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ROTOR-GNI-2-38-publ.ino
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ROTOR-GNI-2-38-publ.ino
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/* Remote GNI-r3 rotator controller code for Arduino
* ========================================================
* Ver. 2.38 - HRD bug fix ang degree character added
* Intended Primary for RAU/RAK rotators and Arduino Nano board
* Works with 2 relays or TI DRV8871 motor driver
* For information about the TI DRV88871, see
* http://www.ti.com/product/DRV8871
*
* For information on the AlfaSpid protocol, see
* http://alfaradio.ca/downloads/program_info/Program_format-Komunicacji-2005-08-10.pdf
*
* The project is based on implementation of Calvin Li, see
* https://gist.github.com/calvinli/589a98242759e96634c0
*
* The schematic may be found in http://hf5l.pl/en/gni-r3-antenna-rotor-controller/
*
* Important notes
* -----------------
* - Intended for azimuth rotation only
* - Software limit switches are set at compile-time.
* - Position data is saved after reaching the target or STOP (pushbutton or command).
*
* Copyright (c) 2017/8 SP5GNI
*
* Redistribution and use in source and binary forms, with
* or without modification, are permitted provided that the
* following conditions are met:
*
* 1. Redistributions of source code must retain the above
* copyright notice, this list of conditions and the
* following disclaimer.
* 2. Redistributions in binary form must reproduce the
* above copyright notice, this list of conditions and
* the following disclaimer in the documentation and/or
* other materials provided with the distribution.
* 3. Commercial use of this software, and assiciated
* schematics and layouts is not allowed without written
* permission from Miroslaw Sadowski SP5GNI.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED
* WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
* PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
* USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
* OF SUCH DAMAGE
*/
/* A safety timeout that kills the motor
* if the sense line doesn't register any pulse
* for a certain amount of time.
* RAU rotator turn sped is 3-4°/s,
* Pulse every 0.275 sec (for 13.8V supply).
*/
#define MOTOR_TIMEOUT_MS 400
/* Software limit switch boundaries
* +360° offset should be substracted!
*/
#define AZ_MIN 180 // LOW Limit settable! -180 to 0 (360 MUST be added, as AZ_MIN is shifted +360)
#define AZ_MAX 900 // HIGH Limit settable! 360 to 540 (360 MUST be added, as AZ_MAX is shifted +360)
#define ROT_MIN 5 // Dead zone settable! from 1 to 30 degrees
/* real rotation in the range 360 +/-180 deg
*(-180 to +540 deg ) max
* It may be changed for example to 360 +/-90 deg
*/
#include <EEPROM.h>
/* LCD display
* LCM1602 module
* SCL -> A5
* SDA -> A4
*/
#include <Wire.h> // standard library
#include <LiquidCrystal_I2C.h> // download from: https://bitbucket.org/fmalpartida
LiquidCrystal_I2C lcd(0x27, 2, 1, 0, 4, 5, 6, 7, 3, POSITIVE);
/* Setting address for 0x27.
* Some display batches have different address set, for example 0x3F!
*/
#define AZ_ADDR 10
#define ANT_ADDR 12
#define EEPROM_MAGIC_ADDR 14
#define EEPROM_MAGIC_VAL 0x19
/* Declarations */
void brake_az();
void forward_az();
void reverse_az();
void check_motors();
void az_pulse_monitor();
/* Global variables */
char serial_char_in; // byte data
char command[13]= {}; //array 13 bytes
char response[12]= {}; // array 12 bytes for Rot2Prog
char msg[16]; // LCD text array
/* These are strictly positive (due to +360° offset) */
unsigned int azPos; // <0; 360) from EEPROM
unsigned int azAnt; // for example <180; 900>, shifted, real position is <-180; +540>
unsigned int azMoveTo; // <360; 720) shifted, from PC - AlfaSpid protocole
/* 2-byte variable -32768 do 32768 */
int rotate; // should be always <-180; +180>
int azAntReal; // real position of the rotator <-180; +540>
/* the time when the last pulse was detected,
* or backlight was switched on.
* Counted in ms from the start of this program.
*/
volatile unsigned long azLastMoved = 0;
boolean azForward = false;
boolean forward = true;
boolean azReverse = false;
void setup()
{
pinMode(4, OUTPUT); // signal green LED
pinMode(7, OUTPUT); // IN1 output for motor
pinMode(8, OUTPUT); // IN2 output for motor
pinMode(9, INPUT); // Forward pushbutton
pinMode(10, INPUT); // Reverse pushbutton
pinMode(11, INPUT); // STOP pushbutton
interrupts(); //enable INT
/* stop motor if moving */
brake_az();
/* Read positions data from EEPROM, if it's there */
if ((EEPROM.read(EEPROM_MAGIC_ADDR) == EEPROM_MAGIC_VAL) && (digitalRead(11) == LOW)) {
EEPROM.get(AZ_ADDR, azPos);
EEPROM.get(ANT_ADDR, azAnt);
} else {
/* Reset of the antenna position
to 180° South. May be changed to another value, i.e. 0° North.
