWN_UP"); break;
case TIMED_SLOW_DOWN_DOWN: debug.print("TIMED_SLOW_DOWN_DOWN"); break;
#endif //ifndef HARDWARE_EA4TX_ARS_USB
}
debug.print("\tQ: ");
switch (el_request_queue_state) {
case NONE: debug.print("-"); break;
case IN_QUEUE: debug.print("IN_QUEUE"); break;
case IN_PROGRESS_TIMED: debug.print("IN_PROGRESS_TIMED"); break;
case IN_PROGRESS_TO_TARGET: debug.print("IN_PROGRESS_TO_TARGET"); break;
}
debug.print(" EL: ");
dtostrf(elevation / LCD_HEADING_MULTIPLIER, 0, LCD_DECIMAL_PLACES,tempstring);
debug.print(tempstring);
if (el_state != IDLE) {
debug.print("\tTarget: ");
dtostrf(target_elevation / LCD_HEADING_MULTIPLIER, 0, LCD_DECIMAL_PLACES,tempstring);
debug.print(tempstring);
}
#ifdef FEATURE_EL_POSITION_POTENTIOMETER
debug.print("\tEL Analog: ");
dtostrf(analog_el,0,0,tempstring);
debug.print(tempstring);
debug.print(" (");
dtostrf(configuration.analog_el_0_degrees,0,0,tempstring);
debug.print(tempstring);
debug.print("-");
dtostrf(configuration.analog_el_max_elevation,0,0,tempstring);
debug.print(tempstring);
debug.print(") ");
#endif // FEATURE_EL_POSITION_POTENTIOMETER
#ifndef HARDWARE_EA4TX_ARS_USB
debug.print(" EL Speed Norm: ");
debug.print(normal_el_speed_voltage);
debug.print(" Current: ");
debug.print(current_el_speed_voltage);
debug.print("\tOffset: ");
debug.print(configuration.elevation_offset, 2);
#endif //ifndef HARDWARE_EA4TX_ARS_USB
debug.println("");
#endif // FEATURE_ELEVATION_CONTROL
//port_flush();
#ifdef FEATURE_TIMED_BUFFER
if (timed_buffer_status != EMPTY) {
debug.print("\tTimed interval buff: ");
switch (timed_buffer_status) {
// case EMPTY: debug.print("EMPTY"); break;
case LOADED_AZIMUTHS: debug.print("LOADED_AZIMUTHS"); break;
case RUNNING_AZIMUTHS: debug.print("RUNNING_AZIMUTHS"); break;
#ifdef FEATURE_ELEVATION_CONTROL
case LOADED_AZIMUTHS_ELEVATIONS: debug.print("LOADED_AZIMUTHS_ELEVATIONS"); break;
case RUNNING_AZIMUTHS_ELEVATIONS: debug.print("RUNNING_AZIMUTHS_ELEVATIONS"); break;
#endif
}
debug.print("\tInterval (secs): ");
debug.print(timed_buffer_interval_value_seconds);
debug.print("\tEntries: ");
debug.print(timed_buffer_number_entries_loaded);
debug.print("\tEntry ptr: ");
debug.print(timed_buffer_entry_pointer);
debug.print("\tSecs since last action: ");
debug.print((millis() - last_timed_buffer_action_time) / 1000);
if (timed_buffer_number_entries_loaded > 0) {
for (int x = 0; x < timed_buffer_number_entries_loaded; x++) {
debug.print(x + 1);
debug.print("\t:");
debug.print(timed_buffer_azimuths[x] / HEADING_MULTIPLIER);
#ifdef FEATURE_ELEVATION_CONTROL
debug.print("\t- ");
debug.print(timed_buffer_elevations[x] / HEADING_MULTIPLIER);
#endif
debug.print("\n");
}
debug.println("");
}
} // if (timed_buffer_status != EMPTY)
#endif // FEATURE_TIMED_BUFFER
#if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
/*debug.print("\tRemote Slave: Command: ");
debug.print(remote_unit_command_submitted);*/
debug.print("\tRemote Slave: Good: ");
debug.print(remote_unit_good_results,0);
debug.print(" Bad: ");
debug.print(remote_unit_bad_results);
/*debug.print(" Index: ");
debug.print(remote_unit_port_buffer_index);*/
debug.print(" CmdTouts: ");
debug.print(remote_unit_command_timeouts);
debug.print(" BuffTouts: ");
debug.print(remote_unit_incoming_buffer_timeouts);
/*debug.print(" Result: ");
debug.print(remote_unit_command_result_float,2);*/
debug.println("");
#endif // defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
#if defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
debug.print("\tEthernet Slave TCP Link State: ");
switch(ethernetslavelinkclient0_state){
case ETHERNET_SLAVE_DISCONNECTED: debug.print("DIS");
case ETHERNET_SLAVE_CONNECTED: debug.print("CONNECTED");
}
debug.print(" Reconnects: ");
debug.print(ethernet_slave_reconnects);
debug.println("");
#endif // defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
#ifdef DEBUG_POSITION_PULSE_INPUT
static unsigned long last_pulse_count_time = 0;
static unsigned long last_az_pulse_counter = 0;
static unsigned long last_el_pulse_counter = 0;
debug.print("\tPulse counters: AZ: ");
debug.print(az_pulse_counter);
debug.print(" AZ Ambiguous: ");
debug.print(az_pulse_counter_ambiguous);
debug.print(" EL: ");
debug.print(el_pulse_counter);
debug.print(" EL Ambiguous: ");
debug.print(el_pulse_counter_ambiguous);
debug.print(" Rate per sec: AZ: ");
debug.print(((az_pulse_counter - last_az_pulse_counter) / ((millis() - last_pulse_count_time) / 1000.0)),2);
debug.print(" EL: ");
debug.print(((el_pulse_counter - last_el_pulse_counter) / ((millis() - last_pulse_count_time) / 1000.0)),2);
debug.println("");
last_az_pulse_counter = az_pulse_counter;
last_el_pulse_counter = el_pulse_counter;
last_pulse_count_time = millis();
#endif // DEBUG_POSITION_PULSE_INPUT
#if defined(FEATURE_AZ_POSITION_INCREMENTAL_ENCODER) && defined(DEBUG_AZ_POSITION_INCREMENTAL_ENCODER)
debug.print("\taz_position_incremental_encoder_interrupt: ");
debug.print(az_position_incremental_encoder_interrupt);
debug.print("\taz_incremental_encoder_position: ");
debug.print(az_incremental_encoder_position,0);
#endif // DEBUG_AZ_POSITION_INCREMENTAL_ENCODER
#if defined(FEATURE_EL_POSITION_INCREMENTAL_ENCODER) && defined(DEBUG_EL_POSITION_INCREMENTAL_ENCODER)
debug.print("\n\tel_position_incremental_encoder_interrupt: ");
debug.print(el_position_incremental_encoder_interrupt,0);
debug.print("\tel_incremental_encoder_position: ");
debug.print(el_incremental_encoder_position);
#endif // DEBUG_EL_POSITION_INCREMENTAL_ENCODER
#if (defined(FEATURE_AZ_POSITION_INCREMENTAL_ENCODER) && defined(DEBUG_AZ_POSITION_INCREMENTAL_ENCODER)) || (defined(FEATURE_EL_POSITION_INCREMENTAL_ENCODER) && defined(DEBUG_EL_POSITION_INCREMENTAL_ENCODER))
debug.println("");
#endif
#ifdef FEATURE_MOON_TRACKING
update_moon_position();
debug.print(moon_status_string());
#endif // FEATURE_MOON_TRACKING
#ifdef FEATURE_SUN_TRACKING
update_sun_position();
debug.print(sun_status_string());
#endif // FEATURE_SUN_TRACKING
#if defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING)
debug.println("");
#endif //defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING)
#ifdef FEATURE_GPS
unsigned long gps_chars = 0;
unsigned short gps_good_sentences = 0;
unsigned short gps_failed_checksum = 0;
char gps_temp_string[12] = "";
float gps_lat_temp = 0;
float gps_long_temp = 0;
debug.print("\tGPS: satellites: ");
gps_chars = gps.satellites();
//if (gps_chars == 255){gps_chars = 0;}
dtostrf(gps_chars,0,0,gps_temp_string);
debug.print(gps_temp_string);
unsigned long gps_fix_age_temp = 0;
gps.f_get_position(&gps_lat_temp,&gps_long_temp,&gps_fix_age_temp);
debug.print(" lat: ");
debug.print(gps_lat_temp,4);
debug.print(" long: ");
debug.print(gps_long_temp,4);
debug.print(" fix age (mS): ");
dtostrf(gps_fix_age_temp,0,0,gps_temp_string);
debug.print(gps_temp_string);
gps.stats(&gps_chars,&gps_good_sentences,&gps_failed_checksum);
debug.print(" data chars: ");
dtostrf(gps_chars,0,0,gps_temp_string);
debug.print(gps_temp_string);
debug.print(" good sentences: ");
dtostrf(gps_good_sentences,0,0,gps_temp_string);
debug.print(gps_temp_string);
debug.print(" failed checksum: ");
dtostrf(gps_failed_checksum,0,0,gps_temp_string);
debug.print(gps_temp_string);
debug.println("");
#endif //FEATURE_GPS
#ifdef FEATURE_AUTOCORRECT
debug.print("\t\tAutocorrect: AZ:");
switch(autocorrect_state_az){
case AUTOCORRECT_INACTIVE: debug.print("INACTIVE"); break;
case AUTOCORRECT_WAITING_AZ: debug.print("AUTOCORRECT_WAITING_AZ: "); debug.print(autocorrect_az,2); break;
case AUTOCORRECT_WATCHING_AZ: debug.print("AUTOCORRECT_WATCHING_AZ: "); debug.print(autocorrect_az,2); break;
}
#ifdef FEATURE_ELEVATION_CONTROL
debug.print(" EL:");
switch(autocorrect_state_el){
case AUTOCORRECT_INACTIVE: debug.print("INACTIVE"); break;
case AUTOCORRECT_WAITING_EL: debug.print("AUTOCORRECT_WAITING_EL: "); debug.print(autocorrect_el,2); break;
case AUTOCORRECT_WATCHING_EL: debug.print("AUTOCORRECT_WATCHING_EL: "); debug.print(autocorrect_el,2); break;
}
#endif //FEATURE_ELEVATION_CONTROL
#endif //DEBUG_AUTOCORRECT
debug.println("\n\n\n");
//port_flush();
last_debug_output_time = millis();
}
#endif // defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
#endif //DEBUG_DUMP
} /* 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
case ETHERNET_PORT0: ethernetclient0.print(print_this); break;
#ifdef ETHERNET_TCP_PORT_1
case ETHERNET_PORT1: ethernetclient1.print(print_this); break;
#endif //ETHERNET_TCP_PORT_1
#endif //FEATURE_ETHERNET
}
#endif //defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
}
// --------------------------------------------------------------
void print_help(byte port){
// The H command
#if defined(OPTION_SERIAL_HELP_TEXT) && defined(FEATURE_YAESU_EMULATION)
print_to_port("R Rotate Azimuth Clockwise\n",port);
print_to_port("L Rotate Azimuth Counter Clockwise\n",port);
print_to_port("A Stop\n",port);
print_to_port("C Report Azimuth in Degrees\n",port);
print_to_port("M### Rotate to ### degrees\n",port);
print_to_port("MTTT XXX XXX XXX ... Timed Interval Direction Setting (TTT = Step value in seconds, XXX = Azimuth in degrees)\n",port);
print_to_port("T Start Timed Interval Tracking\n",port);
print_to_port("N Report Total Number of M Timed Interval Azimuths\n",port);
print_to_port("X1 Horizontal Rotation Low Speed\n",port);
print_to_port("X2 Horizontal Rotation Middle 1 Speed\n",port);
print_to_port("X3 Horizontal Rotation Middle 2 Speed\n",port);
print_to_port("X4 Horizontal Rotation High Speed\n",port);
print_to_port("S Stop\n",port);
print_to_port("O Offset Calibration\n",port);
print_to_port("F Full Scale Calibration\n",port);
#ifdef FEATURE_ELEVATION_CONTROL
print_to_port("U Rotate Elevation Up\n",port);
print_to_port("D Rotate Elevation Down\n",port);
print_to_port("E Stop Elevation Rotation\n",port);
print_to_port("B Report Elevation in Degrees\n",port);
print_to_port("Wxxx yyy Rotate Azimuth to xxx Degrees and Elevation to yyy Degrees\n",port);
print_to_port("O2 Elevation Offset Calibration (0 degrees)\n",port);
print_to_port("F2 Elevation Full Scale Calibration (180 degrees (or maximum))\n",port);
#endif // FEATURE_ELEVATION_CONTROL
#endif // defined(OPTION_SERIAL_HELP_TEXT) && defined(FEATURE_YAESU_EMULATION)
} /* print_help */
// --------------- Elevation -----------------------
#ifdef FEATURE_ELEVATION_CONTROL
void el_check_operation_timeout(){
// check if the last executed rotation operation has been going on too long
if (((millis() - el_last_rotate_initiation) > OPERATION_TIMEOUT) && (el_state != IDLE)) {
submit_request(EL, REQUEST_KILL, 0, 85);
#ifdef DEBUG_EL_CHECK_OPERATION_TIMEOUT
if (debug_mode) {
debug.print(F("el_check_operation_timeout: timeout reached, aborting rotation\n"));
}
#endif // DEBUG_EL_CHECK_OPERATION_TIMEOUT
}
}
#endif
// --------------------------------------------------------------
#ifdef FEATURE_ELEVATION_CONTROL
void read_elevation(byte force_read){
#ifdef FEATURE_EL_POSITION_INCREMENTAL_ENCODER
read_elevation_lock = 1;
#endif
unsigned int previous_elevation = elevation;
static unsigned long last_measurement_time = 0;
#ifdef FEATURE_EL_POSITION_INCREMENTAL_ENCODER
static unsigned int incremental_encoder_previous_elevation = elevation;
#endif
if (heading_reading_inhibit_pin) {
if (digitalReadEnhanced(heading_reading_inhibit_pin)) {
return;
}
}
#ifdef DEBUG_HEADING_READING_TIME
static unsigned long last_time = 0;
static unsigned long last_print_time = 0;
static float average_read_time = 0;
#endif // DEBUG_HEADING_READING_TIME
#ifdef DEBUG_HH12
static unsigned long last_hh12_debug = 0;
#endif // DEBUG_HH12
#ifndef FEATURE_EL_POSITION_GET_FROM_REMOTE_UNIT
if (((millis() - last_measurement_time) > ELEVATION_MEASUREMENT_FREQUENCY_MS) || (force_read)) {
#else
if (1) {
#endif
#ifdef FEATURE_EL_POSITION_POTENTIOMETER
analog_el = analogReadEnhanced(rotator_analog_el);
elevation = (map(analog_el, configuration.analog_el_0_degrees, configuration.analog_el_max_elevation, 0, (ELEVATION_MAXIMUM_DEGREES * HEADING_MULTIPLIER)));
#ifdef FEATURE_ELEVATION_CORRECTION
elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
#endif // FEATURE_ELEVATION_CORRECTION
elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
if (ELEVATION_SMOOTHING_FACTOR > 0) {
elevation = (elevation * (1 - (ELEVATION_SMOOTHING_FACTOR / 100))) + (previous_elevation * (ELEVATION_SMOOTHING_FACTOR / 100));
}
if (elevation < 0) {
elevation = 0;
}
#endif // FEATURE_EL_POSITION_POTENTIOMETER
#ifdef FEATURE_EL_POSITION_ROTARY_ENCODER
static byte el_position_encoder_state = 0;
el_position_encoder_state = ttable[el_position_encoder_state & 0xf][((digitalReadEnhanced(el_rotary_position_pin2) << 1) | digitalReadEnhanced(el_rotary_position_pin1))];
byte el_position_encoder_result = el_position_encoder_state & 0x30;
if (el_position_encoder_result) {
if (el_position_encoder_result == DIR_CW) {
configuration.last_elevation = configuration.last_elevation + EL_POSITION_ROTARY_ENCODER_DEG_PER_PULSE;
#ifdef DEBUG_POSITION_ROTARY_ENCODER
if (debug_mode) {
debug.print(F("read_elevation: EL_POSITION_ROTARY_ENCODER: CW/UP\n"));
}
#endif // DEBUG_POSITION_ROTARY_ENCODER
}
if (el_position_encoder_result == DIR_CCW) {
configuration.last_elevation = configuration.last_elevation - EL_POSITION_ROTARY_ENCODER_DEG_PER_PULSE;
#ifdef DEBUG_POSITION_ROTARY_ENCODER
if (debug_mode) {
debug.print(F("read_elevation: EL_POSITION_ROTARY_ENCODER: CCW/DWN\n"));
}
#endif // DEBUG_POSITION_ROTARY_ENCODER
}
#ifdef OPTION_EL_POSITION_ROTARY_ENCODER_HARD_LIMIT
if (configuration.last_elevation < 0) {
configuration.last_elevation = 0;
}
if (configuration.last_elevation > ELEVATION_MAXIMUM_DEGREES) {
configuration.last_elevation = ELEVATION_MAXIMUM_DEGREES;
}
#endif
elevation = int(configuration.last_elevation * HEADING_MULTIPLIER);
#ifdef FEATURE_ELEVATION_CORRECTION
elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
#endif // FEATURE_ELEVATION_CORRECTION
configuration_dirty = 1;
}
#endif // FEATURE_EL_POSITION_ROTARY_ENCODER
#ifdef FEATURE_EL_POSITION_ADXL345_USING_LOVE_ELECTRON_LIB
AccelerometerRaw raw = accel.ReadRawAxis();
AccelerometerScaled scaled = accel.ReadScaledAxis();
#ifdef DEBUG_ACCEL
if (debug_mode) {
debug.print(F("read_elevation: raw.ZAxis: "));
debug.println(raw.ZAxis);
}
#endif // DEBUG_ACCEL
elevation = (atan2(scaled.YAxis, scaled.ZAxis) * 180 * HEADING_MULTIPLIER) / M_PI;
#ifdef FEATURE_ELEVATION_CORRECTION
elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
#endif // FEATURE_ELEVATION_CORRECTION
elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
if (ELEVATION_SMOOTHING_FACTOR > 0) {
elevation = (elevation * (1 - (ELEVATION_SMOOTHING_FACTOR / 100))) + (previous_elevation * (ELEVATION_SMOOTHING_FACTOR / 100));
}
#endif // FEATURE_EL_POSITION_ADXL345_USING_LOVE_ELECTRON_LIB
#ifdef FEATURE_EL_POSITION_ADXL345_USING_ADAFRUIT_LIB
sensors_event_t event;
accel.getEvent(&event);
#ifdef DEBUG_ACCEL
if (debug_mode) {
debug.print(F("read_elevation: event.acceleration.z: "));
debug.println(event.acceleration.z);
}
#endif // DEBUG_ACCEL
elevation = (atan2(event.acceleration.y, event.acceleration.z) * 180 * HEADING_MULTIPLIER) / M_PI;
#ifdef FEATURE_ELEVATION_CORRECTION
elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
#endif // FEATURE_ELEVATION_CORRECTION
elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
#endif // FEATURE_EL_POSITION_ADXL345_USING_ADAFRUIT_LIB
#ifdef FEATURE_EL_POSITION_ADAFRUIT_LSM303
lsm.read();
#ifdef DEBUG_ACCEL
if (debug_mode) {
debug.print(F("read_elevation: lsm.accelData.y: "));
debug.print(lsm.accelData.y);
debug.print(F(" lsm.accelData.z: "));
control_port->println(lsm.accelData.z);
}
#endif // DEBUG_ACCEL
elevation = (atan2(lsm.accelData.y, lsm.accelData.z) * 180 * HEADING_MULTIPLIER) / M_PI;
#ifdef FEATURE_ELEVATION_CORRECTION
elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
#endif // FEATURE_ELEVATION_CORRECTION
elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
#endif // FEATURE_EL_POSITION_ADAFRUIT_LSM303
#ifdef FEATURE_EL_POSITION_POLOLU_LSM303
compass.read();
#ifdef DEBUG_ACCEL
if (debug_mode) {
debug.print(F("read_elevation: compass.a.y: "));
debug.print(compass.a.y);
debug.print(F(" compass.a.z: "));
control_port->println(compass.a.z);
}
#endif // DEBUG_ACCEL
elevation = (atan2(compass.a.x, compass.a.z) * -180 * HEADING_MULTIPLIER) / M_PI; //lsm.accelData.y
#ifdef FEATURE_ELEVATION_CORRECTION
elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
#endif // FEATURE_ELEVATION_CORRECTION
elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
#endif // FEATURE_EL_POSITION_POLOLU_LSM303
#ifdef FEATURE_EL_POSITION_PULSE_INPUT
#ifdef DEBUG_POSITION_PULSE_INPUT
// if (el_position_pule_interrupt_handler_flag) {
// control_port->print(F("read_elevation: el_position_pule_interrupt_handler_flag: "));
// control_port->println(el_position_pule_interrupt_handler_flag);
// el_position_pule_interrupt_handler_flag = 0;
// }
#endif // DEBUG_POSITION_PULSE_INPUT
static float last_el_position_pulse_input_elevation = el_position_pulse_input_elevation;
if (el_position_pulse_input_elevation != last_el_position_pulse_input_elevation) {
#ifdef DEBUG_POSITION_PULSE_INPUT
// if (debug_mode){
// control_port->print(F("read_elevation: el_position_pulse_input_elevation:"));
// control_port->println(el_position_pulse_input_elevation);
// }
#endif // DEBUG_POSITION_PULSE_INPUT
configuration.last_elevation = el_position_pulse_input_elevation;
configuration_dirty = 1;
last_el_position_pulse_input_elevation = el_position_pulse_input_elevation;
elevation = int(configuration.last_elevation * HEADING_MULTIPLIER);
#ifdef FEATURE_ELEVATION_CORRECTION
elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
#endif FEATURE_ELEVATION_CORRECTION
elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
}
#endif // FEATURE_EL_POSITION_PULSE_INPUT
#ifdef FEATURE_EL_POSITION_GET_FROM_REMOTE_UNIT
#if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
static unsigned long last_remote_unit_el_query_time = 0;
// do we have a command result waiting for us?
if (remote_unit_command_results_available == REMOTE_UNIT_EL_COMMAND) {
#ifdef DEBUG_HEADING_READING_TIME
average_read_time = (average_read_time + (millis() - last_time)) / 2.0;
last_time = millis();
if (debug_mode) {
if ((millis() - last_print_time) > 1000) {
debug.print(F("read_elevation: avg read frequency: "));
control_port->println(average_read_time, 2);
last_print_time = millis();
}
}
#endif // DEBUG_HEADING_READING_TIME
elevation = remote_unit_command_result_float * HEADING_MULTIPLIER;
#ifdef FEATURE_ELEVATION_CORRECTION
elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
#endif // FEATURE_ELEVATION_CORRECTION
elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
if (ELEVATION_SMOOTHING_FACTOR > 0) {
elevation = (elevation * (1 - (ELEVATION_SMOOTHING_FACTOR / 100))) + (previous_elevation * (ELEVATION_SMOOTHING_FACTOR / 100));
}
remote_unit_command_results_available = 0;
} else {
// is it time to request the elevation?
