void LCD_config()
{
function_set(1,1,0); //DL = 1 for 8-bit interface, N = 1 to set the fonts for 2 line display and if N = 1 then value of F doesn't matter
LCD_clear_display();
display_control(1,0,0); //D = 1, so that display is On, C = 0, so that cursor is Off, B = 0 so that cursor is not blinking
Entry_mode_set(1,0); // I_D = 1 so that the cursor position should increment after each character display. S = 0 because we don't want the display to shift after each character display
_delay_ms(50);
}
int main(int argc, char* argv[])
{
#ifdef __linux__
struct sigaction sig_struct;
sig_struct.sa_handler = sig_handler;
sig_struct.sa_flags = 0;
sigemptyset(&sig_struct.sa_mask);
if (sigaction(SIGINT, &sig_struct, NULL) == -1)
{
cout << "Problem with sigaction" << endl;
exit(1);
}
#endif // __linux__
/// === File read needed if moving something from PC to here
// myFP = fopen(netname, "a+");
// if(myFP == NULL)
// {
// cout<<"ERROR opening"<<endl;
// exit(1);
// }
// fread(read_buf, 1, 100, myFP);
// int buffersize = strlen(read_buf);
// fclose(myFP);
// cout<<"read the file: "<<read_buf<<endl;
// =============================================================
int lcdp=lcd_open();
int adcp=ADS1015_Init("/dev/i2c-1");
PCA9685 myPCA={0x40, 0, 69, 0, 0, 0x11, 0x4, 50, 0x79,}; // control structure
myPCA.file=PCA_Init("/dev/i2c-1");
PCA9685_start(myPCA.file);
//adcresult=read_convert_register(adcp);
//sprintf(dis_buf, "ADC: %6.3f V", adcresult);
//lcd_write(dis_buf);
lcd_write("Hello from Steve's\nLCD stuff");
lcd_clear();
get_NIST();
mcp23s17_enable_interrupts(GPIO_INTERRUPT_PIN);
//mcp23s17_enable_interrupts(SW_GPIO_INTERRUPT_PIN);
cout.setf(ios::fixed);
//=== SET CURRENT TIME ==========================
struct tm *newtime; //--- for time now
time_t long_time; //--- Get time as long integer.
double DeltaT=0.0; //--- time since is in minutes
Observer PLACENTIA={"Yorba Linda",Rad(33.909),Rad(-117.782),30.0,0};
//Observer PHILLY={"Philly",Rad(40.0),Rad(-75.0),0.0,0};
double sdctime;
SATELSET Eset;
SATPOS satpos;
//ELLIPSE myEllipse;
//double SP,JDG,E2JD,JDN;
double JDG,E2JD,JDN;
VectorIJK test,test1; //ptest;
//VectLook testlook;
SATSUB SB;
clock_t goal;
clock_t wait=(clock_t)2 * CLOCKS_PER_SEC; // change the 2 for update rate, 2= about 2 seconds
Read_TLE(argv[1], Eset); // read the 2 line data
do
{
time( &long_time );
newtime=gmtime( &long_time ); // time, expressed as a UTC time, GMT timezone
JDN=JD_Now(newtime); //--- JD based on system clock as GMT
JDG=ThetaG_JD(JDN); //--- in radians
E2JD=Epoch2JD(Eset.iEpochYear,Eset.dEpochDay); //--- JD based on TLE epoch
double local_time=0.0;
double test_time=0.0;
local_time=newtime->tm_yday+1+(newtime->tm_hour+(newtime->tm_min+newtime->tm_sec/60.0)/60.0)/24.0;
test_time=local_time-Eset.dEpochDay;
//cout<<"test_time delta days "<<test_time<<endl;
test_time*=1440.0;
//cout<<"test_time delta minutes "<<test_time<<endl;
/**************************************
local_time minus Eset.dEpochDay matches JDN-E2JD.
And is easier to check and calculate and no need for
all the JD and JD0 code.
