satnogs-rotator-firmware

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stepper_motor_controller

#include <Arduino.h>
#include <AccelStepper.h>
#include <Wire.h>
#include "../libraries/globals.h"
#include "../libraries/easycomm.h"
#include "../libraries/rotator_pins.h"
#include "../libraries/rs485.h"
#include "../libraries/endstop.h"
#include "../libraries/watchdog.h"

Include dependency graph for stepper_motor_controller.ino:

Go to the source code of this file.

Macros
#define	SAMPLE_TIME 0.1
	Control loop in s.

#define	RATIO 54
	Gear ratio of rotator gear box.

#define	MICROSTEP 8
	Set Microstep.

#define	MIN_PULSE_WIDTH 20
	In microsecond for AccelStepper.

#define	MAX_SPEED 3200
	In steps/s, consider the microstep.

#define	MAX_ACCELERATION 1600
	In steps/s^2, consider the microstep.

#define	SPR 1600L
	Step Per Revolution, consider the microstep.

#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_DELAY 12000
	Time for homing Deceleration in millisecond.

Functions
AccelStepper	stepper_az (1, M1IN1, M1IN2)

AccelStepper	stepper_el (1, M2IN1, M2IN2)

enum _rotator_error	homing (int32_t seek_az, int32_t seek_el)
	Move both axis with one direction in order to find home position, end-stop switches.

int32_t	deg2step (float deg)
	Convert degrees to steps according to step/revolution, rotator gear box ratio and microstep.

float	step2deg (int32_t step)
	Convert steps to degrees according to step/revolution, rotator gear box ratio and microstep.

void	setup ()

void	loop ()

Variables
uint32_t	t_run = 0

easycomm	comm

endstop	switch_az (SW1, DEFAULT_HOME_STATE)

endstop	switch_el (SW2, DEFAULT_HOME_STATE)

wdt_timer	wdt

Detailed Description

This is the documentation for satnogs rotator controller firmware for stepper 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 AccelStepper 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 stepper_motor_controller.ino.

Macro Definition Documentation

◆ DEFAULT_HOME_STATE

#define DEFAULT_HOME_STATE HIGH

Change to LOW according to Home sensor.

Definition at line 36 of file stepper_motor_controller.ino.

◆ HOME_DELAY

#define HOME_DELAY 12000

Time for homing Deceleration in millisecond.

Definition at line 37 of file stepper_motor_controller.ino.

Referenced by homing().

◆ MAX_ACCELERATION

#define MAX_ACCELERATION 1600

In steps/s^2, consider the microstep.

Definition at line 30 of file stepper_motor_controller.ino.

Referenced by setup().

◆ MAX_M1_ANGLE

#define MAX_M1_ANGLE 360

Maximum angle of azimuth.

Definition at line 33 of file stepper_motor_controller.ino.

Referenced by loop().

◆ MAX_M2_ANGLE

#define MAX_M2_ANGLE 180

Maximum angle of elevation.

Definition at line 35 of file stepper_motor_controller.ino.

Referenced by loop().

◆ MAX_SPEED

#define MAX_SPEED 3200

In steps/s, consider the microstep.

Definition at line 29 of file stepper_motor_controller.ino.

Referenced by setup().

◆ MICROSTEP

#define MICROSTEP 8

Set Microstep.

Definition at line 27 of file stepper_motor_controller.ino.

◆ MIN_M1_ANGLE

#define MIN_M1_ANGLE 0

Minimum angle of azimuth.

Definition at line 32 of file stepper_motor_controller.ino.

◆ MIN_M2_ANGLE

#define MIN_M2_ANGLE 0

Minimum angle of elevation.

Definition at line 34 of file stepper_motor_controller.ino.

◆ MIN_PULSE_WIDTH

#define MIN_PULSE_WIDTH 20

In microsecond for AccelStepper.

Definition at line 28 of file stepper_motor_controller.ino.

Referenced by setup().

◆ RATIO

#define RATIO 54

Gear ratio of rotator gear box.

Definition at line 26 of file stepper_motor_controller.ino.

Referenced by deg2step(), and step2deg().

◆ SAMPLE_TIME

#define SAMPLE_TIME 0.1

Control loop in s.

Definition at line 25 of file stepper_motor_controller.ino.

◆ SPR

#define SPR 1600L

Step Per Revolution, consider the microstep.

Definition at line 31 of file stepper_motor_controller.ino.

Referenced by deg2step(), and step2deg().

Function Documentation

◆ deg2step()

int32_t deg2step ( float deg )

Convert degrees to steps according to step/revolution, rotator gear box ratio and microstep.

Parameters

deg	Degrees in float format

Returns: Steps for stepper motor driver, int32_t

Definition at line 212 of file stepper_motor_controller.ino.

References RATIO, and SPR.

Referenced by loop().

◆ homing()

enum _rotator_error homing	(	int32_t	seek_az,
		int32_t	seek_el )

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

Parameters

seek_az	Steps to find home position for azimuth axis
seek_el	Steps to find home position for elevation axis

Returns: _rotator_error

Definition at line 155 of file stepper_motor_controller.ino.

References control_az, control_el, endstop::get_state(), HOME_DELAY, homing_error, no_error, _control::setpoint, stepper_az(), stepper_el(), switch_az, switch_el, wdt_timer::watchdog_reset(), and wdt.

Here is the call graph for this function:

◆ loop()

void loop ( )

Definition at line 85 of file stepper_motor_controller.ino.

References comm, control_az, control_el, _rotator::control_mode, deg2step(), easycomm::easycomm_proc(), endstop::get_state(), homing(), homing_error, _rotator::homing_flag, idle, _control::input, MAX_M1_ANGLE, MAX_M2_ANGLE, no_error, pointing, position, r_error, rotator, _rotator::rotator_error, _rotator::rotator_status, _control::setpoint, step2deg(), stepper_az(), stepper_el(), _rotator::switch_az, switch_az, _rotator::switch_el, switch_el, wdt_timer::watchdog_reset(), and wdt.

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◆ setup()

void setup ( )

Definition at line 60 of file stepper_motor_controller.ino.

References comm, easycomm::easycomm_init(), endstop::init(), MAX_ACCELERATION, MAX_SPEED, MIN_PULSE_WIDTH, MOTOR_EN, stepper_az(), stepper_el(), switch_az, switch_el, wdt_timer::watchdog_init(), and wdt.

Here is the call graph for this function:

◆ step2deg()

float step2deg ( int32_t step )

Convert steps to degrees according to step/revolution, rotator gear box ratio and microstep.

Parameters

step	Steps in int32_t format

Returns: Degrees in float format

Definition at line 225 of file stepper_motor_controller.ino.

References RATIO, and SPR.

Referenced by loop().

◆ stepper_az()

AccelStepper stepper_az	(	1	,
		M1IN1	,
		M1IN2	)

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

◆ stepper_el()

AccelStepper stepper_el	(	1	,
		M2IN1	,
		M2IN2	)

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

Variable Documentation

◆ comm

Definition at line 50 of file stepper_motor_controller.ino.

Referenced by 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 49 of file stepper_motor_controller.ino.

◆ wdt

Definition at line 54 of file stepper_motor_controller.ino.

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