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<a href="easycomm_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> </div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#ifndef LIBRARIES_EASYCOMM_H_</span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#define LIBRARIES_EASYCOMM_H_</span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> </div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <Arduino.h></span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include <WString.h></span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include <avr/wdt.h></span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include "<a class="code" href="rs485_8h.html">rs485.h</a>"</span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include "<a class="code" href="rotator__pins_8h.html">rotator_pins.h</a>"</span></div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#include "<a class="code" href="globals_8h.html">globals.h</a>"</span></div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> </div><div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="easycomm_8h.html#aa097ac5ab6b9f25ce18fedfb8ffe43ef"> 20</a></span> <span class="preprocessor">#define RS485_TX_TIME 9 </span></div><div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="easycomm_8h.html#a6b20d41d6252e9871430c242cb1a56e7"> 21</a></span> <span class="preprocessor">#define BUFFER_SIZE 256 </span></div><div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="easycomm_8h.html#a734bbab06e1a9fd2e5522db0221ff6e3"> 22</a></span> <span class="preprocessor">#define BAUDRATE 19200 </span></div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="preprocessor"></span></div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <a class="code" href="classrs485.html">rs485</a> <a class="code" href="easycomm_8h.html#abdffa1ce6a347f355c4de274ec721357">rs485</a>(<a class="code" href="rotator__pins_8h.html#a63538aadae7384dfdeae19989b6d5692">RS485_DIR</a>, <a class="code" href="easycomm_8h.html#aa097ac5ab6b9f25ce18fedfb8ffe43ef">RS485_TX_TIME</a>);</div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span> </div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classeasycomm.html"> 31</a></span> <span class="keyword">class </span><a class="code" href="classeasycomm.html">easycomm</a> {</div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span> </div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classeasycomm.html#a7db30a0f3a754dc281cbedab461d76f6"> 39</a></span>  <span class="keywordtype">void</span> <a class="code" href="classeasycomm.html#a7db30a0f3a754dc281cbedab461d76f6">easycomm_init</a>() {</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#ab7cf3f6e3b6e6d79dc490145aa3c1b12">begin</a>(<a class="code" href="easycomm_8h.html#a734bbab06e1a9fd2e5522db0221ff6e3">BAUDRATE</a>);</div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  }</div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span> </div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classeasycomm.html#a68c229f5c44074fae9992ec9ea605046"> 48</a></span>  <span class="keywordtype">void</span> <a class="code" href="classeasycomm.html#a68c229f5c44074fae9992ec9ea605046">easycomm_proc</a>() {</div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keywordtype">char</span> buffer[<a class="code" href="easycomm_8h.html#a6b20d41d6252e9871430c242cb1a56e7">BUFFER_SIZE</a>];</div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keywordtype">char</span> incomingByte;</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keywordtype">char</span> *Data = buffer;</div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="keywordtype">char</span> *rawData;</div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keyword">static</span> uint16_t BufferCnt = 0;</div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keywordtype">char</span> data[100];</div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  String str1, str2, str3, str4, str5, str6;</div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span> </div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="comment">// Read from serial</span></div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keywordflow">while</span> (<a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#a204229ca0c3ee5d24d4c5eac9a543ef7">available</a>() > 0) {</div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  incomingByte = <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#ac549517006a6b2cff970e3390ccd2c45">read</a>();</div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span> </div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="comment">// Read new data, '\n' means new pacakage</span></div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordflow">if</span> (incomingByte == <span class="charliteral">'\n'</span>) {</div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  buffer[BufferCnt] = 0;</div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">'A'</span> && buffer[1] == <span class="charliteral">'Z'</span>) {</div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="keywordflow">if</span> (buffer[2] == <span class="charliteral">' '</span> && buffer[3] == <span class="charliteral">'E'</span> &&</div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  buffer[4] == <span class="charliteral">'L'</span>) {</div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="comment">// Send current absolute position in deg</span></div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  str1 = String(<span class="stringliteral">"AZ"</span>);</div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  str2 = String(<a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a>, 1);</div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  str3 = String(<span class="stringliteral">" EL"</span>);</div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  str4 = String(<a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a>, 1);</div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  str5 = String(<span class="stringliteral">"\n"</span>);</div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3 + str4 + str5);</div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="comment">// Get the absolute position in deg for azimuth</span></div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a86308cdfcd35e4a153476bf09869a981">control_mode</a> = <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a186286c1e4467cf7aeb7d01bca2ba162">position</a>;</div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  rawData = strtok_r(Data, <span class="stringliteral">" "</span>, &Data);</div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  strncpy(data, rawData + 2, 10);</div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#a1d9d72c3f267607ad077052f215cbcd5">setpoint</a> = atof(data);</div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  }</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="comment">// Get the absolute position in deg for elevation</span></div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  