*************************************/
sdctime=JDN-E2JD; //--- delta days
sdctime*=1440.0; // delta minutes
//sdctime=fmod(sdctime,60);
//cout<<"Current sdctime "<<sdctime<<endl;
DeltaT=sdctime;
//satpos=SatPos(DeltaT, &Eset); //--- get satellite position
satpos=clean_SatPos(DeltaT, &Eset);
cout<<"=====Satellite ECI position============================\n"<<satpos;
test=Obs_Position(PLACENTIA,JDG); //--- get observer position
//test1=Obs_to_ECI(PHILLY,JDG); //-- test data from TS Kelso
test1=Obs_to_ECI(PLACENTIA,JDG);
testlook=LookAngles(satpos, PLACENTIA,JDG); //--- get look angles
SB= SatSubPoint(satpos,JDG);
cout<<"=====Observer ECI====================\n"<<test1;
cout<<"=====Observer Look angles============\n"<<testlook; // for antenna tracker
cout<<"=====Sat Sub Point===================\n"<<SB;
/// used before
//int s_count=read_convert_register_count(adcp);
//set_count(myPCA.file, 0, 5, s_count); // file channel, start count, end count
/// LCD setup and stuff
adcresult=read_convert_register_volts(adcp);
sprintf(dis_buf, "ADC: %6.3f V", adcresult);
lcd_write(dis_buf);
/// aztovolts is the target reference position
double aztovolts = (Deg(testlook.AZ)) * (3.2/360.0);
/// wtf is the difference of the pot input, adcresults, and reference
double wtf = aztovolts - adcresult; /// double - float
printf("\nVOLTS ADC: %6.3f V\n",adcresult);
printf("AZ Degrees: %6.3f \n",Deg(testlook.AZ));
printf("AZ to volts: %6.3f V\n",aztovolts);
printf("DELTA: %6.3f \n",wtf);
/**
volts 0 1.6 3.2
count 200 320 450
max left no motion max right
1 ms 1.5 ms 2ms
50 hz timing
**/
/// for applying delta Vin
//float PCAcount = (wtf*80)+320; ///this is for 0 - 3.2 Vin
float PCAcount = (wtf*80)+300; ///this is for 0 - 3.2 Vin, 340 from measurements
if(wtf< -1.25)
PCAcount = 240;
else if(wtf> 1.25)
PCAcount = 425;
//set_count(myPCA.file, 0, 5, PCAcount); // file channel, start count, end count
set_count(myPCA.file, 0, 1, PCAcount); // file channel, start count, end count
//set_count(myPCA.file, 1, 1, PCAcount); // file channel, start count, end count
printf("MOTOR count: %6.3f \n",PCAcount);
//#define TRACK 0
//#define LOCATION 1
//#define SATDATA 2
//#define NIST 3
if(display_count < 5)
{
display_control(TRACK, PLACENTIA, SB, Eset, testlook);
display_count++;
LED_off(GPIO_INTERRUPT_PIN);
}
else
{
display_control(LOCATION, PLACENTIA, SB, Eset, testlook);
display_count++;
LED_on(GPIO_INTERRUPT_PIN);
}
if(display_count > 10)
{
display_count = 0;
}
/**
====================
Look angles:visible
AZ:123456 EL:123456
Sat LAT/LONG
LT:123456 LG:123456
====================
Location Yorba Linda
LT:123456 LG:123456
Range: 123456
====================
Tracking:ISS (ZARYA)
Incl:12345
MM: 123456
MA: 123456
**/
/// LCD done
goal = wait + clock();
while( goal > clock() );
#ifdef __linux__
if(ctrl_c_pressed)
{
cout << "Ctrl^C Pressed" << endl;
cout << "unexporting pins" << endl;
//gpio26->unexport_gpio();
//gpio16->unexport_gpio();
mcp23s17_disable_interrupts(GPIO_INTERRUPT_PIN);
//mcp23s17_disable_interrupts(SW_GPIO_INTERRUPT_PIN);
cout << "deallocating GPIO Objects" << endl;
//delete gpio26;
//gpio26 = 0;
//delete gpio16;
//gpio16 =0;
break;
}
#endif // __linux__
}
#ifdef __linux__
while(1);
#elif _WIN32
while(!(_kbhit()));
#else
#endif
//while(1);
//while(!(_kbhit()));
//pthread_exit(NULL);
set_all(myPCA.file, 0, 0); /// kill the servos
lcd_close(); /// kill the LCD
return 0;
}