Keep STOP pushbutton pressed when applying the power or reset
*/
azPos = 180; // south; may be changed to 0 (north)
azAnt = 360 + azPos;
EEPROM.put(ANT_ADDR, azAnt);
EEPROM.put(AZ_ADDR, azPos);
delay(100);
digitalWrite(4, LOW); // turn on the signal LED
}
/* Display stored values of the azimuth
and real antenna position */
lcd.begin(16,2); // Inicjalize LCD 2x16
lcd.clear();
lcd.backlight();
lcd.setCursor(0,0); // Set cursor
/* Display welcome message.May be changed for example to "Azimuth: SP5GNI" etc. (15 characters alltogether max.) */
snprintf(msg,17,"Azymut: Hello!");
lcd.print(msg);
delay(1000);
lcd.setCursor(0,1);
snprintf(msg,17,"Antena:"); //po polsku. May be changed to "Antenna:" (8 characters max)
lcd.print(msg);
azMoveTo = azAnt;
Serial.begin(1200); // data rate
EEPROM.put(EEPROM_MAGIC_ADDR, EEPROM_MAGIC_VAL);
attachInterrupt(0, az_pulse_monitor, RISING);
/* Create custom LCD character
*/
byte degChar3[8] = {
0b01100,
0b10010,
0b10010,
0b01100,
0b00000,
0b00000,
0b00000,
0b00000
};
lcd.createChar(3, degChar3);
}
void loop() // *** START ***
{
/* Move forward manually, right hand pushbutton is on */
if ((digitalRead(9) == HIGH) && (azAnt < AZ_MAX))
{
brake_az();
lcd.backlight();
delay(500);
forward_az();
azForward = true;
azReverse = false;
azMoveTo = 721; // fake for manual operation
}
/* Move reverse manually, left pushbutton on */
else if ((digitalRead(10) == HIGH) && (azAnt > AZ_MIN))
{
brake_az();
lcd.backlight();
delay(500);
reverse_az();
azForward = false;
azReverse = true;
azMoveTo = 721;
}
/* Check if motor is rotating without control */
check_motors();
/* Check and switch-off backlight if ther was no activity 3 minutes = 180000 msec
* The value 180000 in [ms] may be changed according to preferences!
*/
if ((millis() - azLastMoved) > 180000) {
lcd.noBacklight(); // turn the backlight off
digitalWrite(4, LOW); // turn the LED on
delay(300);
}
/* check for STOP pushbutton */
if (digitalRead(11) == HIGH) {
lcd.backlight();
azLastMoved = millis();
azForward = false;
azReverse = false;
}
/* Display the azimuth
* and the real antenna position */
azPos = azAnt % 360;
lcd.setCursor(8,0); // Set cursor
snprintf(msg,9,"%u\3 ",azPos); // deg character
lcd.print(msg);
azAntReal = azAnt - 360;
lcd.setCursor(8,1);
snprintf(msg,9,"%i\3 ",azAntReal);
lcd.print(msg);
/* Read-in AlfaSpid command */
if (Serial.readBytes(command, 13) == 0) {
return;
}
/* start byte is always 0x57 and end byte is 0x20
if this is not the case, throw out the command */
if (command[0] != 0x57 || command[12] != 0x20) {
while(Serial.available()) {
Serial.read();
}
return;
}
/* Proper command is stored in the buffer
* Check for STOP command.
* STOP command returns the position stopped at.
*/
if (command[11] == 0x0F) {
brake_az();
lcd.backlight();
azLastMoved = millis();
digitalWrite(4, LOW); // turn the LED on
delay(300);
EEPROM.put(ANT_ADDR, azAnt);
delay(100);
azPos = azAnt % 360;
delay(100);
EEPROM.put(AZ_ADDR, azPos);
response[0] = 0x57;
response[1] = azAnt / 100;
response[2] = (azAnt % 100) / 10;
response[3] = azAnt % 10;
response[4] = 0x00;
response[5] = 0x01;
response[6] = 0x03;
response[7] = 0x06;
response[8] = 0x00;
response[9] = 0x00;
response[10] = 0x00;
response[11] = 0x20;
Serial.write(response, 12);
return;
}
/* Check for STATUS command
* These can come at any time,
* even while the rotator is moving.
* They are expected to always give the current
* instantaneous position of the rotator.
*/
if (command[11] == 0x1F) {
/* Write-out AlfaSpid output.
