Rob Swinbank
Replacement firmware for Dawson Dynamic OB dish positioner
Dependencies: ConfigFile PCF8574 TextOLED mbed
Fork of
mbed_blinky
by 
Mbed
Diff: main.cpp
- Revision:
- 14:ce9c322f95f2
- Parent:
- 4:81cea7a352b0
--- a/main.cpp Sat Sep 17 08:46:24 2016 +0000
+++ b/main.cpp Sun Aug 20 21:30:40 2017 +0000
@@ -1,12 +1,640 @@
#include "mbed.h"
+#include "PCF8574.h"
+#include <string>
+#include "ConfigFile.h"
+
+LocalFileSystem local("local");
+ConfigFile cfg;
+
+//Address of PCF8574 Button and LCD interface IC's
+#define PCF8574_BUTTON_ADDR 1 //A0
+#define PCF8574_LCD_ADDR 0
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+
+//controller pins
+DigitalOut Select_AZ (p20);
+DigitalOut Select_EL (p16);
+DigitalOut Direction (p25);
+PwmOut Drive (p26);
+DigitalIn Endstop_AZ (p18);
+DigitalIn Endstop_EL (p15);
+InterruptIn Pulse(p17);
+DigitalOut rfled(p12);
+
+//LCD pin connections to PCF8574
+#define rs_pin 0
+#define e_pin 1
+#define d4_pin 2
+#define d5_pin 3
+#define d6_pin 4
+#define d7_pin 5
+
+//scaling for pulses per degree
+#define Az_scale = 15.378
+#define El_scale = 5.155
+
+PCF8574 pcf_lcd(p9,p10,PCF8574_LCD_ADDR,true);
+PCF8574 pcf_button(p9,p10,PCF8574_BUTTON_ADDR,true);
+
+Ticker Refresh_timer;
-DigitalOut myled(LED1);
+int _column;
+int _row;
+int Az_Count;
+int El_Count;
+char buffer[20];
+char Last_Direction=0;
+char Up=0,Down=0,Left=0,Right=0,OK=0;
+float Azimuth,Elevation;
+float pwm_freq=0.00005;//30khz
+float pwm_duty=0.5;
+float Az_ref=0,El_ref=0;
+float Az_zero=0;
+float El_zero=0;
+int temp;
+float temp2;
+
+
+//settings available in menu
+int setting_count=6;
+int setting_val[] = {0,270,0,60,Az_zero,El_zero};
+char * const setting_name[] = {
+ "Az CCW Limit:",
+ "Az CW Limit:",
+ "El Low Limit:",
+ "El High Limit:",
+ "Set Current Az:",
+ "Set Current El:",
+};
+
+
+
+
+void writeByte(int byte);
+void writeCommand(int command);
+void locate(int column, int row);
+void cls();
+void init();
+void write4bit(int value);
+void character(int column, int row, int c);
+int address(int column, int row);
+void writeData(int data);
+void writestring(int column, int row, string c);
+void count_rise();
+void count_fall();
+void Refresh_oled(bool anytime);
+void menu(void);
+void WriteSettings(void);
+void ReadSettings(void);
+
+
+
+//start of main program
int main() {
+ uint8_t val;
+
+ El_Count=0;
+ Az_Count=0;
+
+ Endstop_AZ.mode(PullUp);
+ Pulse.mode(PullUp);
+
+ rfled=0;
+
+ pcf_button=0xff;
+
+
+ if(cfg.read("/local/settings.cfg")){
+ char cfgval[10];
+ for(int i=0;i<setting_count;i++){
+ cfg.getValue(setting_name[i], &cfgval[0], sizeof(setting_val));
+ setting_val[i]=atoi(cfgval);
+ }
+ }
+
+ init();
+ sprintf(buffer,"Az/El Controller");