if ((millis() - last_remote_unit_el_query_time) > EL_REMOTE_UNIT_QUERY_TIME_MS) {
if (submit_remote_command(REMOTE_UNIT_EL_COMMAND, 0, 0)) {
last_remote_unit_el_query_time = millis();
}
}
}
#endif // defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
#endif // FEATURE_EL_POSITION_GET_FROM_REMOTE_UNIT
#ifdef FEATURE_EL_POSITION_HH12_AS5045_SSI
elevation = int(elevation_hh12.heading() * HEADING_MULTIPLIER);
#ifdef DEBUG_HH12
if ((millis() - last_hh12_debug) > 5000) {
debug.print(F("read_elevation: HH-12 raw: "));
control_port->println(elevation);
last_hh12_debug = millis();
}
#endif // DEBUG_HH12
#ifdef FEATURE_ELEVATION_CORRECTION
elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
#endif // FEATURE_ELEVATION_CORRECTION
elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
if (elevation > (180 * HEADING_MULTIPLIER)) {
elevation = elevation - (360 * HEADING_MULTIPLIER);
}
#endif // FEATURE_EL_POSITION_HH12_AS5045_SSI
#ifdef FEATURE_EL_POSITION_INCREMENTAL_ENCODER
elevation = ((((el_incremental_encoder_position) / (EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.)) * 360.0) * HEADING_MULTIPLIER);
#ifdef FEATURE_ELEVATION_CORRECTION
elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
#endif // FEATURE_ELEVATION_CORRECTION
if (incremental_encoder_previous_elevation != elevation) {
configuration.last_el_incremental_encoder_position = el_incremental_encoder_position;
configuration_dirty = 1;
incremental_encoder_previous_elevation = elevation;
}
elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
#endif // FEATURE_EL_POSITION_INCREMENTAL_ENCODER
#ifdef FEATURE_EL_POSITION_MEMSIC_2125
unsigned int pulseY = pulseIn(pin_memsic_2125_y,HIGH,250000);
pulseY = pulseIn(pin_memsic_2125_y,HIGH,250000);
double Yangle = (asin(((( pulseY / 10. ) - 500.) * 8.) / 1000.0 )) * (360. / (2. * M_PI));
#ifdef DEBUG_MEMSIC_2125
debug.print("read_elevation: memsic2125 pulseY:");
debug.print(pulseY);
debug.println("");
#endif //DEBUG_MEMSIC_2125
elevation = Yangle * HEADING_MULTIPLIER;
#ifdef FEATURE_ELEVATION_CORRECTION
elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
#endif //FEATURE_ELEVATION_CORRECTION
#endif //FEATURE_EL_POSITION_MEMSIC_2125
last_measurement_time = millis();
}
#ifdef FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
elevation = el_a2_encoder * HEADING_MULTIPLIER;
#ifdef FEATURE_ELEVATION_CORRECTION
elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
#endif //FEATURE_ELEVATION_CORRECTION
elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
#endif //FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
#ifdef FEATURE_EL_POSITION_INCREMENTAL_ENCODER
read_elevation_lock = 0;
#endif
} /* read_elevation */
#endif /* ifdef FEATURE_ELEVATION_CONTROL */
// --------------------------------------------------------------
#ifdef FEATURE_ELEVATION_CONTROL
void update_el_variable_outputs(byte speed_voltage){
#ifdef DEBUG_VARIABLE_OUTPUTS
debug.print("update_el_variable_outputs: speed_voltage: ");
debug.print(speed_voltage);
#endif // DEBUG_VARIABLE_OUTPUTS
if (((el_state == SLOW_START_UP) || (el_state == NORMAL_UP) || (el_state == SLOW_DOWN_UP) || (el_state == TIMED_SLOW_DOWN_UP)) && (rotate_up_pwm)) {
#ifdef DEBUG_VARIABLE_OUTPUTS
debug.print("\trotate_up_pwm");
#endif // DEBUG_VARIABLE_OUTPUTS
analogWriteEnhanced(rotate_up_pwm, speed_voltage);
}
if (((el_state == SLOW_START_DOWN) || (el_state == NORMAL_DOWN) || (el_state == SLOW_DOWN_DOWN) || (el_state == TIMED_SLOW_DOWN_DOWN)) && (rotate_down_pwm)) {
#ifdef DEBUG_VARIABLE_OUTPUTS
debug.print("\trotate_down_pwm");
#endif // DEBUG_VARIABLE_OUTPUTS
analogWriteEnhanced(rotate_down_pwm, speed_voltage);
}
if (((el_state == SLOW_START_DOWN) || (el_state == NORMAL_DOWN) || (el_state == SLOW_DOWN_DOWN) || (el_state == TIMED_SLOW_DOWN_DOWN) ||
(el_state == SLOW_START_UP) || (el_state == NORMAL_UP) || (el_state == SLOW_DOWN_UP) || (el_state == TIMED_SLOW_DOWN_UP)) && (rotate_up_down_pwm)) {
#ifdef DEBUG_VARIABLE_OUTPUTS
debug.print("\trotate_up_down_pwm");
#endif // DEBUG_VARIABLE_OUTPUTS
analogWriteEnhanced(rotate_up_down_pwm, speed_voltage);
}
if (((el_state == SLOW_START_UP) || (el_state == NORMAL_UP) || (el_state == SLOW_DOWN_UP) || (el_state == TIMED_SLOW_DOWN_UP)) && (rotate_up_freq)) {
#ifdef DEBUG_VARIABLE_OUTPUTS
debug.print("\trotate_up_freq");
#endif // DEBUG_VARIABLE_OUTPUTS
tone(rotate_up_freq, map(speed_voltage, 0, 255, EL_VARIABLE_FREQ_OUTPUT_LOW, EL_VARIABLE_FREQ_OUTPUT_HIGH));
}
if (((el_state == SLOW_START_DOWN) || (el_state == NORMAL_DOWN) || (el_state == SLOW_DOWN_DOWN) || (el_state == TIMED_SLOW_DOWN_DOWN)) && (rotate_down_freq)) {
#ifdef DEBUG_VARIABLE_OUTPUTS
debug.print("\trotate_down_freq");
#endif // DEBUG_VARIABLE_OUTPUTS
tone(rotate_down_freq, map(speed_voltage, 0, 255, EL_VARIABLE_FREQ_OUTPUT_LOW, EL_VARIABLE_FREQ_OUTPUT_HIGH));
}
#ifdef FEATURE_STEPPER_MOTOR
unsigned int el_tone = 0;
if (((el_state == SLOW_START_UP) || (el_state == NORMAL_UP) || (el_state == SLOW_DOWN_UP) || (el_state == TIMED_SLOW_DOWN_UP) || (el_state == SLOW_START_DOWN) || (el_state == NORMAL_DOWN) || (el_state == SLOW_DOWN_DOWN) || (el_state == TIMED_SLOW_DOWN_DOWN)) && (el_stepper_motor_pulse)) {
#ifdef DEBUG_VARIABLE_OUTPUTS
debug.print("\tel_stepper_motor_pulse: ");
#endif // DEBUG_VARIABLE_OUTPUTS
el_tone = map(speed_voltage, 0, 255, EL_VARIABLE_FREQ_OUTPUT_LOW, EL_VARIABLE_FREQ_OUTPUT_HIGH);
#ifdef FEATURE_STEPPER_MOTOR
set_el_stepper_freq(el_tone);
#endif
#ifdef DEBUG_VARIABLE_OUTPUTS
debug.print(el_tone);
#endif // DEBUG_VARIABLE_OUTPUTS
}
#endif //FEATURE_STEPPER_MOTOR
if (elevation_speed_voltage) {
analogWriteEnhanced(elevation_speed_voltage, speed_voltage);
}
#ifdef DEBUG_VARIABLE_OUTPUTS
debug.println("");
#endif // DEBUG_VARIABLE_OUTPUTS
current_el_speed_voltage = speed_voltage;
} /* update_el_variable_outputs */
#endif // FEATURE_ELEVATION_CONTROL
// --------------------------------------------------------------
void update_az_variable_outputs(byte speed_voltage){
#ifdef DEBUG_VARIABLE_OUTPUTS
int temp_int = 0;
debug.print("update_az_variable_outputs: az_state: ");
switch (az_state) {
case IDLE: debug.print("IDLE"); break;
case SLOW_START_CW: debug.print("SLOW_START_CW"); break;
case SLOW_START_CCW: debug.print("SLOW_START_CCW"); break;
case NORMAL_CW: debug.print("NORMAL_CW"); break;
case NORMAL_CCW: debug.print("NORMAL_CCW"); break;
case SLOW_DOWN_CW: debug.print("SLOW_DOWN_CW"); break;
case SLOW_DOWN_CCW: debug.print("SLOW_DOWN_CCW"); break;
case INITIALIZE_SLOW_START_CW: debug.print("INITIALIZE_SLOW_START_CW"); break;
case INITIALIZE_SLOW_START_CCW: debug.print("INITIALIZE_SLOW_START_CCW"); break;
case INITIALIZE_TIMED_SLOW_DOWN_CW: debug.print("INITIALIZE_TIMED_SLOW_DOWN_CW"); break;
case INITIALIZE_TIMED_SLOW_DOWN_CCW: debug.print("INITIALIZE_TIMED_SLOW_DOWN_CCW"); break;
case TIMED_SLOW_DOWN_CW: debug.print("TIMED_SLOW_DOWN_CW"); break;
case TIMED_SLOW_DOWN_CCW: debug.print("TIMED_SLOW_DOWN_CCW"); break;
case INITIALIZE_DIR_CHANGE_TO_CW: debug.print("INITIALIZE_DIR_CHANGE_TO_CW"); break;
case INITIALIZE_DIR_CHANGE_TO_CCW: debug.print("INITIALIZE_DIR_CHANGE_TO_CCW"); break;
case INITIALIZE_NORMAL_CW: debug.print("INITIALIZE_NORMAL_CW"); break;
case INITIALIZE_NORMAL_CCW: debug.print("INITIALIZE_NORMAL_CCW"); break;
default: debug.print("UNDEF"); break;
}
debug.print(" speed_voltage: ");
debug.print(speed_voltage);
#endif // DEBUG_VARIABLE_OUTPUTS
if (((az_state == SLOW_START_CW) || (az_state == NORMAL_CW) || (az_state == SLOW_DOWN_CW) || (az_state == TIMED_SLOW_DOWN_CW)) && (rotate_cw_pwm)) {
#ifdef DEBUG_VARIABLE_OUTPUTS
debug.print("\trotate_cw_pwm");
#endif // DEBUG_VARIABLE_OUTPUTS
analogWriteEnhanced(rotate_cw_pwm, speed_voltage);
}
if (((az_state == SLOW_START_CCW) || (az_state == NORMAL_CCW) || (az_state == SLOW_DOWN_CCW) || (az_state == TIMED_SLOW_DOWN_CCW)) && (rotate_ccw_pwm)) {
#ifdef DEBUG_VARIABLE_OUTPUTS
debug.print("\trotate_ccw_pwm");
#endif // DEBUG_VARIABLE_OUTPUTS
analogWriteEnhanced(rotate_ccw_pwm, speed_voltage);
}
if (((az_state == SLOW_START_CW) || (az_state == NORMAL_CW) || (az_state == SLOW_DOWN_CW) || (az_state == TIMED_SLOW_DOWN_CW) || (az_state == SLOW_START_CCW) || (az_state == NORMAL_CCW) || (az_state == SLOW_DOWN_CCW) || (az_state == TIMED_SLOW_DOWN_CCW)) && (rotate_cw_ccw_pwm)) {
#ifdef DEBUG_VARIABLE_OUTPUTS
debug.print("\trotate_cw_ccw_pwm");
#endif // DEBUG_VARIABLE_OUTPUTS
analogWriteEnhanced(rotate_cw_ccw_pwm, speed_voltage);
}
if (((az_state == SLOW_START_CW) || (az_state == NORMAL_CW) || (az_state == SLOW_DOWN_CW) || (az_state == TIMED_SLOW_DOWN_CW)) && (rotate_cw_freq)) {
#ifdef DEBUG_VARIABLE_OUTPUTS
debug.print("\trotate_cw_freq: ");
temp_int = map(speed_voltage, 0, 255, AZ_VARIABLE_FREQ_OUTPUT_LOW, AZ_VARIABLE_FREQ_OUTPUT_HIGH);
tone(rotate_cw_freq, temp_int);
debug.print(temp_int);
#else // DEBUG_VARIABLE_OUTPUTS
tone(rotate_cw_freq, map(speed_voltage, 0, 255, AZ_VARIABLE_FREQ_OUTPUT_LOW, AZ_VARIABLE_FREQ_OUTPUT_HIGH));
#endif // DEBUG_VARIABLE_OUTPUTS
}
if (((az_state == SLOW_START_CCW) || (az_state == NORMAL_CCW) || (az_state == SLOW_DOWN_CCW) || (az_state == TIMED_SLOW_DOWN_CCW)) && (rotate_ccw_freq)) {
#ifdef DEBUG_VARIABLE_OUTPUTS
debug.print("\trotate_ccw_freq: ");
temp_int = map(speed_voltage, 0, 255, AZ_VARIABLE_FREQ_OUTPUT_LOW, AZ_VARIABLE_FREQ_OUTPUT_HIGH);
tone(rotate_ccw_freq, temp_int);
debug.print(temp_int);
#else // DEBUG_VARIABLE_OUTPUTS
tone(rotate_ccw_freq, map(speed_voltage, 0, 255, AZ_VARIABLE_FREQ_OUTPUT_LOW, AZ_VARIABLE_FREQ_OUTPUT_HIGH));
#endif // DEBUG_VARIABLE_OUTPUTS
}
#ifdef FEATURE_STEPPER_MOTOR
unsigned int az_tone = 0;
if (((az_state == SLOW_START_CW) || (az_state == NORMAL_CW) || (az_state == SLOW_DOWN_CW) || (az_state == TIMED_SLOW_DOWN_CW) || (az_state == SLOW_START_CCW) || (az_state == NORMAL_CCW) || (az_state == SLOW_DOWN_CCW) || (az_state == TIMED_SLOW_DOWN_CCW)) && (az_stepper_motor_pulse)) {
#ifdef DEBUG_VARIABLE_OUTPUTS
debug.print("\taz_stepper_motor_pulse: ");
#endif // DEBUG_VARIABLE_OUTPUTS
az_tone = map(speed_voltage, 0, 255, AZ_VARIABLE_FREQ_OUTPUT_LOW, AZ_VARIABLE_FREQ_OUTPUT_HIGH);
set_az_stepper_freq(az_tone);
#ifdef DEBUG_VARIABLE_OUTPUTS
debug.print(az_tone);
#endif // DEBUG_VARIABLE_OUTPUTS
}
#endif //FEATURE_STEPPER_MOTOR
if (azimuth_speed_voltage) {
analogWriteEnhanced(azimuth_speed_voltage, speed_voltage);
}
#ifdef DEBUG_VARIABLE_OUTPUTS
debug.println("");
#endif // DEBUG_VARIABLE_OUTPUTS
current_az_speed_voltage = speed_voltage;
} /* update_az_variable_outputs */
// --------------------------------------------------------------
void rotator(byte rotation_action, byte rotation_type) {
#ifdef DEBUG_ROTATOR
if (debug_mode) {
control_port->flush();
debug.print(F("rotator: rotation_action:"));
debug.print(rotation_action);
debug.print(F(" rotation_type:"));
control_port->flush();
debug.print(rotation_type);
debug.print(F("->"));
control_port->flush();
// delay(1000);
}
#endif // DEBUG_ROTATOR
switch (rotation_type) {
case CW:
#ifdef DEBUG_ROTATOR
if (debug_mode) {
debug.print(F("CW ")); control_port->flush();
}
#endif // DEBUG_ROTATOR
if (rotation_action == ACTIVATE) {
#ifdef DEBUG_ROTATOR
if (debug_mode) {
debug.print(F("ACTIVATE\n"));
}
#endif // DEBUG_ROTATOR
brake_release(AZ, BRAKE_RELEASE_ON);
if (az_slowstart_active) {
if (rotate_cw_pwm) {
analogWriteEnhanced(rotate_cw_pwm, 0);
}
if (rotate_ccw_pwm) {
analogWriteEnhanced(rotate_ccw_pwm, 0); digitalWriteEnhanced(rotate_ccw_pwm, LOW);
}
if (rotate_cw_ccw_pwm) {
analogWriteEnhanced(rotate_cw_ccw_pwm, 0);
}
if (rotate_cw_freq) {
noTone(rotate_cw_freq);
}
if (rotate_ccw_freq) {
noTone(rotate_ccw_freq);
}
#ifdef FEATURE_STEPPER_MOTOR
if (az_stepper_motor_pulse) {
set_az_stepper_freq(0);
digitalWriteEnhanced(az_stepper_motor_pulse,LOW);
}
#endif //FEATURE_STEPPER_MOTOR
} else {
if (rotate_cw_pwm) {
analogWriteEnhanced(rotate_cw_pwm, normal_az_speed_voltage);
}
if (rotate_ccw_pwm) {
analogWriteEnhanced(rotate_ccw_pwm, 0); digitalWriteEnhanced(rotate_ccw_pwm, LOW);
}
if (rotate_cw_ccw_pwm) {
analogWriteEnhanced(rotate_cw_ccw_pwm, normal_az_speed_voltage);
}
if (rotate_cw_freq) {
tone(rotate_cw_freq, map(normal_az_speed_voltage, 0, 255, AZ_VARIABLE_FREQ_OUTPUT_LOW, AZ_VARIABLE_FREQ_OUTPUT_HIGH));
}
if (rotate_ccw_freq) {
noTone(rotate_ccw_freq);
}
#ifdef FEATURE_STEPPER_MOTOR
if (az_stepper_motor_pulse) {
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
}
if (rotate_cw) {
digitalWriteEnhanced(rotate_cw, ROTATE_PIN_ACTIVE_VALUE);
}
if (rotate_ccw) {
digitalWriteEnhanced(rotate_ccw, ROTATE_PIN_INACTIVE_VALUE);
}
if (rotate_cw_ccw){
digitalWriteEnhanced(rotate_cw_ccw, ROTATE_PIN_ACTIVE_VALUE);
}
#ifdef DEBUG_ROTATOR
if (debug_mode) {
debug.print(F("rotator: normal_az_speed_voltage:"));
control_port->println(normal_az_speed_voltage);
//control_port->flush();
}
#endif // DEBUG_ROTATOR
} else {
#ifdef DEBUG_ROTATOR
if (debug_mode) {
debug.print(F("DEACTIVATE\n"));
}
#endif // DEBUG_ROTATOR
if (rotate_cw_pwm) {
analogWriteEnhanced(rotate_cw_pwm, 0); digitalWriteEnhanced(rotate_cw_pwm, LOW);
}
if (rotate_cw_ccw_pwm) {
analogWriteEnhanced(rotate_cw_ccw_pwm, 0);
}
if (rotate_cw) {
digitalWriteEnhanced(rotate_cw, ROTATE_PIN_INACTIVE_VALUE);
}
if (rotate_cw_ccw){
digitalWriteEnhanced(rotate_cw_ccw, ROTATE_PIN_INACTIVE_VALUE);
}
if (rotate_cw_freq) {
noTone(rotate_cw_freq);
}
#ifdef FEATURE_STEPPER_MOTOR
if (az_stepper_motor_pulse) {
set_az_stepper_freq(0);
digitalWriteEnhanced(az_stepper_motor_pulse,HIGH);
}
#endif //FEATURE_STEPPER_MOTOR
}
break;
case CCW:
#ifdef DEBUG_ROTATOR
if (debug_mode) {
debug.print(F("CCW ")); control_port->flush();
}
#endif // DEBUG_ROTATOR
if (rotation_action == ACTIVATE) {
#ifdef DEBUG_ROTATOR
if (debug_mode) {
debug.print(F("ACTIVATE\n"));
}
#endif // DEBUG_ROTATOR
brake_release(AZ, BRAKE_RELEASE_ON);
if (az_slowstart_active) {
if (rotate_cw_pwm) {
analogWriteEnhanced(rotate_cw_pwm, 0); digitalWriteEnhanced(rotate_cw_pwm, LOW);
}
if (rotate_ccw_pwm) {
analogWriteEnhanced(rotate_ccw_pwm, 0);
}
if (rotate_cw_ccw_pwm) {
analogWriteEnhanced(rotate_cw_ccw_pwm, 0);
}
if (rotate_cw_freq) {
noTone(rotate_cw_freq);
}
if (rotate_ccw_freq) {
noTone(rotate_ccw_freq);
}
#ifdef FEATURE_STEPPER_MOTOR
if (az_stepper_motor_pulse) {
set_az_stepper_freq(0);
digitalWriteEnhanced(az_stepper_motor_pulse,LOW);
}
#endif //FEATURE_STEPPER_MOTOR
} else {
if (rotate_cw_pwm) {
analogWriteEnhanced(rotate_cw_pwm, 0); digitalWriteEnhanced(rotate_cw_pwm, LOW);
}
if (rotate_ccw_pwm) {
analogWriteEnhanced(rotate_ccw_pwm, normal_az_speed_voltage);
}
if (rotate_cw_ccw_pwm) {
analogWriteEnhanced(rotate_cw_ccw_pwm, normal_az_speed_voltage);
}
if (rotate_cw_freq) {
noTone(rotate_cw_freq);
}
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) {
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
}
if (rotate_cw) {
digitalWriteEnhanced(rotate_cw, ROTATE_PIN_INACTIVE_VALUE);
}
if (rotate_ccw) {
digitalWriteEnhanced(rotate_ccw, ROTATE_PIN_ACTIVE_VALUE);
}
if (rotate_cw_ccw){
digitalWriteEnhanced(rotate_cw_ccw, ROTATE_PIN_ACTIVE_VALUE);
}
/*
#ifdef FEATURE_STEPPER_MOTOR
if (az_stepper_motor_direction){
if (configuration.az_stepper_motor_last_direction != STEPPER_CCW){
if (configuration.az_stepper_motor_last_pin_state == LOW){
digitalWriteEnhanced(az_stepper_motor_direction,HIGH);
configuration.az_stepper_motor_last_pin_state = HIGH;
} else {
digitalWriteEnhanced(az_stepper_motor_direction,LOW);
configuration.az_stepper_motor_last_pin_state = LOW;
}
configuration.az_stepper_motor_last_direction = STEPPER_CCW;
configuration_dirty = 1;
}
}
#endif //FEATURE_STEPPER_MOTOR
*/
#ifdef DEBUG_ROTATOR
if (debug_mode) {
debug.print(F("rotator: normal_az_speed_voltage:"));
control_port->println(normal_az_speed_voltage);
control_port->flush();
}
#endif // DEBUG_ROTATOR
} else {
#ifdef DEBUG_ROTATOR
if (debug_mode) {
debug.print(F("DEACTIVATE\n"));
}
#endif // DEBUG_ROTATOR
if (rotate_ccw_pwm) {
analogWriteEnhanced(rotate_ccw_pwm, 0); digitalWriteEnhanced(rotate_ccw_pwm, LOW);
}
if (rotate_ccw) {
digitalWriteEnhanced(rotate_ccw, ROTATE_PIN_INACTIVE_VALUE);
}
if (rotate_ccw_freq) {
noTone(rotate_ccw_freq);
}
}
break;
#ifdef FEATURE_ELEVATION_CONTROL
case UP:
#ifdef DEBUG_ROTATOR
if (debug_mode) {
debug.print(F("ROTATION_UP "));
}
#endif // DEBUG_ROTATOR
if (rotation_action == ACTIVATE) {
#ifdef DEBUG_ROTATOR
if (debug_mode) {
debug.print(F("ACTIVATE\n"));
}
#endif // DEBUG_ROTATOR
brake_release(EL, BRAKE_RELEASE_ON);
if (el_slowstart_active) {
if (rotate_up_pwm) {
analogWriteEnhanced(rotate_up_pwm, 0);
}
if (rotate_down_pwm) {
analogWriteEnhanced(rotate_down_pwm, 0); digitalWriteEnhanced(rotate_down_pwm, LOW);
}
