kopia lustrzana https://github.com/ozarchie/EQMOD-ETX
Delete EQG2HBX.ino
ozarchie
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/*
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* Copyright 2017, 2018 John Archbold
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*/
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#include <Arduino.h>
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/********************************************************
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Initialize HBX, translate EQG to HBX
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====================================
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*********************************************************/
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#define m2560
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#undef mESP32
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#include <EEPROM.h>
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#ifdef mESP32
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#include "HardwareSerial.h"
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HardwareSerial Serial1(2);
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#endif
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#ifdef m2560
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#define dbgSerial Serial
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#define EQGSerial Serial1
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#endif
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#ifdef mESP32
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#define dbgSerial Serial
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#define EQGSerial Serial1
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#endif
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#include "EQGProtocol.h"
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#include "ETXProtocol.h"
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#include "HBXComms.h"
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#include "EQG2HBX.h" // All the declared variables
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void setup()
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{
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int i, j, k;
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bool b;
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DelayTimer = micros(); // Initialize timers, counts
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StatusTimer = DelayTimer;
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StatusTime = DelayTimer;
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TestCount = 0;
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EQGErrorValue = 0;
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pinMode(FROMEQG, OUTPUT); // Initialize Indicator pins
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pinMode(FROMHBX, OUTPUT);
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pinMode(AzLED, OUTPUT);
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pinMode(AltLED, OUTPUT);
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digitalWrite(FROMEQG, LOW); // Initialize Indicator LEDS
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digitalWrite(FROMHBX, LOW);
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digitalWrite(AzLED, LOW);
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digitalWrite(AltLED, LOW);
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#ifdef m2560
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pinMode(MONITORHBX, INPUT_PULLUP); // Initialize Mode jumpers
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pinMode(TESTHBX, INPUT_PULLUP);
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digitalWrite(MONITORHBX, HIGH);
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digitalWrite(TESTHBX, HIGH);
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#endif
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axis[AzMotor].PrintStatus0 = 0; // Disable printing "status polls" with no change
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axis[AltMotor].PrintStatus0 = 0; // Disable printing "status polls" with no change
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// Initialize EQG communications
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#ifdef m2560
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dbgSerial.begin(115200); // debug
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EQGSerial.begin(9600); // EQG
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#endif
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#ifdef mESP32
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dbgSerial.begin(115200); // debug
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EQGSerial.begin(9600); // EQG
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#endif
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dbgSerial.println("ETX V5.01");
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EQGSerial.println("ETX-EQMOD V1.01");
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digitalWrite(FROMEQG, HIGH); // Initialize Indicator LEDS
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delay(1000);
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digitalWrite(FROMEQG, LOW); // Initialize Indicator LEDS
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// Serial2.begin(9600);
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// Serial3.begin(9600);
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#ifdef m2560
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eepromlength = EEPROM.length(); // Get real length
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#endif
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dbgSerial.print("EEPROM length: ");
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dbgSerial.println(eepromlength);
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dbgSerial.print("CRC32 of EEPROM data: 0x");
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dbgSerial.print(eeprom_crc(), HEX);
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if (!check_eeprom_crc()) {
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dbgSerial.println(" - crc failed");
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set_eeprom_crc();
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check_eeprom_crc();
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}
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else dbgSerial.println(" - crc OK");
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#ifdef m2560
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// **************************
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// Check for HBX Monitor Mode
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// ==========================
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while (digitalRead(MONITORHBX) == 0) { // Check if monitor jumper installed
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HBXMonitorLoop(); // Execute monitor code until jumper removed
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}
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// **************************
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// Check for HBX Testing Mode
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// ==========================
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while (digitalRead(TESTHBX) == 0) { // Check if test jumper installed
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HBXTestLoop(); // Execute test code until jumper removed
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} ;
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#endif
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dbgSerial.println("HBX Initialization");
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AzInitialise();
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AltInitialise();
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PrintRatioValues(telescope);
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PrintHbxValues(AzMotor);
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PrintHbxValues(AltMotor);
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// Initialize HBX communications as outputs
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// It will use H2X communications
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HCL1Talk(); // Set for Talking on RAClk
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HCL2Talk(); // Set for Talking on DECClk
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HDAListen();
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TimerDelaymS(STARTTIME);
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// Reset the motors (RA and DEC)
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// and wait until both respond to a command
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dbgSerial.println("Waiting for both motors to start up ..");
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WaitForMotors();
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// Get Motor Type from Az MC ( assume both same type of motor)
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dbgSerial.print("Get Motor Type: ");
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do {
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axis[AzMotor].MotorType = 0x00;
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if (HBXSendCommand(GetMotorType, AzMotor))
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axis[AzMotor].MotorType = HBXGetByte(AzMotor);
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} while (!axis[AzMotor].MotorType);
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axis[AltMotor].MotorType = axis[AzMotor].MotorType;
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dbgSerial.println(axis[AltMotor].MotorType);
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// Get the real LEDI values from EEPROM
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axis[AzMotor].HBXLEDI = EEPROM.read(EEPROMAzLEDI);
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axis[AltMotor].HBXLEDI = EEPROM.read(EEPROMAltLEDI);
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// Set LED values from EEPROM
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dbgSerial.print("Set Encoder LED currents - Az: ");
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if (HBXSendCommand(SetLEDI, AzMotor))
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HBXSendByte(axis[AzMotor].HBXLEDI, AzMotor);
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if (HBXSendCommand(SetLEDI, AltMotor))
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HBXSendByte(axis[AltMotor].HBXLEDI, AltMotor);
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dbgSerial.print(axis[AzMotor].HBXLEDI);
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dbgSerial.print(", Alt: ");