+ writestring(2,0,buffer);
+ sprintf(buffer,"M0DTS 2017");
+ writestring(4,1,buffer);
+ sprintf(buffer,"rob@m0dts.co.uk");
+ writestring(2,2,buffer);
+ wait(2);
+ cls();
+ sprintf(buffer,"Az/El Controller");
+ writestring(0,0,buffer);
+
+
+ Refresh_oled(true);
+
+ Pulse.rise(&count_rise);
+ Pulse.fall(&count_fall);
+ Drive.period(pwm_freq);
+
+
+
+
while(1) {
- myled = 1;
- wait(0.2);
- myled = 0;
- wait(0.2);
+
+ val = pcf_button.read();
+ Up = ~(val>>3)&0x01;
+ Left = ~(val>>4)&0x01;
+ Right = ~(val>>5)&0x01;
+ Down = ~(val>>6)&0x01;
+ OK = ~(val>>7)&0x01;
+
+ if(OK){
+ //menu
+ menu();
+ wait_ms(200);
+ cls();
+ sprintf(buffer,"Az/El Controller");
+ writestring(0,0,buffer);
+ Refresh_oled(true);
+ }
+
+
+ if(Up){
+ Last_Direction=0;
+ Select_EL=1;
+ Select_AZ=0;
+ Direction=1;
+ temp2 = 0.1;
+ Drive.write(temp2);
+ while(Up & Elevation<=setting_val[3]){
+ if(temp2<pwm_duty){
+ temp2+=0.01;
+ Drive.write(temp2);
+ }
+ Up = ~(pcf_button.read()>>3)&0x01;
+ Refresh_oled(false);
+ }
+ Drive.write(0.0f);
+ wait_ms(100);
+ Up=0;
+ Refresh_oled(true);
+ }
+
+ if(Down){
+ if(!Endstop_EL){
+ Last_Direction=1;
+ Select_EL=1;
+ Select_AZ=0;
+ Direction=0;
+ temp2 = 0.1;
+ Drive.write(temp2);
+ while(Down & !Endstop_EL & Elevation>=setting_val[2]){
+ if(temp2<pwm_duty){
+ temp2+=0.01;
+ Drive.write(temp2);
+ }
+ Down = ~(pcf_button.read()>>6)&0x01;
+ Refresh_oled(false);
+ }
+ Drive.write(0.0f);
+ wait_ms(100);
+ Down=0;
+ Refresh_oled(true);
+ }
+ }
+
+ if(Left){
+ if(!Endstop_AZ){
+ Last_Direction=2;
+ Select_EL=0;
+ Select_AZ=1;
+ Direction=1;
+ temp2 = 0.1;
+ Drive.write(temp2);
+ while(Left & !Endstop_AZ & Azimuth>=setting_val[0]){
+ if(temp2<pwm_duty){
+ temp2+=0.01;
+ Drive.write(temp2);
+ }
+ Left = ~(pcf_button.read()>>4)&0x01;
+ Refresh_oled(false);
+ }
+ Drive.write(0.0f);
+ wait_ms(100);
+ Left=0;
+ Refresh_oled(true);
+ }
+ }
+
+ if(Right){
+ Last_Direction=3;
+ Select_EL=0;
+ Select_AZ=1;
+ Direction=0;
+ temp = Az_Count;
+ temp2 = 0.1;
+ Drive.write(temp2);
+ while(Right & Azimuth<=setting_val[1]){
+ if(temp2<pwm_duty){
+ temp2+=0.01;
+ Drive.write(temp2);
+ }
+ Right = ~(pcf_button.read()>>5)&0x01;
+ Refresh_oled(false);
+ }
+ Drive.write(0.0f);
+ wait_ms(100);
+ Right=0;
+ Refresh_oled(true);
+ }
}
}
+
+void menu(void){
+
+ //grab current az/el
+
+ setting_val[4]=(int)Azimuth;
+ setting_val[5]=(int)Elevation;
+
+ int pos=0;
+ cls();
+ sprintf(buffer,"Menu");
+ sprintf(buffer + strlen(buffer)," %i:",pos+1);
+ writestring(0,0,buffer);
+ sprintf(buffer,setting_name[pos]);
+ writestring(0,1,buffer);
+ sprintf(buffer," ");
+ writestring(0,2,buffer);
+ sprintf(buffer,"%i",setting_val[pos]);
+ writestring(0,2,buffer);
+ wait_ms(200);
+
+ int val;
+ while(1){