if (rotate_up_down_pwm) {
analogWriteEnhanced(rotate_up_down_pwm, 0);
}
if (rotate_up_freq) {
noTone(rotate_up_freq);
}
if (rotate_down_freq) {
noTone(rotate_down_freq);
}
#ifdef FEATURE_STEPPER_MOTOR
if (el_stepper_motor_pulse) {
set_el_stepper_freq(0);
digitalWriteEnhanced(el_stepper_motor_pulse,LOW);
}
#endif //FEATURE_STEPPER_MOTOR
} else {
if (rotate_up_pwm) {
analogWriteEnhanced(rotate_up_pwm, normal_el_speed_voltage);
}
if (rotate_down_pwm) {
analogWriteEnhanced(rotate_down_pwm, 0); digitalWriteEnhanced(rotate_down_pwm, LOW);
}
if (rotate_up_down_pwm) {
analogWriteEnhanced(rotate_up_down_pwm, normal_el_speed_voltage);
}
if (rotate_up_freq) {
tone(rotate_up_freq, map(normal_el_speed_voltage, 0, 255, EL_VARIABLE_FREQ_OUTPUT_LOW, EL_VARIABLE_FREQ_OUTPUT_HIGH));
}
#ifdef FEATURE_STEPPER_MOTOR
if (el_stepper_motor_pulse) {
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
if (rotate_down_freq) {
noTone(rotate_down_freq);
}
}
if (rotate_up) {
digitalWriteEnhanced(rotate_up, ROTATE_PIN_ACTIVE_VALUE);
}
if (rotate_down) {
digitalWriteEnhanced(rotate_down, ROTATE_PIN_INACTIVE_VALUE);
}
if (rotate_up_or_down) {
digitalWriteEnhanced(rotate_up_or_down, ROTATE_PIN_ACTIVE_VALUE);
}
/*
#ifdef FEATURE_STEPPER_MOTOR
if (el_stepper_motor_direction){
if (configuration.el_stepper_motor_last_direction != STEPPER_UP){
if (configuration.el_stepper_motor_last_pin_state == LOW){
digitalWriteEnhanced(el_stepper_motor_direction,HIGH);
configuration.el_stepper_motor_last_pin_state = HIGH;
} else {
digitalWriteEnhanced(el_stepper_motor_direction,LOW);
configuration.el_stepper_motor_last_pin_state = LOW;
}
configuration.el_stepper_motor_last_direction = STEPPER_UP;
configuration_dirty = 1;
}
}
#endif //FEATURE_STEPPER_MOTOR
*/
} else {
#ifdef DEBUG_ROTATOR
if (debug_mode) {
debug.print(F("DEACTIVATE\n"));
}
#endif // DEBUG_ROTATOR
if (rotate_up) {
digitalWriteEnhanced(rotate_up, ROTATE_PIN_INACTIVE_VALUE);
}
if (rotate_up_pwm) {
analogWriteEnhanced(rotate_up_pwm, 0); digitalWriteEnhanced(rotate_up_pwm, LOW);
}
if (rotate_up_down_pwm) {
analogWriteEnhanced(rotate_up_down_pwm, 0);
}
if (rotate_up_freq) {
noTone(rotate_up_freq);
}
if (rotate_up_or_down) {
digitalWriteEnhanced(rotate_up_or_down, ROTATE_PIN_INACTIVE_VALUE);
}
#ifdef FEATURE_STEPPER_MOTOR
if (el_stepper_motor_pulse) {
set_el_stepper_freq(0);
digitalWriteEnhanced(el_stepper_motor_pulse,HIGH);
}
#endif //FEATURE_STEPPER_MOTOR
}
break;
case DOWN:
#ifdef DEBUG_ROTATOR
if (debug_mode) {
debug.print(F("ROTATION_DOWN "));
}
#endif // DEBUG_ROTATOR
if (rotation_action == ACTIVATE) {
#ifdef DEBUG_ROTATOR
if (debug_mode) {
debug.print(F("ACTIVATE\n"));
}
#endif // DEBUG_ROTATOR
brake_release(EL, BRAKE_RELEASE_ON);
if (el_slowstart_active) {
if (rotate_down_pwm) {
analogWriteEnhanced(rotate_down_pwm, 0);
}
if (rotate_up_pwm) {
analogWriteEnhanced(rotate_up_pwm, 0); digitalWriteEnhanced(rotate_up_pwm, LOW);
}
if (rotate_up_down_pwm) {
analogWriteEnhanced(rotate_up_down_pwm, 0);
}
if (rotate_up_freq) {
noTone(rotate_up_freq);
}
if (rotate_down_freq) {
noTone(rotate_down_freq);
}
#ifdef FEATURE_STEPPER_MOTOR
if (el_stepper_motor_pulse) {
set_el_stepper_freq(0);
digitalWriteEnhanced(el_stepper_motor_pulse,LOW);
}
#endif //FEATURE_STEPPER_MOTOR
} else {
if (rotate_down_pwm) {
analogWriteEnhanced(rotate_down_pwm, normal_el_speed_voltage);
}
if (rotate_up_pwm) {
analogWriteEnhanced(rotate_up_pwm, 0); digitalWriteEnhanced(rotate_up_pwm, LOW);
}
if (rotate_up_down_pwm) {
analogWriteEnhanced(rotate_up_down_pwm, normal_el_speed_voltage);
}
if (rotate_down_freq) {
tone(rotate_down_freq, map(normal_el_speed_voltage, 0, 255, EL_VARIABLE_FREQ_OUTPUT_LOW, EL_VARIABLE_FREQ_OUTPUT_HIGH));
}
if (rotate_up_freq) {
noTone(rotate_up_freq);
}
#ifdef FEATURE_STEPPER_MOTOR
if (el_stepper_motor_pulse) {
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
}
if (rotate_up) {
digitalWriteEnhanced(rotate_up, ROTATE_PIN_INACTIVE_VALUE);
}
if (rotate_down) {
digitalWriteEnhanced(rotate_down, ROTATE_PIN_ACTIVE_VALUE);
}
if (rotate_up_or_down) {
digitalWriteEnhanced(rotate_up_or_down, ROTATE_PIN_ACTIVE_VALUE);
}
/*
#ifdef FEATURE_STEPPER_MOTOR
if (el_stepper_motor_direction){
if (configuration.el_stepper_motor_last_direction != STEPPER_DOWN){
if (configuration.el_stepper_motor_last_pin_state == LOW){
digitalWriteEnhanced(el_stepper_motor_direction,HIGH);
configuration.el_stepper_motor_last_pin_state = HIGH;
} else {
digitalWriteEnhanced(el_stepper_motor_direction,LOW);
configuration.el_stepper_motor_last_pin_state = LOW;
}
configuration.el_stepper_motor_last_direction = STEPPER_DOWN;
configuration_dirty = 1;
}
}
#endif //FEATURE_STEPPER_MOTOR
*/
} else {
#ifdef DEBUG_ROTATOR
if (debug_mode) {
debug.print(F("DEACTIVATE\n"));
}
#endif // DEBUG_ROTATOR
if (rotate_down) {
digitalWriteEnhanced(rotate_down, ROTATE_PIN_INACTIVE_VALUE);
}
if (rotate_down_pwm) {
analogWriteEnhanced(rotate_down_pwm, 0); digitalWriteEnhanced(rotate_down_pwm, LOW);
}
if (rotate_up_down_pwm) {
analogWriteEnhanced(rotate_up_down_pwm, 0);
}
if (rotate_down_freq) {
noTone(rotate_down_freq);
}
if (rotate_up_or_down) {
digitalWriteEnhanced(rotate_up_or_down, ROTATE_PIN_INACTIVE_VALUE);
}
#ifdef FEATURE_STEPPER_MOTOR
if (el_stepper_motor_pulse) {
set_el_stepper_freq(0);
digitalWriteEnhanced(el_stepper_motor_pulse,HIGH);
}
#endif //FEATURE_STEPPER_MOTOR
}
break;
#endif // FEATURE_ELEVATION_CONTROL
} /* switch */
#ifdef DEBUG_ROTATOR
if (debug_mode) {
debug.print(F("rotator: exiting\n"));
control_port->flush();
}
#endif // DEBUG_ROTATOR
} /* rotator */
// --------------------------------------------------------------
void initialize_interrupts(){
#ifdef DEBUG_LOOP
debug.print("initialize_interrupts()\n");
Serial.flush();
#endif // DEBUG_LOOP
#ifdef FEATURE_AZ_POSITION_PULSE_INPUT
attachInterrupt(AZ_POSITION_PULSE_PIN_INTERRUPT, az_position_pulse_interrupt_handler, FALLING);
#endif // FEATURE_AZ_POSITION_PULSE_INPUT
#ifdef FEATURE_EL_POSITION_PULSE_INPUT
attachInterrupt(EL_POSITION_PULSE_PIN_INTERRUPT, el_position_pulse_interrupt_handler, FALLING);
#endif // FEATURE_EL_POSITION_PULSE_INPUT
#ifdef FEATURE_STEPPER_MOTOR
Timer5.initialize(250); // 250 us = 4 khz rate
Timer5.attachInterrupt(service_stepper_motor_pulse_pins);
#endif //FEATURE_STEPPER_MOTOR
}
// --------------------------------------------------------------
void initialize_pins(){
#ifdef DEBUG_LOOP
debug.print("initialize_pins()\n");
Serial.flush();
#endif // DEBUG_LOOP
#ifdef reset_pin
pinMode(reset_pin, OUTPUT);
digitalWrite(reset_pin, LOW);
#endif //reset_pin
if (serial_led) {
pinModeEnhanced(serial_led, OUTPUT);
}
if (overlap_led) {
pinModeEnhanced(overlap_led, OUTPUT);
}
if (brake_az) {
pinModeEnhanced(brake_az, OUTPUT);
digitalWriteEnhanced(brake_az, BRAKE_INACTIVE_STATE);
}
if (az_speed_pot) {
pinModeEnhanced(az_speed_pot, INPUT);
digitalWriteEnhanced(az_speed_pot, LOW);
}
if (az_preset_pot) {
pinModeEnhanced(az_preset_pot, INPUT);
digitalWriteEnhanced(az_preset_pot, LOW);
}
if (preset_start_button) {
pinModeEnhanced(preset_start_button, INPUT);
digitalWriteEnhanced(preset_start_button, HIGH);
}
if (button_stop) {
pinModeEnhanced(button_stop, INPUT);
digitalWriteEnhanced(button_stop, HIGH);
}
#ifdef FEATURE_ELEVATION_CONTROL
if (brake_el) {
pinModeEnhanced(brake_el, OUTPUT);
digitalWriteEnhanced(brake_el, BRAKE_INACTIVE_STATE);
}
#endif // FEATURE_ELEVATION_CONTROL
if (rotate_cw) {
pinModeEnhanced(rotate_cw, OUTPUT);
}
if (rotate_ccw) {
pinModeEnhanced(rotate_ccw, OUTPUT);
}
if (rotate_cw_pwm) {
pinModeEnhanced(rotate_cw_pwm, OUTPUT);
}
if (rotate_ccw_pwm) {
pinModeEnhanced(rotate_ccw_pwm, OUTPUT);
}
if (rotate_cw_ccw_pwm) {
pinModeEnhanced(rotate_cw_ccw_pwm, OUTPUT);
}
if (rotate_cw_freq) {
pinModeEnhanced(rotate_cw_freq, OUTPUT);
}
if (rotate_ccw_freq) {
pinModeEnhanced(rotate_ccw_freq, OUTPUT);
}
if (rotate_cw_ccw) {
pinModeEnhanced(rotate_cw_ccw, OUTPUT);
}
rotator(DEACTIVATE, CW);
rotator(DEACTIVATE, CCW);
#if defined(FEATURE_AZ_POSITION_POTENTIOMETER)
pinModeEnhanced(rotator_analog_az, INPUT);
#endif
if (button_cw) {
pinModeEnhanced(button_cw, INPUT);
digitalWriteEnhanced(button_cw, HIGH);
}
if (button_ccw) {
pinModeEnhanced(button_ccw, INPUT);
digitalWriteEnhanced(button_ccw, HIGH);
}
normal_az_speed_voltage = PWM_SPEED_VOLTAGE_X4;
current_az_speed_voltage = PWM_SPEED_VOLTAGE_X4;
#ifdef FEATURE_ELEVATION_CONTROL
normal_el_speed_voltage = PWM_SPEED_VOLTAGE_X4;
current_el_speed_voltage = PWM_SPEED_VOLTAGE_X4;
#endif // FEATURE_ELEVATION_CONTROL
if (azimuth_speed_voltage) { // if azimuth_speed_voltage pin is configured, set it up for PWM output
analogWriteEnhanced(azimuth_speed_voltage, PWM_SPEED_VOLTAGE_X4);
}
#ifdef FEATURE_ELEVATION_CONTROL
pinModeEnhanced(rotate_up, OUTPUT);
pinModeEnhanced(rotate_down, OUTPUT);
if (rotate_up_or_down) {
pinModeEnhanced(rotate_up_or_down, OUTPUT);
}
if (rotate_up_pwm) {
pinModeEnhanced(rotate_up_pwm, OUTPUT);
}
if (rotate_down_pwm) {
pinModeEnhanced(rotate_down_pwm, OUTPUT);
}
if (rotate_up_down_pwm) {
pinModeEnhanced(rotate_up_down_pwm, OUTPUT);
}
if (rotate_up_freq) {
pinModeEnhanced(rotate_up_freq, OUTPUT);
}
if (rotate_down_freq) {
pinModeEnhanced(rotate_down_freq, OUTPUT);
}
rotator(DEACTIVATE, UP);
rotator(DEACTIVATE, DOWN);
#ifdef FEATURE_EL_POSITION_POTENTIOMETER
pinModeEnhanced(rotator_analog_el, INPUT);
#endif // FEATURE_EL_POSITION_POTENTIOMETER
if (button_up) {
pinModeEnhanced(button_up, INPUT);
digitalWriteEnhanced(button_up, HIGH);
}
if (button_down) {
pinModeEnhanced(button_down, INPUT);
digitalWriteEnhanced(button_down, HIGH);
}
if (elevation_speed_voltage) { // if elevation_speed_voltage pin is configured, set it up for PWM output
analogWriteEnhanced(elevation_speed_voltage, PWM_SPEED_VOLTAGE_X4);
normal_el_speed_voltage = PWM_SPEED_VOLTAGE_X4;
current_el_speed_voltage = PWM_SPEED_VOLTAGE_X4;
}
read_elevation(0);
#endif // FEATURE_ELEVATION_CONTROL
#ifdef FEATURE_AZ_POSITION_PULSE_INPUT
if (az_position_pulse_pin) {
pinModeEnhanced(az_position_pulse_pin, INPUT);
#ifdef OPTION_POSITION_PULSE_INPUT_PULLUPS
digitalWriteEnhanced(az_position_pulse_pin, HIGH);
#endif // OPTION_POSITION_PULSE_INPUT_PULLUPS
}
#endif // FEATURE_AZ_POSITION_PULSE_INPUT
#ifdef FEATURE_EL_POSITION_PULSE_INPUT
if (el_position_pulse_pin) {
pinModeEnhanced(el_position_pulse_pin, INPUT);
#ifdef OPTION_POSITION_PULSE_INPUT_PULLUPS
digitalWriteEnhanced(el_position_pulse_pin, HIGH);
#endif // OPTION_POSITION_PULSE_INPUT_PULLUPS
}
#endif // FEATURE_EL_POSITION_PULSE_INPUT
#ifdef FEATURE_PARK
if (button_park) {
pinModeEnhanced(button_park, INPUT);
digitalWriteEnhanced(button_park, HIGH);
}
#endif // FEATURE_PARK
#ifdef FEATURE_ROTATION_INDICATOR_PIN
if (rotation_indication_pin) {
pinModeEnhanced(rotation_indication_pin, OUTPUT);
digitalWriteEnhanced(rotation_indication_pin, ROTATION_INDICATOR_PIN_INACTIVE_STATE);
}
#endif // FEATURE_ROTATION_INDICATOR_PIN
#ifdef FEATURE_PARK
if (park_in_progress_pin) {
pinModeEnhanced(park_in_progress_pin, OUTPUT);
digitalWriteEnhanced(park_in_progress_pin, LOW);
}
if (parked_pin) {
pinModeEnhanced(parked_pin, OUTPUT);
digitalWriteEnhanced(parked_pin, LOW);
}
#endif // FEATURE_PARK
if (blink_led) {
pinModeEnhanced(blink_led, OUTPUT);
}
if (heading_reading_inhibit_pin) {
pinModeEnhanced(heading_reading_inhibit_pin, INPUT);
}
#ifdef FEATURE_LIMIT_SENSE
if (az_limit_sense_pin) {
pinModeEnhanced(az_limit_sense_pin, INPUT);
digitalWriteEnhanced(az_limit_sense_pin, HIGH);
}
#ifdef FEATURE_ELEVATION_CONTROL
if (el_limit_sense_pin) {
pinModeEnhanced(el_limit_sense_pin, INPUT);
digitalWriteEnhanced(el_limit_sense_pin, HIGH);
}
#endif // FEATURE_ELEVATION_CONTROL
#endif // FEATURE_LIMIT_SENSE
#ifdef FEATURE_MOON_TRACKING
if (moon_tracking_active_pin) {
pinModeEnhanced(moon_tracking_active_pin, OUTPUT);
digitalWriteEnhanced(moon_tracking_active_pin, LOW);
}
if (moon_tracking_activate_line) {
pinModeEnhanced(moon_tracking_activate_line, INPUT);
digitalWriteEnhanced(moon_tracking_activate_line, HIGH);
}
if (moon_tracking_button) {
pinModeEnhanced(moon_tracking_button, INPUT);
digitalWriteEnhanced(moon_tracking_button, HIGH);
}
#endif // FEATURE_MOON_TRACKING
#ifdef FEATURE_SUN_TRACKING
if (sun_tracking_active_pin) {
pinModeEnhanced(sun_tracking_active_pin, OUTPUT);
digitalWriteEnhanced(sun_tracking_active_pin, LOW);
}
if (sun_tracking_activate_line) {
pinModeEnhanced(sun_tracking_activate_line, INPUT);
digitalWriteEnhanced(sun_tracking_activate_line, HIGH);
}
if (sun_tracking_button) {
pinModeEnhanced(sun_tracking_button, INPUT);
digitalWriteEnhanced(sun_tracking_button, HIGH);
}
#endif // FEATURE_SUN_TRACKING
#ifdef FEATURE_GPS
if (gps_sync) {
pinModeEnhanced(gps_sync, OUTPUT);
digitalWriteEnhanced(gps_sync, LOW);
}
#endif //FEATURE_GPS
#ifdef FEATURE_POWER_SWITCH
pinModeEnhanced(power_switch, OUTPUT);
digitalWriteEnhanced(power_switch, HIGH);
#endif //FEATURE_POWER_SWITCH
#ifdef FEATURE_STEPPER_MOTOR
if (az_stepper_motor_pulse){
pinModeEnhanced(az_stepper_motor_pulse, OUTPUT);
digitalWriteEnhanced(az_stepper_motor_pulse, HIGH);
}
/*
if (az_stepper_motor_direction){
pinModeEnhanced(az_stepper_motor_direction, OUTPUT);
digitalWriteEnhanced(az_stepper_motor_direction, configuration.az_stepper_motor_last_pin_state);
}
*/
#ifdef FEATURE_ELEVATION_CONTROL
if (el_stepper_motor_pulse){
pinModeEnhanced(el_stepper_motor_pulse, OUTPUT);
digitalWriteEnhanced(el_stepper_motor_pulse, HIGH);
}
/*
if (el_stepper_motor_direction){
pinModeEnhanced(el_stepper_motor_direction, OUTPUT);
digitalWriteEnhanced(el_stepper_motor_direction, configuration.el_stepper_motor_last_pin_state);
}
*/
#endif //FEATURE_ELEVATION_CONTROL
#endif //FEATURE_STEPPER_MOTOR
#ifdef FEATURE_EL_POSITION_MEMSIC_2125
pinModeEnhanced(pin_memsic_2125_x, INPUT);
pinModeEnhanced(pin_memsic_2125_y, INPUT);
#endif //FEATURE_EL_POSITION_MEMSIC_2125
#ifdef FEATURE_ANALOG_OUTPUT_PINS
pinModeEnhanced(pin_analog_az_out, OUTPUT);
digitalWriteEnhanced(pin_analog_az_out, LOW);
#ifdef FEATURE_ELEVATION_CONTROL
pinModeEnhanced(pin_analog_el_out, OUTPUT);
digitalWriteEnhanced(pin_analog_el_out, LOW);
#endif //FEATURE_ELEVATION_CONTROL
#endif //FEATURE_ANALOG_OUTPUT_PINS
#ifdef FEATURE_SUN_PUSHBUTTON_AZ_EL_CALIBRATION
pinModeEnhanced(pin_sun_pushbutton_calibration, INPUT);
digitalWriteEnhanced(pin_sun_pushbutton_calibration, HIGH);
#endif //FEATURE_SUN_PUSHBUTTON_AZ_EL_CALIBRATION
#ifdef FEATURE_MOON_PUSHBUTTON_AZ_EL_CALIBRATION
pinModeEnhanced(pin_moon_pushbutton_calibration, INPUT);
digitalWriteEnhanced(pin_moon_pushbutton_calibration, HIGH);
#endif //FEATURE_MOON_PUSHBUTTON_AZ_EL_CALIBRATION
} /* initialize_pins */
// --------------------------------------------------------------
void initialize_serial(){
#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION) || defined(FEATURE_CLOCK) || defined(UNDER_DEVELOPMENT_REMOTE_UNIT_COMMANDS)
control_port = CONTROL_PORT_MAPPED_TO;
control_port->begin(CONTROL_PORT_BAUD_RATE);
#endif
#ifdef FEATURE_REMOTE_UNIT_SLAVE
control_port->print(F("CS"));
control_port->println(CODE_VERSION);
#endif // FEATURE_REMOTE_UNIT_SLAVE
#if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE)
remote_unit_port = REMOTE_PORT_MAPPED_TO;
remote_unit_port->begin(REMOTE_UNIT_PORT_BAUD_RATE);
#endif
#ifdef FEATURE_GPS
gps_port = GPS_PORT_MAPPED_TO;
gps_port->begin(GPS_PORT_BAUD_RATE);
#ifdef GPS_MIRROR_PORT
gps_mirror_port = GPS_MIRROR_PORT;
gps_mirror_port->begin(GPS_MIRROR_PORT_BAUD_RATE);
#endif //GPS_MIRROR_PORT
#endif //FEATURE_GPS
} /* initialize_serial */
// --------------------------------------------------------------
void initialize_display(){
#if defined(FEATURE_LCD_DISPLAY)
#ifdef DEBUG_LOOP
debug.print("initialize_display()\n");
Serial.flush();
#endif // DEBUG_LOOP
k3ngdisplay.initialize();
#ifdef OPTION_DISPLAY_VERSION_ON_STARTUP
k3ngdisplay.print_center_timed_message("\x4B\x33\x4E\x47","\x52\x6F\x74\x6F\x72\x20\x43\x6F\x6E\x74\x72\x6F\x6C\x6C\x65\x72",CODE_VERSION,SPLASH_SCREEN_TIME);
#else
k3ngdisplay.print_center_timed_message("\x4B\x33\x4E\x47","\x52\x6F\x74\x6F\x72\x20\x43\x6F\x6E\x74\x72\x6F\x6C\x6C\x65\x72",SPLASH_SCREEN_TIME);
#endif
k3ngdisplay.service(0);
#ifdef DEBUG_LOOP
debug.print("exiting initialize_display()\n");
Serial.flush();
#endif // DEBUG_LOOP
#endif //defined(FEATURE_LCD_DISPLAY)
}
// --------------------------------------------------------------
void initialize_peripherals(){
#ifdef DEBUG_LOOP
debug.print("initialize_peripherals()\n");
Serial.flush();
#endif // DEBUG_LOOP
#ifdef FEATURE_WIRE_SUPPORT
Wire.begin();
#endif
#ifdef FEATURE_AZ_POSITION_HMC5883L
compass = HMC5883L();
int error;
error = compass.SetScale(1.3); // Set the scale of the compass.
