Update firmware for the DC motor controller
Signed-off-by: zisi <agzisim@gmail.com>merge-requests/5/head
zisi
parent
b815d733ad
commit
0e74b598b6
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# Arduino Make file. Refer to https://github.com/sudar/Arduino-Makefile
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ARDUINO_DIR = /home/azisi/opt/arduino-1.8.5
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ARDMK_DIR = /home/azisi/opt/Arduino-Makefile
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AVR_TOOLS_DIR = /home/azisi/opt/arduino-1.8.5/hardware/tools/avr
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ARDUINO_QUIET = 0
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ARCHITECTURE = avr
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BOARD_TAG = satnogs
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MONITOR_PORT = /dev/ttyUSB0
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CFLAGS_STD = -std=gnu++11
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USER_LIB_PATH = /home/azisi/workspace/arduino/libraries
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AVRDUDE = /home/azisi/opt/arduino-1.8.5/hardware/tools/avr/bin/avrdude
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AVRDUDE_OPTS = -v
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BOOTLOADER_FILE = optiboot/optiboot_atmega328.hex
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ISP_PROG = buspirate
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ISP_PORT = /dev/ttyUSB0
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#AVRDUDE_ARD_BAUDRATE = 57600
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include /home/azisi/opt/Arduino-Makefile/Arduino.mk
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@ -1,568 +1,236 @@
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#include "SoftI2CMaster.h"
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/******************************************************************************/
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/******************************************************************************/
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/******************************************************************************/
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#define SAMPLE_TIME 0.1 /* Control loop in s */
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#define RATIO 54 /* Gear ratio */
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#define MAX_PWM 180 /* Set max Speed */
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#define MIN_PWM 5 /* Set min Speed */
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#define POSITION_DEADZONE 0.2 /* Control dead zone */
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#define PCA9540_ID 0x70 /* I2C Multiplexer ID */
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#define PCA9540_CH0 0x04 /* I2C Multiplexer CHO */
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#define PCA9540_CH1 0x05 /* I2C Multiplexer CH1 */
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#define TC74_ID 0x48 /* Temperature Sensor ID */
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#define OVER_TEMP 60 /* Over temperature limit */
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#define ENC_RATIO 2 /* Encoder AS5601 gear ratio */
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#define MIN_M1_ANGLE 0 /* Minimum angle of azimuth */
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#define MAX_M1_ANGLE 360 /* Maximum angle of azimuth */
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#define MIN_M2_ANGLE 0 /* Minimum angle of elevation */
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#define MAX_M2_ANGLE 90 /* Maximum angle of elevation */
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#define DEFAULT_HOME_STATE HIGH /* Change to LOW according to Home sensor*/
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#define HOME_SPEED 100 /* Set speed to find home, duty cycle 255->100% */
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#define HOME_DELAY 1000 /* Time for homing Deceleration in millisecond */
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/******************************************************************************/
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/******************************************************************************/
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/******************************************************************************/
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#include <PID_v1.h>
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#include <Wire.h>
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//#include <avr/wdt.h>
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#include "../libraries/globals.h"
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#include "../libraries/easycomm.h"
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#include "../libraries/rotator_pins.h"
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#include "../libraries/endstop.h"
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#include "../libraries/watchdog.h"
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#include "../libraries/i2c_mux.h"
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#include "../libraries/tc74.h"
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#include "../libraries/motor.h"
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#include "../libraries/as5601.h"
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/******************************************************************************/