rawData = strtok_r(Data, <span class="stringliteral">" "</span>, &Data);</div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordflow">if</span> (rawData[0] == <span class="charliteral">'E'</span> && rawData[1] == <span class="charliteral">'L'</span>) {</div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  strncpy(data, rawData + 2, 10);</div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#a1d9d72c3f267607ad077052f215cbcd5">setpoint</a> = atof(data);</div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  }</div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  }</div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  }</div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">'V'</span> && buffer[1] == <span class="charliteral">'U'</span>) {</div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="comment">// Elevation increase speed in mdeg/s</span></div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a86308cdfcd35e4a153476bf09869a981">control_mode</a> = <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a>;</div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  strncpy(data, Data + 2, 10);</div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="comment">// Convert to deg/s</span></div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#a08308f27e459947c9692735b18aa2f04">setpoint_speed</a> = atof(data) / 1000;</div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  }</div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">'V'</span> && buffer[1] == <span class="charliteral">'D'</span>) {</div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="comment">// Elevation decrease speed in mdeg/s</span></div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a86308cdfcd35e4a153476bf09869a981">control_mode</a> = <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a>;</div><div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  strncpy(data, Data + 2, 10);</div><div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="comment">// Convert to deg/s</span></div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#a08308f27e459947c9692735b18aa2f04">setpoint_speed</a> = - atof(data) / 1000;</div><div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  }</div><div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">'V'</span> && buffer[1] == <span class="charliteral">'L'</span>) {</div><div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="comment">// Azimuth increase speed in mdeg/s</span></div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a86308cdfcd35e4a153476bf09869a981">control_mode</a> = <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a>;</div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  strncpy(data, Data + 2, 10);</div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="comment">// Convert to deg/s</span></div><div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#a08308f27e459947c9692735b18aa2f04">setpoint_speed</a> = atof(data) / 1000;</div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  }</div><div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">'V'</span> && buffer[1] == <span class="charliteral">'R'</span>) {</div><div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="comment">// Azimuth decrease speed in mdeg/s</span></div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a86308cdfcd35e4a153476bf09869a981">control_mode</a> = <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a>;</div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  strncpy(data, Data + 2, 10);</div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="comment">// Convert to deg/s</span></div><div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#a08308f27e459947c9692735b18aa2f04">setpoint_speed</a> = - atof(data) / 1000;</div><div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  }</div><div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">'S'</span> && buffer[1] == <span class="charliteral">'A'</span> &&</div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  buffer[2] == <span class="charliteral">' '</span> && buffer[3] == <span class="charliteral">'S'</span> &&</div><div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  buffer[4] == <span class="charliteral">'E'</span>) {</div><div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="comment">// Stop Moving</span></div><div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a86308cdfcd35e4a153476bf09869a981">control_mode</a> = <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a186286c1e4467cf7aeb7d01bca2ba162">position</a>;</div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  str1 = String(<span class="stringliteral">"AZ"</span>);</div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  str2 = String(<a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a>, 1);</div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  str3 = String(<span class="stringliteral">" EL"</span>);</div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  str4 = String(<a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a>, 1);</div><div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  str5 = String(<span class="stringliteral">"\n"</span>);</div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3 + str4 + str5);</div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#a1d9d72c3f267607ad077052f215cbcd5">setpoint</a> = <a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a>;</div><div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#a1d9d72c3f267607ad077052f215cbcd5">setpoint</a> = <a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a>;</div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">'R'</span> && buffer[1] == <span class="charliteral">'E'</span> &&</div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  buffer[2] == <span class="charliteral">'S'</span> && buffer[3] == <span class="charliteral">'E'</span> &&</div><div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  buffer[4] == <span class="charliteral">'T'</span>) {</div><div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <span class="comment">// Reset the rotator, go to home position</span></div><div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  str1 = String(<span class="stringliteral">"AZ"</span>);</div><div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  str2 = String(<a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a>, 1);</div><div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  str3 = String(<span class="stringliteral">" EL"</span>);</div><div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  str4 = String(<a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a>, 1);</div><div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  str5 = String(<span class="stringliteral">"\n"</span>);</div><div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3 + str4 + str5);</div><div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#adf96afc711bf7075748f043b1b656311">homing_flag</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">'P'</span> && buffer[1] == <span