#ifndef OPTION_DISABLE_HMC5883L_ERROR_CHECKING
if (error != 0) {
#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
control_port->print(F("setup: compass error:"));
control_port->println(compass.GetErrorText(error)); // check if there is an error, and print if so
#endif
}
#endif //OPTION_DISABLE_HMC5883L_ERROR_CHECKING
error = compass.SetMeasurementMode(Measurement_Continuous); // Set the measurement mode to Continuous
#ifndef OPTION_DISABLE_HMC5883L_ERROR_CHECKING
if (error != 0) {
#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
control_port->print(F("setup: compass error:"));
control_port->println(compass.GetErrorText(error)); // check if there is an error, and print if so
#endif
}
#endif //OPTION_DISABLE_HMC5883L_ERROR_CHECKING
#endif // FEATURE_AZ_POSITION_HMC5883L
#ifdef FEATURE_EL_POSITION_ADXL345_USING_LOVE_ELECTRON_LIB
accel = ADXL345();
accel.SetRange(2, true);
accel.EnableMeasurements();
#endif // FEATURE_EL_POSITION_ADXL345_USING_LOVE_ELECTRON_LIB
#ifdef FEATURE_EL_POSITION_ADXL345_USING_ADAFRUIT_LIB
accel.begin();
#endif // FEATURE_EL_POSITION_ADXL345_USING_ADAFRUIT_LIB
#ifdef FEATURE_JOYSTICK_CONTROL
pinModeEnhanced(pin_joystick_x, INPUT);
pinModeEnhanced(pin_joystick_y, INPUT);
#endif // FEATURE_JOYSTICK_CONTROL
#if defined(FEATURE_EL_POSITION_ADAFRUIT_LSM303) || defined(FEATURE_AZ_POSITION_ADAFRUIT_LSM303)
if (!lsm.begin()) {
#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
control_port->println(F("setup: LSM303 error"));
#endif
}
#endif // FEATURE_EL_POSITION_ADAFRUIT_LSM303 || FEATURE_AZ_POSITION_ADAFRUIT_LSM303
#if defined(FEATURE_AZ_POSITION_POLOLU_LSM303) || defined(FEATURE_EL_POSITION_POLOLU_LSM303)
if (!compass.init()) {
#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
control_port->println(F("setup: LSM303 error"));
#endif
}
compass.enableDefault();
compass.m_min = (LSM303::vector<int16_t>) POLOLU_LSM_303_MIN_ARRAY;
compass.m_max = (LSM303::vector<int16_t>) POLOLU_LSM_303_MAX_ARRAY;
#endif //defined(FEATURE_AZ_POSITION_POLOLU_LSM303) || defined(FEATURE_EL_POSITION_POLOLU_LSM303)
#ifdef FEATURE_AZ_POSITION_HH12_AS5045_SSI
azimuth_hh12.initialize(az_hh12_clock_pin, az_hh12_cs_pin, az_hh12_data_pin);
#endif // FEATURE_AZ_POSITION_HH12_AS5045_SSI
#ifdef FEATURE_EL_POSITION_HH12_AS5045_SSI
elevation_hh12.initialize(el_hh12_clock_pin, el_hh12_cs_pin, el_hh12_data_pin);
#endif // FEATURE_EL_POSITION_HH12_AS5045_SSI
#if defined(FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER) || defined(FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER)
SEIbus1.initialize();
#endif // defined(FEATURE_AZ_POSITION_A2_ABSOLUTE_ENCODER) || defined(FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER)
#ifdef FEATURE_RTC_DS1307
rtc.begin();
#endif // FEATURE_RTC_DS1307
#ifdef FEATURE_ETHERNET
Ethernet.begin(mac, ip, gateway, subnet);
ethernetserver0.begin();
#endif //FEATURE_ETHERNET
} /* initialize_peripherals */
// --------------------------------------------------------------
void submit_request(byte axis, byte request, int parm, byte called_by){
#ifdef DEBUG_SUBMIT_REQUEST
debug.print("submit_request: ");
debug.print(called_by);
debug.print(" ");
#endif // DEBUG_SUBMIT_REQUEST
#ifdef FEATURE_PARK
park_status = NOT_PARKED;
#endif // FEATURE_PARK
if (axis == AZ) {
#ifdef DEBUG_SUBMIT_REQUEST
debug.print("AZ ");
#endif // DEBUG_SUBMIT_REQUEST
az_request = request;
az_request_parm = parm;
az_request_queue_state = IN_QUEUE;
}
#ifdef FEATURE_ELEVATION_CONTROL
if (axis == EL) {
#ifdef DEBUG_SUBMIT_REQUEST
debug.print("EL ");
#endif // DEBUG_SUBMIT_REQUEST
el_request = request;
el_request_parm = parm;
el_request_queue_state = IN_QUEUE;
}
#endif // FEATURE_ELEVATION_CONTROL
#ifdef DEBUG_SUBMIT_REQUEST
switch(request){
case 0: debug.print("REQUEST_STOP");break;
case 1: debug.print("REQUEST_AZIMUTH");break;
case 2: debug.print("REQUEST_AZIMUTH_RAW");break;
case 3: debug.print("REQUEST_CW");break;
case 4: debug.print("REQUEST_CCW");break;
case 5: debug.print("REQUEST_UP");break;
case 6: debug.print("REQUEST_DOWN");break;
case 7: debug.print("REQUEST_ELEVATION");break;
case 8: debug.print("REQUEST_KILL");break;
}
debug.print(" ");
debug.print(parm);
debug.println("");
#endif // DEBUG_SUBMIT_REQUEST
} /* submit_request */
// --------------------------------------------------------------
void service_rotation(){
#if defined(FEATURE_AZ_POSITION_INCREMENTAL_ENCODER) || defined(FEATURE_EL_POSITION_INCREMENTAL_ENCODER)
service_rotation_lock = 1;
#endif
static byte az_direction_change_flag = 0;
static byte az_initial_slow_down_voltage = 0;
#ifdef FEATURE_ELEVATION_CONTROL
static byte el_direction_change_flag = 0;
static byte el_initial_slow_down_voltage = 0;
#endif // FEATURE_ELEVATION_CONTROL
if (az_state == INITIALIZE_NORMAL_CW) {
update_az_variable_outputs(normal_az_speed_voltage);
rotator(ACTIVATE, CW);
az_state = NORMAL_CW;
}
if (az_state == INITIALIZE_NORMAL_CCW) {
update_az_variable_outputs(normal_az_speed_voltage);
rotator(ACTIVATE, CCW);
az_state = NORMAL_CCW;
}
if (az_state == INITIALIZE_SLOW_START_CW) {
update_az_variable_outputs(AZ_SLOW_START_STARTING_PWM);
rotator(ACTIVATE, CW);
az_slowstart_start_time = millis();
az_last_step_time = 0;
az_slow_start_step = 0;
az_state = SLOW_START_CW;
#ifdef DEBUG_SERVICE_ROTATION
debug.print("service_rotation: INITIALIZE_SLOW_START_CW -> SLOW_START_CW");
#endif // DEBUG_SERVICE_ROTATION
}
if (az_state == INITIALIZE_SLOW_START_CCW) {
update_az_variable_outputs(AZ_SLOW_START_STARTING_PWM);
rotator(ACTIVATE, CCW);
az_slowstart_start_time = millis();
az_last_step_time = 0;
az_slow_start_step = 0;
az_state = SLOW_START_CCW;
#ifdef DEBUG_SERVICE_ROTATION
debug.print("service_rotation: INITIALIZE_SLOW_START_CCW -> SLOW_START_CCW");
#endif // DEBUG_SERVICE_ROTATION
}
if (az_state == INITIALIZE_TIMED_SLOW_DOWN_CW) {
az_direction_change_flag = 0;
az_timed_slow_down_start_time = millis();
az_last_step_time = millis();
az_slow_down_step = AZ_SLOW_DOWN_STEPS - 1;
az_state = TIMED_SLOW_DOWN_CW;
}
if (az_state == INITIALIZE_TIMED_SLOW_DOWN_CCW) {
az_direction_change_flag = 0;
az_timed_slow_down_start_time = millis();
az_last_step_time = millis();
az_slow_down_step = AZ_SLOW_DOWN_STEPS - 1;
az_state = TIMED_SLOW_DOWN_CCW;
}
if (az_state == INITIALIZE_DIR_CHANGE_TO_CW) {
az_direction_change_flag = 1;
az_timed_slow_down_start_time = millis();
az_last_step_time = millis();
az_slow_down_step = AZ_SLOW_DOWN_STEPS - 1;
az_state = TIMED_SLOW_DOWN_CCW;
}
if (az_state == INITIALIZE_DIR_CHANGE_TO_CCW) {
az_direction_change_flag = 1;
az_timed_slow_down_start_time = millis();
az_last_step_time = millis();
az_slow_down_step = AZ_SLOW_DOWN_STEPS - 1;
az_state = TIMED_SLOW_DOWN_CW;
}
// slow start-------------------------------------------------------------------------------------------------
if ((az_state == SLOW_START_CW) || (az_state == SLOW_START_CCW)) {
if ((millis() - az_slowstart_start_time) >= AZ_SLOW_START_UP_TIME) { // is it time to end slow start?
#ifdef DEBUG_SERVICE_ROTATION
debug.print("service_rotation: NORMAL_C");
#endif // DEBUG_SERVICE_ROTATION
if (az_state == SLOW_START_CW) {
az_state = NORMAL_CW;
#ifdef DEBUG_SERVICE_ROTATION
debug.print("W");
#endif // DEBUG_SERVICE_ROTATION
} else {
az_state = NORMAL_CCW;
#ifdef DEBUG_SERVICE_ROTATION
debug.print("CW");
#endif // DEBUG_SERVICE_ROTATION
}
update_az_variable_outputs(normal_az_speed_voltage);
} else { // it's not time to end slow start yet, but let's check if it's time to step up the speed voltage
if (((millis() - az_last_step_time) > (AZ_SLOW_START_UP_TIME / AZ_SLOW_START_STEPS)) && (normal_az_speed_voltage > AZ_SLOW_START_STARTING_PWM)) {
#ifdef DEBUG_SERVICE_ROTATION
debug.print("service_rotation: step up: ");
debug.print(az_slow_start_step);
debug.print(" pwm: ");
debug.print((int)(AZ_SLOW_START_STARTING_PWM + ((normal_az_speed_voltage - AZ_SLOW_START_STARTING_PWM) * ((float)az_slow_start_step / (float)(AZ_SLOW_START_STEPS - 1)))));
debug.println("");
#endif // DEBUG_SERVICE_ROTATION
update_az_variable_outputs((AZ_SLOW_START_STARTING_PWM + ((normal_az_speed_voltage - AZ_SLOW_START_STARTING_PWM) * ((float)az_slow_start_step / (float)(AZ_SLOW_START_STEPS - 1)))));
az_last_step_time = millis();
az_slow_start_step++;
}
}
} // ((az_state == SLOW_START_CW) || (az_state == SLOW_START_CCW))
// timed slow down ------------------------------------------------------------------------------------------------------
if (((az_state == TIMED_SLOW_DOWN_CW) || (az_state == TIMED_SLOW_DOWN_CCW)) && ((millis() - az_last_step_time) >= (TIMED_SLOW_DOWN_TIME / AZ_SLOW_DOWN_STEPS))) {
#ifdef DEBUG_SERVICE_ROTATION
debug.print("service_rotation: TIMED_SLOW_DOWN step down: ");
debug.print(az_slow_down_step);
debug.print(" pwm: ");
debug.print((int)(normal_az_speed_voltage * ((float)az_slow_down_step / (float)AZ_SLOW_DOWN_STEPS)));
debug.println("");
#endif // DEBUG_SERVICE_ROTATION
update_az_variable_outputs((int)(normal_az_speed_voltage * ((float)az_slow_down_step / (float)AZ_SLOW_DOWN_STEPS)));
az_last_step_time = millis();
if (az_slow_down_step > 0) {az_slow_down_step--;}
if (az_slow_down_step == 0) { // is it time to exit timed slow down?
#ifdef DEBUG_SERVICE_ROTATION
debug.print("service_rotation: TIMED_SLOW_DOWN->IDLE");
#endif // DEBUG_SERVICE_ROTATION
rotator(DEACTIVATE, CW);
rotator(DEACTIVATE, CCW);
if (az_direction_change_flag) {
if (az_state == TIMED_SLOW_DOWN_CW) {
//rotator(ACTIVATE, CCW);
if (az_slowstart_active) {
az_state = INITIALIZE_SLOW_START_CCW;
} else { az_state = NORMAL_CCW; };
az_direction_change_flag = 0;
}
if (az_state == TIMED_SLOW_DOWN_CCW) {
//rotator(ACTIVATE, CW);
if (az_slowstart_active) {
az_state = INITIALIZE_SLOW_START_CW;
} else { az_state = NORMAL_CW; };
az_direction_change_flag = 0;
}
} else {
az_state = IDLE;
az_request_queue_state = NONE;
}
}
} // ((az_state == TIMED_SLOW_DOWN_CW) || (az_state == TIMED_SLOW_DOWN_CCW))
// slow down ---------------------------------------------------------------------------------------------------------------
if ((az_state == SLOW_DOWN_CW) || (az_state == SLOW_DOWN_CCW)) {
// is it time to do another step down?
if (abs((target_raw_azimuth - raw_azimuth) / HEADING_MULTIPLIER) <= (((float)SLOW_DOWN_BEFORE_TARGET_AZ * ((float)az_slow_down_step / (float)AZ_SLOW_DOWN_STEPS)))) {
#ifdef DEBUG_SERVICE_ROTATION
debug.print("service_rotation: step down: ");
debug.print(az_slow_down_step);
debug.print(" pwm: ");
debug.print((int)(AZ_SLOW_DOWN_PWM_STOP + ((az_initial_slow_down_voltage - AZ_SLOW_DOWN_PWM_STOP) * ((float)az_slow_down_step / (float)AZ_SLOW_DOWN_STEPS))));
debug.println("");
#endif // DEBUG_SERVICE_ROTATION
update_az_variable_outputs((AZ_SLOW_DOWN_PWM_STOP + ((az_initial_slow_down_voltage - AZ_SLOW_DOWN_PWM_STOP) * ((float)az_slow_down_step / (float)AZ_SLOW_DOWN_STEPS))));
if (az_slow_down_step > 0) {az_slow_down_step--;}
}
} // ((az_state == SLOW_DOWN_CW) || (az_state == SLOW_DOWN_CCW))
// normal -------------------------------------------------------------------------------------------------------------------
// if slow down is enabled, see if we're ready to go into slowdown
if (((az_state == NORMAL_CW) || (az_state == SLOW_START_CW) || (az_state == NORMAL_CCW) || (az_state == SLOW_START_CCW)) &&
(az_request_queue_state == IN_PROGRESS_TO_TARGET) && az_slowdown_active && (abs((target_raw_azimuth - raw_azimuth) / HEADING_MULTIPLIER) <= SLOW_DOWN_BEFORE_TARGET_AZ)) {
byte az_state_was = az_state;
#ifdef DEBUG_SERVICE_ROTATION
debug.print("service_rotation: SLOW_DOWN_C");
#endif // DEBUG_SERVICE_ROTATION
az_slow_down_step = AZ_SLOW_DOWN_STEPS - 1;
if ((az_state == NORMAL_CW) || (az_state == SLOW_START_CW)) {
az_state = SLOW_DOWN_CW;
#ifdef DEBUG_SERVICE_ROTATION
debug.print("W");
#endif // DEBUG_SERVICE_ROTATION
} else {
az_state = SLOW_DOWN_CCW;
#ifdef DEBUG_SERVICE_ROTATION
debug.print("CW");
#endif // DEBUG_SERVICE_ROTATION
}
if ((az_state_was == SLOW_START_CW) || (az_state_was == SLOW_START_CCW)){
az_initial_slow_down_voltage = (AZ_INITIALLY_IN_SLOW_DOWN_PWM);
update_az_variable_outputs(az_initial_slow_down_voltage);
#ifdef DEBUG_SERVICE_ROTATION
debug.print(" SLOW_START -> SLOW_DOWN az_initial_slow_down_voltage:");
debug.print(az_initial_slow_down_voltage);
debug.print(" ");
#endif // DEBUG_SERVICE_ROTATION
} else {
if (AZ_SLOW_DOWN_PWM_START < current_az_speed_voltage) {
update_az_variable_outputs(AZ_SLOW_DOWN_PWM_START);
az_initial_slow_down_voltage = AZ_SLOW_DOWN_PWM_START;
} else {
az_initial_slow_down_voltage = current_az_speed_voltage;
}
}
}
// check rotation target --------------------------------------------------------------------------------------------------------
if ((az_state != IDLE) && (az_request_queue_state == IN_PROGRESS_TO_TARGET) ) {
if ((az_state == NORMAL_CW) || (az_state == SLOW_START_CW) || (az_state == SLOW_DOWN_CW)) {
if ((abs(raw_azimuth - target_raw_azimuth) < (AZIMUTH_TOLERANCE * HEADING_MULTIPLIER)) || ((raw_azimuth > target_raw_azimuth) && ((raw_azimuth - target_raw_azimuth) < ((AZIMUTH_TOLERANCE + 5) * HEADING_MULTIPLIER)))) {
delay(50);
read_azimuth(0);
if ((abs(raw_azimuth - target_raw_azimuth) < (AZIMUTH_TOLERANCE * HEADING_MULTIPLIER)) || ((raw_azimuth > target_raw_azimuth) && ((raw_azimuth - target_raw_azimuth) < ((AZIMUTH_TOLERANCE + 5) * HEADING_MULTIPLIER)))) {
rotator(DEACTIVATE, CW);
rotator(DEACTIVATE, CCW);
az_state = IDLE;
az_request_queue_state = NONE;
#ifdef DEBUG_SERVICE_ROTATION
debug.print("service_rotation: IDLE");
#endif // DEBUG_SERVICE_ROTATION
#if defined(FEATURE_PARK) && !defined(FEATURE_ELEVATION_CONTROL)
if (park_status == PARK_INITIATED) {
park_status = PARKED;
}
#endif // defined(FEATURE_PARK) && !defined(FEATURE_ELEVATION_CONTROL)
#if defined(FEATURE_PARK) && defined(FEATURE_ELEVATION_CONTROL)
if ((park_status == PARK_INITIATED) && (el_state == IDLE)) {
park_status = PARKED;
}
#endif // defined(FEATURE_PARK) && !defined(FEATURE_ELEVATION_CONTROL)
}
}
} else {
if ((abs(raw_azimuth - target_raw_azimuth) < (AZIMUTH_TOLERANCE * HEADING_MULTIPLIER)) || ((raw_azimuth < target_raw_azimuth) && ((target_raw_azimuth - raw_azimuth) < ((AZIMUTH_TOLERANCE + 5) * HEADING_MULTIPLIER)))) {
delay(50);
read_azimuth(0);
if ((abs(raw_azimuth - target_raw_azimuth) < (AZIMUTH_TOLERANCE * HEADING_MULTIPLIER)) || ((raw_azimuth < target_raw_azimuth) && ((target_raw_azimuth - raw_azimuth) < ((AZIMUTH_TOLERANCE + 5) * HEADING_MULTIPLIER)))) {
rotator(DEACTIVATE, CW);
rotator(DEACTIVATE, CCW);
az_state = IDLE;
az_request_queue_state = NONE;
#ifdef DEBUG_SERVICE_ROTATION
debug.print("service_rotation: IDLE");
#endif // DEBUG_SERVICE_ROTATION
#if defined(FEATURE_PARK) && !defined(FEATURE_ELEVATION_CONTROL)
if (park_status == PARK_INITIATED) {
park_status = PARKED;
}
#endif // defined(FEATURE_PARK) && !defined(FEATURE_ELEVATION_CONTROL)
#if defined(FEATURE_PARK) && defined(FEATURE_ELEVATION_CONTROL)
if ((park_status == PARK_INITIATED) && (el_state == IDLE)) {
park_status = PARKED;
}
#endif // defined(FEATURE_PARK) && !defined(FEATURE_ELEVATION_CONTROL)
}
}
}
}
#ifdef FEATURE_ELEVATION_CONTROL
if (el_state == INITIALIZE_NORMAL_UP) {
update_el_variable_outputs(normal_el_speed_voltage);
rotator(ACTIVATE, UP);
el_state = NORMAL_UP;
}
if (el_state == INITIALIZE_NORMAL_DOWN) {
update_el_variable_outputs(normal_el_speed_voltage);
rotator(ACTIVATE, DOWN);
el_state = NORMAL_DOWN;
}
if (el_state == INITIALIZE_SLOW_START_UP) {
update_el_variable_outputs(EL_SLOW_START_STARTING_PWM);
rotator(ACTIVATE, UP);
el_slowstart_start_time = millis();
el_last_step_time = 0;
el_slow_start_step = 0;
el_state = SLOW_START_UP;
#ifdef DEBUG_SERVICE_ROTATION
debug.print("service_rotation: INITIALIZE_SLOW_START_UP -> SLOW_START_UP");
#endif // DEBUG_SERVICE_ROTATION
}
if (el_state == INITIALIZE_SLOW_START_DOWN) {
update_el_variable_outputs(EL_SLOW_START_STARTING_PWM);
rotator(ACTIVATE, DOWN);
el_slowstart_start_time = millis();
el_last_step_time = 0;
el_slow_start_step = 0;
el_state = SLOW_START_DOWN;
#ifdef DEBUG_SERVICE_ROTATION
debug.print("service_rotation: INITIALIZE_SLOW_START_DOWN -> SLOW_START_DOWN");
#endif // DEBUG_SERVICE_ROTATION
}
if (el_state == INITIALIZE_TIMED_SLOW_DOWN_UP) {
el_direction_change_flag = 0;
el_timed_slow_down_start_time = millis();
el_last_step_time = millis();
el_slow_down_step = EL_SLOW_DOWN_STEPS - 1;
el_state = TIMED_SLOW_DOWN_UP;
}
if (el_state == INITIALIZE_TIMED_SLOW_DOWN_DOWN) {
el_direction_change_flag = 0;
el_timed_slow_down_start_time = millis();
el_last_step_time = millis();
el_slow_down_step = EL_SLOW_DOWN_STEPS - 1;
el_state = TIMED_SLOW_DOWN_DOWN;
}
if (el_state == INITIALIZE_DIR_CHANGE_TO_UP) {
el_direction_change_flag = 1;
el_timed_slow_down_start_time = millis();
el_last_step_time = millis();
el_slow_down_step = EL_SLOW_DOWN_STEPS - 1;
el_state = TIMED_SLOW_DOWN_DOWN;
}
if (el_state == INITIALIZE_DIR_CHANGE_TO_DOWN) {
el_direction_change_flag = 1;
el_timed_slow_down_start_time = millis();
el_last_step_time = millis();
el_slow_down_step = EL_SLOW_DOWN_STEPS - 1;
el_state = TIMED_SLOW_DOWN_UP;
}
// slow start-------------------------------------------------------------------------------------------------
if ((el_state == SLOW_START_UP) || (el_state == SLOW_START_DOWN)) {
if ((millis() - el_slowstart_start_time) >= EL_SLOW_START_UP_TIME) { // is it time to end slow start?
