#include <reg167.h>
#include <stdarg.h>
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <math.h>
#include <absacc.h>
#include <intrins.h>
#include "global.h"
#include "int.h"
#include "ext/MISC.H"
#include "ext/I2C_HARD.H"
#include "ext/I2C_BUS.H"
#include "ext/RTC.H"
#include "util.c"
#include "astro.c"
#include "usr.c"
#include "scope.c"
#define CONFIGINIT 12345
typedef struct configstruct {
int __initid;
double __LATITUDE;
double __LONGITUDE;
double __CFG_HSTS_HO;
double __CFG_HSTS_VE;
double __CFG_HSTS_FR;
int __CFG_SP1_HO;
int __CFG_SP1_VE;
int __CFG_SP2_HO;
int __CFG_SP2_VE;
int __CFG_SP3_HO;
int __CFG_SP3_VE;
int __CFG_SP_FR;
int __CFG_ENC_HO;
int __CFG_ENC_VE;
unsigned char __ENC_FLAGS;
unsigned char __RESERVE;
} configstruct;
configstruct cfg[4];
int curconfig;
const char main_txt0[18] = " C167 ELTEL\0";
const char main_txt1[18] = " VERSION 1.00\0";
const char main_txt2[18] = " E. Benninghaus\0";
const char main_txt3[18] = " Rottweil 2003\0";
const char menu_txt[3][18] = {
" ELTEL MOTORS\0",
" ELTEL ENCODE\0",
" ELTEL CONFIG\0"
};
const char cfg_txt[29][18] = {
" DATE-TIME\0",
" LATITUDE\0",
" LONGITUDE\0",
" ENCODER HO\0",
" ENCODER VE\0",
" HSTEPSIZE HO\0",
" HSTEPSIZE VE\0",
" HSTEPSIZE FR\0",
" SPEED COR.1 HO\0",
" SPEED COR.1 VE\0",
" SPEED COR.2 HO\0",
" SPEED COR.2 VE\0",
" SPEED GOTO HO\0",
" SPEED GOTO VE\0",
" SPEED GOTO FR\0",
" ON/OFF ENC HO\0",
" ON/OFF ENC VE\0",
" SHOW ENC ARCS\0",
" SHOW ENC AZALT\0",
" SHOW ENC RADEC\0",
" AUTOTEST ENCHO\0",
" AUTOTEST ENCVE\0",
" SAVE CONFIG\0",
" SET CONFIG 1\0",
" SET CONFIG 2\0",
" SET CONFIG 3\0",
" SET CONFIG 4\0",
" EDIT OBJLIST\0",
" SERIAL OBJLOAD\0"
};
#define CFGLASTOFFSET 25
void getConfiguration( void ) {
if( cfg[curconfig].__initid != CONFIGINIT ) {
return;
}
LATITUDE = cfg[curconfig].__LATITUDE;
LONGITUDE = cfg[curconfig].__LONGITUDE;
CFG_HSTS_HO = cfg[curconfig].__CFG_HSTS_HO;
CFG_HSTS_VE = cfg[curconfig].__CFG_HSTS_VE;
CFG_HSTS_FR = cfg[curconfig].__CFG_HSTS_FR;
CFG_SP1_HO = cfg[curconfig].__CFG_SP1_HO;
CFG_SP1_VE = cfg[curconfig].__CFG_SP1_VE;
CFG_SP2_HO = cfg[curconfig].__CFG_SP2_HO;
CFG_SP2_VE = cfg[curconfig].__CFG_SP2_VE;
CFG_SP3_HO = cfg[curconfig].__CFG_SP3_HO;
CFG_SP3_VE = cfg[curconfig].__CFG_SP3_VE;
CFG_SP_FR = cfg[curconfig].__CFG_SP_FR;
CFG_ENC_HO = cfg[curconfig].__CFG_ENC_HO;
CFG_ENC_VE = cfg[curconfig].__CFG_ENC_VE;
ENC_FLAGS = cfg[curconfig].__ENC_FLAGS & 3;