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dbgSerial.println(axis[AltMotor].HBXLEDI);
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// Set the Offset Clear Command
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// Send HBXP1, HBXP2 - which were initialised to 0
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dbgSerial.println("Reset any ETX offset bytes");
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if (HBXSendCommand(SetOffset, AzMotor))
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HBXSend2Bytes(AzMotor);
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TimerDelaymS(CMNDTIME);
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if (HBXSendCommand(SetOffset, AltMotor))
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HBXSend2Bytes(AltMotor);
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TimerDelaymS(CMNDTIME);
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// Stop the motors (RA and DEC)
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dbgSerial.println("Stop motors");
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do {
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P1 = 0;
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if (HBXSendCommand(Stop, AzMotor)) P1 += 1;
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if (HBXSendCommand(Stop, AltMotor)) P1 += 1;
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} while (P1 < 2);
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// Read status
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dbgSerial.println("Read Status");
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HBXGet2Status(); // Check and read both motor states
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currentTime = now();
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dbgSerial.println("Setup Complete. Listening for commands ..");
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// Print debug info every 10 s
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// ---------------------------
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Alarm.timerRepeat(10, debugEQG); // Every 10 seconds
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}
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void loop()
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{
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/**************************************************************************************************
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* Check ETXState
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**************************************************************************************************/
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if ((micros() - StatusTimer) > (ETXDELAY * 1000)) { // ~6.55mS
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StatusTimer = micros();
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// HBXGet2Status(); // Polls motor position every 6.55mS
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HBXGetStatus(AzMotor);
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HBXGetStatus(AltMotor);
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// delay(ETXDELAY * 4);
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ETXState(AzMotor); // Check the Az motor state
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ETXState(AltMotor); // Check the Alt motor state
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}
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/**************************************************************************************************
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* Process EQG comms - Rx Comms are interrupt driven
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**************************************************************************************************/
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dbgRx(); // Check for comms from debug port for telescope values
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if (EQGRx()) // Check for comms from EQG
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EQGState(); // Check command state if data received
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if (EQGDone) { // EQG receive complete, see what it is
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if (EQGErrorValue == 0) {
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EQGAction(); // and do it
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}
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else {
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EQGError(EQGErrorValue); // EQGAction() may set an error
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}
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}
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while (EQGTxoPtr != EQGTxiPtr) { // EQG send any response
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if (dbgFlag) {
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dbgSerial.write(EQGTxBuffer[EQGTxoPtr]);
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if (EQGTxBuffer[EQGTxoPtr] == CR)
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dbgFlag = 0;
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}
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EQGSerial.write(EQGTxBuffer[EQGTxoPtr++]); // Output to EQG
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EQGTxoPtr &= EQGMASK;
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}
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Alarm.delay(0);
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} // End loop()
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/**************************************************************************************************
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* Read / Update ETX - Timer Driven
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**************************************************************************************************/
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void UpdateETX(void) {
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}
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/**********************************************
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Multiple 1mS delay
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***********************************************/
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void TimerDelaymS(unsigned long d) {
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delay(d);
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}
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/**********************************************
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Multiple 1uS delay
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***********************************************/
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void TimerDelayuS(unsigned int d) {
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delayMicroseconds(d);
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}
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/**********************************************
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EEPROM support
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***********************************************/
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unsigned long eeprom_crc(void) {
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const unsigned long crc_table[16] = {
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0x00000000, 0x1db71064, 0x3b6e20c8, 0x26d930ac,
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0x76dc4190, 0x6b6b51f4, 0x4db26158, 0x5005713c,
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0xedb88320, 0xf00f9344, 0xd6d6a3e8, 0xcb61b38c,
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0x9b64c2b0, 0x86d3d2d4, 0xa00ae278, 0xbdbdf21c
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};
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unsigned long crc = ~0L;
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for (int index = 0 ; index < (eepromlength - 4) ; ++index) {
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crc = crc_table[(crc ^ EEPROM.read(index)) & 0x0f] ^ (crc >> 4);
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crc = crc_table[(crc ^ (EEPROM.read(index) >> 4)) & 0x0f] ^ (crc >> 4);
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crc = ~crc;
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}
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return crc;
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}
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unsigned long get_eeprom_crc(void) {
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unsigned long crc;
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int i;
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i = eepromlength - 4; // Location of stored crc (last four bytes)
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crc = 0;
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for (int j = 0; j < 4; j++) {
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crc = crc << 8;
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crc = crc | EEPROM.read(i);
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i += 1;
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}
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return (crc);
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}
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bool set_eeprom_crc(void) {
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unsigned long crc;
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unsigned char data;
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int i;
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i = eepromlength - 1; // Location of stored crc (last four bytes)
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crc = eeprom_crc();
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for (int j = 0; j < 4; j++) {
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data = crc & 0xFF;
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EEPROM.write(i, data);
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// if (EEPROM.read(i) != data) return (false);
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i -= 1;
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crc = crc >> 8;
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}
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return (true);
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}
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bool check_eeprom_crc(void) {
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if (eeprom_crc() == get_eeprom_crc()) return true;
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else return false;
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}
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