#ifdef DEBUG_SERVICE_ROTATION
debug.print("service_rotation: NORMAL_");
#endif // DEBUG_SERVICE_ROTATION
if (el_state == SLOW_START_UP) {
el_state = NORMAL_UP;
#ifdef DEBUG_SERVICE_ROTATION
debug.print("UP");
#endif // DEBUG_SERVICE_ROTATION
} else {
el_state = NORMAL_DOWN;
#ifdef DEBUG_SERVICE_ROTATION
debug.print("DOWN");
#endif // DEBUG_SERVICE_ROTATION
}
update_el_variable_outputs(normal_el_speed_voltage);
} else { // it's not time to end slow start yet, but let's check if it's time to step up the speed voltage
if (((millis() - el_last_step_time) > (EL_SLOW_START_UP_TIME / EL_SLOW_START_STEPS)) && (normal_el_speed_voltage > EL_SLOW_START_STARTING_PWM)) {
#ifdef DEBUG_SERVICE_ROTATION
debug.print("service_rotation: step up: ");
debug.print(el_slow_start_step);
debug.print(" pwm: ");
debug.print((int)(EL_SLOW_START_STARTING_PWM + ((normal_el_speed_voltage - EL_SLOW_START_STARTING_PWM) * ((float)el_slow_start_step / (float)(EL_SLOW_START_STEPS - 1)))));
debug.println("");
#endif // DEBUG_SERVICE_ROTATION
update_el_variable_outputs((EL_SLOW_START_STARTING_PWM + ((normal_el_speed_voltage - EL_SLOW_START_STARTING_PWM) * ((float)el_slow_start_step / (float)(EL_SLOW_START_STEPS - 1)))));
el_last_step_time = millis();
el_slow_start_step++;
}
}
} // ((el_state == SLOW_START_UP) || (el_state == SLOW_START_DOWN))
// timed slow down ------------------------------------------------------------------------------------------------------
if (((el_state == TIMED_SLOW_DOWN_UP) || (el_state == TIMED_SLOW_DOWN_DOWN)) && ((millis() - el_last_step_time) >= (TIMED_SLOW_DOWN_TIME / EL_SLOW_DOWN_STEPS))) {
#ifdef DEBUG_SERVICE_ROTATION
debug.print("service_rotation: TIMED_SLOW_DOWN step down: ");
debug.print(el_slow_down_step);
debug.print(" pwm: ");
debug.print((int)(normal_el_speed_voltage * ((float)el_slow_down_step / (float)EL_SLOW_DOWN_STEPS)));
debug.println("");
#endif // DEBUG_SERVICE_ROTATION
update_el_variable_outputs((int)(normal_el_speed_voltage * ((float)el_slow_down_step / (float)EL_SLOW_DOWN_STEPS)));
el_last_step_time = millis();
if (el_slow_down_step > 0) {el_slow_down_step--;}
if (el_slow_down_step == 0) { // is it time to exit timed slow down?
#ifdef DEBUG_SERVICE_ROTATION
debug.print("service_rotation: TIMED_SLOW_DOWN->IDLE");
#endif // DEBUG_SERVICE_ROTATION
rotator(DEACTIVATE, UP);
rotator(DEACTIVATE, DOWN);
if (el_direction_change_flag) {
if (el_state == TIMED_SLOW_DOWN_UP) {
if (el_slowstart_active) {
el_state = INITIALIZE_SLOW_START_DOWN;
} else { el_state = NORMAL_DOWN; };
el_direction_change_flag = 0;
}
if (el_state == TIMED_SLOW_DOWN_DOWN) {
if (el_slowstart_active) {
el_state = INITIALIZE_SLOW_START_UP;
} else { el_state = NORMAL_UP; };
el_direction_change_flag = 0;
}
} else {
el_state = IDLE;
el_request_queue_state = NONE;
}
}
} // ((el_state == TIMED_SLOW_DOWN_UP) || (el_state == TIMED_SLOW_DOWN_DOWN))
// slow down ---------------------------------------------------------------------------------------------------------------
if ((el_state == SLOW_DOWN_UP) || (el_state == SLOW_DOWN_DOWN)) {
// is it time to do another step down?
if (abs((target_elevation - elevation) / HEADING_MULTIPLIER) <= (((float)SLOW_DOWN_BEFORE_TARGET_EL * ((float)el_slow_down_step / (float)EL_SLOW_DOWN_STEPS)))) {
#ifdef DEBUG_SERVICE_ROTATION
debug.print("service_rotation: step down: ");
debug.print(el_slow_down_step);
debug.print(" pwm: ");
debug.print((int)(EL_SLOW_DOWN_PWM_STOP + ((el_initial_slow_down_voltage - EL_SLOW_DOWN_PWM_STOP) * ((float)el_slow_down_step / (float)EL_SLOW_DOWN_STEPS))));
debug.println("");
#endif // DEBUG_SERVICE_ROTATION
update_el_variable_outputs((EL_SLOW_DOWN_PWM_STOP + ((el_initial_slow_down_voltage - EL_SLOW_DOWN_PWM_STOP) * ((float)el_slow_down_step / (float)EL_SLOW_DOWN_STEPS))));
if (el_slow_down_step > 0) {el_slow_down_step--;}
}
} // ((el_state == SLOW_DOWN_UP) || (el_state == SLOW_DOWN_DOWN))
// normal -------------------------------------------------------------------------------------------------------------------
// if slow down is enabled, see if we're ready to go into slowdown
if (((el_state == NORMAL_UP) || (el_state == SLOW_START_UP) || (el_state == NORMAL_DOWN) || (el_state == SLOW_START_DOWN)) &&
(el_request_queue_state == IN_PROGRESS_TO_TARGET) && el_slowdown_active && (abs((target_elevation - elevation) / HEADING_MULTIPLIER) <= SLOW_DOWN_BEFORE_TARGET_EL)) {
byte el_state_was = el_state;
#ifdef DEBUG_SERVICE_ROTATION
debug.print("service_rotation: SLOW_DOWN_");
#endif // DEBUG_SERVICE_ROTATION
el_slow_down_step = EL_SLOW_DOWN_STEPS - 1;
if ((el_state == NORMAL_UP) || (el_state == SLOW_START_UP)) {
el_state = SLOW_DOWN_UP;
#ifdef DEBUG_SERVICE_ROTATION
debug.print("UP");
#endif // DEBUG_SERVICE_ROTATION
} else {
el_state = SLOW_DOWN_DOWN;
#ifdef DEBUG_SERVICE_ROTATION
debug.print("DOWN");
#endif // DEBUG_SERVICE_ROTATION
}
if ((el_state_was == SLOW_START_UP) || (el_state_was == SLOW_START_DOWN)){
el_initial_slow_down_voltage = EL_INITIALLY_IN_SLOW_DOWN_PWM;
update_el_variable_outputs(el_initial_slow_down_voltage);
#ifdef DEBUG_SERVICE_ROTATION
debug.print(" SLOW_START -> SLOW_DOWN el_initial_slow_down_voltage:");
debug.print(el_initial_slow_down_voltage);
debug.print(" ");
#endif // DEBUG_SERVICE_ROTATION
} else {
if (EL_SLOW_DOWN_PWM_START < current_el_speed_voltage) {
update_el_variable_outputs(EL_SLOW_DOWN_PWM_START);
el_initial_slow_down_voltage = EL_SLOW_DOWN_PWM_START;
} else {
el_initial_slow_down_voltage = current_el_speed_voltage;
}
}
}
// 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);
rotator(DEACTIVATE, DOWN);
el_state = IDLE;
el_request_queue_state = NONE;
#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;
}
#endif // defined(FEATURE_PARK)
}
}
} else {
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)))) {
rotator(DEACTIVATE, UP);
rotator(DEACTIVATE, DOWN);
el_state = IDLE;
el_request_queue_state = NONE;
#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;
}
#endif // defined(FEATURE_PARK)
}
}
}
}
#endif // FEATURE_ELEVATION_CONTROL
#if defined(FEATURE_AZ_POSITION_INCREMENTAL_ENCODER) || defined(FEATURE_EL_POSITION_INCREMENTAL_ENCODER)
service_rotation_lock = 0;
#endif
} /* service_rotation */
// --------------------------------------------------------------
void stop_all_tracking(){
#ifdef FEATURE_MOON_TRACKING
moon_tracking_active = 0;
#endif // FEATURE_MOON_TRACKING
#ifdef FEATURE_SUN_TRACKING
sun_tracking_active = 0;
#endif // FEATURE_SUN_TRACKING
}
// --------------------------------------------------------------
void service_request_queue(){
// xxxx
int work_target_raw_azimuth = 0;
byte direction_to_go = 0;
byte within_tolerance_flag = 0;
if (az_request_queue_state == IN_QUEUE) {
#ifdef FEATURE_POWER_SWITCH
last_activity_time = millis();
#endif //FEATURE_POWER_SWITCH
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print("service_request_queue: AZ ");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
switch (az_request) {
case (REQUEST_STOP):
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print("REQUEST_STOP");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
stop_all_tracking();
#ifdef FEATURE_PARK
deactivate_park();
#endif // FEATURE_PARK
if (az_state != IDLE) {
if (az_slowdown_active) {
if ((az_state == TIMED_SLOW_DOWN_CW) || (az_state == TIMED_SLOW_DOWN_CCW) || (az_state == SLOW_DOWN_CW) || (az_state == SLOW_DOWN_CCW)) { // if we're already in timed slow down and we get another stop, do a hard stop
rotator(DEACTIVATE, CW);
rotator(DEACTIVATE, CCW);
az_state = IDLE;
az_request_queue_state = NONE;
}
if ((az_state == SLOW_START_CW) || (az_state == NORMAL_CW)) {
az_state = INITIALIZE_TIMED_SLOW_DOWN_CW;
az_request_queue_state = IN_PROGRESS_TIMED;
az_last_rotate_initiation = millis();
}
if ((az_state == SLOW_START_CCW) || (az_state == NORMAL_CCW)) {
az_state = INITIALIZE_TIMED_SLOW_DOWN_CCW;
az_request_queue_state = IN_PROGRESS_TIMED;
az_last_rotate_initiation = millis();
}
} else {
rotator(DEACTIVATE, CW);
rotator(DEACTIVATE, CCW);
az_state = IDLE;
az_request_queue_state = NONE;
}
} else {
az_request_queue_state = NONE; // nothing to do - we clear the queue
}
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
if (debug_mode) {
control_port->println();
}
#endif // DEBUG_SERVICE_REQUEST_QUEUE
break; // REQUEST_STOP
case (REQUEST_AZIMUTH):
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print("REQUEST_AZIMUTH");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
if ((az_request_parm >= 0) && (az_request_parm <= (360 * HEADING_MULTIPLIER))) {
target_azimuth = az_request_parm;
target_raw_azimuth = az_request_parm;
if (target_azimuth == (360 * HEADING_MULTIPLIER)) {
target_azimuth = 0;
}
if ((target_azimuth > (azimuth - (AZIMUTH_TOLERANCE * HEADING_MULTIPLIER))) && (target_azimuth < (azimuth + (AZIMUTH_TOLERANCE * HEADING_MULTIPLIER)))) {
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print(" request within tolerance");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
within_tolerance_flag = 1;
az_request_queue_state = NONE;
} else { // target azimuth is not within tolerance, we need to rotate
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print(" ->A");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
work_target_raw_azimuth = target_azimuth;
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print(" work_target_raw_azimuth:");
debug.print(work_target_raw_azimuth / HEADING_MULTIPLIER);
debug.print(" azimuth_starting_point:");
debug.print(azimuth_starting_point);
debug.print(" ");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
if (work_target_raw_azimuth < (azimuth_starting_point * HEADING_MULTIPLIER)) {
work_target_raw_azimuth = work_target_raw_azimuth + (360 * HEADING_MULTIPLIER);
target_raw_azimuth = work_target_raw_azimuth;
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print("->B");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
}
if ((work_target_raw_azimuth + (360 * HEADING_MULTIPLIER)) < ((azimuth_starting_point + azimuth_rotation_capability) * HEADING_MULTIPLIER)) { // is there a second possible heading in overlap?
if (abs(raw_azimuth - work_target_raw_azimuth) < abs((work_target_raw_azimuth + (360 * HEADING_MULTIPLIER)) - raw_azimuth)) { // is second possible heading closer?
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print("->C");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
if (work_target_raw_azimuth > raw_azimuth) { // not closer, use position in non-overlap
direction_to_go = CW;
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print("->CW!");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
} else {
direction_to_go = CCW;
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print("->CCW!");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
}
} else { // go to position in overlap
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print("->D");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
target_raw_azimuth = work_target_raw_azimuth + (360 * HEADING_MULTIPLIER);
if ((work_target_raw_azimuth + (360 * HEADING_MULTIPLIER)) > raw_azimuth) {
direction_to_go = CW;
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print("->CW!");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
} else {
direction_to_go = CCW;
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print("->CCW!");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
}
}
} else { // no possible second heading in overlap
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print("->E");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
if (work_target_raw_azimuth > raw_azimuth) {
direction_to_go = CW;
} else {
direction_to_go = CCW;
}
}
}
} else {
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print("->F");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
if ((az_request_parm > (360 * HEADING_MULTIPLIER)) && (az_request_parm <= ((azimuth_starting_point + azimuth_rotation_capability) * HEADING_MULTIPLIER))) {
target_azimuth = az_request_parm - (360 * HEADING_MULTIPLIER);
target_raw_azimuth = az_request_parm;
if (az_request_parm > raw_azimuth) {
direction_to_go = CW;
} else {
direction_to_go = CCW;
}
} else {
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print(" error: bogus azimuth request:");
debug.print(az_request_parm);
debug.println("");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
rotator(DEACTIVATE, CW);
rotator(DEACTIVATE, CCW);
az_state = IDLE;
az_request_queue_state = NONE;
return;
}
}
if (direction_to_go == CW) {
if (((az_state == SLOW_START_CCW) || (az_state == NORMAL_CCW) || (az_state == SLOW_DOWN_CCW) || (az_state == TIMED_SLOW_DOWN_CCW)) && (az_slowstart_active)) {
az_state = INITIALIZE_DIR_CHANGE_TO_CW;
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print(" INITIALIZE_DIR_CHANGE_TO_CW");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
} else {
if ((az_state != INITIALIZE_SLOW_START_CW) && (az_state != SLOW_START_CW) && (az_state != NORMAL_CW)) { // if we're already rotating CW, don't do anything
// rotator(ACTIVATE,CW);
if (az_slowstart_active) {
az_state = INITIALIZE_SLOW_START_CW;
} else { az_state = INITIALIZE_NORMAL_CW; };
}
}
}
if (direction_to_go == CCW) {
if (((az_state == SLOW_START_CW) || (az_state == NORMAL_CW) || (az_state == SLOW_DOWN_CW) || (az_state == TIMED_SLOW_DOWN_CW)) && (az_slowstart_active)) {
az_state = INITIALIZE_DIR_CHANGE_TO_CCW;
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print(" INITIALIZE_DIR_CHANGE_TO_CCW");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
} else {
if ((az_state != INITIALIZE_SLOW_START_CCW) && (az_state != SLOW_START_CCW) && (az_state != NORMAL_CCW)) { // if we're already rotating CCW, don't do anything
// rotator(ACTIVATE,CCW);
if (az_slowstart_active) {
az_state = INITIALIZE_SLOW_START_CCW;
} else { az_state = INITIALIZE_NORMAL_CCW; };
}
}
}
if (!within_tolerance_flag) {
az_request_queue_state = IN_PROGRESS_TO_TARGET;
az_last_rotate_initiation = millis();
}
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
if (debug_mode) {
control_port->println();
}
#endif // DEBUG_SERVICE_REQUEST_QUEUE
break; // REQUEST_AZIMUTH
case (REQUEST_AZIMUTH_RAW):
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print("REQUEST_AZIMUTH_RAW");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
target_raw_azimuth = az_request_parm;
target_azimuth = target_raw_azimuth;
if (target_azimuth >= (360 * HEADING_MULTIPLIER)) {
target_azimuth = target_azimuth - (360 * HEADING_MULTIPLIER);
}
if (((abs(raw_azimuth - target_raw_azimuth) < (AZIMUTH_TOLERANCE * HEADING_MULTIPLIER))) && (az_state == IDLE)) {
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print(" request within tolerance");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
az_request_queue_state = NONE;
within_tolerance_flag = 1;
} else {
if (target_raw_azimuth > raw_azimuth) {
if (((az_state == SLOW_START_CCW) || (az_state == NORMAL_CCW) || (az_state == SLOW_DOWN_CCW) || (az_state == TIMED_SLOW_DOWN_CCW)) && (az_slowstart_active)) {
az_state = INITIALIZE_DIR_CHANGE_TO_CW;
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print(" INITIALIZE_DIR_CHANGE_TO_CW");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
} else {
if ((az_state != INITIALIZE_SLOW_START_CW) && (az_state != SLOW_START_CW) && (az_state != NORMAL_CW)) { // if we're already rotating CW, don't do anything
if (az_slowstart_active) {
az_state = INITIALIZE_SLOW_START_CW;
} else { az_state = INITIALIZE_NORMAL_CW; };
}
}
}
if (target_raw_azimuth < raw_azimuth) {
if (((az_state == SLOW_START_CW) || (az_state == NORMAL_CW) || (az_state == SLOW_DOWN_CW) || (az_state == TIMED_SLOW_DOWN_CW)) && (az_slowstart_active)) {
az_state = INITIALIZE_DIR_CHANGE_TO_CCW;
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print(" INITIALIZE_DIR_CHANGE_TO_CCW");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
} else {
if ((az_state != INITIALIZE_SLOW_START_CCW) && (az_state != SLOW_START_CCW) && (az_state != NORMAL_CCW)) { // if we're already rotating CCW, don't do anything
if (az_slowstart_active) {
az_state = INITIALIZE_SLOW_START_CCW;
} else { az_state = INITIALIZE_NORMAL_CCW; };
}
}
}
if (!within_tolerance_flag) {
az_request_queue_state = IN_PROGRESS_TO_TARGET;
az_last_rotate_initiation = millis();
}
}
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
if (debug_mode) {
control_port->println();
}
#endif // DEBUG_SERVICE_REQUEST_QUEUE
break; // REQUEST_AZIMUTH_RAW
case (REQUEST_CW):
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print("REQUEST_CW");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
stop_all_tracking();
#ifdef FEATURE_PARK
deactivate_park();
#endif // FEATURE_PARK
if (((az_state == SLOW_START_CCW) || (az_state == NORMAL_CCW) || (az_state == SLOW_DOWN_CCW) || (az_state == TIMED_SLOW_DOWN_CCW)) && (az_slowstart_active)) {
az_state = INITIALIZE_DIR_CHANGE_TO_CW;
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print(" INITIALIZE_DIR_CHANGE_TO_CW");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
} else {
if ((az_state != SLOW_START_CW) && (az_state != NORMAL_CW)) {
// rotator(ACTIVATE,CW);
if (az_slowstart_active) {
az_state = INITIALIZE_SLOW_START_CW;
} else {
az_state = INITIALIZE_NORMAL_CW;
};
}
}
az_request_queue_state = NONE;
az_last_rotate_initiation = millis();
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
if (debug_mode) {
control_port->println();
}
#endif // DEBUG_SERVICE_REQUEST_QUEUE
break; // REQUEST_CW
case (REQUEST_CCW):
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print("REQUEST_CCW");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
stop_all_tracking();
#ifdef FEATURE_PARK
deactivate_park();
#endif // FEATURE_PARK
if (((az_state == SLOW_START_CW) || (az_state == NORMAL_CW) || (az_state == SLOW_DOWN_CW) || (az_state == TIMED_SLOW_DOWN_CW)) && (az_slowstart_active)) {
az_state = INITIALIZE_DIR_CHANGE_TO_CCW;
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print(" INITIALIZE_DIR_CHANGE_TO_CCW");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
} else {
if ((az_state != SLOW_START_CCW) && (az_state != NORMAL_CCW)) {
// rotator(ACTIVATE,CCW);
if (az_slowstart_active) {
az_state = INITIALIZE_SLOW_START_CCW;
} else { az_state = INITIALIZE_NORMAL_CCW; };
}
}
az_request_queue_state = NONE;
az_last_rotate_initiation = millis();
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
if (debug_mode) {
control_port->println();
}
#endif // DEBUG_SERVICE_REQUEST_QUEUE
break; // REQUEST_CCW
case (REQUEST_KILL):
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print("REQUEST_KILL");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
stop_all_tracking();
#ifdef FEATURE_PARK
deactivate_park();
#endif // FEATURE_PARK
rotator(DEACTIVATE, CW);
rotator(DEACTIVATE, CCW);
az_state = IDLE;
az_request_queue_state = NONE;
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.println("");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
break; // REQUEST_KILL
} /* switch */
#ifdef FEATURE_LCD_DISPLAY
if (az_request_queue_state != IN_QUEUE) {push_lcd_update = 1;}
#endif //FEATURE_LCD_DISPLAY
}
#ifdef FEATURE_ELEVATION_CONTROL
if (el_request_queue_state == IN_QUEUE) {
#ifdef FEATURE_POWER_SWITCH
last_activity_time = millis();
#endif //FEATURE_POWER_SWITCH
within_tolerance_flag = 0;
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print("service_request_queue: EL ");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
switch (el_request) {
case (REQUEST_ELEVATION):
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
debug.print("REQUEST_ELEVATION ");
#endif // DEBUG_SERVICE_REQUEST_QUEUE
target_elevation = el_request_parm;
if (target_elevation > (ELEVATION_MAXIMUM_DEGREES * HEADING_MULTIPLIER)) {
target_elevation = ELEVATION_MAXIMUM_DEGREES * HEADING_MULTIPLIER;
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
if (debug_mode) {
debug.print(F("REQUEST_ELEVATION: target_elevation > ELEVATION_MAXIMUM_DEGREES"));
}
#endif // DEBUG_SERVICE_REQUEST_QUEUE
}
#ifdef OPTION_EL_MANUAL_ROTATE_LIMITS