}
void setConfiguration( void ) {
cfg[curconfig].__LATITUDE = LATITUDE;
cfg[curconfig].__LONGITUDE = LONGITUDE;
cfg[curconfig].__CFG_HSTS_HO = CFG_HSTS_HO;
cfg[curconfig].__CFG_HSTS_VE = CFG_HSTS_VE;
cfg[curconfig].__CFG_HSTS_FR = CFG_HSTS_FR;
cfg[curconfig].__CFG_SP1_HO = CFG_SP1_HO;
cfg[curconfig].__CFG_SP1_VE = CFG_SP1_VE;
cfg[curconfig].__CFG_SP2_HO = CFG_SP2_HO;
cfg[curconfig].__CFG_SP2_VE = CFG_SP2_VE;
cfg[curconfig].__CFG_SP3_HO = CFG_SP3_HO;
cfg[curconfig].__CFG_SP3_VE = CFG_SP3_VE;
cfg[curconfig].__CFG_SP_FR = CFG_SP_FR;
cfg[curconfig].__CFG_ENC_HO = CFG_ENC_HO;
cfg[curconfig].__CFG_ENC_VE = CFG_ENC_VE;
cfg[curconfig].__ENC_FLAGS = ENC_FLAGS;
cfg[curconfig].__initid = CONFIGINIT;
}
void config_reset( void ) {
CFG_ENC_HO = 4000;
CFG_ENC_VE = 4000;
ARC10PERENCHO = ARC10_360 / 4000;
ARC10PERENCVE = ARC10_360 / 4000;
LATITUDE = 48.766667;
LONGITUDE = 9.183333;
CUR_ARC10_HO = 0;
CUR_ARC10_VE = 0;
OBJ_ARC10_HO = 0;
OBJ_ARC10_VE = 0;
ENC_ARC10_HO = 0;
ENC_ARC10_VE = 0;
CUR_HSTEPS_HO = 0;
CUR_HSTEPS_VE = 0;
TRG_HSTEPS_HO = 0;
TRG_HSTEPS_VE = 0;
HSTEPSHO090 = 324000;
HSTEPSHO180 = 648000;
HSTEPSHO270 = 972000;
HSTEPSHO359 = 1295999;
CFG_HSTS_HO = 1.0;
CFG_HSTS_VE = 1.0;
CFG_HSTS_FR = 1.0;
CFG_SP1_HO = 600;
CFG_SP1_VE = 600;
CFG_SP2_HO = 5;
CFG_SP2_VE = 5;
CFG_SP3_HO = 5;
CFG_SP3_VE = 5;
OBJ_DEG_AZ = 0;
OBJ_DEG_ALT = 0;
OBJ_DEG_RA = 0;
OBJ_DEG_DEC = 0;
if( ( curconfig < 0 ) || ( curconfig > 3 ) ){
curconfig = 0;
}
getConfiguration();
}
void config( void ) {
REAL_TIME Time;
unsigned char KEY,_y,cf;
int y,upd,cmd,v1;
lcd_clear();
wait_10ms(1);
y = 0;
_y = 0;
upd = 1;
KEY = NOKEY;
while( KEY != KEY_C ){
if( upd ) {
switch( curconfig ){
case 0: cf = '1';break;
case 1: cf = '2';break;
case 2: cf = '3';break;
case 3: cf = '4';break;
}
lcd_clear();
lcd_puts(0,0,cfg_txt[ y + 0 ]);
lcd_puts(1,0,cfg_txt[ y + 1 ]);
lcd_puts(2,0,cfg_txt[ y + 2 ]);
lcd_puts(3,0,cfg_txt[ y + 3 ]);
upd = 0;
}
lcd_setcursor(_y,0);
lcd_putchar( cf );
KEY = readkey();
if(KEY == KEY_DOWN ){
lcd_setcursor(_y,0);
lcd_putchar(' ');
_y++;
if(_y > 3 ){
if( y < CFGLASTOFFSET ) {
y++;
upd = 1;
}
_y = 3;
}
continue;
}
if(KEY == KEY_UP ){
lcd_setcursor(_y,0);
lcd_putchar(' ');
if(_y > 0 ){
_y--;
}
else {
if( y > 0 ){
y--;
upd = 1;
}
_y = 0;
}
continue;
}
if(KEY == KEY_E ){
cmd = y + _y;
switch( cmd ) {
case 0:
//setting date-time
stopTimerInt();
if( usrGetDateTime() ){
