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Unify arduino files, add arduino micro shield.

v1
Agis Zisimatos 2014-11-11 20:56:48 +02:00
parent 03abf6fb09
commit 5d27da97af
8 changed files with 12884 additions and 139 deletions
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186
Arduino/SatNOGS.ino
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@ -2,59 +2,171 @@
#include <stdlib.h>
#include <math.h>
#define DIR_AZ 8
#define STEP_AZ 9
#define EN_AZ 7
#define DIR_AZ 18
#define STEP_AZ 10
#define DIR_EL 10
#define STEP_EL 11
#define EN_EL 12
#define DIR_EL 6
#define STEP_EL 7
#define SPD 200 //step per degree
#define T_DEALY 10000
#define T_STEPPER 1
#define MS1 9
#define EN 8
int stepPosAz = 0;
int stepAz = 0;
int stepPosEl = 0;
int stepEl = 0;
long t1 = 0;
#define SPR 200 //Step Per Revolution
#define RATIO 60 //Gear ratio
#define T_DEALY 10000 //Time to disable the motors
#define T_STEPPER 1000 //2*T_STEPPER is the period of pulses
/*Global Variables*/
long t_DIS = 0; //time to disable the Motors
void setup()
{
/*Define the Stepper drivers PIN's*/
pinMode(DIR_AZ, OUTPUT);
pinMode(STEP_AZ, OUTPUT);
pinMode(EN_AZ, OUTPUT);
digitalWrite(EN_AZ, LOW);
digitalWrite(DIR_AZ, LOW);
pinMode(STEP_AZ, OUTPUT);
pinMode(DIR_EL, OUTPUT);
pinMode(STEP_EL, OUTPUT);
pinMode(EN_EL, OUTPUT);
digitalWrite(EN_EL, LOW);
digitalWrite(STEP_AZ, LOW);
digitalWrite(DIR_AZ, LOW);
digitalWrite(STEP_EL, LOW);
digitalWrite(DIR_EL, LOW);
/*Enable Motors*/
pinMode(EN, OUTPUT);
digitalWrite(EN, LOW);
/*Step size */
pinMode(MS1, OUTPUT);
digitalWrite(MS1, LOW); //Full step
Serial.begin(19200);
}
void loop()
{
{
/*Define the steps*/
static int AZstep = 0;
static int ELstep = 0;
/*Define the steps from the start of motion*/
static int AZstepPos = 0;
static int ELstepPos = 0;
/*Time Check*/
if (t1 == 0)
t1 = millis();
if (stepAz == 0 && stepEl == 0 && millis()-t1 > T_DEALY)
{
digitalWrite(EN_AZ, HIGH);
digitalWrite(EN_EL, HIGH);
}
if (t_DIS == 0)
t_DIS = millis();
/*Disable Motors*/
if (AZstep == 0 && ELstep == 0 && millis()-t_DIS > T_DEALY)
digitalWrite(EN, HIGH);
/*Enable Motors*/
else
{
digitalWrite(EN_AZ, LOW);
digitalWrite(EN_EL, LOW);
}
digitalWrite(EN, LOW);
cmd_proc();
stepper_move();
/*Read the steps from serial*/
cmd_proc(AZstep, ELstep, AZstepPos, AZstepPos);
/*Move the Azimuth & Elevation Motor*/
stepper_move(AZstep, ELstep, AZstepPos, ELstepPos);
Serial.print(AZstepPos);Serial.print("\t");
Serial.println(AZstep);
}
/*EasyComm 2 Protocol & Calculate the steps*/
void cmd_proc(int &stepAz, int &stepEl, int stepPosAz, int stepPosEl)
{
/*Serial*/
static char buffer[256];
char incomingByte;
static int counter=0;
char data[100];
/*Read from serial*/
while (Serial.available() > 0)
{
incomingByte = Serial.read();
/*new data*/
if (incomingByte == '\n' || incomingByte == ' ' || incomingByte == '\r')
{
buffer[counter]=0;
if (buffer[0] == 'A' && buffer[1] == 'Z')
{
strncpy(data, buffer+2, 100);
/*Get the absolute value of angle*/
double angleAz = atof(data);
/*Calculate the steps*/
stepAz = deg2step(angleAz) - stepPosAz;
}
else if (buffer[0] == 'E' && buffer[1] == 'L')
{
strncpy(data, buffer+2, 10);
/*Get the absolute value of angle*/
double angleEl = atof(data);
/*Calculate the steps*/
stepEl = deg2step(angleEl) - stepPosEl;
}
else if (buffer[0] == 'S' && buffer[1] == 'A')
{
stepAz = 0;
}
else if (buffer[0] == 'S' && buffer[1] == 'E')
{
stepEl = 0;
}
counter = 0;
/*Reset the disable motor time*/
t_DIS = 0;
}
/*Fill the buffer with incoming data*/
else {
buffer[counter] = incomingByte;
counter++;
}
}
}
/*Send pulses to stepper motor drivers*/
void stepper_move(int &stepAz, int &stepEl, int &stepPosAz, int &stepPosEl)
{
if(stepAz > 0)
{
digitalWrite(DIR_AZ, HIGH);
digitalWrite(STEP_AZ, HIGH);
stepPosAz++;
stepAz--;
}
else if(stepAz < 0)
{
digitalWrite(DIR_AZ, LOW);
digitalWrite(STEP_AZ, HIGH);
stepPosAz--;
stepAz++;
}
if(stepEl > 0)
{
digitalWrite(DIR_EL, LOW);
digitalWrite(STEP_EL, HIGH);
stepPosEl++;
stepEl--;
}
else if(stepEl < 0)
{
digitalWrite(DIR_EL, HIGH);
digitalWrite(STEP_EL, HIGH);
stepPosEl--;
stepEl++;
}
delayMicroseconds(T_STEPPER);
digitalWrite(STEP_AZ, LOW);
digitalWrite(STEP_EL, LOW);
delayMicroseconds(T_STEPPER);
}
/*Convert degrees to steps*/
int deg2step(double deg)
{
return(RATIO*SPR*deg/360);
}
/*Convert steps to degrees*/
double step2deg(int Step)
{
return(360*Step/(SPR*RATIO));
}