class="charliteral">'A'</span> &&</div><div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  buffer[2] == <span class="charliteral">'R'</span> && buffer[3] == <span class="charliteral">'K'</span> ) {</div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="comment">// Park the rotator</span></div><div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a86308cdfcd35e4a153476bf09869a981">control_mode</a> = <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a186286c1e4467cf7aeb7d01bca2ba162">position</a>;</div><div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  str1 = String(<span class="stringliteral">"AZ"</span>);</div><div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  str2 = String(<a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a>, 1);</div><div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  str3 = String(<span class="stringliteral">" EL"</span>);</div><div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  str4 = String(<a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a>, 1);</div><div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  str5 = String(<span class="stringliteral">"\n"</span>);</div><div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3 + str4 + str5);</div><div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#a1d9d72c3f267607ad077052f215cbcd5">setpoint</a> = <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#ab6fce38c41558f84a92605b37c35837f">park_az</a>;</div><div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#a1d9d72c3f267607ad077052f215cbcd5">setpoint</a> = <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a6ad10e10ad60c7cb8d4f30986cb1384f">park_el</a>;</div><div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">'V'</span> && buffer[1] == <span class="charliteral">'E'</span>) {</div><div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  <span class="comment">// Get the version if rotator controller</span></div><div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  str1 = String(<span class="stringliteral">"VE"</span>);</div><div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  str2 = String(<span class="stringliteral">"SatNOGS-v2.2"</span>);</div><div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  str3 = String(<span class="stringliteral">"\n"</span>);</div><div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">'I'</span> && buffer[1] == <span class="charliteral">'P'</span> &&</div><div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  buffer[2] == <span class="charliteral">'0'</span>) {</div><div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="comment">// Get the inside temperature</span></div><div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  str1 = String(<span class="stringliteral">"IP0,"</span>);</div><div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  str2 = String(<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a1bfde08392f85de45463f69b77c8120d">inside_temperature</a>, DEC);</div><div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  str3 = String(<span class="stringliteral">"\n"</span>);</div><div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">'I'</span> && buffer[1] == <span class="charliteral">'P'</span> &&</div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  buffer[2] == <span class="charliteral">'1'</span>) {</div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="comment">// Get the status of end-stop, azimuth</span></div><div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  str1 = String(<span class="stringliteral">"IP1,"</span>);</div><div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  str2 = String(<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a5626b9e27ffdef0f5f8851ebb5a27812">switch_az</a>, DEC);</div><div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  str3 = String(<span class="stringliteral">"\n"</span>);</div><div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">'I'</span> && buffer[1] == <span class="charliteral">'P'</span> &&</div><div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  buffer[2] == <span class="charliteral">'2'</span>) {</div><div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="comment">// Get the status of end-stop, elevation</span></div><div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  str1 = String(<span class="stringliteral">"IP2,"</span>);</div><div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  str2 = String(<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a88068d1cd476b7a52bbc400c77e81d9a">switch_el</a>, DEC);</div><div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  str3 = String(<span class="stringliteral">"\n"</span>);</div><div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">'I'</span> && buffer[1] == <span class="charliteral">'P'</span> &&</div><div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  buffer[2] == <span class="charliteral">'3'</span>) {</div><div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <span class="comment">// Get the current position of azimuth in deg</span></div><div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  str1 = String(<span class="stringliteral">"IP3,"</span>);</div><div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  str2 = String(<a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a>, 2);</div><div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  str3 = String(<span class="stringliteral">"\n"</span>);</div><div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">'I'</span> && buffer[1] == <span class="charliteral">'P'</span> &&</div><div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  buffer[2] == <span class="charliteral">'4'</span>) {</div><div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="comment">// Get the current position of elevation in deg</span></div><div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  str1 = String(<span class="stringliteral">"IP4,"</span>);</div><div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  str2 = String(<a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">input</a>, 2);</div><div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  str3 = String(<span class="stringliteral">"\n"</span>);</div><div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">'I'</span> && buffer[1] == <span class="charliteral">'P'</span> &&</div><div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  buffer[2] == <span class="charliteral">'5'</span>) {</div><div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="comment">// Get the load of azimuth, in range of 0-1023</span></div><div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  str1 = String(<span class="stringliteral">"IP5,"</span>);</div><div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  str2 = String(<a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#aeb5b4a7fd5e9aa8ada410f568a0a87b4">load</a>, DEC);</div><div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  