+ val = pcf_button.read();
+ Up = ~(val>>3)&0x01;
+ Left = ~(val>>4)&0x01;
+ Right = ~(val>>5)&0x01;
+ Down = ~(val>>6)&0x01;
+ OK = ~(val>>7)&0x01;
+
+ if(OK){
+ break;
+ }
+
+ if(Down){
+ cls();
+ pos++;
+ if (pos==setting_count){
+ pos=setting_count-1;
+ }
+ sprintf(buffer,"Menu");
+ sprintf(buffer + strlen(buffer)," %i:",pos+1);
+ writestring(0,0,buffer);
+
+ sprintf(buffer,setting_name[pos]);
+ writestring(0,1,buffer);
+ sprintf(buffer," ");
+ writestring(0,2,buffer);
+ sprintf(buffer,"%i",setting_val[pos]);
+ writestring(0,2,buffer);
+
+ if(pos==setting_count-1){
+ sprintf(buffer,"OK=Save");
+ writestring(13,3,buffer);
+ }
+ wait_ms(200);
+ }
+
+
+ if(Up){
+ pos--;
+ if (pos<0){pos=0;}
+ cls();
+ sprintf(buffer,"Menu");
+ sprintf(buffer + strlen(buffer)," %i:",pos+1);
+ writestring(0,0,buffer);
+ sprintf(buffer,setting_name[pos]);
+ writestring(0,1,buffer);
+ sprintf(buffer," ");
+ writestring(0,2,buffer);
+ sprintf(buffer,"%i",setting_val[pos]);
+ writestring(0,2,buffer);
+ wait_ms(200);
+ }
+
+
+ if(Left){
+ switch (pos) {
+ case 0:
+ if(setting_val[pos]>0){
+ setting_val[pos]-=1;
+ }
+ break;
+ case 1:
+ if(setting_val[pos]>setting_val[0]){
+ setting_val[pos]-=1;
+ }
+ break;
+ case 2:
+ if(setting_val[pos]>0){
+ setting_val[pos]-=1;
+ }
+ break;
+ case 3:
+ if(setting_val[pos]>setting_val[2]){
+ setting_val[pos]-=1;
+ }
+ break;
+ case 4:
+ if(setting_val[pos]>0){
+ setting_val[pos]-=1;
+ }
+ break;
+ case 5:
+ if(setting_val[pos]>0){
+ setting_val[pos]-=1;
+ }
+ break;
+
+ }
+
+ sprintf(buffer," ");
+ writestring(0,2,buffer);
+ sprintf(buffer,"%i",setting_val[pos]);
+ writestring(0,2,buffer);
+ wait_ms(50);
+ }
+
+ if(Right){
+ switch (pos) {
+ case 0: //360
+ if(setting_val[pos]<setting_val[1]){
+ setting_val[pos]+=1;
+ }
+ case 1: //360
+ if(setting_val[pos]<360){
+ setting_val[pos]+=1;
+ }
+ break;
+ case 2: //90
+ if(setting_val[pos]<setting_val[3]){
+ setting_val[pos]+=1;
+ }
+ break;
+ case 3: //90
+ if(setting_val[pos]<90){
+ setting_val[pos]+=1;
+ }
+ break;
+ case 4: //360
+ if(setting_val[pos]<360){
+ setting_val[pos]+=1;
+ }
+ break;
+ case 5: //90
+ if(setting_val[pos]<90){
+ setting_val[pos]+=1;
+ }
+ break;
+ }
+
+ sprintf(buffer," ");
+ writestring(0,2,buffer);
+ sprintf(buffer,"%i",setting_val[pos]);
+ writestring(0,2,buffer);
+ wait_ms(50);
+ }
+ }
+ cls();
+ sprintf(buffer,"Saving...");
+ writestring(2,2,buffer);
+
+ //store settings here
+ for(int i=0;i<setting_count;i++){
+ sprintf(buffer,"%i",setting_val[i]);
+ cfg.setValue(setting_name[i], buffer) ;
+ }
+
+ cfg.write("/local/settings.cfg", "# Az/El Controller Settings");
+ cfg.removeAll();
+
+ //reset counters.... big problem!
+ Az_Count=0;
+ El_Count=0;
+
+ //save delay?!