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uint32_t t_run = 0;
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easycomm comm;
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motor motor_az(M1IN1, M1IN2, M1FB, MOTOR_EN, M1SF, MAX_PWM, MIN_PWM);
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motor motor_el(M2IN1, M2IN2, M2FB, MOTOR_EN, M2SF, MAX_PWM, MIN_PWM);
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PID pid_az(&control_az.input, &control_az.u, &control_az.setpoint, control_az.p,
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control_az.i, control_az.d, P_ON_E, DIRECT);
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PID pid_el(&control_el.input, &control_el.u, &control_el.setpoint, control_el.p,
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control_el.i, control_el.d, P_ON_E, DIRECT);
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endstop switch_az(SW1, DEFAULT_HOME_STATE), switch_el(SW2, DEFAULT_HOME_STATE);
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i2c_mux pca9540(PCA9540_ID, PCA9540_CH0, PCA9540_CH1);
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tc74 temp_sensor(TC74_ID);
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AS5601 encoder_az, encoder_el;
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wdt_timer wdt;
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/******************************************************************************/
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enum _rotator_error homing();
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/******************************************************************************/
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/* H-bridge defines */
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#define PWM1M1 5
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#define PWM2M1 6
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#define PWM1M2 9
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#define PWM2M2 10
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/* Limits for control signal */
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#define outMax 120
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#define outMin 35
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#define Deadband 1
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/* Encoder defines */
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#define sda_pin 16
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#define scl_pin 14
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#define as5601_adr 0x36
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#define raw_ang_high 0x0c
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#define raw_ang_low 0x0d
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#define status_reg 0x0b
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/* Ratio of worm gear */
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#define RATIO 30
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/* Maximum Angle for homing scanning */
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#define SEEK_MOVE 30
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#define MIN_AZ_ANGLE 0
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#define MAX_AZ_ANGLE 370
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#define MIN_EL_ANGLE 0
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#define MAX_EL_ANGLE 110
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/* Homing switch */
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#define HOME_AZ 4
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#define HOME_EL 7
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/* Change to LOW according to Home sensor */
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#define DEFAULT_HOME_STATE 1
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/* Time to disable the motors in millisecond */
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#define T_DELAY 1000
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/* PIN for Enable or Disable Stepper Motors */
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#define EN 8
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/* Serial configuration */
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#define BufferSize 256
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#define BaudRate 19200
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#define TX_EN A3
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/*Global Variables*/
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unsigned long t_DIS = 0; /*time to disable the Motors*/
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/* angle offset */
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double az_angle_offset = 0;
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double el_angle_offset = 0;
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/* Encoder */
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SoftI2CMaster i2c_soft = SoftI2CMaster(scl_pin, sda_pin, 1);
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void setup() {
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/* Homing switch */
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switch_az.init();
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switch_el.init();
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void setup()
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{
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/* H-bridge */
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pinMode(OUTPUT, PWM1M1);
