#include <Arduino.h>
#include <PID_v1.h>
#include <Wire.h>
#include "../libraries/globals.h"
#include "../libraries/easycomm.h"
#include "../libraries/rotator_pins.h"
#include "../libraries/endstop.h"
#include "../libraries/watchdog.h"
#include "../libraries/i2c_mux.h"
#include "../libraries/tc74.h"
#include "../libraries/motor.h"
#include "../libraries/as5601.h"

Include dependency graph for dc_motor_controller.ino:

Macros
#define	SAMPLE_TIME 0.1
	Control loop in s.

#define	RATIO 54
	Gear ratio of rotator gear box.

#define	MAX_PWM 180
	Set max Speed.

#define	MIN_PWM 5
	Set min Speed.

#define	POSITION_DEADZONE 0.2
	Control dead zone.

#define	PCA9540_ID 0x70
	I2C Multiplexer ID.

#define	PCA9540_CH0 0x04
	I2C Multiplexer CHO.

#define	PCA9540_CH1 0x05
	I2C Multiplexer CH1.

#define	TC74_ID 0x48
	Temperature Sensor ID.

#define	OVER_TEMP 60
	Over temperature limit.

#define	ENC_RATIO 2
	Encoder AS5601 gear ratio.

#define	MIN_M1_ANGLE 0
	Minimum angle of azimuth.

#define	MAX_M1_ANGLE 360
	Maximum angle of azimuth.

#define	MIN_M2_ANGLE 0
	Minimum angle of elevation.

#define	MAX_M2_ANGLE 180
	Maximum angle of elevation.

#define	DEFAULT_HOME_STATE HIGH
	Change to LOW according to Home sensor.

#define	HOME_SPEED 100
	Set speed to find home, duty cycle of 8-bit timer.

Functions
enum _rotator_error	homing ()
	Move both axis with one direction in order to find home position, end-stop switches.

void	setup ()

void	loop ()

Variables
uint32_t	t_run = 0

easycomm	comm

motor	motor_az (M1IN1, M1IN2, M1FB, MOTOR_EN, M1SF, MAX_PWM, MIN_PWM)

motor	motor_el (M2IN1, M2IN2, M2FB, MOTOR_EN, M2SF, MAX_PWM, MIN_PWM)

PID pid_az &	control_az

PID pid_el &	control_el

endstop	switch_az (SW1, DEFAULT_HOME_STATE)

endstop	switch_el (SW2, DEFAULT_HOME_STATE)

i2c_mux	pca9540 (PCA9540_ID, PCA9540_CH0, PCA9540_CH1)

tc74	temp_sensor (TC74_ID)

AS5601	encoder_az

AS5601	encoder_el

wdt_timer	wdt

Detailed Description

This is the documentation for satnogs rotator controller firmware for dc motors configuration. The board (PCB) is placed in satnogs-rotator-controller and is for releases: v2.0 v2.1 v2.2 wiki page

Dependencies

This firmware depends on Arduino-PID-Library being present on your system. Please make sure you have installed the latest version before using this firmware.

License

Licensed under the GPLv3.

Definition in file dc_motor_controller.ino.

Macro Definition Documentation

◆ DEFAULT_HOME_STATE

#define DEFAULT_HOME_STATE HIGH

Change to LOW according to Home sensor.

Definition at line 40 of file dc_motor_controller.ino.

◆ ENC_RATIO

#define ENC_RATIO 2

Encoder AS5601 gear ratio.

Definition at line 35 of file dc_motor_controller.ino.

Referenced by setup().

◆ HOME_SPEED

#define HOME_SPEED 100

Set speed to find home, duty cycle of 8-bit timer.

Definition at line 41 of file dc_motor_controller.ino.

Referenced by homing().

◆ MAX_M1_ANGLE

#define MAX_M1_ANGLE 360

Maximum angle of azimuth.

Definition at line 37 of file dc_motor_controller.ino.

Referenced by homing().

◆ MAX_M2_ANGLE

#define MAX_M2_ANGLE 180

Maximum angle of elevation.