if (target_elevation < (EL_MANUAL_ROTATE_DOWN_LIMIT * HEADING_MULTIPLIER)) {
target_elevation = EL_MANUAL_ROTATE_DOWN_LIMIT * HEADING_MULTIPLIER;
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
if (debug_mode) {
debug.print(F("REQUEST_ELEVATION: target_elevation < EL_MANUAL_ROTATE_DOWN_LIMIT"));
}
#endif // DEBUG_SERVICE_REQUEST_QUEUE
}
if (target_elevation > (EL_MANUAL_ROTATE_UP_LIMIT * HEADING_MULTIPLIER)) {
target_elevation = EL_MANUAL_ROTATE_UP_LIMIT * HEADING_MULTIPLIER;
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
if (debug_mode) {
debug.print(F("REQUEST_ELEVATION: target_elevation > EL_MANUAL_ROTATE_UP_LIMIT"));
}
#endif // DEBUG_SERVICE_REQUEST_QUEUE
}
#endif // OPTION_EL_MANUAL_ROTATE_LIMITS
if (abs(target_elevation - elevation) < (ELEVATION_TOLERANCE * HEADING_MULTIPLIER)) {
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
if (debug_mode) {
debug.print(F("requested elevation within tolerance\n"));
}
#endif // DEBUG_SERVICE_REQUEST_QUEUE
within_tolerance_flag = 1;
el_request_queue_state = NONE;
} else {
if (target_elevation > elevation) {
if (((el_state == SLOW_START_DOWN) || (el_state == NORMAL_DOWN) || (el_state == SLOW_DOWN_DOWN) || (el_state == TIMED_SLOW_DOWN_DOWN)) && (el_slowstart_active)) {
el_state = INITIALIZE_DIR_CHANGE_TO_UP;
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
if (debug_mode) {
debug.print(F(" INITIALIZE_DIR_CHANGE_TO_UP\n"));
}
#endif // DEBUG_SERVICE_REQUEST_QUEUE
} else {
if ((el_state != INITIALIZE_SLOW_START_UP) && (el_state != SLOW_START_UP) && (el_state != NORMAL_UP)) { // if we're already rotating UP, don't do anything
if (el_slowstart_active) {
el_state = INITIALIZE_SLOW_START_UP;
} else { el_state = INITIALIZE_NORMAL_UP; };
}
}
} // (target_elevation > elevation)
if (target_elevation < elevation) {
if (((el_state == SLOW_START_UP) || (el_state == NORMAL_UP) || (el_state == SLOW_DOWN_UP) || (el_state == TIMED_SLOW_DOWN_UP)) && (el_slowstart_active)) {
el_state = INITIALIZE_DIR_CHANGE_TO_DOWN;
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
if (debug_mode) {
debug.print(F(" INITIALIZE_DIR_CHANGE_TO_DOWN\n"));
}
#endif // DEBUG_SERVICE_REQUEST_QUEUE
} else {
if ((el_state != INITIALIZE_SLOW_START_DOWN) && (el_state != SLOW_START_DOWN) && (el_state != NORMAL_DOWN)) { // if we're already rotating DOWN, don't do anything
if (el_slowstart_active) {
el_state = INITIALIZE_SLOW_START_DOWN;
} else { el_state = INITIALIZE_NORMAL_DOWN; };
}
}
} // (target_elevation < elevation)
} // (abs(target_elevation - elevation) < ELEVATION_TOLERANCE)
if (!within_tolerance_flag) {
el_request_queue_state = IN_PROGRESS_TO_TARGET;
el_last_rotate_initiation = millis();
}
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
if (debug_mode) {
control_port->println();
}
#endif // DEBUG_SERVICE_REQUEST_QUEUE
break; // REQUEST_ELEVATION
case (REQUEST_UP):
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
if (debug_mode) {
debug.print(F("REQUEST_UP\n"));
}
#endif // DEBUG_SERVICE_REQUEST_QUEUE
stop_all_tracking();
#ifdef FEATURE_PARK
deactivate_park();
#endif // FEATURE_PARK
if (((el_state == SLOW_START_DOWN) || (el_state == NORMAL_DOWN) || (el_state == SLOW_DOWN_DOWN) || (el_state == TIMED_SLOW_DOWN_DOWN)) && (el_slowstart_active)) {
el_state = INITIALIZE_DIR_CHANGE_TO_UP;
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
if (debug_mode) {
debug.print(F("service_request_queue: INITIALIZE_DIR_CHANGE_TO_UP\n"));
}
#endif // DEBUG_SERVICE_REQUEST_QUEUE
} else {
if ((el_state != SLOW_START_UP) && (el_state != NORMAL_UP)) {
if (el_slowstart_active) {
el_state = INITIALIZE_SLOW_START_UP;
} else { el_state = INITIALIZE_NORMAL_UP; };
}
}
el_request_queue_state = NONE;
el_last_rotate_initiation = millis();
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
if (debug_mode) {
control_port->println();
}
#endif // DEBUG_SERVICE_REQUEST_QUEUE
break; // REQUEST_UP
case (REQUEST_DOWN):
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
if (debug_mode) {
debug.print(F("REQUEST_DOWN\n"));
}
#endif // DEBUG_SERVICE_REQUEST_QUEUE
stop_all_tracking();
#ifdef FEATURE_PARK
deactivate_park();
#endif // FEATURE_PARK
if (((el_state == SLOW_START_UP) || (el_state == NORMAL_UP) || (el_state == SLOW_DOWN_UP) || (el_state == TIMED_SLOW_DOWN_UP)) && (el_slowstart_active)) {
el_state = INITIALIZE_DIR_CHANGE_TO_DOWN;
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
if (debug_mode) {
debug.print(F("service_request_queue: INITIALIZE_DIR_CHANGE_TO_DOWN\n"));
}
#endif // DEBUG_SERVICE_REQUEST_QUEUE
} else {
if ((el_state != SLOW_START_DOWN) && (el_state != NORMAL_DOWN)) {
if (el_slowstart_active) {
el_state = INITIALIZE_SLOW_START_DOWN;
} else { el_state = INITIALIZE_NORMAL_DOWN; };
}
}
el_request_queue_state = NONE;
el_last_rotate_initiation = millis();
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
if (debug_mode) {
control_port->println();
}
#endif // DEBUG_SERVICE_REQUEST_QUEUE
break; // REQUEST_DOWN
case (REQUEST_STOP):
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
if (debug_mode) {
debug.print(F("REQUEST_STOP\n"));
}
#endif // DEBUG_SERVICE_REQUEST_QUEUE
stop_all_tracking();
#ifdef FEATURE_PARK
deactivate_park();
#endif // FEATURE_PARK
if (el_state != IDLE) {
if (el_slowdown_active) {
if ((el_state == TIMED_SLOW_DOWN_UP) || (el_state == TIMED_SLOW_DOWN_DOWN) || (el_state == SLOW_DOWN_UP) || (el_state == SLOW_DOWN_DOWN)) { // if we're already in timed slow down and we get another stop, do a hard stop
rotator(DEACTIVATE, UP);
rotator(DEACTIVATE, DOWN);
el_state = IDLE;
el_request_queue_state = NONE;
}
if ((el_state == SLOW_START_UP) || (el_state == NORMAL_UP)) {
el_state = INITIALIZE_TIMED_SLOW_DOWN_UP;
el_request_queue_state = IN_PROGRESS_TIMED;
el_last_rotate_initiation = millis();
}
if ((el_state == SLOW_START_DOWN) || (el_state == NORMAL_DOWN)) {
el_state = INITIALIZE_TIMED_SLOW_DOWN_DOWN;
el_request_queue_state = IN_PROGRESS_TIMED;
el_last_rotate_initiation = millis();
}
} else {
rotator(DEACTIVATE, UP);
rotator(DEACTIVATE, DOWN);
el_state = IDLE;
el_request_queue_state = NONE;
}
} else {
el_request_queue_state = NONE; // nothing to do, we're already in IDLE state
}
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
if (debug_mode) {
control_port->println();
}
#endif // DEBUG_SERVICE_REQUEST_QUEUE
break; // REQUEST_STOP
case (REQUEST_KILL):
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
if (debug_mode) {
debug.print(F("REQUEST_KILL\n"));
}
#endif // DEBUG_SERVICE_REQUEST_QUEUE
stop_all_tracking();
#ifdef FEATURE_PARK
deactivate_park();
#endif // FEATURE_PARK
rotator(DEACTIVATE, UP);
rotator(DEACTIVATE, DOWN);
el_state = IDLE;
el_request_queue_state = NONE;
#ifdef DEBUG_SERVICE_REQUEST_QUEUE
if (debug_mode) {
control_port->println();
}
#endif // DEBUG_SERVICE_REQUEST_QUEUE
break; // REQUEST_KILL
} /* switch */
#ifdef FEATURE_LCD_DISPLAY
if (el_request_queue_state != IN_QUEUE) {push_lcd_update = 1;}
#endif //FEATURE_LCD_DISPLAY
} // (el_request_queue_state == IN_QUEUE)
#endif // FEATURE_ELEVATION_CONTROL
} /* service_request_queue */
// --------------------------------------------------------------
void check_for_dirty_configuration(){
static unsigned long last_config_write_time = 0;
if ((configuration_dirty) && ((millis() - last_config_write_time) > (EEPROM_WRITE_DIRTY_CONFIG_TIME * 1000))) {
write_settings_to_eeprom();
last_config_write_time = millis();
}
}
// --------------------------------------------------------------
byte current_az_state(){
if ((az_state == SLOW_START_CW) || (az_state == NORMAL_CW) || (az_state == SLOW_DOWN_CW) || (az_state == TIMED_SLOW_DOWN_CW)) {
return ROTATING_CW;
}
if ((az_state == SLOW_START_CCW) || (az_state == NORMAL_CCW) || (az_state == SLOW_DOWN_CCW) || (az_state == TIMED_SLOW_DOWN_CCW)) {
return ROTATING_CCW;
}
return NOT_DOING_ANYTHING;
}
// --------------------------------------------------------------
#ifdef FEATURE_ELEVATION_CONTROL
byte current_el_state(){
if ((el_state == SLOW_START_UP) || (el_state == NORMAL_UP) || (el_state == SLOW_DOWN_UP) || (el_state == TIMED_SLOW_DOWN_UP)) {
return ROTATING_UP;
}
if ((el_state == SLOW_START_DOWN) || (el_state == NORMAL_DOWN) || (el_state == SLOW_DOWN_DOWN) || (el_state == TIMED_SLOW_DOWN_DOWN)) {
return ROTATING_DOWN;
}
return NOT_DOING_ANYTHING;
}
#endif // FEATURE_ELEVATION_CONTROL
// --------------------------------------------------------------
#ifdef FEATURE_AZ_POSITION_PULSE_INPUT
void az_position_pulse_interrupt_handler(){
#ifdef DEBUG_POSITION_PULSE_INPUT
// az_position_pule_interrupt_handler_flag++;
az_pulse_counter++;
#endif // DEBUG_POSITION_PULSE_INPUT
if (current_az_state() == ROTATING_CW) {
az_position_pulse_input_azimuth += AZ_POSITION_PULSE_DEG_PER_PULSE;
last_known_az_state = ROTATING_CW;
} else {
if (current_az_state() == ROTATING_CCW) {
az_position_pulse_input_azimuth -= AZ_POSITION_PULSE_DEG_PER_PULSE;
last_known_az_state = ROTATING_CCW;
} else {
#ifndef OPTION_PULSE_IGNORE_AMBIGUOUS_PULSES
if (last_known_az_state == ROTATING_CW) {
az_position_pulse_input_azimuth += AZ_POSITION_PULSE_DEG_PER_PULSE;
} else {
if (last_known_az_state == ROTATING_CCW) {
az_position_pulse_input_azimuth -= AZ_POSITION_PULSE_DEG_PER_PULSE;
}
}
#endif // OPTION_PULSE_IGNORE_AMBIGUOUS_PULSES
#ifdef DEBUG_POSITION_PULSE_INPUT
az_pulse_counter_ambiguous++;
#endif // DEBUG_POSITION_PULSE_INPUT
}
}
#ifdef OPTION_AZ_POSITION_PULSE_HARD_LIMIT
if (az_position_pulse_input_azimuth < azimuth_starting_point) {
az_position_pulse_input_azimuth = azimuth_starting_point;
}
if (az_position_pulse_input_azimuth > (azimuth_starting_point + azimuth_rotation_capability)) {
az_position_pulse_input_azimuth = (azimuth_starting_point + azimuth_rotation_capability);
}
#else
if (az_position_pulse_input_azimuth < 0) {
az_position_pulse_input_azimuth += 360;
}
if (az_position_pulse_input_azimuth >= 360) {
az_position_pulse_input_azimuth -= 360;
}
#endif // OPTION_AZ_POSITION_PULSE_HARD_LIMIT
} /* az_position_pulse_interrupt_handler */
#endif // FEATURE_AZ_POSITION_PULSE_INPUT
// --------------------------------------------------------------
#ifdef FEATURE_ELEVATION_CONTROL
#ifdef FEATURE_EL_POSITION_PULSE_INPUT
void el_position_pulse_interrupt_handler(){
#ifdef DEBUG_POSITION_PULSE_INPUT
// el_position_pule_interrupt_handler_flag++;
el_pulse_counter++;
#endif // DEBUG_POSITION_PULSE_INPUT
#ifdef OPTION_EL_PULSE_DEBOUNCE //---------------------------------------------
if ((millis()-last_el_pulse_debounce) > EL_POSITION_PULSE_DEBOUNCE) {
if (current_el_state() == ROTATING_UP) {
el_position_pulse_input_elevation += EL_POSITION_PULSE_DEG_PER_PULSE;
last_known_el_state = ROTATING_UP;
} else {
if (current_el_state() == ROTATING_DOWN) {
el_position_pulse_input_elevation -= EL_POSITION_PULSE_DEG_PER_PULSE;
last_known_el_state = ROTATING_DOWN;
} else {
#ifndef OPTION_PULSE_IGNORE_AMBIGUOUS_PULSES
if (last_known_el_state == ROTATING_UP) {
el_position_pulse_input_elevation += EL_POSITION_PULSE_DEG_PER_PULSE;
} else {
if (last_known_el_state == ROTATING_DOWN) {
el_position_pulse_input_elevation -= EL_POSITION_PULSE_DEG_PER_PULSE;
}
}
#endif // OPTION_PULSE_IGNORE_AMBIGUOUS_PULSES
#ifdef DEBUG_POSITION_PULSE_INPUT
el_pulse_counter_ambiguous++;
#endif // DEBUG_POSITION_PULSE_INPUT
}
}
last_el_pulse_debounce = millis();
}
#else //OPTION_EL_PULSE_DEBOUNCE -----------------------
if (current_el_state() == ROTATING_UP) {
el_position_pulse_input_elevation += EL_POSITION_PULSE_DEG_PER_PULSE;
last_known_el_state = ROTATING_UP;
} else {
if (current_el_state() == ROTATING_DOWN) {
el_position_pulse_input_elevation -= EL_POSITION_PULSE_DEG_PER_PULSE;
last_known_el_state = ROTATING_DOWN;
} else {
#ifndef OPTION_PULSE_IGNORE_AMBIGUOUS_PULSES
if (last_known_el_state == ROTATING_UP) {
el_position_pulse_input_elevation += EL_POSITION_PULSE_DEG_PER_PULSE;
} else {
if (last_known_el_state == ROTATING_DOWN) {
el_position_pulse_input_elevation -= EL_POSITION_PULSE_DEG_PER_PULSE;
}
}
#endif // OPTION_PULSE_IGNORE_AMBIGUOUS_PULSES
#ifdef DEBUG_POSITION_PULSE_INPUT
el_pulse_counter_ambiguous++;
#endif // DEBUG_POSITION_PULSE_INPUT
}
}
#endif //OPTION_EL_PULSE_DEBOUNCE --------------------------
#ifdef OPTION_EL_POSITION_PULSE_HARD_LIMIT
if (el_position_pulse_input_elevation < 0) {
el_position_pulse_input_elevation = 0;
}
if (el_position_pulse_input_elevation > ELEVATION_MAXIMUM_DEGREES) {
el_position_pulse_input_elevation = ELEVATION_MAXIMUM_DEGREES;
}
#endif // OPTION_EL_POSITION_PULSE_HARD_LIMIT
} /* el_position_pulse_interrupt_handler */
#endif // FEATURE_EL_POSITION_PULSE_INPUT
#endif // FEATURE_ELEVATION_CONTROL
// --------------------------------------------------------------------------
#if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
byte submit_remote_command(byte remote_command_to_send, byte parm1, int parm2){
#ifdef FEATURE_MASTER_WITH_ETHERNET_SLAVE
char ethernet_send_string[32];
char temp_string[32];
#endif //FEATURE_MASTER_WITH_ETHERNET_SLAVE
#ifdef FEATURE_MASTER_WITH_ETHERNET_SLAVE
if (ethernetslavelinkclient0_state != ETHERNET_SLAVE_CONNECTED){return 0;}
#endif //FEATURE_MASTER_WITH_ETHERNET_SLAVE
if ((remote_unit_command_submitted && ((remote_command_to_send == REMOTE_UNIT_AZ_COMMAND) || (remote_command_to_send == REMOTE_UNIT_EL_COMMAND) || (remote_command_to_send == REMOTE_UNIT_CL_COMMAND))) || suspend_remote_commands) {
return 0;
} else {
switch (remote_command_to_send) {
case REMOTE_UNIT_CL_COMMAND:
#ifdef FEATURE_MASTER_WITH_SERIAL_SLAVE
remote_unit_port->println("CL");
#endif //FEATURE_MASTER_WITH_SERIAL_SLAVE
#ifdef FEATURE_MASTER_WITH_ETHERNET_SLAVE
ethernet_slave_link_send("CL");
#endif //FEATURE_MASTER_WITH_ETHERNET_SLAVE
#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
if (remote_port_tx_sniff) {control_port->println("CL");}
#endif
remote_unit_command_submitted = REMOTE_UNIT_CL_COMMAND;
break;
case REMOTE_UNIT_AZ_COMMAND:
#ifdef FEATURE_MASTER_WITH_SERIAL_SLAVE
remote_unit_port->println("AZ");
#endif //FEATURE_MASTER_WITH_SERIAL_SLAVE
#ifdef FEATURE_MASTER_WITH_ETHERNET_SLAVE
ethernet_slave_link_send("AZ");
#endif //FEATURE_MASTER_WITH_ETHERNET_SLAVE
#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
if (remote_port_tx_sniff) {control_port->println("AZ");}
#endif
remote_unit_command_submitted = REMOTE_UNIT_AZ_COMMAND;
break;
case REMOTE_UNIT_EL_COMMAND:
#ifdef FEATURE_MASTER_WITH_SERIAL_SLAVE
remote_unit_port->println("EL");
#endif //FEATURE_MASTER_WITH_SERIAL_SLAVE
#ifdef FEATURE_MASTER_WITH_ETHERNET_SLAVE
ethernet_slave_link_send("EL");
#endif //FEATURE_MASTER_WITH_ETHERNET_SLAVE
#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
if (remote_port_tx_sniff) {control_port->println("EL");}
#endif
remote_unit_command_submitted = REMOTE_UNIT_EL_COMMAND;
break;
case REMOTE_UNIT_AW_COMMAND:
#ifdef FEATURE_MASTER_WITH_SERIAL_SLAVE
take_care_of_pending_remote_command();
remote_unit_port->print("AW");
parm1 = parm1 - 100; // pin number
if (parm1 < 10) {remote_unit_port->print("0");}
remote_unit_port->print(parm1);
if (parm2 < 10) {remote_unit_port->print("0");}
if (parm2 < 100) {remote_unit_port->print("0");}
remote_unit_port->println(parm2);
#endif //FEATURE_MASTER_WITH_SERIAL_SLAVE
#ifdef FEATURE_MASTER_WITH_ETHERNET_SLAVE
take_care_of_pending_remote_command();
strcpy(ethernet_send_string,"AW");
parm1 = parm1 - 100; // pin number
if (parm1 < 10) {strcat(ethernet_send_string,"0");}
dtostrf(parm1,0,0,temp_string);
if (parm2 < 10) {strcat(ethernet_send_string,"0");}
if (parm2 < 100) {strcat(ethernet_send_string,"0");}
dtostrf(parm2,0,0,temp_string);
strcat(ethernet_send_string,temp_string);
ethernet_slave_link_send(ethernet_send_string);
#endif //FEATURE_MASTER_WITH_ETHERNET_SLAVE
remote_unit_command_submitted = REMOTE_UNIT_OTHER_COMMAND;
break;
case REMOTE_UNIT_DHL_COMMAND:
#ifdef FEATURE_MASTER_WITH_SERIAL_SLAVE
take_care_of_pending_remote_command();
remote_unit_port->print("D");
if (parm2 == HIGH) {remote_unit_port->print("H");} else {remote_unit_port->print("L");}
parm1 = parm1 - 100;
if (parm1 < 10) {remote_unit_port->print("0");}
remote_unit_port->println(parm1);
#endif //FEATURE_MASTER_WITH_SERIAL_SLAVE
#ifdef FEATURE_MASTER_WITH_ETHERNET_SLAVE
take_care_of_pending_remote_command();
strcpy(ethernet_send_string,"D");
if (parm2 == HIGH) {strcat(ethernet_send_string,"H");} else {strcat(ethernet_send_string,"L");}
parm1 = parm1 - 100;
if (parm1 < 10) {strcat(ethernet_send_string,"0");}
dtostrf(parm1,0,0,temp_string);
strcat(ethernet_send_string,temp_string);
ethernet_slave_link_send(ethernet_send_string);
#endif //FEATURE_MASTER_WITH_ETHERNET_SLAVE
remote_unit_command_submitted = REMOTE_UNIT_OTHER_COMMAND;
break;
case REMOTE_UNIT_DOI_COMMAND:
#ifdef FEATURE_MASTER_WITH_SERIAL_SLAVE
take_care_of_pending_remote_command();
remote_unit_port->print("D");
if (parm2 == OUTPUT) {remote_unit_port->print("O");} else {remote_unit_port->print("I");}
parm1 = parm1 - 100;
if (parm1 < 10) {remote_unit_port->print("0");}
remote_unit_port->println(parm1);
remote_unit_command_submitted = REMOTE_UNIT_OTHER_COMMAND;
// get_remote_port_ok_response();
#endif //FEATURE_MASTER_WITH_SERIAL_SLAVE
#ifdef FEATURE_MASTER_WITH_ETHERNET_SLAVE
take_care_of_pending_remote_command();
strcpy(ethernet_send_string,"D");
if (parm2 == OUTPUT) {strcat(ethernet_send_string,"O");} else {strcat(ethernet_send_string,"I");}
parm1 = parm1 - 100;
if (parm1 < 10) {strcat(ethernet_send_string,"0");}
dtostrf(parm1,0,0,temp_string);
strcat(ethernet_send_string,temp_string);
ethernet_slave_link_send(ethernet_send_string);
remote_unit_command_submitted = REMOTE_UNIT_OTHER_COMMAND;
#endif //FEATURE_MASTER_WITH_ETHERNET_SLAVE
break;
case REMOTE_UNIT_GS_COMMAND:
#ifdef FEATURE_MASTER_WITH_SERIAL_SLAVE
remote_unit_port->println("GS");
#endif //FEATURE_MASTER_WITH_SERIAL_SLAVE
#ifdef FEATURE_MASTER_WITH_ETHERNET_SLAVE
ethernet_slave_link_send("GS");
#endif //FEATURE_MASTER_WITH_ETHERNET_SLAVE
#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
if (remote_port_tx_sniff) {control_port->println("GS");}
#endif
remote_unit_command_submitted = REMOTE_UNIT_GS_COMMAND;
break;
case REMOTE_UNIT_RC_COMMAND:
#ifdef FEATURE_MASTER_WITH_SERIAL_SLAVE
remote_unit_port->println("RC");
#endif //FEATURE_MASTER_WITH_SERIAL_SLAVE
#ifdef FEATURE_MASTER_WITH_ETHERNET_SLAVE
ethernet_slave_link_send("RC");
#endif //FEATURE_MASTER_WITH_ETHERNET_SLAVE
#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
if (remote_port_tx_sniff) {control_port->println("RC");}
#endif
remote_unit_command_submitted = REMOTE_UNIT_RC_COMMAND;
break;
} /* switch */
last_remote_unit_command_time = millis();
remote_unit_command_results_available = 0;
return 1;
}
} /* submit_remote_command */
#endif // defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
// --------------------------------------------------------------------------
#if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
byte is_ascii_number(byte char_in){
if ((char_in > 47) && (char_in < 58)) {
return 1;
} else {
return 0;
}
}\
#endif // defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
// --------------------------------------------------------------------------
#if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
void service_remote_communications_incoming_buffer(){
#if defined(FEATURE_CLOCK) && defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE)
int temp_year = 0;
byte temp_month = 0;
byte temp_day = 0;
byte temp_minute = 0;
byte temp_hour = 0;
byte temp_sec = 0;
#endif // defined(FEATURE_CLOCK) && defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE)
float temp_float_latitude = 0;
float temp_float_longitude = 0;
byte good_data = 0;
if (remote_unit_port_buffer_carriage_return_flag) {
#ifdef DEBUG_SVC_REMOTE_COMM_INCOMING_BUFFER
debug.print("service_remote_communications_incoming_buffer: remote_unit_port_buffer_index: ");
debug.print(remote_unit_port_buffer_index);
debug.print(" buffer: ");
for (int x = 0; x < remote_unit_port_buffer_index; x++) {
debug_write((char*)remote_unit_port_buffer[x]);
