Well…I GOT IT WORKING!! I don’t even have any servo’s here yet, but I’ve managed to setup the arduino to talk directly to the PC and bypass the Pi completely… I can connect the Arduino directly to my PC and control it via Gpredict. it accurately displays the Read: number gradually changing as I switch between satellites. Getting excited.
output from rotctl
serial_flush called
write_block called
write_block(): TX 7 bytes
0000 41 5a 20 45 4c 20 0a AZ EL .
read_string called
read_string(): RX 14 characters
0000 41 5a 31 35 34 2e 33 20 45 4c 30 2e 30 0a AZ154.3 EL0.0.
easycomm_transaction read_string: AZ154.3 EL0.0
easycomm_rot_get_position got response: AZ154.3 EL0.0
rotctl(d): p '' '' '' ''
rot_get_position called
easycomm_rot_get_position called
easycomm_transaction called: AZ EL
serial_flush called
write_block called
write_block(): TX 7 bytes
0000 41 5a 20 45 4c 20 0a AZ EL .
read_string called
read_string(): RX 14 characters
0000 41 5a 31 35 34 2e 33 20 45 4c 30 2e 30 0a AZ154.3 EL0.0.
easycomm_transaction read_string: AZ154.3 EL0.0
easycomm_rot_get_position got response: AZ154.3 EL0.0
I did this by Editing the easycomm.h file. I basically removed every call to the RS485 library (which allows communications between the Pi and the Arduino directly) and replaced each ‘rs485’ with ‘Serial’ instead… I need to wait to see if I can get it to move the servos tomorrow… Need to start ordering the rest of the parts and find a place to get things 3d printed next!
here’s the edited easycomm.h file so that you can use the arduino sketch directly with gpredict and a PC.
I haven’t tested this with hardware yet. but it compiles and seems to communicate properly.
/*!
* @file easycomm.h
*
* It is a driver for easycomm 3 protocol as referred, in Hamlib.
*
* Licensed under the GPLv3
*
*/
#ifndef LIBRARIES_EASYCOMM_H_
#define LIBRARIES_EASYCOMM_H_
#include <Arduino.h>
#include <WString.h>
#include <avr/wdt.h>
//#include "rs485.h"
#include "rotator_pins.h"
#include "globals.h"
#define RS485_TX_TIME 9 ///< Delay "t"ms to write in serial for RS485 implementation
#define BUFFER_SIZE 256 ///< Set the size of serial buffer
#define BAUDRATE 19200 ///< Set the Baudrate of easycomm 3 protocol
//rs485 rs485(RS485_DIR, RS485_TX_TIME);
/**************************************************************************/
/*!
@brief Class that functions for easycomm 3 implementation
*/
/**************************************************************************/
class easycomm {
public:
/**************************************************************************/
/*!
@brief Initialize the RS485 bus
*/
/**************************************************************************/
void easycomm_init() {
// rs485.begin(BAUDRATE);
Serial.begin(9600);
}
/**************************************************************************/
/*!