Definition at line 39 of file dc_motor_controller.ino.

Referenced by homing().

◆ MAX_PWM

#define MAX_PWM 180

Set max Speed.

Definition at line 27 of file dc_motor_controller.ino.

Referenced by setup().

◆ MIN_M1_ANGLE

#define MIN_M1_ANGLE 0

Minimum angle of azimuth.

Definition at line 36 of file dc_motor_controller.ino.

◆ MIN_M2_ANGLE

#define MIN_M2_ANGLE 0

Minimum angle of elevation.

Definition at line 38 of file dc_motor_controller.ino.

◆ MIN_PWM

#define MIN_PWM 5

Set min Speed.

Definition at line 28 of file dc_motor_controller.ino.

◆ OVER_TEMP

#define OVER_TEMP 60

Over temperature limit.

Definition at line 34 of file dc_motor_controller.ino.

Referenced by loop().

◆ PCA9540_CH0

#define PCA9540_CH0 0x04

I2C Multiplexer CHO.

Definition at line 31 of file dc_motor_controller.ino.

Referenced by homing(), and loop().

◆ PCA9540_CH1

#define PCA9540_CH1 0x05

I2C Multiplexer CH1.

Definition at line 32 of file dc_motor_controller.ino.

Referenced by homing(), and loop().

◆ PCA9540_ID

#define PCA9540_ID 0x70

I2C Multiplexer ID.

Definition at line 30 of file dc_motor_controller.ino.

◆ POSITION_DEADZONE

#define POSITION_DEADZONE 0.2

Control dead zone.

Definition at line 29 of file dc_motor_controller.ino.

Referenced by loop().

◆ RATIO

#define RATIO 54

Gear ratio of rotator gear box.

Definition at line 26 of file dc_motor_controller.ino.

◆ SAMPLE_TIME

#define SAMPLE_TIME 0.1

Control loop in s.

Definition at line 25 of file dc_motor_controller.ino.

Referenced by loop(), and setup().

◆ TC74_ID

#define TC74_ID 0x48

Temperature Sensor ID.

Definition at line 33 of file dc_motor_controller.ino.

Function Documentation

◆ homing()

enum _rotator_error homing ( )

Move both axis with one direction in order to find home position, end-stop switches.

Returns: _rotator_error

Definition at line 215 of file dc_motor_controller.ino.

References control_az, control_el, encoder_az, encoder_el, AS5601::get_pos(), endstop::get_state(), HOME_SPEED, homing_error, AS5601::init_zero(), MAX_M1_ANGLE, MAX_M2_ANGLE, motor_az, motor_el, motor::move(), no_error, pca9540, PCA9540_CH0, PCA9540_CH1, i2c_mux::set_channel(), AS5601::set_zero(), motor::stop(), switch_az, switch_el, wdt_timer::watchdog_reset(), and wdt.

Referenced by loop().

Here is the call graph for this function:

◆ loop()

void loop ( )

Definition at line 106 of file dc_motor_controller.ino.

References comm, control_az, control_el, _rotator::control_mode, motor::disenable(), easycomm::easycomm_proc(), encoder_az, encoder_el, _rotator::fault_az, _rotator::fault_el, motor::get_fault(), AS5601::get_pos(), endstop::get_state(), tc74::get_temp(), homing(), homing_error, _rotator::homing_flag, idle, _rotator::inside_temperature, motor_az, motor_el, motor_error, motor::move(), moving, no_error, OVER_TEMP, over_temperature, pca9540, PCA9540_CH0, PCA9540_CH1, pointing, position, POSITION_DEADZONE, r_error, rotator, _rotator::rotator_error, _rotator::rotator_status, SAMPLE_TIME, i2c_mux::set_channel(), tc74::sleep(), speed, motor::stop(), _rotator::switch_az, switch_az, _rotator::switch_el, switch_el, t_run, temp_sensor, tc74::wake_up(), wdt_timer::watchdog_reset(), and wdt.

Here is the call graph for this function:

◆ setup()

void setup ( )

Definition at line 72 of file dc_motor_controller.ino.