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pinMode(OUTPUT, PWM2M1);
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pinMode(OUTPUT, PWM1M2);
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pinMode(OUTPUT, PWM2M2);
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/* Encoder */
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i2c_soft.begin();
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Wire.begin();
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/* Enable Motors */
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pinMode(EN, OUTPUT);
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digitalWrite(EN, HIGH);
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/* Homing switch */
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pinMode(HOME_AZ, INPUT_PULLUP);
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pinMode(HOME_EL, INPUT_PULLUP);
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/* Serial Communication */
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Serial.begin(BaudRate);
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/* RS485 */
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//Serial1.begin(BaudRate);
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pinMode(TX_EN, OUTPUT);
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digitalWrite(TX_EN, LOW);
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/* WDT */
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//cli();
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//WDTCSR |= (1<<WDCE) | (1<<WDE);
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//WDTCSR = (0<<WDIE) | (1<<WDE) | (0<<WDP3) | (1<<WDP2) | (1<<WDP1) | (0<<WDP0);
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//sei();
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/* Initial Homing */
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//Homing(-MAX_AZ_ANGLE, -MAX_EL_ANGLE, true);
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/* Serial Communication */
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comm.easycomm_init();
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/* Initialize DC motors */
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motor_az.init_pin();
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motor_az.init_timer(1, 8);
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motor_az.enable();
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motor_el.init_pin();
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motor_el.init_timer(2, 8);
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motor_el.enable();
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/* Initialize I2C MUX */
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pca9540.init();
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/* Initialize rotary encoders */
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encoder_az.set_gear_ratio(ENC_RATIO);
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encoder_el.set_gear_ratio(ENC_RATIO);
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/* Initialize control parameters */
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pid_az.SetSampleTime(SAMPLE_TIME); // in seconds
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pid_az.SetOutputLimits(-MAX_PWM, MAX_PWM );
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pid_az.SetMode(AUTOMATIC);
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pid_el.SetSampleTime(SAMPLE_TIME); // in seconds
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pid_el.SetOutputLimits(-MAX_PWM, MAX_PWM);
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pid_el.SetMode(AUTOMATIC);
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/* Initialize WDT */
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wdt.watchdog_init();
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}
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void loop()
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{
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double *set_point;
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double curr_pos[2];
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void loop() {
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/* Update WDT */
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wdt.watchdog_reset();
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/* Read commands from serial */
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set_point = cmd_proc();
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//set_point = cmd_proc_RS485();
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/* Move Motor */
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dc_move(set_point);
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/* Reset WDT */
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//wdt_reset();
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/* Time Check */
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if (t_DIS == 0)
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t_DIS = millis();
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/* Disable Motors */
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get_position(curr_pos);
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if (abs(curr_pos[0]-set_point[0]) < Deadband && abs(curr_pos[1]-set_point[1]) < Deadband && millis()-t_DIS > T_DELAY)
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digitalWrite(EN, LOW);
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/* Enable Motors */
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else
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digitalWrite(EN, HIGH);
