Dawson_Controller - Replacement firmware for Dawson Dynamic OB dish p…

Users » m0dts » Code » Dawson_Controller

Rob Swinbank / Mbed 2 deprecated Dawson_Controller

Replacement firmware for Dawson Dynamic OB dish positioner

Dependencies: ConfigFile PCF8574 TextOLED mbed

Fork of mbed_blinky by Mbed

Files at this revision

API Documentation at this revision

Revision 14:ce9c322f95f2, committed 2017-08-20

Comitter:: m0dts
Date:: Sun Aug 20 21:30:40 2017 +0000
Parent:: 13:2c5a871cf571
Commit message:: Functional Version with menu 20/8/2017

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ConfigFile.lib	Sun Aug 20 21:30:40 2017 +0000
@@ -0,0 +1,1 @@
+https://mbed.org/users/flowh/code/ConfigFile/#f6ceafabe9f8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PCF8574.lib	Sun Aug 20 21:30:40 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/bborredon/code/PCF8574/#6d75da25c179

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TextOLED.lib	Sun Aug 20 21:30:40 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/okini3939/code/TextOLED/#45788bd06d4c

--- 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;
+    }
+}
+
+
+
+
+
+

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	20 Aug 2017
Imports:	1
Forks:	0
Commits:	15
Dependents:	0
Dependencies:	4
Followers:	1

ConfigFile.lib	Show annotated file Show diff for this revision Revisions of this file
PCF8574.lib	Show annotated file Show diff for this revision Revisions of this file
TextOLED.lib	Show annotated file Show diff for this revision Revisions of this file
locator.c	Show annotated file Show diff for this revision Revisions of this file
main.cpp	Show annotated file Show diff for this revision Revisions of this file

Revision 14:ce9c322f95f2, committed 2017-08-20

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