//Time.Weekday = THURSDAY;
Time.Date = INT2BCD(DAY);
Time.Month = INT2BCD(MONTH);
Time.Year = INT2BCD(YEAR);
Time.Hour = INT2BCD(HOUR);
Time.Minute = INT2BCD(MINUTE);
Time.Second = INT2BCD(SECOND);
if (RTCSetTime(&Time, RTCDEVICEID ) == RTC_SUCCESSFUL) {
setDaysOfMonth( MONTH, YEAR );
startTimerInt();
}
}
else {
startTimerInt();
}
break;
case 1:
//latitude
LATITUDE = usrGetDouble( 0 , LATITUDE );
break;
case 2:
//longitude
LONGITUDE = usrGetDouble( 0 , LONGITUDE );
break;
case 3:
//encoder horizontal
CFG_ENC_HO = usrGetInt( 0 , CFG_ENC_HO );
ARC10PERENCHO = ARC10_360 / CFG_ENC_HO;
break;
case 4:
//encoder vertical
CFG_ENC_VE = usrGetInt( 0 , CFG_ENC_VE );
ARC10PERENCVE = ARC10_360 / CFG_ENC_VE;
break;
case 5:
//halfstepsize horizontal
CFG_HSTS_HO = usrGetDouble( 0 , CFG_HSTS_HO );
break;
case 6:
//halfstepsize vertical
CFG_HSTS_VE = usrGetDouble( 0 , CFG_HSTS_VE );
break;
case 7:
//halfstepsize fieldrotator
CFG_HSTS_FR = usrGetDouble( 0 , CFG_HSTS_FR );
break;
case 8:
//speed 1 horizontal correction
CFG_SP1_HO = usrGetInt( 0 , CFG_SP1_HO );
break;
case 9:
//speed 1 vertical correction
CFG_SP1_VE = usrGetInt( 0 , CFG_SP1_VE );
break;
case 10:
//speed 2 horizontal correction
CFG_SP2_HO = usrGetInt( 0 , CFG_SP2_HO );
break;
case 11:
//speed 2 vertical correction
CFG_SP2_VE = usrGetInt( 0 , CFG_SP2_VE );
break;
case 12:
//speed horizontal goto / guiding
CFG_SP3_HO = usrGetInt( 0 , CFG_SP3_HO );
break;
case 13:
//speed vertical goto / guiding
CFG_SP3_VE = usrGetInt( 0 , CFG_SP3_VE );
break;
case 14:
//speed fieldrotator
CFG_SP_FR = usrGetInt( 0 , CFG_SP_FR );
break;
case 15:
//on, off encoder hor
v1 = 0;
if( ENCHO_USE ){
v1 = 1;
}
v1 = usrGetOnOff("ENCODER HO", v1);
ENCHO_USE = OFF;
if(v1){
ENCHO_USE = ON;
}
break;
case 16:
//on, off encoder ver
v1 = 0;
if( ENCVE_USE ){
v1 = 1;
}
v1 = usrGetOnOff("ENCODER VE", v1);
ENCVE_USE = OFF;
if(v1){
ENCVE_USE = ON;
}
break;
case 17:
//show calculated 1/10 arcseconds values of encoders
showEncoders( 1 );
break;
case 18:
//show calculated 1/10 arcseconds encodervalues as az/alt degrees
showEncoders( 2 );
break;
case 19:
//show calculated 1/10 arcseconds encodervalues as ra/dec hours/degrees
showEncoders( 3 );
break;
case 20:
if( ENCHO_USE == ON ) {
encAutoTestHo();
}
break;
case 21:
if( ENCVE_USE == ON ) {
encAutoTestVe();
}
break;
case 22:
setConfiguration();
break;
case 23:
curconfig = 0;
getConfiguration();
break;