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/* Get end stop status */
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rotator.switch_az = switch_az.get_state();
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rotator.switch_el = switch_el.get_state();
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/*Read the steps from serial*/
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comm.easycomm_proc();
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/* Get Motor driver status */
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rotator.fault_az = motor_az.get_fault();
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rotator.fault_el = motor_el.get_fault();
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if (rotator.fault_az == LOW || rotator.fault_el == LOW) {
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rotator.rotator_status = error;
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rotator.rotator_error = motor_error;
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}
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/* Get Temperature */
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pca9540.set_channel(PCA9540_CH1);
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temp_sensor.wake_up();
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rotator.inside_temperature = temp_sensor.get_temp();
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temp_sensor.sleep();
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if (rotator.inside_temperature > OVER_TEMP) {
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rotator.rotator_status = error;
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rotator.rotator_error = over_temperature;
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}
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/* Get encoders */
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pca9540.set_channel(PCA9540_CH0);
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encoder_az.get_pos(&control_az.input);
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pca9540.set_channel(PCA9540_CH1);
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encoder_el.get_pos(&control_el.input);
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/* Check rotator status */
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if (rotator.rotator_status != error) {
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if (rotator.homing_flag == false) {
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/* Homing */
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rotator.control_mode = position;
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rotator.rotator_error = homing();
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if (rotator.rotator_error == no_error) {
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rotator.rotator_status = idle;
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rotator.homing_flag = true;
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} else {
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rotator.rotator_status = error;
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rotator.rotator_error = homing_error;
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}
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} else {
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/* Control Loop */
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if (millis() - t_run > SAMPLE_TIME * 1000) {
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/* Update control gains */
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pid_az.SetTunings(control_az.p, control_az.i, control_az.d);
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pid_el.SetTunings(control_el.p, control_el.i, control_el.d);
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/* Move the Azimuth & Elevation Motor */
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if (rotator.control_mode == speed) {
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control_az.setpoint += control_az.setpoint_speed
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* SAMPLE_TIME;
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control_el.setpoint += control_el.setpoint_speed
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* SAMPLE_TIME;
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rotator.rotator_status = moving;
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} else {
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rotator.rotator_status = pointing;
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}
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pid_az.Compute();
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motor_az.move(control_az.u);
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pid_el.Compute();
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motor_el.move(control_el.u);
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control_az.speed = (control_az.input - control_az.input_prv)
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/ SAMPLE_TIME;
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control_az.input_prv = control_az.input;
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control_el.speed = (control_el.input - control_el.input_prv)
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/ SAMPLE_TIME;
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control_el.input_prv = control_el.input;
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t_run = millis();
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/* Idle rotator, dead-band */
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if ((abs(control_az.setpoint - control_az.input) <=