debug.println("$");
}
#endif // DEBUG_SVC_REMOTE_COMM_INCOMING_BUFFER
if (remote_unit_command_submitted) { // this was a solicited response
switch (remote_unit_command_submitted) {
#ifdef OPTION_SYNC_MASTER_COORDINATES_TO_SLAVE
case REMOTE_UNIT_RC_COMMAND: //RC+40.9946 -075.6596
if ((remote_unit_port_buffer[0] == 'R') && (remote_unit_port_buffer[1] == 'C') && (remote_unit_port_buffer[5] == '.') && (remote_unit_port_buffer[10] == ' ') && (remote_unit_port_buffer[15] == '.')){
temp_float_latitude = ((remote_unit_port_buffer[3]-48)*10) + (remote_unit_port_buffer[4]-48) + ((remote_unit_port_buffer[6]-48)/10.0) + ((remote_unit_port_buffer[7]-48)/100.0) + ((remote_unit_port_buffer[8]-48)/1000.0) + ((remote_unit_port_buffer[9]-48)/10000.0);
if (remote_unit_port_buffer[2] == '-') {
temp_float_latitude = temp_float_latitude * -1;
}
temp_float_longitude = ((remote_unit_port_buffer[12]-48)*100) + ((remote_unit_port_buffer[13]-48)*10) + (remote_unit_port_buffer[14]-48) + ((remote_unit_port_buffer[16]-48)/10.0)+ ((remote_unit_port_buffer[17]-48)/100.0) + ((remote_unit_port_buffer[18]-48)/1000.0) + ((remote_unit_port_buffer[19]-48)/10000.0);
if (remote_unit_port_buffer[11] == '-') {
temp_float_longitude = temp_float_longitude * -1;
}
if ((temp_float_latitude <= 90) && (temp_float_latitude >= -90) && (temp_float_longitude <= 180) && (temp_float_longitude >= -180)){
latitude = temp_float_latitude;
longitude = temp_float_longitude;
#ifdef DEBUG_SYNC_MASTER_COORDINATES_TO_SLAVE
debug.println("service_remote_communications_incoming_buffer: coordinates synced to slave");
#endif //DEBUG_SYNC_MASTER_COORDINATES_TO_SLAVE
}
good_data = 1;
}
break;
#endif //OPTION_SYNC_MASTER_COORDINATES_TO_SLAVE
#ifdef OPTION_SYNC_MASTER_CLOCK_TO_SLAVE
case REMOTE_UNIT_GS_COMMAND:
if ((remote_unit_port_buffer[0] == 'G') && (remote_unit_port_buffer[1] == 'S')){
if (remote_unit_port_buffer[2] == '1'){
if (clock_status == SLAVE_SYNC) {clock_status = SLAVE_SYNC_GPS;}
good_data = 1;
} else {
if (remote_unit_port_buffer[2] == '0') {good_data = 1;}
}
}
break;
#endif //OPTION_SYNC_MASTER_CLOCK_TO_SLAVE
case REMOTE_UNIT_CL_COMMAND:
if ((remote_unit_port_buffer[0] == 'C') && (remote_unit_port_buffer[1] == 'L') &&
(remote_unit_port_buffer[12] == ' ') && (remote_unit_port_buffer[21] == 'Z'))
{
#if defined(FEATURE_CLOCK) && defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE)
temp_year = ((remote_unit_port_buffer[2] - 48) * 1000) + ((remote_unit_port_buffer[3] - 48) * 100) + ((remote_unit_port_buffer[4] - 48) * 10) + (remote_unit_port_buffer[5] - 48);
temp_month = ((remote_unit_port_buffer[7] - 48) * 10) + (remote_unit_port_buffer[8] - 48);
temp_day = ((remote_unit_port_buffer[10] - 48) * 10) + (remote_unit_port_buffer[11] - 48);
temp_hour = ((remote_unit_port_buffer[13] - 48) * 10) + (remote_unit_port_buffer[14] - 48);
temp_minute = ((remote_unit_port_buffer[16] - 48) * 10) + (remote_unit_port_buffer[17] - 48);
temp_sec = ((remote_unit_port_buffer[19] - 48) * 10) + (remote_unit_port_buffer[20] - 48);
if ((temp_year > 2013) && (temp_year < 2070) &&
(temp_month > 0) && (temp_month < 13) &&
(temp_day > 0) && (temp_day < 32) &&
(temp_hour >= 0) && (temp_hour < 24) &&
(temp_minute >= 0) && (temp_minute < 60) &&
(temp_sec >= 0) && (temp_sec < 60) ) {
clock_year_set = temp_year;
clock_month_set = temp_month;
clock_day_set = temp_day;
clock_hour_set = temp_hour;
clock_min_set = temp_minute;
clock_sec_set = temp_sec;
millis_at_last_calibration = millis();
#ifdef DEBUG_SYNC_MASTER_CLOCK_TO_SLAVE
debug.println("service_remote_communications_incoming_buffer: clock synced to slave clock");
#endif //DEBUG_SYNC_MASTER_CLOCK_TO_SLAVE
good_data = 1;
clock_synced_to_remote = 1;
if (clock_status == FREE_RUNNING) {clock_status = SLAVE_SYNC;}
} else {
#ifdef DEBUG_SYNC_MASTER_CLOCK_TO_SLAVE
debug.println("service_remote_communications_incoming_buffer: slave clock sync error");
#endif //DEBUG_SYNC_MASTER_CLOCK_TO_SLAVE
if ((clock_status == SLAVE_SYNC) || (clock_status == SLAVE_SYNC_GPS)) {clock_status = FREE_RUNNING;}
}
#endif // defined(FEATURE_CLOCK) && defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE)
#if !defined(FEATURE_CLOCK) || !defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE)
good_data = 1;
#endif //!defined(FEATURE_CLOCK) || !defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE)
} else {
#if defined(FEATURE_CLOCK) && defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE)
#ifdef DEBUG_SYNC_MASTER_CLOCK_TO_SLAVE
debug.print("service_remote_communications_incoming_buffer: REMOTE_UNIT_CL_COMMAND format error. remote_unit_port_buffer_index: ");
debug.print(remote_unit_port_buffer_index);
debug.println("");
#endif //DEBUG_SYNC_MASTER_CLOCK_TO_SLAVE
if ((clock_status == SLAVE_SYNC) || (clock_status == SLAVE_SYNC_GPS)) {clock_status = FREE_RUNNING;}
#endif // defined(FEATURE_CLOCK) && defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE)
}
break;
case REMOTE_UNIT_AZ_COMMAND:
if ((remote_unit_port_buffer_index == 13) && (remote_unit_port_buffer[0] == 'A') && (remote_unit_port_buffer[1] == 'Z') &&
(is_ascii_number(remote_unit_port_buffer[2])) && (is_ascii_number(remote_unit_port_buffer[3])) && (is_ascii_number(remote_unit_port_buffer[4])) && (is_ascii_number(remote_unit_port_buffer[6])) && (is_ascii_number(remote_unit_port_buffer[7])) && (is_ascii_number(remote_unit_port_buffer[8])) && (is_ascii_number(remote_unit_port_buffer[9])) && (is_ascii_number(remote_unit_port_buffer[10])) && (is_ascii_number(remote_unit_port_buffer[11]))) {
remote_unit_command_result_float = ((remote_unit_port_buffer[2] - 48) * 100) + ((remote_unit_port_buffer[3] - 48) * 10) + (remote_unit_port_buffer[4] - 48) + ((remote_unit_port_buffer[6] - 48) / 10.0) + ((remote_unit_port_buffer[7] - 48) / 100.0) + ((remote_unit_port_buffer[8] - 48) / 1000.0) + ((remote_unit_port_buffer[9] - 48) / 10000.0) + ((remote_unit_port_buffer[10] - 48) / 100000.0) + ((remote_unit_port_buffer[11] - 48) / 1000000.0);
good_data = 1;
}
break;
case REMOTE_UNIT_EL_COMMAND:
if ((remote_unit_port_buffer_index == 14) && (remote_unit_port_buffer[0] == 'E') && (remote_unit_port_buffer[1] == 'L') &&
(is_ascii_number(remote_unit_port_buffer[3])) && (is_ascii_number(remote_unit_port_buffer[4])) && (is_ascii_number(remote_unit_port_buffer[5])) && (is_ascii_number(remote_unit_port_buffer[7])) && (is_ascii_number(remote_unit_port_buffer[8])) && (is_ascii_number(remote_unit_port_buffer[9])) && (is_ascii_number(remote_unit_port_buffer[10])) && (is_ascii_number(remote_unit_port_buffer[11])) && (is_ascii_number(remote_unit_port_buffer[12]))) {
remote_unit_command_result_float = ((remote_unit_port_buffer[3] - 48) * 100) + ((remote_unit_port_buffer[4] - 48) * 10) + (remote_unit_port_buffer[5] - 48) + ((remote_unit_port_buffer[7] - 48) / 10.0) + ((remote_unit_port_buffer[8] - 48) / 100.0) + ((remote_unit_port_buffer[9] - 48) / 1000.0) + ((remote_unit_port_buffer[10] - 48) / 10000.0) + ((remote_unit_port_buffer[11] - 48) / 100000.0) + ((remote_unit_port_buffer[12] - 48) / 1000000.0);
if (remote_unit_port_buffer[2] == '+') {
good_data = 1;
}
if (remote_unit_port_buffer[2] == '-') {
remote_unit_command_result_float = remote_unit_command_result_float * -1.0;
good_data = 1;
}
}
break;
case REMOTE_UNIT_OTHER_COMMAND:
if ((remote_unit_port_buffer[0] == 'O') && (remote_unit_port_buffer[1] == 'K')) {
good_data = 1;
}
break;
} /* switch */
if (good_data) {
if (remote_unit_command_submitted != REMOTE_UNIT_OTHER_COMMAND) {
remote_unit_command_results_available = remote_unit_command_submitted;
}
remote_unit_good_results++;
#ifdef DEBUG_SVC_REMOTE_COMM_INCOMING_BUFFER
debug.print("service_remote_communications_incoming_buffer: remote_unit_command_results_available: ");
debug.print(remote_unit_command_results_available);
debug.print(" remote_unit_command_result_float: ");
debug.print(remote_unit_command_result_float,2);
debug.println("");
#endif // DEBUG_SVC_REMOTE_COMM_INCOMING_BUFFER
} else {
#ifdef DEBUG_SVC_REMOTE_COMM_INCOMING_BUFFER_BAD_DATA
debug.print("service_remote_communications_incoming_buffer: bad data: remote_unit_command_submitted: ");
switch (remote_unit_command_submitted) {
case REMOTE_UNIT_AZ_COMMAND: debug.print("REMOTE_UNIT_AZ_COMMAND"); break;
case REMOTE_UNIT_EL_COMMAND: debug.print("REMOTE_UNIT_EL_COMMAND"); break;
case REMOTE_UNIT_OTHER_COMMAND: debug.print("REMOTE_UNIT_OTHER_COMMAND"); break;
default: debug.print("UNDEFINED"); break;
}
debug.print(" buffer_index:");
debug.print(remote_unit_port_buffer_index);
debug.print(" buffer: ");
for (int x = 0; x < remote_unit_port_buffer_index; x++) {
debug_write((char*)remote_unit_port_buffer[x]);
}
debug.println("$");
#endif // DEBUG_SVC_REMOTE_COMM_INCOMING_BUFFER_BAD_DATA
remote_unit_command_results_available = 0;
remote_unit_bad_results++;
}
remote_unit_command_submitted = 0;
} else { // this was an unsolicited message
}
remote_unit_port_buffer_carriage_return_flag = 0;
remote_unit_port_buffer_index = 0;
}
// has a command timed out?
if ((remote_unit_command_submitted) && ((millis() - last_remote_unit_command_time) > REMOTE_UNIT_COMMAND_TIMEOUT_MS)) {
#if defined(FEATURE_CLOCK) && defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE)
if ((remote_unit_command_submitted == REMOTE_UNIT_CL_COMMAND) && ((clock_status == SLAVE_SYNC) || (clock_status == SLAVE_SYNC_GPS))){
clock_status = FREE_RUNNING;
}
#endif //defined(FEATURE_CLOCK) && defined(OPTION_SYNC_MASTER_CLOCK_TO_SLAVE)
remote_unit_command_timeouts++;
remote_unit_command_submitted = 0;
remote_unit_port_buffer_index = 0;
}
// have characters been in the buffer for some time but no carriage return?
if ((remote_unit_port_buffer_index) && (!remote_unit_command_submitted) && ((millis() - serial1_last_receive_time) > REMOTE_UNIT_COMMAND_TIMEOUT_MS)) {
remote_unit_port_buffer_index = 0;
remote_unit_incoming_buffer_timeouts++;
}
} /* service_remote_communications_incoming_buffer */
#endif // defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
// --------------------------------------------------------------------------
#ifdef FEATURE_AZIMUTH_CORRECTION
float correct_azimuth(float azimuth_in){
if (sizeof(azimuth_calibration_from) != sizeof(azimuth_calibration_to)) {
return azimuth_in;
}
for (unsigned int x = 0; x < (sizeof(azimuth_calibration_from) - 2); x++) {
if ((azimuth_in >= azimuth_calibration_from[x]) && (azimuth_in <= azimuth_calibration_from[x + 1])) {
//return (map(azimuth_in * 10, azimuth_calibration_from[x] * 10, azimuth_calibration_from[x + 1] * 10, azimuth_calibration_to[x] * 10, azimuth_calibration_to[x + 1] * 10)) / 10.0;
return (azimuth_in - azimuth_calibration_from[x]) * (azimuth_calibration_to[x+1] - azimuth_calibration_to[x]) / (azimuth_calibration_from[x + 1] - azimuth_calibration_from[x]) + azimuth_calibration_to[x];
}
}
return(azimuth_in);
}
#endif // FEATURE_AZIMUTH_CORRECTION
// --------------------------------------------------------------------------
#ifdef FEATURE_ELEVATION_CORRECTION
float correct_elevation(float elevation_in){
if (sizeof(elevation_calibration_from) != sizeof(elevation_calibration_to)) {
return elevation_in;
}
for (int x = 0; x < (sizeof(elevation_calibration_from) - 2); x++) {
if ((elevation_in >= elevation_calibration_from[x]) && (elevation_in <= elevation_calibration_from[x + 1])) {
// changed this from map() 2015-03-28 due to it blowing up at compile time in Arduino 1.6.1
return (elevation_in - elevation_calibration_from[x]) * (elevation_calibration_to[x+1] - elevation_calibration_to[x]) / (elevation_calibration_from[x + 1] - elevation_calibration_from[x]) + elevation_calibration_to[x];
}
}
return(elevation_in);
}
#endif // FEATURE_ELEVATION_CORRECTION
// --------------------------------------------------------------------------
#ifdef FEATURE_JOYSTICK_CONTROL
void check_joystick(){
int joystick_x = 0;
int joystick_y = 0;
static int joystick_resting_x = 0;
static int joystick_resting_y = 0;
static unsigned long last_joystick_az_action_time = 0;
static byte joystick_azimuth_rotation = NOT_DOING_ANYTHING;
#ifdef FEATURE_ELEVATION_CONTROL
static byte joystick_elevation_rotation = NOT_DOING_ANYTHING;
static unsigned long last_joystick_el_action_time = 0;
#endif // FEATURE_ELEVATION_CONTROL
if ((joystick_resting_x == 0) || (joystick_resting_y == 0)) { // initialize the resting readings if this is our first time here
joystick_resting_x = analogReadEnhanced(pin_joystick_x);
joystick_resting_y = analogReadEnhanced(pin_joystick_y);
} else {
joystick_x = analogReadEnhanced(pin_joystick_x);
joystick_y = analogReadEnhanced(pin_joystick_y);
if ((millis() - last_joystick_az_action_time) > JOYSTICK_WAIT_TIME_MS) {
#ifdef DEBUG_JOYSTICK
static unsigned long last_debug_joystick_status = 0;
if ((debug_mode) && ((millis() - last_debug_joystick_status) > 1000)) {
debug.print("check_joystick: x: ");
debug.print(joystick_x);
debug.print("\ty: ");
control_port->println(joystick_y);
last_debug_joystick_status = millis();
}
#endif // DEBUG_JOYSTICK
#ifndef OPTION_JOYSTICK_REVERSE_X_AXIS
if ((joystick_resting_x - joystick_x) < (joystick_resting_x * -0.2)) { // left
#else
if ((joystick_resting_x - joystick_x) > (joystick_resting_x * 0.2)) {
#endif
#ifdef DEBUG_JOYSTICK
if (debug_mode) {
control_port->println("check_joystick: L");
}
#endif // DEBUG_JOYSTICK
if (current_az_state() != ROTATING_CCW) {
submit_request(AZ, REQUEST_CCW, 0, 1);
}
joystick_azimuth_rotation = ROTATING_CCW;
last_joystick_az_action_time = millis();
} else {
#ifndef OPTION_JOYSTICK_REVERSE_X_AXIS
if ((joystick_resting_x - joystick_x) > (joystick_resting_x * 0.2)) { // right
#else
if ((joystick_resting_x - joystick_x) < (joystick_resting_x * -0.2)) {
#endif
#ifdef DEBUG_JOYSTICK
if (debug_mode) {
control_port->println("check_joystick: R");
}
#endif // DEBUG_JOYSTICK
if (current_az_state() != ROTATING_CW) {
submit_request(AZ, REQUEST_CW, 0, 2);
}
joystick_azimuth_rotation = ROTATING_CW;
last_joystick_az_action_time = millis();
} else { // joystick is in X axis resting position
if (joystick_azimuth_rotation != NOT_DOING_ANYTHING) {
if (current_az_state() != NOT_DOING_ANYTHING) {
submit_request(AZ, REQUEST_STOP, 0, 3);
last_joystick_az_action_time = millis();
}
joystick_azimuth_rotation = NOT_DOING_ANYTHING;
}
}
}
}
#ifdef FEATURE_ELEVATION_CONTROL
if ((millis() - last_joystick_el_action_time) > JOYSTICK_WAIT_TIME_MS) {
#ifndef OPTION_JOYSTICK_REVERSE_Y_AXIS
if ((joystick_resting_y - joystick_y) > (joystick_resting_y * 0.2)) { // down
#else
if ((joystick_resting_y - joystick_y) < (joystick_resting_y * -0.2)) {
#endif
#ifdef DEBUG_JOYSTICK
if (debug_mode) {
control_port->println("check_joystick: D");
}
#endif // DEBUG_JOYSTICK
if (current_el_state() != ROTATING_DOWN) {
submit_request(EL, REQUEST_DOWN, 0, 4);
}
joystick_elevation_rotation = ROTATING_DOWN;
last_joystick_el_action_time = millis();
} else {
#ifndef OPTION_JOYSTICK_REVERSE_Y_AXIS
if ((joystick_resting_y - joystick_y) < (joystick_resting_y * -0.2)) { // up
#else
if ((joystick_resting_y - joystick_y) > (joystick_resting_y * 0.2)) {
#endif
#ifdef DEBUG_JOYSTICK
if (debug_mode) {
control_port->println("check_joystick: U");
}
#endif // DEBUG_JOYSTICK
if (current_el_state() != ROTATING_UP) {
submit_request(EL, REQUEST_UP, 0, 5);
}
joystick_elevation_rotation = ROTATING_UP;
last_joystick_el_action_time = millis();
} else { // Y axis is in resting position
if (joystick_elevation_rotation != NOT_DOING_ANYTHING) {
if (current_el_state() != NOT_DOING_ANYTHING) {
submit_request(EL, REQUEST_STOP, 0, 6);
last_joystick_el_action_time = millis();
}
joystick_elevation_rotation = NOT_DOING_ANYTHING;
}
}
}
}
#endif // FEATURE_ELEVATION_CONTROL
}
} /* check_joystick */
#endif // FEATURE_JOYSTICK_CONTROL
// --------------------------------------------------------------------------
#ifdef FEATURE_ROTATION_INDICATOR_PIN
void service_rotation_indicator_pin(){
static byte rotation_indication_pin_state = 0;
static unsigned long time_rotation_went_inactive = 0;
#ifdef FEATURE_ELEVATION_CONTROL
if ((!rotation_indication_pin_state) && ((az_state != IDLE) || (el_state != IDLE))) {
#else
if ((!rotation_indication_pin_state) && ((az_state != IDLE))) {
#endif
if (rotation_indication_pin) {
digitalWriteEnhanced(rotation_indication_pin, ROTATION_INDICATOR_PIN_ACTIVE_STATE);
}
rotation_indication_pin_state = 1;
#ifdef DEBUG_ROTATION_INDICATION_PIN
if (debug_mode) {
debug.print(F("service_rotation_indicator_pin: active\n"));
}
#endif
}
#ifdef FEATURE_ELEVATION_CONTROL
if ((rotation_indication_pin_state) && (az_state == IDLE) && (el_state == IDLE)) {
#else
if ((rotation_indication_pin_state) && (az_state == IDLE)) {
#endif
if (time_rotation_went_inactive == 0) {
time_rotation_went_inactive = millis();
} else {
if ((millis() - time_rotation_went_inactive) >= ((ROTATION_INDICATOR_PIN_TIME_DELAY_SECONDS * 1000) + (ROTATION_INDICATOR_PIN_TIME_DELAY_MINUTES * 60 * 1000))) {
if (rotation_indication_pin) {
digitalWriteEnhanced(rotation_indication_pin, ROTATION_INDICATOR_PIN_INACTIVE_STATE);
}
rotation_indication_pin_state = 0;
time_rotation_went_inactive = 0;
#ifdef DEBUG_ROTATION_INDICATION_PIN
if (debug_mode) {
debug.print(F("service_rotation_indicator_pin: inactive\n"));
}
#endif
}
}
}
} /* service_rotation_indicator_pin */
#endif // FEATURE_ROTATION_INDICATOR_PIN
// --------------------------------------------------------------
#ifdef FEATURE_PARK
void deactivate_park(){
park_status = NOT_PARKED;
park_serial_initiated = 0;
}
#endif // FEATURE_PARK
// --------------------------------------------------------------
#ifdef FEATURE_PARK
void initiate_park(){
#ifdef DEBUG_PARK
debug.print(F("initiate_park: park initiated\n"));
#endif // DEBUG_PARK
byte park_initiated = 0;
stop_all_tracking();
if (abs(raw_azimuth - PARK_AZIMUTH) > (AZIMUTH_TOLERANCE * HEADING_MULTIPLIER)) {
submit_request(AZ, REQUEST_AZIMUTH_RAW, PARK_AZIMUTH, 7);
park_initiated = 1;
}
#ifdef FEATURE_ELEVATION_CONTROL
if (abs(elevation - PARK_ELEVATION) > (ELEVATION_TOLERANCE * HEADING_MULTIPLIER)) {
submit_request(EL, REQUEST_ELEVATION, PARK_ELEVATION, 8);
park_initiated = 1;
}
#endif // FEATURE_ELEVATION_CONTROL
if (park_initiated) {
park_status = PARK_INITIATED;
} else {
park_status = PARKED;
}
} /* initiate_park */
#endif // FEATURE_PARK
// --------------------------------------------------------------
#ifdef FEATURE_PARK
void service_park(){
static byte last_park_status = NOT_PARKED;
if (park_status == PARKED) {
if (abs(raw_azimuth - PARK_AZIMUTH) > (AZIMUTH_TOLERANCE * HEADING_MULTIPLIER)) {
park_status = NOT_PARKED;
}
#ifdef FEATURE_ELEVATION_CONTROL
if (abs(elevation - PARK_ELEVATION) > (ELEVATION_TOLERANCE * HEADING_MULTIPLIER)) {
park_status = NOT_PARKED;
}
#endif // FEATURE_ELEVATION_CONTROL
}
if (park_status != last_park_status) {
switch (park_status) {
case NOT_PARKED:
if (park_in_progress_pin) {
digitalWriteEnhanced(park_in_progress_pin, LOW);
}
if (parked_pin) {
digitalWriteEnhanced(parked_pin, LOW);
}
#ifdef DEBUG_PARK
debug.print(F("service_park: park_in_progress_pin: LOW parked_pin: LOW\n"));
#endif // DEBUG_PARK
break;
case PARK_INITIATED:
if (park_in_progress_pin) {
digitalWriteEnhanced(park_in_progress_pin, HIGH);
}
if (parked_pin) {
digitalWriteEnhanced(parked_pin, LOW);
}
#ifdef DEBUG_PARK
debug.print(F("service_park: park_in_progress_pin: HIGH parked_pin: LOW\n"));
#endif // DEBUG_PARK
break;
case PARKED:
if (park_in_progress_pin) {
digitalWriteEnhanced(park_in_progress_pin, LOW);
}
if (parked_pin) {
digitalWriteEnhanced(parked_pin, HIGH);
}
if (park_serial_initiated) {
#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_YAESU_EMULATION) || defined(FEATURE_EASYCOM_EMULATION)
control_port->println(F("Parked."));
#endif
park_serial_initiated = 0;
}
#ifdef DEBUG_PARK
debug.print(F("service_park: park_in_progress_pin: LOW parked_pin: HIGH\n"));
#endif // DEBUG_PARK
break;
} /* switch */
}
last_park_status = park_status;
} /* service_park */
#endif // FEATURE_PARK
// --------------------------------------------------------------