case 24:
curconfig = 1;
getConfiguration();
break;
case 25:
curconfig = 2;
getConfiguration();
break;
case 26:
curconfig = 3;
getConfiguration();
break;
case 27:
setListObj();
break;
case 28:
if( usrGetAck("START DOWNLOAD ?") ){
serialObjListDownload();
}
break;
}
upd = 1;
}
}
}
void main( void )
{
REAL_TIME Time;
unsigned char KEY;
unsigned char y,upd,cf;
ADDRSEL1 = 0x0406;
BUSCON1 = 0x04AE;
ADDRSEL2 = 0x0806;
BUSCON2 = 0xc40b;
ADDRSEL3 = 0x0C06;
BUSCON3 = 0x04AE;
ADDRSEL4 = 0x1000;
BUSCON4 = 0x060D;
DP2_8 = INPUT;
DP2_9 = INPUT;
DP2_10 = INPUT;
DP2_11 = INPUT;
DP7_0 = OUTPUT;
DP7_1 = OUTPUT;
DP7_2 = OUTPUT;
DP7_3 = OUTPUT;
DP7_4 = OUTPUT;
DP7_5 = OUTPUT;
DP7_6 = OUTPUT;
DP7_7 = OUTPUT;
DP8_0 = OUTPUT;
DP8_1 = OUTPUT;
DP8_2 = OUTPUT;
DP8_3 = OUTPUT;
DP8_4 = OUTPUT;
ENC_FLAGS = 0;
MOT_FLAGS = 0;
DISABLEMOTORS;
P7 = hsteps[0];
P8 = hsteps[0] & 0x0f;
DISABLEMOTORS;
init_lcd();
lcd_on(0);
lcd_clear();
YEAR = 2003;
MONTH = 1;
DAY = 1;
HOUR = 0;
MINUTE = 0;
SECOND = 0;
MSECOND = 0;
TIMER10 = 0;
THISMDAYS = 31;
config_reset();
HSTEP_HO = 0;
HSTEP_VE = 0;
HSTEP_FR = 0;
lcd_puts(0,0,main_txt0);
lcd_puts(1,0,main_txt1);
lcd_puts(2,0,main_txt2);
lcd_puts(3,0,main_txt3);
///////////
IEN = 1;
//////////
initTimerInt();
/// here we should get date/time from rtc.
/// and set YEAR ... to values
if (RTCGetTime(&Time, RTCDEVICEID ) == RTC_SUCCESSFUL) {
DAY = BCD2INT( Time.Date );
MONTH = BCD2INT( Time.Month );
YEAR = BCD2INT( Time.Year );
HOUR = BCD2INT( Time.Hour );
MINUTE = BCD2INT( Time.Minute );
SECOND = BCD2INT( Time.Second );
setDaysOfMonth( MONTH, YEAR );
startTimerInt();
}
initEncoderInts();
wait_10ms(100);
wait_10ms(100);
wait_10ms(100);
lcd_clear();
wait_10ms(1);
y = 0;
upd = 1;
while(1){
if( upd ) {
switch( curconfig ){
case 0: cf = '1';break;
case 1: cf = '2';break;
case 2: cf = '3';break;
case 3: cf = '4';break;
}
lcd_clear();
lcd_puts(0,0,menu_txt[ 0 ]);
lcd_puts(1,0,menu_txt[ 1 ]);
lcd_puts(2,0,menu_txt[ 2 ]);
upd = 0;
}
printDateTime(3);
lcd_setcursor(y,0);
lcd_putchar( cf );
KEY = readkey();
if(KEY == KEY_DOWN ){
lcd_setcursor(y,0);
lcd_putchar(' ');
if(y < 2 ){
y++;
}
continue;
}
if(KEY == KEY_UP ){
lcd_setcursor(y,0);
lcd_putchar(' ');
if( y > 0 ){
y--;
}
continue;
}
if(KEY == KEY_E ){
switch( y ) {
case 0:
// program scope
scope();
break;
case 1:
// program scope
encode();
break;
case 2:
// program scope
config();
break;
}
upd = 1;
}
}
}