51
Arduino/Serial.ino
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void cmd_proc()
{
/*Serial*/
static char buffer[256];
char incomingByte;
static int counter=0;
char data[100];
/*Read from serial*/
while (Serial.available() > 0)
{
incomingByte = Serial.read();
/*new data*/
if (incomingByte == '\n' || incomingByte == ' ' || incomingByte == '\r')
{
buffer[counter]=0;
if (buffer[0] == 'A' && buffer[1] == 'Z')
{
strncpy(data, buffer+2, 100);
double cmdAz = atof(data);
stepAz = deg2step(cmdAz)-stepPosAz;
}
else if (buffer[0] == 'E' && buffer[1] == 'L')
{
strncpy(data, buffer+2, 10);
double cmdEl = atof(data);
stepEl = deg2step(cmdEl)-stepPosEl;
}
else if (buffer[0] == 'S' && buffer[1] == 'A')
{
stepAz = 0;
}
else if (buffer[0] == 'S' && buffer[1] == 'E')
{
stepEl = 0;
}
counter = 0;
//Reset time
t1 = 0;
}
/*Fill the buffer with incoming data*/
else {
buffer[counter] = incomingByte;
counter++;
}
}
}

49
Arduino/Stepper.ino
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@ -1,49 +0,0 @@
/* Send pulses to stepper motor drivers */
void stepper_move()
{
if(stepAz>0)
{
digitalWrite(DIR_AZ, HIGH);
digitalWrite(STEP_AZ, HIGH);
stepPosAz++;
stepAz--;
}
else if(stepAz<0)
{
digitalWrite(DIR_AZ, LOW);
digitalWrite(STEP_AZ, HIGH);
stepPosAz--;
stepAz++;
}
if(stepEl>0)
{
digitalWrite(DIR_EL, LOW);
digitalWrite(STEP_EL, HIGH);
stepPosEl++;
stepEl--;
}
else if(stepEl<0)
{
digitalWrite(DIR_EL, HIGH);
digitalWrite(STEP_EL, HIGH);
stepPosEl--;
stepEl++;
}
delay(T_STEPPER);
digitalWrite(STEP_AZ, LOW);
digitalWrite(STEP_EL, LOW);
delay(T_STEPPER);
}
/* Convert degrees to steps */
int deg2step(double deg)
{
return(60*SPR*deg/360);
}
/* Convert steps to degrees */
float step2deg(int Step)
{
return(360*Step/(SPR*60));
}

2056
PCB/SatNOGS_Board/SatNOGSBoard.brd 100644
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PCB/SatNOGS_Board/SatNOGSBoard.sch 100644
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PCB/satnogs.lbr 100644
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Pics/SatNOGS_Board.png 100644
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6
README.md
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SatNOGS Arduino
===============
Repository of Arduino code for SatNOGS project.
Repository of Arduino code and Arduino PCB for SatNOGS project.
Refer to block diagram in the repository for wiring documentation.
![satnogs_Diagram](https://raw.github.com/satnogs/satnogs-arduino/master/Pics/Block Diagram.png)
The PCB is based in [Arduino Pro Micro](https://www.sparkfun.com/products/12640) and the [Pololu stepper motor driver](http://www.pololu.com/product/1182). In the picture below you can see the PCB.
![satnogs_PCB](https://raw.github.com/satnogs/satnogs-arduino/master/Pics/SatNOGS_Board.png)