+ wait_ms(300);
+}
+
+void count_rise(void){
+ if(Up|Right){
+ if(Up){
+ El_Count++;
+ }
+ if(Right){
+ Az_Count++;
+ }
+ //catch pulses after button released
+ }else{
+ if(Last_Direction==0)//up
+ El_Count++;
+ if(Last_Direction==3)//right
+ Az_Count++;
+ }
+}
+
+void count_fall(void){
+ if(Down|Left){
+ if(Down){
+ El_Count--;
+ }
+ if(Left){
+ Az_Count--;
+ }
+ //catch pulses after button released
+ }else{
+ if(Last_Direction==1)//down
+ El_Count--;
+ if(Last_Direction==2)//left
+ Az_Count--;
+ }
+}
+
+
+void Refresh_oled(bool anytime){
+
+ Elevation = ((float)El_Count/15.378)+setting_val[5];
+ Azimuth = ((float)Az_Count/5.155)+setting_val[4];
+
+ if(Up){
+ sprintf(buffer,"El:% 05.1f",Elevation);
+ writestring(11,3,buffer);
+ buffer[0]=85;//'U'
+ buffer[1]=0;
+ writestring(19,3,buffer);
+ }
+ if(Down){
+ sprintf(buffer,"El:% 05.1f",Elevation);
+ writestring(11,3,buffer);
+ buffer[0]=68;//'D'
+ buffer[1]=0;
+ writestring(19,3,buffer);
+ }
+ if(Left){
+ sprintf(buffer,"Az:% 06.1f",Azimuth);
+ writestring(0,3,buffer);
+ buffer[0]=127;//arrow left
+ buffer[1]=0;
+ writestring(9,3,buffer);
+ }
+ if(Right){
+ sprintf(buffer,"Az:% 06.1f",Azimuth);
+ writestring(0,3,buffer);
+ buffer[0]=126;//arrow right
+ buffer[1]=0;
+ writestring(9,3,buffer);
+ }
+
+ if(!(Up|Down|Left|Right)){
+ sprintf(buffer," ");
+ writestring(9,3,buffer);
+ writestring(19,3,buffer);
+ if(anytime){
+ sprintf(buffer,"Az:% 06.1f",Azimuth);
+ writestring(0,3,buffer);
+ sprintf(buffer,"El:% 05.1f",Elevation);
+ writestring(11,3,buffer);
+ }
+
+ if(Endstop_AZ|Endstop_EL){
+ if(Endstop_AZ){
+ sprintf(buffer,"L");
+ writestring(9,3,buffer);
+ }
+
+ if(Endstop_EL){
+ sprintf(buffer,"L");
+ writestring(19,3,buffer);
+ }
+ }
+ }
+
+
+
+}
+
+
+//LCD routines ***********************************************************************************************
+
+void writeCommand(int command) {
+ pcf_lcd.write(rs_pin,0x00);
+ writeByte(command);
+}
+
+void writeData(int data) {
+ pcf_lcd.write(rs_pin,0x01);
+ wait_us(10);
+ writeByte(data);
+}
+
+void writeByte(int value) {
+ //send MSB 4 bits
+ write4bit(value>>4);
+ //send LSB 4 bits
+ write4bit(value);
+}
+
+void writestring(int column, int row, string c) {
+ int a = address(column, row);
+ writeCommand(a);
+ for (int i = 0; c[i] != '\0'; i++){
+ writeData(c[i]);
+ }
+}
+
+void write4bit(int value) {
+ pcf_lcd.write(d7_pin,(value>>3)&0x01);
+ pcf_lcd.write(d6_pin,(value>>2)&0x01);
+ pcf_lcd.write(d5_pin,(value>>1)&0x01);
+ pcf_lcd.write(d4_pin,value&0x01);
+ wait_us(10);
+ pcf_lcd.write(e_pin,0x01);
+ wait_us(10);
+ pcf_lcd.write(e_pin,0x00);
+}
+
+void cls() {
+ writeCommand(0x01); // cls, and set cursor to 0
+ wait_ms(2); // This command takes 1.64 ms
+ locate(0, 0);
+}
+
+void locate(int column, int row) {
+ _column = column;
+ _row = row;
+}
+
+void init() {
+ //set default pin state for enable and reset
+ pcf_lcd.write(e_pin,0);
+ pcf_lcd.write(rs_pin,0);
+
+ //Enter 4bit mode, write 2 twice
+ write4bit(0x2); //0010
+ write4bit(0x2); //0010
+ write4bit(0x8); //1000 english_japanese (default), 5x8 font, 2 line+
+ wait_ms(10);
+
+ //display off, cursor off, blink off
+ writeCommand(0x8);
+ wait_ms(1);
+
+ //clear display
+ writeCommand(0x1);
+ wait_ms(1);
+
+ //display home
+ writeCommand(0x2);
+ wait_ms(1);
+
+ //increment, no shift
+ writeCommand(0x6);
+ wait_ms(1);
+
+ //display on, cursor off, blink off
+ writeCommand(0x0c);
+ wait_ms(1);
+
+}
+
+void character(int column, int row, int c) {
+ int a = address(column, row);
+ writeCommand(a);
+ writeData(c);//data
+}
+
+
+
+int address(int column, int row) {
+ switch (row) {
+ case 0:
+ return 0x80 + column;
+ case 1:
+ return 0xc0 + column;
+ case 2:
+ return 0x94 + column;
+ case 3:
+ return 0xd4 + column;
+ default:
+ return 0x80 + column;
+ }
+}
+
+
+
+
+
+