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POSITION_DEADZONE || (control_az.speed == 0)) &&
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(abs(control_el.setpoint - control_el.input) <=
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POSITION_DEADZONE || (control_el.speed == 0))) {
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rotator.rotator_status = idle;
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}
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}
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}
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} else {
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/* error handler */
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motor_az.stop();
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motor_az.disenable();
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motor_el.stop();
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motor_el.disenable();
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if (rotator.rotator_error != homing_error) {
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/* Reset Error flags */
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rotator.rotator_error = no_error;
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rotator.rotator_status = idle;
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}
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}
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}
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///* EasyComm 2 Protocol for RS485 */
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//double * cmd_proc_RS485()
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//{
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// static double set_point[] = {0, 0};
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// /* Serial */
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// static char buffer[BufferSize];
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// char incomingByte;
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// char *Data = buffer;
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// char *rawData;
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// static int BufferCnt = 0;
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// char data[100];
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// double pos[2];
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//
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// /* Read from serial */
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// while (Serial1.available() > 0)
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// {
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// incomingByte = Serial1.read();
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// /* New data */
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// if (incomingByte == '\n')
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// {
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// buffer[BufferCnt] = 0;
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// if (buffer[0] == 'A' && buffer[1] == 'Z')
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// {
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// if (buffer[2] == ' ' && buffer[3] == 'E' && buffer[4] == 'L')
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// {
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// get_position(pos);
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// /* Get position */
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// digitalWrite(TX_EN, HIGH);
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// delay(8);
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// Serial1.print("AZ");
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// Serial1.print(pos[0], 1);
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// Serial1.print(" ");
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// Serial1.print("EL");
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// Serial1.println(pos[1], 1);
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// delay(8);
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// digitalWrite(TX_EN, LOW);
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// }
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// else
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// {
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// /* Get the absolute value of angle */
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// rawData = strtok_r(Data, " " , &Data);
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// strncpy(data, rawData + 2, 10);
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// if (isNumber(data))
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// {
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// set_point[0] = atof(data);
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// if (set_point[0] > MAX_AZ_ANGLE)
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// set_point[0] = MAX_AZ_ANGLE;
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// else if (set_point[0] < MIN_AZ_ANGLE)
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// set_point[0] = MIN_AZ_ANGLE;
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// }
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// /* Get the absolute value of angle */
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// rawData = strtok_r(Data, " " , &Data);
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// if (rawData[0] == 'E' && rawData[1] == 'L')
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// {