str3 = String(<span class="stringliteral">"\n"</span>);</div><div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">'I'</span> && buffer[1] == <span class="charliteral">'P'</span> &&</div><div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  buffer[2] == <span class="charliteral">'6'</span>) {</div><div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="comment">// Get the load of elevation, in range of 0-1023</span></div><div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  str1 = String(<span class="stringliteral">"IP6,"</span>);</div><div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  str2 = String(<a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#aeb5b4a7fd5e9aa8ada410f568a0a87b4">load</a>, DEC);</div><div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  str3 = String(<span class="stringliteral">"\n"</span>);</div><div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">'I'</span> && buffer[1] == <span class="charliteral">'P'</span> &&</div><div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  buffer[2] == <span class="charliteral">'7'</span>) {</div><div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <span class="comment">// Get the speed of azimuth in deg/s</span></div><div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  str1 = String(<span class="stringliteral">"IP7,"</span>);</div><div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  str2 = String(<a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#ac6968a0c314b5e6c1910fa2238b5e325">speed</a>, 2);</div><div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  str3 = String(<span class="stringliteral">"\n"</span>);</div><div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">'I'</span> && buffer[1] == <span class="charliteral">'P'</span> &&</div><div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  buffer[2] == <span class="charliteral">'8'</span>) {</div><div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <span class="comment">// Get the speed of elevation in deg/s</span></div><div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  str1 = String(<span class="stringliteral">"IP8,"</span>);</div><div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  str2 = String(<a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#ac6968a0c314b5e6c1910fa2238b5e325">speed</a>, 2);</div><div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  str3 = String(<span class="stringliteral">"\n"</span>);</div><div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">'G'</span> && buffer[1] == <span class="charliteral">'S'</span>) {</div><div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="comment">// Get the status of rotator</span></div><div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  str1 = String(<span class="stringliteral">"GS"</span>);</div><div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  str2 = String(<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">rotator_status</a>, DEC);</div><div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  str3 = String(<span class="stringliteral">"\n"</span>);</div><div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">'G'</span> && buffer[1] == <span class="charliteral">'E'</span>) {</div><div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <span class="comment">// Get the error of rotator</span></div><div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  str1 = String(<span class="stringliteral">"GE"</span>);</div><div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  str2 = String(<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a169bb52a1b00c2506bf7979aae6bab12">rotator_error</a>, DEC);</div><div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  str3 = String(<span class="stringliteral">"\n"</span>);</div><div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span>(buffer[0] == <span class="charliteral">'C'</span> && buffer[1] == <span class="charliteral">'R'</span>) {</div><div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  <span class="comment">// Get Configuration of rotator</span></div><div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <span class="keywordflow">if</span> (buffer[3] == <span class="charliteral">'1'</span>) {</div><div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <span class="comment">// Get Kp Azimuth gain</span></div><div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  str1 = String(<span class="stringliteral">"1,"</span>);</div><div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  str2 = String(<a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#a08335ac31b691f2ed082a02d4a10961b">p</a>, 2);</div><div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  str3 = String(<span class="stringliteral">"\n"</span>);</div><div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[3] == <span class="charliteral">'2'</span>) {</div><div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  <span class="comment">// Get Ki Azimuth gain</span></div><div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  str1 = String(<span class="stringliteral">"2,"</span>);</div><div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  str2 = String(<a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#a97e0823512ecbf67560099811613002c">i</a>, 2);</div><div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  str3 = String(<span class="stringliteral">"\n"</span>);</div><div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[3] == <span class="charliteral">'3'</span>) {</div><div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  <span class="comment">// Get Kd Azimuth gain</span></div><div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  str1 = String(<span class="stringliteral">"3,"</span>);</div><div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  str2 = String(<a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#aba0fe925711333cc0910d439b589d175">d</a>, 2);</div><div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  str3 = String(<span class="stringliteral">"\n"</span>);</div><div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[3] == <span class="charliteral">'4'</span>) {</div><div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <span class="comment">// Get Kp Elevation gain</span></div><div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  str1 = String(<span class="stringliteral">"4,"</span>);</div><div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  str2 = String(<a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#a08335ac31b691f2ed082a02d4a10961b">p</a>, 2);</div><div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  str3 = String(<span class="stringliteral">"\n"</span>);</div><div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[3] == <span class="charliteral">'5'</span>) {</div><div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  <span class="comment">// Get Ki Elevation gain</span></div><div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  str1 = String(<span