*/
response[0] = 0x57;
response[1] = azAnt / 100;
response[2] = (azAnt % 100) / 10;
response[3] = azAnt % 10;
response[4] = 0x00;
response[5] = 0x01;
response[6] = 0x03;
response[7] = 0x06;
response[8] = 0x00;
response[9] = 0x00;
response[10] = 0x00;
response[11] = 0x20;
Serial.write(response, 12);
return;
}
/* THE MOST IMPORTANT! Check for SET command
* azMoveTo: Azimuth value sent by the software (DXView etc.)
* There is no response to SET commands.
*/
if (command[11] == 0x2F) {
/* azMoveTo - the azimuth value required by the program
* <360; 720) shifted from PC - AlfaSpid protocole
* There is no response to SET commands.
*/
azMoveTo = (command[1] - 0x30) * 100 +
(command[2] - 0x30) * 10 +
(command[3] - 0x30);
/* Added to fix HRD Rotator bug
*/
if ((azMoveTo >= 0) && (azMoveTo <= 359)) {
azMoveTo = azMoveTo + 360;
}
digitalWrite(4, HIGH); // switch-off LED
lcd.backlight();
delay(500);
/* rotate: Should be finally <-180; +180>
* The shortest way to the target.
* Shows the value and direction of rotation
*/
rotate = (azMoveTo - 360) - (azAnt % 360); // Range (-359; 359)
/* Do not rotate for small changes less than ROT_MIN */
if ((rotate < ROT_MIN) && (rotate > - ROT_MIN)) {
return;
}
/* correction for optimum rotation.
* rotation direction may be changed
*/
if (rotate > 180) {
rotate = rotate - 360;
}
if (rotate < -180) {
rotate = rotate +360;
}
/* software limit switch ensure positions are kept within range */
if (azAnt + rotate > AZ_MAX) {
rotate = rotate - 360;
}
else if (azAnt + rotate < AZ_MIN) {
rotate = rotate + 360;
}
/* end of SET command reading and processing
*/
}
command[11] = 0x00;
azForward = (rotate > 0);
azReverse = (rotate < 0);
/* start moving */
if (azForward) {
if (forward == false) {
brake_az();
delay(500); // stop when changing the direction
}
forward = true;
forward_az();
} else if ((azAnt % 360) != (azMoveTo - 360))
{
if (forward) {
brake_az();
delay(500);
}
forward = false;
reverse_az();
}
/* End of loop */
return;
}
void brake_az() {
digitalWrite(7, LOW); // IN1 output SET 0
digitalWrite(8, LOW); // IN2 SET 0
}
void forward_az() {
azLastMoved = millis();
digitalWrite(7, HIGH); // IN1 SET 1
digitalWrite(8, LOW); // IN2 SET 0
}
void reverse_az() {
azLastMoved = millis();
digitalWrite(7, LOW); // IN1 SET 0
digitalWrite(8, HIGH); // IN2 SET 1
}
/* Check if motor is rotating without control */
void check_motors() {
if (azLastMoved > 0) {
if (azLastMoved < millis() - MOTOR_TIMEOUT_MS) {
brake_az();
}
}
}
/* IMPORTANT ISR for azimuth control */
void az_pulse_monitor()
/* These ISRs will stop the motor when
* it reach the desired position.
*
* We trigger on rising edge because the
* sense line is active-low, so the ISR
* will run only after the pulse is completed.
*/
{
{
digitalWrite(4, LOW); // LED on
if (azForward) {
++azAnt;
} else if (azReverse){
--azAnt;
}
/* The time when the last pulse was detected
* counted in ms from the start of this program.
* "millis" is the time from the start of the program
*/
azLastMoved = millis();
azPos = azMoveTo - 360;
}
/* software limit switch ensure rotation is kept within range */
if ((azAnt >= AZ_MAX) || (azAnt <= AZ_MIN)) {
brake_az();
EEPROM.put(ANT_ADDR, azAnt);
azPos = azAnt % 360;
EEPROM.put(AZ_ADDR, azPos);
digitalWrite(4, LOW);
azForward = false;
azReverse = false;
return;
}
/* check for STOP pushbutton */
if (digitalRead(11) == HIGH) {
brake_az();
delay(300);
EEPROM.put(ANT_ADDR, azAnt);
delay(100);
azPos = azAnt % 360;
delay(100);
EEPROM.put(AZ_ADDR, azPos);
azForward = false;
azReverse = false;
return;
}
if (azAnt % 360 == azPos) {
brake_az();
EEPROM.put(AZ_ADDR, azPos);
EEPROM.put(ANT_ADDR, azAnt);
azForward = false;
azReverse = false;
}
delay(20);
digitalWrite(4, HIGH); // LED off
}