@brief Get the commands from RS485 and response to the client
*/
/**************************************************************************/
void easycomm_proc() {
char buffer[BUFFER_SIZE];
char incomingByte;
char *Data = buffer;
char *rawData;
static uint16_t BufferCnt = 0;
char data[100];
String str1, str2, str3, str4, str5, str6;
// Read from serial
while (Serial.available() > 0) {
incomingByte = Serial.read();
// Read new data, '\n' means new pacakage
if (incomingByte == '\n' || incomingByte == '\r') {
buffer[BufferCnt] = 0;
if (buffer[0] == 'A' && buffer[1] == 'Z') {
if (buffer[2] == ' ' && buffer[3] == 'E' &&
buffer[4] == 'L') {
// Send current absolute position in deg
str1 = String("AZ");
str2 = String(control_az.input, 1);
str3 = String(" EL");
str4 = String(control_el.input, 1);
str5 = String("\n");
Serial.print(str1 + str2 + str3 + str4 + str5);
} else {
// Get the absolute position in deg for azimuth
rotator.control_mode = position;
rawData = strtok_r(Data, " ", &Data);
strncpy(data, rawData + 2, 10);
if (isNumber(data)) {
control_az.setpoint = atof(data);
}
// Get the absolute position in deg for elevation
rawData = strtok_r(Data, " ", &Data);
if (rawData[0] == 'E' && rawData[1] == 'L') {
strncpy(data, rawData + 2, 10);
if (isNumber(data)) {
control_el.setpoint = atof(data);
}
}
}
} else if (buffer[0] == 'E' && buffer[1] == 'L') {
// Get the absolute position in deg for elevation
rotator.control_mode = position;
rawData = strtok_r(Data, " ", &Data);
if (rawData[0] == 'E' && rawData[1] == 'L') {
strncpy(data, rawData + 2, 10);
if (isNumber(data)) {
control_el.setpoint = atof(data);
}
}
} else if (buffer[0] == 'V' && buffer[1] == 'U') {
// Elevation increase speed in mdeg/s
rotator.control_mode = speed;
strncpy(data, Data + 2, 10);
if (isNumber(data)) {
// Convert to deg/s
control_el.setpoint_speed = atof(data) / 1000;
}
} else if (buffer[0] == 'V' && buffer[1] == 'D') {
// Elevation decrease speed in mdeg/s
rotator.control_mode = speed;
strncpy(data, Data + 2, 10);
if (isNumber(data)) {
// Convert to deg/s
control_el.setpoint_speed = - atof(data) / 1000;
}
} else if (buffer[0] == 'V' && buffer[1] == 'L') {
// Azimuth increase speed in mdeg/s
rotator.control_mode = speed;
strncpy(data, Data + 2, 10);
if (isNumber(data)) {
// Convert to deg/s
control_az.setpoint_speed = atof(data) / 1000;
}
} else if (buffer[0] == 'V' && buffer[1] == 'R') {
// Azimuth decrease speed in mdeg/s
rotator.control_mode = speed;
strncpy(data, Data + 2, 10);
if (isNumber(data)) {
// Convert to deg/s
control_az.setpoint_speed = - atof(data) / 1000;
}
} else if (buffer[0] == 'S' && buffer[1] == 'A' &&
buffer[2] == ' ' && buffer[3] == 'S' &&
buffer[4] == 'E') {
// Stop Moving
rotator.control_mode = position;
str1 = String("AZ");
str2 = String(control_az.input, 1);
str3 = String(" EL");
str4 = String(control_el.input, 1);
str5 = String("\n");
Serial.print(str1 + str2 + str3 + str4 + str5);
control_az.setpoint = control_az.input;
control_el.setpoint = control_el.input;
} else if (buffer[0] == 'R' && buffer[1] == 'E' &&
buffer[2] == 'S' && buffer[3] == 'E' &&
buffer[4] == 'T') {
// Reset the rotator, go to home position
str1 = String("AZ");
str2 = String(control_az.input, 1);
str3 = String(" EL");
str4 = String(control_el.input, 1);
str5 = String("\n");
Serial.print(str1 + str2 + str3 + str4 + str5);
rotator.homing_flag = false;
} else if (buffer[0] == 'P' && buffer[1] == 'A' &&
buffer[2] == 'R' && buffer[3] == 'K' ) {
// Park the rotator
rotator.control_mode = position;
str1 = String("AZ");
str2 = String(control_az.input, 1);
str3 = String(" EL");
str4 = String(control_el.input, 1);
str5 = String("\n");
Serial.print(str1 + str2 + str3 + str4 + str5);
control_az.setpoint = rotator.park_az;
control_el.setpoint = rotator.park_el;
} else if (buffer[0] == 'V' && buffer[1] == 'E') {
// Get the version if rotator controller
str1 = String("VE");
str2 = String("SatNOGS-v2.2");
str3 = String("\n");
Serial.print(str1 + str2 + str3);
} else if (buffer[0] == 'I' && buffer[1] == 'P' &&
buffer[2] == '0') {
// Get the inside temperature
str1 = String("IP0,");
str2 = String(rotator.inside_temperature, DEC);
str3 = String("\n");
Serial.print(str1 + str2 + str3);
} else if (buffer[0] == 'I' && buffer[1] == 'P' &&
buffer[2] == '1') {
// Get the status of end-stop, azimuth
str1 = String("IP1,");
str2 = String(rotator.switch_az, DEC);
str3 = String("\n");
Serial.print(str1 + str2 + str3);
} else if (buffer[0] == 'I' && buffer[1] == 'P' &&
buffer[2] == '2') {
// Get the status of end-stop, elevation
str1 = String("IP2,");
str2 = String(rotator.switch_el, DEC);
str3 = String("\n");
Serial.print(str1 + str2 + str3);
} else if (buffer[0] == 'I' && buffer[1] == 'P' &&
buffer[2] == '3') {
// Get the current position of azimuth in deg
str1 = String("IP3,");
str2 = String(control_az.input, 2);
str3 = String("\n");
Serial.print(str1 + str2 + str3);
} else if (buffer[0] == 'I' && buffer[1] == 'P' &&
buffer[2] == '4') {
// Get the current position of elevation in deg
str1 = String("IP4,");
str2 = String(control_el.input, 2);
str3 = String("\n");
Serial.print(str1 + str2 + str3);
} else if (buffer[0] == 'I' && buffer[1] == 'P' &&
buffer[2] == '5') {
// Get the load of azimuth, in range of 0-1023
str1 = String("IP5,");
str2 = String(control_az.load, DEC);
str3 = String("\n");
Serial.print(str1 + str2 + str3);
} else if (buffer[0] == 'I' && buffer[1] == 'P' &&
buffer[2] == '6') {
// Get the load of elevation, in range of 0-1023
str1 = String("IP6,");
str2 = String(control_el.load, DEC);
str3 = String("\n");
Serial.print(str1 + str2 + str3);
} else if (buffer[0] == 'I' && buffer[1] == 'P' &&
buffer[2] == '7') {
// Get the speed of azimuth in deg/s
str1 = String("IP7,");
str2 = String(control_az.speed, 2);
str3 = String("\n");
Serial.print(str1 + str2 + str3);
} else if (buffer[0] == 'I' && buffer[1] == 'P' &&
buffer[2] == '8') {
// Get the speed of elevation in deg/s
str1 = String("IP8,");
str2 = String(control_el.speed, 2);
str3 = String("\n");
Serial.print(str1 + str2 + str3);
} else if (buffer[0] == 'G' && buffer[1] == 'S') {
// Get the status of rotator
str1 = String("GS");
str2 = String(rotator.rotator_status, DEC);
str3 = String("\n");
Serial.print(str1 + str2 + str3);
} else if (buffer[0] == 'G' && buffer[1] == 'E') {
// Get the error of rotator
str1 = String("GE");
str2 = String(rotator.rotator_error, DEC);
str3 = String("\n");
Serial.print(str1 + str2 + str3);
} else if(buffer[0] == 'C' && buffer[1] == 'R') {
// Get Configuration of rotator
if (buffer[3] == '1') {
// Get Kp Azimuth gain
str1 = String("1,");
str2 = String(control_az.p, 2);
str3 = String("\n");
Serial.print(str1 + str2 + str3);
} else if (buffer[3] == '2') {
// Get Ki Azimuth gain
str1 = String("2,");
str2 = String(control_az.i, 2);
str3 = String("\n");
Serial.print(str1 + str2 + str3);
} else if (buffer[3] == '3') {
// Get Kd Azimuth gain
str1 = String("3,");
str2 = String(control_az.d, 2);
str3 = String("\n");
Serial.print(str1 + str2 + str3);
} else if (buffer[3] == '4') {
// Get Kp Elevation gain
str1 = String("4,");
str2 = String(control_el.p, 2);
str3 = String("\n");
Serial.print(str1 + str2 + str3);
} else if (buffer[3] == '5') {
// Get Ki Elevation gain
str1 = String("5,");
str2 = String(control_el.i, 2);
str3 = String("\n");
Serial.print(str1 + str2 + str3);
} else if (buffer[3] == '6') {
// Get Kd Elevation gain
str1 = String("6,");
str2 = String(control_el.d, 2);
str3 = String("\n");
Serial.print(str1 + str2 + str3);
} else if (buffer[3] == '7') {
// Get Azimuth park position
str1 = String("7,");
str2 = String(rotator.park_az, 2);
str3 = String("\n");
Serial.print(str1 + str2 + str3);
} else if (buffer[3] == '8') {
// Get Elevation park position
str1 = String("8,");
str2 = String(rotator.park_el, 2);
str3 = String("\n");
Serial.print(str1 + str2 + str3);
} else if (buffer[3] == '9') {
// Get control mode
str1 = String("9,");
str2 = String(rotator.control_mode);
str3 = String("\n");
Serial.print(str1 + str2 + str3);
}
} else if (buffer[0] == 'C' && buffer[1] == 'W') {
// Set Config
if (buffer[2] == '1') {
// Set Kp Azimuth gain
rawData = strtok_r(Data, ",", &Data);
strncpy(data, rawData + 4, 10);
if (isNumber(data)) {
control_az.p = atof(data);
}
} else if (buffer[2] == '2') {
// Set Ki Azimuth gain
rawData = strtok_r(Data, ",", &Data);
strncpy(data, rawData + 4, 10);
if (isNumber(data)) {
control_az.i = atof(data);
}
} else if (buffer[2] == '3') {
// Set Kd Azimuth gain
rawData = strtok_r(Data, ",", &Data);
strncpy(data, rawData + 4, 10);
if (isNumber(data)) {
control_az.d = atof(data);
}
} else if (buffer[2] == '4') {
// Set Kp Elevation gain
rawData = strtok_r(Data, ",", &Data);
strncpy(data, rawData + 4, 10);
if (isNumber(data)) {
control_el.p = atof(data);
}
} else if (buffer[2] == '5') {
// Set Ki Elevation gain
rawData = strtok_r(Data, ",", &Data);
strncpy(data, rawData + 4, 10);
if (isNumber(data)) {
control_el.i = atof(data);
}
} else if (buffer[2] == '6') {
// Set Kd Elevation gain
rawData = strtok_r(Data, ",", &Data);
strncpy(data, rawData + 4, 10);
if (isNumber(data)) {
control_el.d = atof(data);
}
} else if (buffer[2] == '7') {
// Set the Azimuth park position
rawData = strtok_r(Data, ",", &Data);
strncpy(data, rawData + 4, 10);
if (isNumber(data)) {
rotator.park_az = atof(data);
}
} else if (buffer[2] == '8') {
// Set the Elevation park position
rawData = strtok_r(Data, ",", &Data);
strncpy(data, rawData + 4, 10);
if (isNumber(data)) {
rotator.park_el = atof(data);
}
}
} else if (buffer[0] == 'R' && buffer[1] == 'S'
&& buffer[2] == 'T') {
// Custom command to test the watchdog timer routine
while(1)
;
} else if (buffer[0] == 'R' && buffer[1] == 'B') {
// Custom command to reboot the uC
wdt_enable(WDTO_2S);
while(1);
}
// Reset the buffer an clean the serial buffer
BufferCnt = 0;
Serial.flush();
} else {
// Fill the buffer with incoming data
buffer[BufferCnt] = incomingByte;
BufferCnt++;
}
}
}
private:
bool isNumber(char *input) {
for (uint16_t i = 0; input[i] != '\0'; i++) {
if (isalpha(input[i]))
return false;
}
return true;
}
};
#endif /* LIBRARIES_EASYCOMM_H_ */
I look forward to the further development of your project!