class="stringliteral">"5,"</span>);</div><div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  str2 = String(<a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#a97e0823512ecbf67560099811613002c">i</a>, 2);</div><div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  str3 = String(<span class="stringliteral">"\n"</span>);</div><div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[3] == <span class="charliteral">'6'</span>) {</div><div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  <span class="comment">// Get Kd Elevation gain</span></div><div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  str1 = String(<span class="stringliteral">"6,"</span>);</div><div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  str2 = String(<a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#aba0fe925711333cc0910d439b589d175">d</a>, 2);</div><div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  str3 = String(<span class="stringliteral">"\n"</span>);</div><div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[3] == <span class="charliteral">'7'</span>) {</div><div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  <span class="comment">// Get Azimuth park position</span></div><div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  str1 = String(<span class="stringliteral">"7,"</span>);</div><div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  str2 = String(<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#ab6fce38c41558f84a92605b37c35837f">park_az</a>, 2);</div><div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  str3 = String(<span class="stringliteral">"\n"</span>);</div><div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[3] == <span class="charliteral">'8'</span>) {</div><div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  <span class="comment">// Get Elevation park position</span></div><div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  str1 = String(<span class="stringliteral">"8,"</span>);</div><div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  str2 = String(<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a6ad10e10ad60c7cb8d4f30986cb1384f">park_el</a>, 2);</div><div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  str3 = String(<span class="stringliteral">"\n"</span>);</div><div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[3] == <span class="charliteral">'9'</span>) {</div><div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  <span class="comment">// Get control mode</span></div><div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  str1 = String(<span class="stringliteral">"9,"</span>);</div><div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  str2 = String(<a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a86308cdfcd35e4a153476bf09869a981">control_mode</a>);</div><div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  str3 = String(<span class="stringliteral">"\n"</span>);</div><div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">print</a>(str1 + str2 + str3);</div><div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  }</div><div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">'C'</span> && buffer[1] == <span class="charliteral">'W'</span>) {</div><div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  <span class="comment">// Set Config</span></div><div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  <span class="keywordflow">if</span> (buffer[2] == <span class="charliteral">'1'</span>) {</div><div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  <span class="comment">// Set Kp Azimuth gain</span></div><div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  rawData = strtok_r(Data, <span class="stringliteral">","</span>, &Data);</div><div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  strncpy(data, rawData + 4, 10);</div><div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  <a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#a08335ac31b691f2ed082a02d4a10961b">p</a> = atof(data);</div><div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  }</div><div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[2] == <span class="charliteral">'2'</span>) {</div><div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  <span class="comment">// Set Ki Azimuth gain</span></div><div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  rawData = strtok_r(Data, <span class="stringliteral">","</span>, &Data);</div><div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  strncpy(data, rawData + 4, 10);</div><div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  <a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#a97e0823512ecbf67560099811613002c">i</a> = atof(data);</div><div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  }</div><div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[2] == <span class="charliteral">'3'</span>) {</div><div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  <span class="comment">// Set Kd Azimuth gain</span></div><div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  rawData = strtok_r(Data, <span class="stringliteral">","</span>, &Data);</div><div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  strncpy(data, rawData + 4, 10);</div><div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  <a class="code" href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a>.<a class="code" href="struct__control.html#aba0fe925711333cc0910d439b589d175">d</a> = atof(data);</div><div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  }</div><div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[2] == <span class="charliteral">'4'</span>) {</div><div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  <span class="comment">// Set Kp Elevation gain</span></div><div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  rawData = strtok_r(Data, <span class="stringliteral">","</span>, &Data);</div><div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  strncpy(data, rawData + 4, 10);</div><div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  <a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#a08335ac31b691f2ed082a02d4a10961b">p</a> = atof(data);</div><div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  }</div><div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[2] == <span class="charliteral">'5'</span>) {</div><div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  <span class="comment">// Set Ki Elevation gain</span></div><div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  rawData = strtok_r(Data, <span class="stringliteral">","</span>, &Data);</div><div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  strncpy(data, rawData + 4, 10);</div><div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  <a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#a97e0823512ecbf67560099811613002c">i</a> = atof(data);</div><div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  }</div><div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[2] == <span class="charliteral">'6'</span>) {</div><div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  <span class="comment">// Set Kd Elevation gain</span></div><div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  rawData = strtok_r(Data, <span class="stringliteral">","</span>, &Data);</div><div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  strncpy(data, rawData + 4, 10);</div><div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  <a class="code" href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a>.