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// strncpy(data, rawData + 2, 10);
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// if (isNumber(data))
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// {
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// set_point[1] = atof(data);
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// if (set_point[1] > MAX_EL_ANGLE)
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// set_point[1] = MAX_EL_ANGLE;
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// else if (set_point[1] < MIN_EL_ANGLE)
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// set_point[1] = MIN_EL_ANGLE;
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// }
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// }
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// }
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// }
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// /* Stop Moving */
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// else if (buffer[0] == 'S' && buffer[1] == 'A' && buffer[2] == ' ' && buffer[3] == 'S' && buffer[4] == 'E')
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// {
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// get_position(pos);
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// /* Get position */
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// digitalWrite(TX_EN, HIGH);
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// delay(8);
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// Serial1.print("AZ");
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// Serial1.print(pos[0], 1);
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// Serial1.print(" ");
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// Serial1.print("EL");
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// Serial1.println(pos[1], 1);
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// delay(8);
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// digitalWrite(TX_EN, LOW);
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// set_point[0] = pos[0];
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// set_point[1] = pos[1];
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// }
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// /* Reset the rotator */
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// else if (buffer[0] == 'R' && buffer[1] == 'E' && buffer[2] == 'S' && buffer[3] == 'E' && buffer[4] == 'T')
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// {
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// get_position(pos);
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// /* Get position */
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// digitalWrite(TX_EN, HIGH);
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// delay(8);
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// Serial1.print("AZ");
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// Serial1.print(pos[0], 1);
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// Serial1.print(" ");
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// Serial1.print("EL");
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// Serial1.println(pos[1], 1);
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// delay(8);
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// digitalWrite(TX_EN, LOW);
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// /* Move to initial position */
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// Homing(-MAX_AZ_ANGLE, -MAX_EL_ANGLE, false);
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// set_point[0] = 0;
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// set_point[1] = 0;
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// }
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// /* Clear serial buffer */
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// BufferCnt = 0;
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// Serial1.read();
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// /* Reset the disable motor time */
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// t_DIS = 0;
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// }
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// /* Fill the buffer with incoming data */
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// else {
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// buffer[BufferCnt] = incomingByte;
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// BufferCnt++;
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// }
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// }
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// return set_point;
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//}
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/* Homing Function */
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void Homing(double AZangle, double ELangle, bool Init)
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{
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int value_Home_AZ = DEFAULT_HOME_STATE;
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int value_Home_EL = DEFAULT_HOME_STATE;
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boolean isHome_AZ = false;
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boolean isHome_EL = false;
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double zero_angle[2];
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double curr_angle[2];
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double set_point[2];
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enum _rotator_error homing() {
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bool isHome_az = false;