References comm, easycomm::easycomm_init(), motor::enable(), ENC_RATIO, encoder_az, encoder_el, endstop::init(), i2c_mux::init(), motor::init_pin(), motor::init_timer(), MAX_PWM, motor_az, motor_el, pca9540, SAMPLE_TIME, AS5601::set_gear_ratio(), switch_az, switch_el, wdt_timer::watchdog_init(), and wdt.

Here is the call graph for this function:

Variable Documentation

◆ comm

easycomm comm

Definition at line 57 of file dc_motor_controller.ino.

Referenced by loop(), and setup().

◆ control_az

PID pid_az& control_az

Definition at line 60 of file dc_motor_controller.ino.

Referenced by homing(), and loop().

◆ control_el

PID pid_el& control_el

Definition at line 62 of file dc_motor_controller.ino.

Referenced by homing(), and loop().

◆ encoder_az

AS5601 encoder_az

Definition at line 67 of file dc_motor_controller.ino.

Referenced by homing(), loop(), and setup().

◆ encoder_el

AS5601 encoder_el

Definition at line 67 of file dc_motor_controller.ino.

Referenced by homing(), loop(), and setup().

◆ motor_az

motor motor_az(M1IN1, M1IN2, M1FB, MOTOR_EN, M1SF, MAX_PWM, MIN_PWM)	(	M1IN1	,
		M1IN2	,
		M1FB	,
		MOTOR_EN	,
		M1SF	,
		MAX_PWM	,
		MIN_PWM	)

Referenced by homing(), loop(), and setup().

◆ motor_el

motor motor_el(M2IN1, M2IN2, M2FB, MOTOR_EN, M2SF, MAX_PWM, MIN_PWM)	(	M2IN1	,
		M2IN2	,
		M2FB	,
		MOTOR_EN	,
		M2SF	,
		MAX_PWM	,
		MIN_PWM	)

Referenced by homing(), loop(), and setup().

◆ pca9540

i2c_mux pca9540(PCA9540_ID, PCA9540_CH0, PCA9540_CH1)	(	PCA9540_ID	,
		PCA9540_CH0	,
		PCA9540_CH1	)

Referenced by homing(), loop(), and setup().

◆ switch_az

endstop switch_az(SW1, DEFAULT_HOME_STATE)	(	SW1	,
		DEFAULT_HOME_STATE	)

Referenced by homing(), loop(), and setup().

◆ switch_el

endstop switch_el(SW2, DEFAULT_HOME_STATE)	(	SW2	,
		DEFAULT_HOME_STATE	)

Referenced by homing(), loop(), and setup().

◆ t_run

uint32_t t_run = 0

Definition at line 56 of file dc_motor_controller.ino.

Referenced by loop().

◆ temp_sensor

tc74 temp_sensor(TC74_ID) ( TC74_ID )

Referenced by loop().

◆ wdt

wdt_timer wdt

Definition at line 68 of file dc_motor_controller.ino.

Referenced by homing(), loop(), and setup().

Macros

Functions

Variables

Detailed Description

Dependencies

License

Macro Definition Documentation

◆ DEFAULT_HOME_STATE

◆ ENC_RATIO

◆ HOME_SPEED

◆ MAX_M1_ANGLE

◆ MAX_M2_ANGLE

◆ MAX_PWM

◆ MIN_M1_ANGLE

◆ MIN_M2_ANGLE

◆ MIN_PWM

◆ OVER_TEMP

◆ PCA9540_CH0

◆ PCA9540_CH1

◆ PCA9540_ID

◆ POSITION_DEADZONE

◆ RATIO

◆ SAMPLE_TIME

◆ TC74_ID

Function Documentation

◆ homing()

◆ loop()

◆ setup()

Variable Documentation

◆ comm

◆ control_az

◆ control_el

◆ encoder_az

◆ encoder_el

◆ motor_az

◆ motor_el

◆ pca9540

◆ switch_az

◆ switch_el

◆ t_run

◆ temp_sensor

◆ wdt