<a class="code" href="struct__control.html#aba0fe925711333cc0910d439b589d175">d</a> = atof(data);</div><div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  }</div><div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[2] == <span class="charliteral">'7'</span>) {</div><div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  <span class="comment">// Set the Azimuth park position</span></div><div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  rawData = strtok_r(Data, <span class="stringliteral">","</span>, &Data);</div><div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  strncpy(data, rawData + 4, 10);</div><div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#ab6fce38c41558f84a92605b37c35837f">park_az</a> = atof(data);</div><div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  }</div><div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[2] == <span class="charliteral">'8'</span>) {</div><div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  <span class="comment">// Set the Elevation park position</span></div><div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  rawData = strtok_r(Data, <span class="stringliteral">","</span>, &Data);</div><div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  strncpy(data, rawData + 4, 10);</div><div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  <span class="keywordflow">if</span> (<a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(data)) {</div><div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  <a class="code" href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a>.<a class="code" href="struct__rotator.html#a6ad10e10ad60c7cb8d4f30986cb1384f">park_el</a> = atof(data);</div><div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  }</div><div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  }</div><div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">'R'</span> && buffer[1] == <span class="charliteral">'S'</span></div><div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  && buffer[2] == <span class="charliteral">'T'</span>) {</div><div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  <span class="comment">// Custom command to test the watchdog timer routine</span></div><div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  <span class="keywordflow">while</span>(1)</div><div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  ;</div><div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (buffer[0] == <span class="charliteral">'R'</span> && buffer[1] == <span class="charliteral">'B'</span>) {</div><div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  <span class="comment">// Custom command to reboot the uC</span></div><div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  wdt_enable(WDTO_2S);</div><div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  <span class="keywordflow">while</span>(1);</div><div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  }</div><div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  <span class="comment">// Reset the buffer an clean the serial buffer</span></div><div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  BufferCnt = 0;</div><div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  <a class="code" href="classrs485.html">rs485</a>.<a class="code" href="classrs485.html#af02e2635ac5bb688bc9f05895a983704">flush</a>();</div><div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  <span class="comment">// Fill the buffer with incoming data</span></div><div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  buffer[BufferCnt] = incomingByte;</div><div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  BufferCnt++;</div><div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  }</div><div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  }</div><div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  }</div><div class="line"><a name="l00376"></a><span class="lineno"> 376</span> </div><div class="line"><a name="l00377"></a><span class="lineno"> 377</span> <span class="keyword">private</span>:</div><div class="line"><a name="l00378"></a><span class="lineno"><a class="line" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9"> 378</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">isNumber</a>(<span class="keywordtype">char</span> *input) {</div><div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  <span class="keywordflow">for</span> (uint16_t i = 0; input[i] != <span class="charliteral">'\0'</span>; i++) {</div><div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  <span class="keywordflow">if</span> (isalpha(input[i]))</div><div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  }</div><div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  }</div><div class="line"><a name="l00385"></a><span class="lineno"> 385</span> };</div><div class="line"><a name="l00386"></a><span class="lineno"> 386</span> </div><div class="line"><a name="l00387"></a><span class="lineno"> 387</span> <span class="preprocessor">#endif </span><span class="comment">/* LIBRARIES_EASYCOMM_H_ */</span><span class="preprocessor"></span></div><div class="ttc" id="rs485_8h_html"><div class="ttname"><a href="rs485_8h.html">rs485.h</a></div></div>
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<div class="ttc" id="struct__control_html_adc122b9fd1dc7cb0b859405b0bc6ad1a"><div class="ttname"><a href="struct__control.html#adc122b9fd1dc7cb0b859405b0bc6ad1a">_control::input</a></div><div class="ttdeci">double input</div><div class="ttdoc">Motor Position feedback in deg. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00030">globals.h:30</a></div></div>
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<div class="ttc" id="globals_8h_html_a011a2a3681d95bf0def772367ba6ad33a186286c1e4467cf7aeb7d01bca2ba162"><div class="ttname"><a href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a186286c1e4467cf7aeb7d01bca2ba162">position</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00026">globals.h:26</a></div></div>
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<div class="ttc" id="classeasycomm_html_a68c229f5c44074fae9992ec9ea605046"><div class="ttname"><a href="classeasycomm.html#a68c229f5c44074fae9992ec9ea605046">easycomm::easycomm_proc</a></div><div class="ttdeci">void easycomm_proc()</div><div class="ttdoc">Get the commands from RS485 and response to the client. </div><div class="ttdef"><b>Definition:</b> <a href="easycomm_8h_source.html#l00048">easycomm.h:48</a></div></div>