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bool isHome_el = false;
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get_position(zero_angle);
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if (Init == true)
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{
|
||||
set_point[0] = zero_angle[0]+SEEK_MOVE;
|
||||
set_point[1] = zero_angle[1]+SEEK_MOVE;
|
||||
}
|
||||
else
|
||||
{
|
||||
set_point[0] = 10;//zero_angle[0]-MAX_AZ_ANGLE;
|
||||
set_point[1] = 10;//zero_angle[1]-MAX_EL_ANGLE;
|
||||
}
|
||||
while (isHome_AZ == false || isHome_EL == false)
|
||||
{
|
||||
dc_move(set_point);
|
||||
delay(1);
|
||||
value_Home_AZ = digitalRead(HOME_AZ);
|
||||
delay(1);
|
||||
value_Home_EL = digitalRead(HOME_EL);
|
||||
/* Change to LOW according to Home sensor */
|
||||
if (value_Home_AZ == DEFAULT_HOME_STATE && isHome_AZ == false)
|
||||
{
|
||||
isHome_AZ = true;
|
||||
get_position(curr_angle);
|
||||
set_point[0] = 0;
|
||||
if (Init)
|
||||
az_angle_offset = curr_angle[0];
|
||||
}
|
||||
if (value_Home_EL == DEFAULT_HOME_STATE && isHome_EL == false)
|
||||
{
|
||||
isHome_EL = true;
|
||||
get_position(curr_angle);
|
||||
set_point[1] = 0;
|
||||
if (Init)
|
||||
el_angle_offset = curr_angle[1];
|
||||
}
|
||||
get_position(curr_angle);
|
||||
if (abs(curr_angle[0] - zero_angle[0]) >= SEEK_MOVE && !isHome_AZ && Init)
|
||||
set_point[0] = -MAX_AZ_ANGLE;
|
||||
if (abs(curr_angle[1] - zero_angle[1]) >= SEEK_MOVE && !isHome_EL && Init)
|
||||
set_point[1] = -MAX_EL_ANGLE;
|
||||
if ((abs(curr_angle[0] - zero_angle[0]) >= MAX_AZ_ANGLE && !isHome_AZ) || (abs(curr_angle[1] - zero_angle[1]) >= MAX_EL_ANGLE && !isHome_EL))
|
||||
{
|
||||
/* set error */
|
||||
while(1)
|
||||
{
|
||||
;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
/* Resest position */
|
||||
pca9540.set_channel(PCA9540_CH0);
|
||||
encoder_az.set_zero();
|
||||
pca9540.set_channel(PCA9540_CH1);
|
||||
encoder_el.set_zero();
|
||||
|
||||
void dc_move(double set_point[])
|
||||
{
|
||||
double u[2];
|
||||
double curr_pos[2];
|
||||
static double prev_pos[] = {0, 0};
|
||||
double error[2];
|
||||
double Iterm[2];
|
||||
double Pterm[2];
|
||||
double Dterm[2];
|
||||
double Kp = 200;
|
||||
double Ki = 2;
|
||||
double Kd = 0;
|
||||
double dt = 0.001; // calculate
|
||||
/* Move motors with ~constant speed */
|
||||
motor_az.move(-HOME_SPEED);
|
||||
motor_el.move(-HOME_SPEED);
|
||||
|
||||
get_position(curr_pos);
|
||||
error[0] = set_point[0] - curr_pos[0];
|
||||
error[1] = set_point[1] - curr_pos[1];
|
||||
|
||||
Pterm[0] = Kp * error[0];
|
||||
Pterm[1] = Kp * error[1];
|
||||
|
||||
Iterm[0] += Ki * error[0] * dt;
|
||||
Iterm[1] += Ki * error[1] * dt;
|
||||
if (Iterm[0] > outMax) Iterm[0] = outMax;
|
||||
else if (Iterm[0] < outMin) Iterm[0] = outMin;
|
||||
if (Iterm[1] > outMax) Iterm[1] = outMax;
|
||||
else if (Iterm[1] < outMin) Iterm[1] = outMin;
|
||||
|
||||
Dterm[0] = Kd * (curr_pos[0] - prev_pos[0]) / dt;
|
||||
prev_pos[0] = curr_pos[0];
|
||||
Dterm[1] = Kd * (curr_pos[1] - prev_pos[1]) / dt;
|
||||
prev_pos[1] = curr_pos[1];
|
||||
|
||||
u[0] = Pterm[0] + Iterm[0] + Dterm[0];
|
||||
u[1] = Pterm[1] + Iterm[1] + Dterm[1];
|
||||
|
||||
if (u[0] >= 0)
|
||||
{
|
||||
if (u[0] > outMax)
|
||||
u[0] = outMax;
|
||||
analogWrite(PWM1M1, u[0]);
|
||||
analogWrite(PWM2M1, 0);
|
||||
}
|
||||
else
|
||||
{
|
||||
u[0] = -u[0];
|
||||
if ( u[0] > outMax)
|
||||
u[0] = outMax;
|
||||
analogWrite(PWM1M1, 0);
|
||||
analogWrite(PWM2M1, u[0]);
|
||||
}
|
||||
|
||||
if (u[1] >= 0)
|
||||
{
|
||||
if (u[1] > outMax)
|
||||
u[1] = outMax;
|
||||
analogWrite(PWM1M2, u[1]);
|
||||
analogWrite(PWM2M2, 0);
|
||||
}
|
||||
else
|
||||
{
|
||||
u[1] = -u[1];
|
||||
if ( u[1] > outMax)
|
||||
u[1] = outMax;
|
||||
analogWrite(PWM1M2, 0);
|
||||
analogWrite(PWM2M2, u[1]);
|
||||
}
|
||||
}
|
||||
|
||||
/* Read Encoders */
|
||||
void get_position(double *new_pos)
|
||||
{
|
||||
int low_raw, high_raw, status_val;
|
||||
double raw_pos = 0;
|
||||
double delta_raw_pos = 0;
|
||||
static double raw_prev_pos[] = {0, 0};
|
||||
static double real_pos[] = {0, 0};
|
||||
static int n[] = {0, 0};
|
||||
|
||||
/* Axis 1*/
|
||||
/* Read Raw Angle Low Byte */
|
||||
Wire.beginTransmission(as5601_adr);
|
||||
Wire.write(raw_ang_low);
|
||||
Wire.endTransmission();
|
||||
Wire.requestFrom(as5601_adr, 1);
|
||||
while(Wire.available() == 0);
|
||||
low_raw = Wire.read();
|
||||
/* Read Raw Angle High Byte */
|
||||
Wire.beginTransmission(as5601_adr);
|
||||
Wire.write(raw_ang_high);
|
||||
Wire.endTransmission();
|
||||
Wire.requestFrom(as5601_adr, 1);
|
||||
while(Wire.available() == 0);
|
||||
high_raw = Wire.read();
|
||||
high_raw = high_raw << 8;
|
||||
high_raw = high_raw | low_raw;
|
||||
/* Read Status Bits */
|
||||
Wire.beginTransmission(as5601_adr);
|
||||
Wire.write(status_reg);
|
||||
Wire.endTransmission();
|
||||
Wire.requestFrom(as5601_adr, 1);
|
||||
while(Wire.available() == 0);
|
||||
status_val = Wire.read();
|
||||
/* Check the status register */
|
||||
if ((status_val & 0x20) && !(status_val & 0x10) && !(status_val & 0x08))
|
||||
{
|
||||
if (high_raw >= 0)
|
||||
{
|
||||
raw_pos = (double)high_raw*0.0879;
|
||||
delta_raw_pos = raw_prev_pos[0] - raw_pos;
|
||||
if (delta_raw_pos > 180)
|
||||
n[0]++;
|
||||
else if (delta_raw_pos < -180)
|
||||
n[0]--;
|
||||
real_pos[0] = ((raw_pos + 360 * n[0]) / RATIO) - az_angle_offset;
|
||||
raw_prev_pos[0] = raw_pos;
|
||||
}
|
||||
else
|
||||
; /* set error */
|
||||
}
|
||||
else
|
||||
; /* set error */
|
||||
|
||||
/* Axis 2 */
|
||||
/* Read Raw Angle Low Byte */
|
||||
i2c_soft.beginTransmission(as5601_adr);
|
||||
i2c_soft.write(raw_ang_low);
