Sun_Tracking_Control

Converts sun angles and drives two linear motors for horizontal and vertical sun-tracking.

Copyright (C) 2013 Felix Gottwald, HTW Dresden

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/

Contact: info@labor-elektrische-mobilitaet.de

Main features:

• calculating step count from given sun angle (azimut, elevation)
• evaluates hall-sensor-controlled step counter
• drives half-bridges (freescale 33926) for linear motors (SatControl SM4S520M1) to given angles
• safety functions

Communication protocol:

• I²C slave adresse: 0x13
• ERROR CODES:
  • 0x50 ERR_STAUS_FLAG
  • 0x51 ERR_ILLEGAL_END
  • 0x52 ERR_STEPCOUNTER_OVERFLOW
• COMMANDS:
  • 0x02 CMD_SET_ANGLE
  • 0x04 CMD_GOTO_REFERENCE
  • 0x06 CMD_STOP
  • 0x08 CMD_RESET
  • 0x33 CMD_TERMINATED
• I²C Register Definition:
  • I²C_Data[1] - commands / errors - vertical motor
  • I²C_Data[2] - commands / errors - horizontal motor
  • I²C_Data[3] - data - vertical motor
  • I²C_Data[4] - data - horizontal motor

Used devices:

• ATMega88(Atmel)
• 33926(freescale)
• SM4S520M1(SatControl)

Documentation and Schematics:

• http://wiki.labor-elektrische-mobilitaet.de/index.php/LEV_charge:Sonnenstandsnachf%C3%BChrungseinrichtung
• http://wiki.labor-elektrische-mobilitaet.de/index.php/Motorsteuerung