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<div class="ttc" id="struct__control_html_a1d9d72c3f267607ad077052f215cbcd5"><div class="ttname"><a href="struct__control.html#a1d9d72c3f267607ad077052f215cbcd5">_control::setpoint</a></div><div class="ttdeci">double setpoint</div><div class="ttdoc">Position set point in deg. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00033">globals.h:33</a></div></div>
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<div class="ttc" id="globals_8h_html_a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87"><div class="ttname"><a href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00026">globals.h:26</a></div></div>
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<div class="ttc" id="classrs485_html_ab7cf3f6e3b6e6d79dc490145aa3c1b12"><div class="ttname"><a href="classrs485.html#ab7cf3f6e3b6e6d79dc490145aa3c1b12">rs485::begin</a></div><div class="ttdeci">void begin(uint16_t baudrate)</div><div class="ttdoc">Initialize the RS485 transceiver. </div><div class="ttdef"><b>Definition:</b> <a href="rs485_8h_source.html#l00038">rs485.h:38</a></div></div>
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<div class="ttc" id="struct__rotator_html_a5626b9e27ffdef0f5f8851ebb5a27812"><div class="ttname"><a href="struct__rotator.html#a5626b9e27ffdef0f5f8851ebb5a27812">_rotator::switch_az</a></div><div class="ttdeci">bool switch_az</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00048">globals.h:48</a></div></div>
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<div class="ttc" id="struct__control_html_a08335ac31b691f2ed082a02d4a10961b"><div class="ttname"><a href="struct__control.html#a08335ac31b691f2ed082a02d4a10961b">_control::p</a></div><div class="ttdeci">double p</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00037">globals.h:37</a></div></div>
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<div class="ttc" id="easycomm_8h_html_a734bbab06e1a9fd2e5522db0221ff6e3"><div class="ttname"><a href="easycomm_8h.html#a734bbab06e1a9fd2e5522db0221ff6e3">BAUDRATE</a></div><div class="ttdeci">#define BAUDRATE</div><div class="ttdoc">Set the Baudrate of easycomm 3 protocol. </div><div class="ttdef"><b>Definition:</b> <a href="easycomm_8h_source.html#l00022">easycomm.h:22</a></div></div>
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<div class="ttc" id="globals_8h_html_a87c5a684fccc0f0ed68486d54ffbda77"><div class="ttname"><a href="globals_8h.html#a87c5a684fccc0f0ed68486d54ffbda77">control_az</a></div><div class="ttdeci">_control control_az</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00051">globals.h:51</a></div></div>
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<div class="ttc" id="rotator__pins_8h_html_a63538aadae7384dfdeae19989b6d5692"><div class="ttname"><a href="rotator__pins_8h.html#a63538aadae7384dfdeae19989b6d5692">RS485_DIR</a></div><div class="ttdeci">#define RS485_DIR</div><div class="ttdoc">Digital output, to set the direction of RS485 communication. </div><div class="ttdef"><b>Definition:</b> <a href="rotator__pins_8h_source.html#l00028">rotator_pins.h:28</a></div></div>
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<div class="ttc" id="globals_8h_html"><div class="ttname"><a href="globals_8h.html">globals.h</a></div></div>
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<div class="ttc" id="globals_8h_html_addd34cf12b8ad4e4eb65097b7c950dc4"><div class="ttname"><a href="globals_8h.html#addd34cf12b8ad4e4eb65097b7c950dc4">rotator</a></div><div class="ttdeci">_rotator rotator</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00057">globals.h:57</a></div></div>
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<div class="ttc" id="struct__rotator_html_ad7f5a96e0a6675c3471670c927bbae49"><div class="ttname"><a href="struct__rotator.html#ad7f5a96e0a6675c3471670c927bbae49">_rotator::rotator_status</a></div><div class="ttdeci">enum _rotator_status rotator_status</div><div class="ttdoc">Rotator status. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00041">globals.h:41</a></div></div>
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<div class="ttc" id="struct__rotator_html_a169bb52a1b00c2506bf7979aae6bab12"><div class="ttname"><a href="struct__rotator.html#a169bb52a1b00c2506bf7979aae6bab12">_rotator::rotator_error</a></div><div class="ttdeci">enum _rotator_error rotator_error</div><div class="ttdoc">Rotator error. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00042">globals.h:42</a></div></div>
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<div class="ttc" id="struct__rotator_html_a88068d1cd476b7a52bbc400c77e81d9a"><div class="ttname"><a href="struct__rotator.html#a88068d1cd476b7a52bbc400c77e81d9a">_rotator::switch_el</a></div><div class="ttdeci">bool switch_el</div><div class="ttdoc">End-stop vales. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00048">globals.h:48</a></div></div>
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<div class="ttc" id="struct__rotator_html_a6ad10e10ad60c7cb8d4f30986cb1384f"><div class="ttname"><a href="struct__rotator.html#a6ad10e10ad60c7cb8d4f30986cb1384f">_rotator::park_el</a></div><div class="ttdeci">double park_el</div><div class="ttdoc">Park position for both axis. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00046">globals.h:46</a></div></div>
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<div class="ttc" id="struct__control_html_a97e0823512ecbf67560099811613002c"><div class="ttname"><a href="struct__control.html#a97e0823512ecbf67560099811613002c">_control::i</a></div><div class="ttdeci">double i</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00037">globals.h:37</a></div></div>
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<div class="ttc" id="classrs485_html_a204229ca0c3ee5d24d4c5eac9a543ef7"><div class="ttname"><a href="classrs485.html#a204229ca0c3ee5d24d4c5eac9a543ef7">rs485::available</a></div><div class="ttdeci">uint8_t available(void)</div><div class="ttdoc">The number of chars/uint8_t that are available in RS485 buffer. </div><div class="ttdef"><b>Definition:</b> <a href="rs485_8h_source.html#l00073">rs485.h:73</a></div></div>
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<div class="ttc" id="struct__rotator_html_a1bfde08392f85de45463f69b77c8120d"><div class="ttname"><a href="struct__rotator.html#a1bfde08392f85de45463f69b77c8120d">_rotator::inside_temperature</a></div><div class="ttdeci">int8_t inside_temperature</div><div class="ttdoc">Inside Temperature. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00045">globals.h:45</a></div></div>
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<div class="ttc" id="struct__control_html_aba0fe925711333cc0910d439b589d175"><div class="ttname"><a href="struct__control.html#aba0fe925711333cc0910d439b589d175">_control::d</a></div><div class="ttdeci">double d</div><div class="ttdoc">Control gains. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00037">globals.h:37</a></div></div>