|
||||
i2c_soft.endTransmission();
|
||||
i2c_soft.requestFrom(as5601_adr);
|
||||
low_raw = i2c_soft.readLast();
|
||||
i2c_soft.endTransmission();
|
||||
/* Read Raw Angle High Byte */
|
||||
i2c_soft.beginTransmission(as5601_adr);
|
||||
i2c_soft.write(raw_ang_high);
|
||||
i2c_soft.endTransmission();
|
||||
i2c_soft.requestFrom(as5601_adr);
|
||||
high_raw = i2c_soft.readLast();
|
||||
i2c_soft.endTransmission();
|
||||
high_raw = high_raw << 8;
|
||||
high_raw = high_raw | low_raw;
|
||||
/* Read Status Bits */
|
||||
i2c_soft.beginTransmission(as5601_adr);
|
||||
i2c_soft.write(status_reg);
|
||||
i2c_soft.endTransmission();
|
||||
i2c_soft.requestFrom(as5601_adr);
|
||||
status_val = i2c_soft.readLast();
|
||||
i2c_soft.endTransmission();
|
||||
/* Check the status register */
|
||||
if ((status_val & 0x20) && !(status_val & 0x10) && !(status_val & 0x08))
|
||||
{
|
||||
if (high_raw >= 0)
|
||||
{
|
||||
raw_pos = (double)high_raw*0.0879;
|
||||
delta_raw_pos = raw_prev_pos[1] - raw_pos;
|
||||
if (delta_raw_pos > 180)
|
||||
n[1]++;
|
||||
else if (delta_raw_pos < -180)
|
||||
n[1]--;
|
||||
real_pos[1] = ((raw_pos + 360 * n[1]) / RATIO) - el_angle_offset;
|
||||
raw_prev_pos[1] = raw_pos;
|
||||
}
|
||||
else
|
||||
; /* set error */
|
||||
}
|
||||
else
|
||||
; /* set error */
|
||||
|
||||
new_pos[0] = real_pos[0];
|
||||
new_pos[1] = real_pos[1];
|
||||
}
|
||||
|
||||
/* EasyComm 2 Protocol */
|
||||
double * cmd_proc()
|
||||
{
|
||||
static double set_point[] = {0, 0};
|
||||
/* Serial */
|
||||
char buffer[BufferSize];
|
||||
char incomingByte;
|
||||
char *Data = buffer;
|
||||
char *rawData;
|
||||
static int BufferCnt = 0;
|
||||
char data[100];
|
||||
double pos[2];
|
||||
|
||||
/* Read from serial */
|
||||
while (Serial.available() > 0)
|
||||
{
|
||||
incomingByte = Serial.read();
|
||||
/* New data */
|
||||
if (incomingByte == '\n')
|
||||
{
|
||||
buffer[BufferCnt] = 0;
|
||||
if (buffer[0] == 'A' && buffer[1] == 'Z')
|
||||
{
|
||||
if (buffer[2] == ' ' && buffer[3] == 'E' && buffer[4] == 'L')
|
||||
{
|
||||
get_position(pos);
|
||||
/* Get position */
|
||||
Serial.print("AZ");
|
||||
Serial.print(pos[0], 1);
|
||||
Serial.print(" ");
|
||||
Serial.print("EL");
|
||||
Serial.println(pos[1], 1);
|
||||
/* Homing loop */
|
||||
while (isHome_az == false || isHome_el == false) {
|
||||
/* Update WDT */
|
||||
wdt.watchdog_reset();
|
||||
if (switch_az.get_state() == true && !isHome_az) {
|
||||
/* Find azimuth home */
|
||||
motor_az.stop();
|
||||
isHome_az = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Get the absolute value of angle */
|
||||
rawData = strtok_r(Data, " " , &Data);
|
||||
strncpy(data, rawData + 2, 10);
|
||||
if (isNumber(data))
|
||||
{
|
||||
set_point[0] = atof(data);
|
||||
if (set_point[0] > MAX_AZ_ANGLE)
|
||||
set_point[0] = MAX_AZ_ANGLE;
|
||||
else if (set_point[0] < MIN_AZ_ANGLE)
|
||||
set_point[0] = MIN_AZ_ANGLE;
|
||||
}
|
||||
/* Get the absolute value of angle */
|
||||
rawData = strtok_r(Data, " " , &Data);
|
||||
if (rawData[0] == 'E' && rawData[1] == 'L')
|
||||
{
|
||||
strncpy(data, rawData + 2, 10);
|
||||
if (isNumber(data))
|
||||
{
|
||||
set_point[1] = atof(data);
|
||||
if (set_point[1] > MAX_EL_ANGLE)
|
||||
set_point[1] = MAX_EL_ANGLE;
|
||||
else if (set_point[1] < MIN_EL_ANGLE)
|
||||
set_point[1] = MIN_EL_ANGLE;
|
||||
}
|
||||
}
|
||||
if (switch_el.get_state() == true && !isHome_el) {
|
||||
/* Find elevation home */
|
||||
motor_el.stop();
|
||||
isHome_el = true;
|
||||
}
|
||||
/* Get current position */
|
||||
pca9540.set_channel(PCA9540_CH0);
|
||||
encoder_az.get_pos(&control_az.input);
|
||||
pca9540.set_channel(PCA9540_CH1);
|
||||
encoder_el.get_pos(&control_el.input);
|
||||
if ((abs(control_az.input) > MAX_M1_ANGLE && !isHome_az)
|
||||
|| (abs(control_el.input) > MAX_M2_ANGLE && !isHome_el)) {
|
||||
return homing_error;
|
||||
}
|
||||
}
|
||||
/* Stop Moving */
|
||||
else if (buffer[0] == 'S' && buffer[1] == 'A' && buffer[2] == ' ' && buffer[3] == 'S' && buffer[4] == 'E')
|
||||
{
|
||||
get_position(pos);
|
||||
/* Get position */
|
||||
Serial.print("AZ");
|
||||
Serial.print(pos[0], 1);
|
||||
Serial.print(" ");
|
||||
Serial.print("EL");
|
||||
Serial.println(pos[1], 1);
|
||||
set_point[0] = pos[0];
|
||||
set_point[1] = pos[1];
|
||||
}
|
||||
/* Reset the rotator */
|
||||
else if (buffer[0] == 'R' && buffer[1] == 'E' && buffer[2] == 'S' && buffer[3] == 'E' && buffer[4] == 'T')
|
||||
{
|
||||
get_position(pos);
|
||||
/* Get position */
|
||||
Serial.print("AZ");
|
||||
Serial.print(pos[0], 1);
|
||||
Serial.print(" ");
|
||||
Serial.print("EL");
|
||||
Serial.println(pos[1], 1);
|
||||
/* Move to initial position */
|
||||
Homing(-MAX_AZ_ANGLE, -MAX_EL_ANGLE, false);
|
||||
set_point[0] = 0;
|
||||
set_point[1] = 0;
|
||||
}
|
||||
BufferCnt = 0;
|
||||
/* Reset the disable motor time */
|
||||
t_DIS = 0;
|
||||
}
|
||||
/* Fill the buffer with incoming data */
|
||||
else {
|
||||
buffer[BufferCnt] = incomingByte;
|
||||
BufferCnt++;
|
||||
}
|
||||
}
|
||||
return set_point;
|
||||
}
|
||||
|
||||
/* check if is argument in number */
|
||||
boolean isNumber(char *input)
|
||||
{
|
||||
for (int i = 0; input[i] != '\0'; i++)
|
||||
{
|
||||
if (isalpha(input[i]))
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
/* Resest position */
|
||||
pca9540.set_channel(PCA9540_CH0);
|
||||
encoder_az.init_zero();
|
||||
encoder_az.set_zero();
|
||||
control_az.setpoint = 0;
|
||||
pca9540.set_channel(PCA9540_CH1);
|
||||
encoder_el.init_zero();
|
||||
encoder_el.set_zero();
|
||||
control_el.setpoint = 0;
|
||||
|
||||
return no_error;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue