/************************************************************************** Name - main() Parameters - Nothing Responsibility - Main control structure for the AZ/EL rotor control system Notes - Most recent development environment used: OS Linux Mint - Mate edition avr-gcc Compiler version 1:4.7.2-2 avr-libc version 1:1.8.0-3 avrdude version 5.11.1.1 Last updated Jan. 2014 - Controller -- Atmel ATmega32 with 8.0 Mhz external resonator Use with different resonator freq. will require code changes. This project was started in 2006. The ATmega32 part was current at that time. At this time I would migrate to the ATmega 644 part for any significant enhancements. However, be aware that this will require source code changes since some of the on-board peripheral control is not the same. Fuse bits, etc. will also need to be re-evaluated. - FUSE BITS REQUIRED: HFUSE = D9 LFUSE = FF If using a parallel port cable: parport0 may need to have its mode changed before using avrdude in terminal mode. chmod 0666 /dev/parport0 Verify fuse bits with: avrdude -c dt006 -p m32 -P /dev/parport0 -t OR avrdude -c usbtiny -p m32 -t I use usbtiny for all projects now so the Makefile has been modified to reflect this. read hfuse read lfuse write hfuse 00 0xd9 write lfuse 00 0xff quit - to exit avrdude in terminal mode Returns - Nothing Author - Bill (N9CX) **************************************************************************/ #include #include #include #include #include #include #include #include "uart_putchar.h" #include "gpr.h" #include "lcd.h" #include "switches.h" #include "sw_timers.h" #include "uart_getchar.h" #include "rotor.h" #define LOCAL #include "main.h" void init_uart(void ); int out_queue(void); void initialize(void); void mode_priority(void); void save_el_rotor(void); void save_az_rotor(void); void manual(struct rotor *); void rotor_pwr(struct rotor *, char); void calibrate(struct rotor *); void init_timer1(void); void init_rotor_ctl_io(void); void rotor_bearing(struct rotor *); void auto_track(struct rotor *); void detect_rotor(struct rotor *); char novacomm1_parser(char *cptr, int); char Mac_Doppler_parser(char *cptr, int); char parse_tracking_data(void); int lcd_putc(char c, FILE * stream); /* This is one of the new avr-libc options for stdio I/O It opens the file structures and returns a pointer to it. This happens prior to main being called. */ int uart_putchar(char c, FILE * stream); int uart_getchar(char c, FILE * stream); FILE uart_out = FDEV_SETUP_STREAM(uart_putchar, uart_getchar, _FDEV_SETUP_RW); FILE lcd_out = FDEV_SETUP_STREAM(lcd_putc, NULL, _FDEV_SETUP_WRITE); char rotor_position(struct rotor *); void update_display(void); extern char new_auto_bearing; int main(void) { mode = INITIALIZE; while(1) { switch( mode ) { case DETECT: detect_rotor(&az_rotor); detect_rotor(&el_rotor); if(az_rotor.detect_submode == DONE && el_rotor.detect_submode == DONE){ az_rotor.detect_submode = START; el_rotor.detect_submode = START; request_lcd_refresh = TRUE; mode = MANUAL; } break; case MANUAL: if(az_rotor.type == 'P') manual(&az_rotor); if(el_rotor.type == 'P') manual(&el_rotor); break; case AUTO: // "new_auto_bearing" is set by background interrupt sw. if(new_auto_bearing){ new_auto_bearing = FALSE; if(parse_tracking_data() ){ request_lcd_refresh = TRUE; } } if(az_rotor.type == 'P') auto_track(&az_rotor); if(el_rotor.type == 'P') auto_track(&el_rotor); break; case CALIBRATE: if(az_rotor.type == 'P') calibrate(&az_rotor); if(el_rotor.type == 'P') calibrate(&el_rotor); if( (el_rotor.cal_submode == FINISHED||el_rotor.type!='P') && (az_rotor.cal_submode == FINISHED|| az_rotor.type!='P') ){ if(el_rotor.type =='P') save_el_rotor(); if(az_rotor.type =='P') save_az_rotor(); request_lcd_refresh = TRUE; mode = MANUAL; } break; case IDLE: break; case INITIALIZE: //Blocks till finished initialize(); sei(); // enable global interrupts if(el_rotor.type != 'P' || az_rotor.type != 'P'){ mode = DETECT; } else { mode = MANUAL; } request_lcd_refresh = TRUE; break; default: mode = MANUAL; break; } if(mode == MANUAL || mode == AUTO || mode == DETECT){ if(rotor_position(&az_rotor)){ rotor_bearing(&az_rotor); request_lcd_refresh = TRUE; } if(rotor_position(&el_rotor)){ rotor_bearing(&el_rotor); request_lcd_refresh = TRUE; } } if(request_lcd_refresh){ update_display(); request_lcd_refresh = FALSE; } // Check for time out of the azimuth pulse limit timer if(!az_rotor.pulse_timer){ if(az_rotor.moving){ if(az_rotor.cw) az_rotor.limit = CW; // TO in CW direction else az_rotor.limit = CCW; // TO in CCW direction az_rotor.pwr_ctl(&az_rotor, PWR_OFF); } else{ // not moving so reset the timeout az_rotor.pulse_timer = PULSE_TIMEOUT; } } // Check for time out of the elevation pulse limit timer if(!el_rotor.pulse_timer){ if(el_rotor.moving){ if(el_rotor.cw) el_rotor.limit = CW; // TO in CW direction else el_rotor.limit = CCW; // TO in CCW direction el_rotor.pwr_ctl(&el_rotor, PWR_OFF); } else{ // not moving so reset the timeout el_rotor.pulse_timer = PULSE_TIMEOUT; } } // This can change the current "mode" mode_priority(); #ifdef DEBUG /* TAKE CARE - this is a development debug feature and will block if not used properly! Requires a splitter cable and a connected terminal. If you do not understand how to use this - don't define DEBUG. */ if(mode != old_mode ) { fprintf(&uart_out, "%2.d ", mode); old_mode = mode; } #endif } }