#ifdef FEATURE_LIMIT_SENSE
void check_limit_sense(){
static byte az_limit_tripped = 0;
#ifdef FEATURE_ELEVATION_CONTROL
static byte el_limit_tripped = 0;
#endif // FEATURE_ELEVATION_CONTROL
if (az_limit_sense_pin) {
if (digitalReadEnhanced(az_limit_sense_pin) == 0) {
if (!az_limit_tripped) {
submit_request(AZ, REQUEST_KILL, 0, 9);
az_limit_tripped = 1;
#ifdef DEBUG_LIMIT_SENSE
debug.print(F("check_limit_sense: az limit tripped\n"));
#endif // DEBUG_LIMIT_SENSE
}
} else {
az_limit_tripped = 0;
}
}
#ifdef FEATURE_ELEVATION_CONTROL
if (el_limit_sense_pin) {
if (digitalReadEnhanced(el_limit_sense_pin) == 0) {
if (!el_limit_tripped) {
submit_request(EL, REQUEST_KILL, 0, 10);
el_limit_tripped = 1;
#ifdef DEBUG_LIMIT_SENSE
debug.print(F("check_limit_sense: el limit tripped\n"));
#endif // DEBUG_LIMIT_SENSE
}
} else {
el_limit_tripped = 0;
}
}
#endif // FEATURE_ELEVATION_CONTROL
} /* check_limit_sense */
#endif // FEATURE_LIMIT_SENSE
// --------------------------------------------------------------
#ifdef FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
void az_position_incremental_encoder_interrupt_handler(){
byte rotation_result = 0;
byte current_phase_a = digitalReadEnhanced(az_incremental_encoder_pin_phase_a);
byte current_phase_b = digitalReadEnhanced(az_incremental_encoder_pin_phase_b);
byte current_phase_z = digitalReadEnhanced(az_incremental_encoder_pin_phase_z);
#ifdef DEBUG_AZ_POSITION_INCREMENTAL_ENCODER
az_position_incremental_encoder_interrupt++;
#endif // DEBUG_AZ_POSITION_INCREMENTAL_ENCODER
if ((az_3_phase_encoder_last_phase_a_state != current_phase_a) || (az_3_phase_encoder_last_phase_b_state != current_phase_b)) {
if (az_3_phase_encoder_last_phase_a_state == LOW) {
rotation_result++;
}
rotation_result = rotation_result << 1;
if (az_3_phase_encoder_last_phase_b_state == LOW) {
rotation_result++;
}
rotation_result = rotation_result << 1;
if (current_phase_a == LOW) {
rotation_result++;
}
rotation_result = rotation_result << 1;
if (current_phase_b == LOW) {
rotation_result++;
}
switch (rotation_result) {
case B0010: //az_incremental_encoder_position++; break;
case B1011: //az_incremental_encoder_position++; break;
case B1101: //az_incremental_encoder_position++; break;
case B0100: az_incremental_encoder_position++; break;
case B0001: //az_incremental_encoder_position--; break;
case B0111: //az_incremental_encoder_position--; break;
case B1110: //az_incremental_encoder_position--; break;
case B1000: az_incremental_encoder_position--; break;
}
/*
if (az_incremental_encoder_position > ((long(AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) - 1) * 2)) {
az_incremental_encoder_position = 0;
}
if (az_incremental_encoder_position < 0) {
az_incremental_encoder_position = ((long(AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) - 1) * 2);
}
#ifndef OPTION_SCANCON_2RMHF3600_INC_ENCODER
if ((current_phase_a == LOW) && (current_phase_b == LOW) && (current_phase_z == LOW)) {
if ((az_incremental_encoder_position < long((AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) / 2)) || (az_incremental_encoder_position > long((AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) * 1.5))) {
az_incremental_encoder_position = AZ_INCREMENTAL_ENCODER_ZERO_PULSE_POSITION;
} else {
az_incremental_encoder_position =long(AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.);
}
}
#else
if ((current_phase_a == HIGH) && (current_phase_b == HIGH) && (current_phase_z == HIGH)) {
if ((az_incremental_encoder_position < long((AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) / 2)) || (az_incremental_encoder_position > long((AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) * 1.5))) {
az_incremental_encoder_position = AZ_INCREMENTAL_ENCODER_ZERO_PULSE_POSITION;
} else {
az_incremental_encoder_position = long(AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.);
}
}
#endif //OPTION_SCANCON_2RMHF3600_INC_ENCODER
*/
if (az_incremental_encoder_position > ((long(AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) - 1) * 2)) {
az_incremental_encoder_position = 0;
}
if (az_incremental_encoder_position < 0) {
az_incremental_encoder_position = ((long(AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) - 1) * 2);
}
#ifndef OPTION_SCANCON_2RMHF3600_INC_ENCODER
if ((current_phase_a == LOW) && (current_phase_b == LOW) && (current_phase_z == LOW)) {
if ((az_incremental_encoder_position < long((AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) / 2)) || (az_incremental_encoder_position > long((AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) * 1.5))) {
az_incremental_encoder_position = AZ_INCREMENTAL_ENCODER_ZERO_PULSE_POSITION;
} else {
az_incremental_encoder_position = long(AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.);
}
}
#else
if ((current_phase_a == HIGH) && (current_phase_b == HIGH) && (current_phase_z == HIGH)) {
if ((az_incremental_encoder_position < long((AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) / 2)) || (az_incremental_encoder_position > long((AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) * 1.5))) {
az_incremental_encoder_position = AZ_INCREMENTAL_ENCODER_ZERO_PULSE_POSITION;
} else {
az_incremental_encoder_position = long(AZ_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.);
}
}
#endif //OPTION_SCANCON_2RMHF3600_INC_ENCODER
az_3_phase_encoder_last_phase_a_state = current_phase_a;
az_3_phase_encoder_last_phase_b_state = current_phase_b;
}
if (!read_azimuth_lock){
read_azimuth(1);
if(!service_rotation_lock){
service_rotation();
}
}
} /* az_position_incremental_encoder_interrupt_handler */
#endif // FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
// --------------------------------------------------------------
#if defined(FEATURE_EL_POSITION_INCREMENTAL_ENCODER) && defined(FEATURE_ELEVATION_CONTROL)
void el_position_incremental_encoder_interrupt_handler(){
byte rotation_result = 0;
byte current_phase_a = digitalReadEnhanced(el_incremental_encoder_pin_phase_a);
byte current_phase_b = digitalReadEnhanced(el_incremental_encoder_pin_phase_b);
byte current_phase_z = digitalReadEnhanced(el_incremental_encoder_pin_phase_z);
#ifdef DEBUG_EL_POSITION_INCREMENTAL_ENCODER
el_position_incremental_encoder_interrupt++;
#endif // DEBUG_EL_POSITION_INCREMENTAL_ENCODER
if ((el_3_phase_encoder_last_phase_a_state != current_phase_a) || (el_3_phase_encoder_last_phase_b_state != current_phase_b)) {
if (el_3_phase_encoder_last_phase_a_state == LOW) {
rotation_result++;
}
rotation_result = rotation_result << 1;
if (el_3_phase_encoder_last_phase_b_state == LOW) {
rotation_result++;
}
rotation_result = rotation_result << 1;
if (current_phase_a == LOW) {
rotation_result++;
}
rotation_result = rotation_result << 1;
if (current_phase_b == LOW) {
rotation_result++;
}
switch (rotation_result) {
case B0010: //el_incremental_encoder_position++; break;
case B1011: //el_incremental_encoder_position++; break;
case B1101: //el_incremental_encoder_position++; break;
case B0100: el_incremental_encoder_position++; break;
case B0001: //el_incremental_encoder_position--; break;
case B0111: //el_incremental_encoder_position--; break;
case B1110: //el_incremental_encoder_position--; break;
case B1000: el_incremental_encoder_position--; break;
}
#ifndef OPTION_SCANCON_2RMHF3600_INC_ENCODER
if ((current_phase_a == LOW) && (current_phase_b == LOW) && (current_phase_z == LOW)) {
el_incremental_encoder_position = EL_INCREMENTAL_ENCODER_ZERO_PULSE_POSITION;
} else {
if (el_incremental_encoder_position < 0) {
el_incremental_encoder_position = int((EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) - 1);
}
if (el_incremental_encoder_position >= int(EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.)) {
el_incremental_encoder_position = 0;
}
}
#else
if ((current_phase_a == HIGH) && (current_phase_b == HIGH) && (current_phase_z == HIGH)) {
el_incremental_encoder_position = EL_INCREMENTAL_ENCODER_ZERO_PULSE_POSITION;
} else {
if (el_incremental_encoder_position < 0) {
el_incremental_encoder_position = int((EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.) - 1);
}
if (el_incremental_encoder_position >= int(EL_POSITION_INCREMENTAL_ENCODER_PULSES_PER_REV*4.)) {
el_incremental_encoder_position = 0;
}
}
#endif //OPTION_SCANCON_2RMHF3600_INC_ENCODER
el_3_phase_encoder_last_phase_a_state = current_phase_a;
el_3_phase_encoder_last_phase_b_state = current_phase_b;
}
if (!read_elevation_lock){
read_elevation(1);
if(!service_rotation_lock){
service_rotation();
}
}
} /* el_position_incremental_encoder_interrupt_handler */
#endif // defined(FEATURE_EL_POSITION_INCREMENTAL_ENCODER) && defined(FEATURE_ELEVATION_CONTROL)
// --------------------------------------------------------------
void pinModeEnhanced(uint8_t pin, uint8_t mode){
#if !defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) && !defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
pinMode(pin, mode);
#else
if (pin < 100) {
pinMode(pin, mode);
} else {
submit_remote_command(REMOTE_UNIT_DHL_COMMAND, pin, mode);
}
#endif // !defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) && !defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
}
// --------------------------------------------------------------
void digitalWriteEnhanced(uint8_t pin, uint8_t writevalue){
#if !defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) && !defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
digitalWrite(pin, writevalue);
#else
if (pin < 100) {
digitalWrite(pin, writevalue);
} else {
submit_remote_command(REMOTE_UNIT_DHL_COMMAND, pin, writevalue);
}
#endif // !defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) && !defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
}
// --------------------------------------------------------------
int digitalReadEnhanced(uint8_t pin){
return digitalRead(pin);
}
// --------------------------------------------------------------
int analogReadEnhanced(uint8_t pin){
#ifdef OPTION_EXTERNAL_ANALOG_REFERENCE
analogReference(EXTERNAL);
#endif //OPTION_EXTERNAL_ANALOG_REFERENCE
return analogRead(pin);
}
// --------------------------------------------------------------
void analogWriteEnhanced(uint8_t pin, int writevalue){
#if !defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) && !defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
analogWrite(pin, writevalue);
#else
if (pin < 100) {
analogWrite(pin, writevalue);
} else {
submit_remote_command(REMOTE_UNIT_AW_COMMAND, pin, writevalue);
}
#endif // !defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) && !defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
}
// --------------------------------------------------------------
#if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
void take_care_of_pending_remote_command(){
// if there's a command already sent to the remote and we're awaiting the response, service the serial buffer and the queue
unsigned long start_time = millis();
while ((remote_unit_command_submitted) && ((millis() - start_time) < 200)) {
#if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE)
check_serial();
#endif //defined(FEATURE_MASTER_WITH_SERIAL_SLAVE)
#if defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
service_ethernet();
#endif //defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
service_remote_communications_incoming_buffer();
}
}
#endif // defined(FEATURE_MASTER_WITH_SERIAL_SLAVE) || defined(FEATURE_MASTER_WITH_ETHERNET_SLAVE)
// --------------------------------------------------------------
void port_flush(){
#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
#if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE)
remote_unit_port->flush();
#endif
#if defined(GPS_PORT_MAPPED_TO) && defined(FEATURE_GPS)
gps_port->flush();
#endif //defined(GPS_PORT_MAPPED_TO) && defined(FEATURE_GPS)
}
// --------------------------------------------------------------
#ifdef FEATURE_POWER_SWITCH
void service_power_switch(){
static byte power_switch_state = 1;
#ifdef FEATURE_ELEVATION_CONTROL
if ((az_state != IDLE) || (el_state != IDLE)){
last_activity_time = millis();
}
#else //FEATURE_ELEVATION_CONTROL
if (az_state != IDLE){
last_activity_time = millis();
}
#endif //FEATURE_ELEVATION_CONTROL
if ((millis()-last_activity_time) > (60000 * POWER_SWITCH_IDLE_TIMEOUT)) {
if (power_switch_state){
digitalWriteEnhanced(power_switch, LOW);
power_switch_state = 0;
}
} else {
if (!power_switch_state){
digitalWriteEnhanced(power_switch, HIGH);
power_switch_state = 1;
}
}
}
#endif //FEATURE_POWER_SWITCH
//------------------------------------------------------
char *coordinates_to_maidenhead(float latitude_degrees,float longitude_degrees){
static char temp_string[8] = ""; // I had to declare this static in Arduino 1.6, otherwise this won't work (it worked before)
latitude_degrees += 90.0;
longitude_degrees += 180.0;
temp_string[0] = (int(longitude_degrees/20)) + 65;
temp_string[1] = (int(latitude_degrees/10)) + 65;
temp_string[2] = (int((longitude_degrees - int(longitude_degrees/20)*20)/2)) + 48;
temp_string[3] = (int(latitude_degrees - int(latitude_degrees/10)*10)) + 48;
temp_string[4] = (int((longitude_degrees - (int(longitude_degrees/2)*2)) / (5.0/60.0))) + 97;
temp_string[5] = (int((latitude_degrees - (int(latitude_degrees/1)*1)) / (2.5/60.0))) + 97;
temp_string[6] = 0;
return temp_string;
}
//------------------------------------------------------
#ifdef FEATURE_ANALOG_OUTPUT_PINS
void service_analog_output_pins(){
static int last_azimith_voltage_out = 0;
int azimuth_voltage_out = map(azimuth/HEADING_MULTIPLIER,0,360,0,255);
if (last_azimith_voltage_out != azimuth_voltage_out){
analogWriteEnhanced(pin_analog_az_out,azimuth_voltage_out);
last_azimith_voltage_out = azimuth_voltage_out;
}
#ifdef FEATURE_ELEVATION_CONTROL
static int last_elevation_voltage_out = 0;
int elevation_voltage_out = map(elevation/HEADING_MULTIPLIER,0,ANALOG_OUTPUT_MAX_EL_DEGREES,0,255);
if (last_elevation_voltage_out != elevation_voltage_out){
analogWriteEnhanced(pin_analog_el_out,elevation_voltage_out);
last_elevation_voltage_out = elevation_voltage_out;
}
#endif //FEATURE_ELEVATION_CONTROL
}
#endif //FEATURE_ANALOG_OUTPUT_PINS
//-------------------------------------------------------
#ifdef FEATURE_AUTOCORRECT
void submit_autocorrect(byte axis,float heading){
#ifdef DEBUG_AUTOCORRECT
debug.print("submit_autocorrect: ");
#endif //DEBUG_AUTOCORRECT
if (axis == AZ){
autocorrect_state_az = AUTOCORRECT_WATCHING_AZ;
autocorrect_az = heading;
autocorrect_az_submit_time = millis();
#ifdef DEBUG_AUTOCORRECT
debug.print("AZ: ");
#endif //DEBUG_AUTOCORRECT
}
#ifdef FEATURE_ELEVATION_CONTROL
if (axis == EL){
autocorrect_state_el = AUTOCORRECT_WATCHING_EL;
autocorrect_el = heading;
autocorrect_el_submit_time = millis();
#ifdef DEBUG_AUTOCORRECT
debug.print("EL: ");
#endif //DEBUG_AUTOCORRECT
}
#endif //FEATURE_ELEVATION_CONTROL
#ifdef DEBUG_AUTOCORRECT
debug.print(heading,2);
debug.println("");
#endif //DEBUG_AUTOCORRECT
}
#endif //FEATURE_AUTOCORRECT
// --------------------------------------------------------------
//#if defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(FEATURE_ANCILLARY_PIN_CONTROL) || defined(UNDER_DEVELOPMENT_REMOTE_UNIT_COMMANDS)
byte get_analog_pin(byte pin_number){
byte return_output = 0;
switch (pin_number) {
case 0: return_output = A0; break;
case 1: return_output = A1; break;
case 2: return_output = A2; break;
case 3: return_output = A3; break;
case 4: return_output = A4; break;
case 5: return_output = A5; break;
case 6: return_output = A6; break;
}
return return_output;
}
//#endif // FEATURE_REMOTE_UNIT_SLAVE
// *************************************** stuff below here has issues moving to .h files - need to work on this **********************
// -------------------------------------------------------------
#ifdef FEATURE_SUN_TRACKING
void update_sun_position(){
update_time();
c_time.iYear = clock_years;
c_time.iMonth = clock_months;
c_time.iDay = clock_days;
c_time.dHours = clock_hours;
c_time.dMinutes = clock_minutes;
c_time.dSeconds = clock_seconds;
c_loc.dLongitude = longitude;
c_loc.dLatitude = latitude;
c_sposn.dZenithAngle = 0;
c_sposn.dAzimuth = 0;
sunpos(c_time, c_loc, &c_sposn);
// Convert Zenith angle to elevation
sun_elevation = 90. - c_sposn.dZenithAngle;
sun_azimuth = c_sposn.dAzimuth;
} /* update_sun_position */
#endif // FEATURE_SUN_TRACKING
// --------------------------------------------------------------
#ifdef FEATURE_MOON_TRACKING
void update_moon_position(){
update_time();
double RA, Dec, topRA, topDec, LST, HA, dist;
update_time();
moon2(clock_years, clock_months, clock_days, (clock_hours + (clock_minutes / 60.0) + (clock_seconds / 3600.0)), longitude, latitude, &RA, &Dec, &topRA, &topDec, &LST, &HA, &moon_azimuth, &moon_elevation, &dist);
}
#endif // FEATURE_MOON_TRACKING
// --------------------------------------------------------------
#if defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING)
byte calibrate_az_el(float new_az, float new_el){
#ifdef DEBUG_OFFSET
debug.print("calibrate_az_el: new_az:");
debug.print(new_az, 2);
debug.print(" new_el:");
control_port->println(new_el, 2);
#endif // DEBUG_OFFSET
if ((new_az >= 0 ) && (new_az <= 360) && (new_el >= 0) && (new_el <= 90)) {
configuration.azimuth_offset = 0;
configuration.elevation_offset = 0;
read_azimuth(1);
read_elevation(1);
#ifdef DEBUG_OFFSET
debug.print("calibrate_az_el: az:");
debug.print(azimuth / LCD_HEADING_MULTIPLIER, 2);
debug.print(" el:");
control_port->println(elevation / LCD_HEADING_MULTIPLIER, 2);
#endif // DEBUG_OFFSET
configuration.azimuth_offset = new_az - (float(raw_azimuth) / float(HEADING_MULTIPLIER));
#if defined(FEATURE_ELEVATION_CONTROL)
configuration.elevation_offset = new_el - (float(elevation) / float(HEADING_MULTIPLIER));
#endif
configuration_dirty = 1;
return 1;
} else {
return 0;
}
} /* calibrate_az_el */
#endif // defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING)
// --------------------------------------------------------------
#if defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING)
char * az_el_calibrated_string(){
char return_string[48] = "";
char tempstring[16] = "";
read_azimuth(1);
read_elevation(1);
strcpy(return_string, "Heading calibrated. Az: ");
dtostrf((azimuth / LCD_HEADING_MULTIPLIER), 0, LCD_DECIMAL_PLACES, tempstring);
strcat(return_string, tempstring);
#ifdef FEATURE_ELEVATION_CONTROL
strcat(return_string, " El: ");
dtostrf((elevation / LCD_HEADING_MULTIPLIER), 0, LCD_DECIMAL_PLACES, tempstring);
strcat(return_string, tempstring);
#endif //FEATURE_ELEVATION_CONTROL
return return_string;
}
#endif // defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING)
// --------------------------------------------------------------
#ifdef FEATURE_CLOCK
char * clock_string(){
char return_string[32] = "";
char temp_string[16] = "";
dtostrf(clock_years, 0, 0, temp_string);
strcpy(return_string, temp_string);
strcat(return_string, "-");
if (clock_months < 10) {
strcat(return_string, "0");
}
dtostrf(clock_months, 0, 0, temp_string);
strcat(return_string, temp_string);
strcat(return_string, "-");
if (clock_days < 10) {
strcat(return_string, "0");
}
dtostrf(clock_days, 0, 0, temp_string);
strcat(return_string, temp_string);
strcat(return_string, " ");
if (clock_hours < 10) {
strcat(return_string, "0");
}
dtostrf(clock_hours, 0, 0, temp_string);
strcat(return_string, temp_string);
strcat(return_string, ":");
if (clock_minutes < 10) {
strcat(return_string, "0");
}
dtostrf(clock_minutes, 0, 0, temp_string);
strcat(return_string, temp_string);
strcat(return_string, ":");
if (clock_seconds < 10) {
strcat(return_string, "0");
}
dtostrf(clock_seconds, 0, 0, temp_string);
strcat(return_string, temp_string);
strcat(return_string,"Z");
return return_string;
} /* clock_string */
#endif // FEATURE_CLOCK
// --------------------------------------------------------------
// that's all, folks !
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