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<div class="ttc" id="struct__control_html_ac6968a0c314b5e6c1910fa2238b5e325"><div class="ttname"><a href="struct__control.html#ac6968a0c314b5e6c1910fa2238b5e325">_control::speed</a></div><div class="ttdeci">double speed</div><div class="ttdoc">Motor Rotation speed in deg/s. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00032">globals.h:32</a></div></div>
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<div class="ttc" id="classrs485_html_ac549517006a6b2cff970e3390ccd2c45"><div class="ttname"><a href="classrs485.html#ac549517006a6b2cff970e3390ccd2c45">rs485::read</a></div><div class="ttdeci">uint8_t read()</div><div class="ttdoc">Read a char/uint8_t from RS485 bus. </div><div class="ttdef"><b>Definition:</b> <a href="rs485_8h_source.html#l00063">rs485.h:63</a></div></div>
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<div class="ttc" id="classeasycomm_html_a7db30a0f3a754dc281cbedab461d76f6"><div class="ttname"><a href="classeasycomm.html#a7db30a0f3a754dc281cbedab461d76f6">easycomm::easycomm_init</a></div><div class="ttdeci">void easycomm_init()</div><div class="ttdoc">Initialize the RS485 bus. </div><div class="ttdef"><b>Definition:</b> <a href="easycomm_8h_source.html#l00039">easycomm.h:39</a></div></div>
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<div class="ttc" id="struct__control_html_a08308f27e459947c9692735b18aa2f04"><div class="ttname"><a href="struct__control.html#a08308f27e459947c9692735b18aa2f04">_control::setpoint_speed</a></div><div class="ttdeci">double setpoint_speed</div><div class="ttdoc">Speed set point in deg/s. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00034">globals.h:34</a></div></div>
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<div class="ttc" id="struct__rotator_html_ab6fce38c41558f84a92605b37c35837f"><div class="ttname"><a href="struct__rotator.html#ab6fce38c41558f84a92605b37c35837f">_rotator::park_az</a></div><div class="ttdeci">double park_az</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00046">globals.h:46</a></div></div>
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<div class="ttc" id="struct__rotator_html_adf96afc711bf7075748f043b1b656311"><div class="ttname"><a href="struct__rotator.html#adf96afc711bf7075748f043b1b656311">_rotator::homing_flag</a></div><div class="ttdeci">bool homing_flag</div><div class="ttdoc">Homing flag. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00044">globals.h:44</a></div></div>
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<div class="ttc" id="struct__rotator_html_a86308cdfcd35e4a153476bf09869a981"><div class="ttname"><a href="struct__rotator.html#a86308cdfcd35e4a153476bf09869a981">_rotator::control_mode</a></div><div class="ttdeci">enum _control_mode control_mode</div><div class="ttdoc">Control mode. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00043">globals.h:43</a></div></div>
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<div class="ttc" id="rotator__pins_8h_html"><div class="ttname"><a href="rotator__pins_8h.html">rotator_pins.h</a></div></div>
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<div class="ttc" id="classeasycomm_html"><div class="ttname"><a href="classeasycomm.html">easycomm</a></div><div class="ttdoc">Class that functions for easycomm 3 implementation. </div><div class="ttdef"><b>Definition:</b> <a href="easycomm_8h_source.html#l00031">easycomm.h:31</a></div></div>
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<div class="ttc" id="classrs485_html_af02e2635ac5bb688bc9f05895a983704"><div class="ttname"><a href="classrs485.html#af02e2635ac5bb688bc9f05895a983704">rs485::flush</a></div><div class="ttdeci">void flush()</div><div class="ttdoc">Waits for the transmission of outgoing serial data to complete. </div><div class="ttdef"><b>Definition:</b> <a href="rs485_8h_source.html#l00082">rs485.h:82</a></div></div>
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<div class="ttc" id="classrs485_html_acffe305907c9de94dda20135bc6ad93a"><div class="ttname"><a href="classrs485.html#acffe305907c9de94dda20135bc6ad93a">rs485::print</a></div><div class="ttdeci">void print(String str)</div><div class="ttdoc">Print a string to RS485 bus. </div><div class="ttdef"><b>Definition:</b> <a href="rs485_8h_source.html#l00050">rs485.h:50</a></div></div>
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<div class="ttc" id="easycomm_8h_html_aa097ac5ab6b9f25ce18fedfb8ffe43ef"><div class="ttname"><a href="easycomm_8h.html#aa097ac5ab6b9f25ce18fedfb8ffe43ef">RS485_TX_TIME</a></div><div class="ttdeci">#define RS485_TX_TIME</div><div class="ttdoc">Delay "t"ms to write in serial for RS485 implementation. </div><div class="ttdef"><b>Definition:</b> <a href="easycomm_8h_source.html#l00020">easycomm.h:20</a></div></div>
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<div class="ttc" id="classrs485_html"><div class="ttname"><a href="classrs485.html">rs485</a></div><div class="ttdoc">Class that functions for interacting with a RS485 transceiver. </div><div class="ttdef"><b>Definition:</b> <a href="rs485_8h_source.html#l00023">rs485.h:23</a></div></div>
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<div class="ttc" id="struct__control_html_aeb5b4a7fd5e9aa8ada410f568a0a87b4"><div class="ttname"><a href="struct__control.html#aeb5b4a7fd5e9aa8ada410f568a0a87b4">_control::load</a></div><div class="ttdeci">uint16_t load</div><div class="ttdoc">Motor Load in mA. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00035">globals.h:35</a></div></div>
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<div class="ttc" id="easycomm_8h_html_a6b20d41d6252e9871430c242cb1a56e7"><div class="ttname"><a href="easycomm_8h.html#a6b20d41d6252e9871430c242cb1a56e7">BUFFER_SIZE</a></div><div class="ttdeci">#define BUFFER_SIZE</div><div class="ttdoc">Set the size of serial buffer. </div><div class="ttdef"><b>Definition:</b> <a href="easycomm_8h_source.html#l00021">easycomm.h:21</a></div></div>
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<div class="ttc" id="globals_8h_html_ade92ac8f94e642ce7708250d1235ae85"><div class="ttname"><a href="globals_8h.html#ade92ac8f94e642ce7708250d1235ae85">control_el</a></div><div class="ttdeci">_control control_el</div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00054">globals.h:54</a></div></div>
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<div class="ttc" id="easycomm_8h_html_abdffa1ce6a347f355c4de274ec721357"><div class="ttname"><a href="easycomm_8h.html#abdffa1ce6a347f355c4de274ec721357">rs485</a></div><div class="ttdeci">rs485 rs485(RS485_DIR, RS485_TX_TIME)</div></div>
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<div class="ttc" id="classeasycomm_html_a0da8917b93ae0d477791a86e1edeefb9"><div class="ttname"><a href="classeasycomm.html#a0da8917b93ae0d477791a86e1edeefb9">easycomm::isNumber</a></div><div class="ttdeci">bool isNumber(char *input)</div><div class="ttdef"><b>Definition:</b> <a href="easycomm_8h_source.html#l00378">easycomm.h:378</a></div></div>
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