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_2.3.1_Boiana_EQ_Otto_14c.ino
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_2.3.1_Boiana_EQ_Otto_14c.ino
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//
// rDUINOScope - Arduino based telescope control system (GOTO).
// Copyright (C) 2016 Dessislav Gouzgounov (Desso)
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// any later version.
//
// PROJECT Website: http://rduinoscope.byethost24.com
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
// ALLIGNMENT Method: 1 Star Alignment - The method I have implemented is part of Mr. Ralph Pass alignment procedure described on http://rppass.com/
// Mr. Pass helped rDUINOScope by providing the calculations needed to implement the method. http://rppass.com/align.pdf - the actual PDF
//
// Iterative Alignment - The method is based on article from "New" Hamilton Astronomy.com website: http://astro.hcadvantage.com
// Actual PDF document: http://astro.hcadvantage.com/ASTRO_ARTICLES/Polar_Alignment_Part_II.pdf
//
//
//
// HERE GOES THE Mount, Gears and Drive information.
// ... used to calculate the HourAngle to microSteps ratio
// UPDATE THIS PART according to your SET-UP
// ---------------------------------------------
// NB: RA and DEC uses the same gear ratio (144 tooth in my case)!
//----------------------------------------------
int WORM = 144;
float REDUCTOR = 4; // 1:4 gear reduction
int DRIVE_STP = 200; // Stepper drive have 200 steps per revolution
int MICROSteps = 16; // I'll use 1/16 microsteps mode to drive sidereal - also determines the LOWEST speed.
// below variables are used to calculate the paramters where the drive works
int ARCSEC_F_ROTAT = 1296000; // ArcSeconds in a Full earth rotation;
float SIDEREAL_DAY = 86164.0905; // Sidereal day in seconds
float ArcSECstep;
int MicroSteps_360;
int RA_90; // How much in microSteps the RA motor have to turn in order to make 6h = 90 degrees;
int DEC_90; // How mich in microSteps the DEC motor have to turn in order to make 6h = 90 degrees;
float HA_H_CONST;
int HA_M_CONST;
float DEC_D_CONST;
int DEC_M_CONST;
int MIN_TO_MERIDIAN_FLIP = 2; // This constant tells the system when to do the Meridian Flip. "= 2" means 2 minutes before 24:00h (e.g. 23:58h)
int MIN_SOUND_BEFORE_FLIP = 3; // This constant tells the system to start Sound before it makes Meridian Flip
float mer_flp; // The calculateLST_HA() function depending on this timer will convert the HA and DEC to the propper ones to do the flip.
boolean MERIDIAN_FLIP_DO = false;
int Tracking_type = 1; // 1: Sidereal, 2: Solar, 0: Lunar;
int Clock_Sidereal; // Variable for the Interruptions. nterruption is initialized depending on the DATA above -in miliseconds
int Clock_Solar; // Variable for the Interruptions. nterruption is initialized depending on the DATA above -in miliseconds
int Clock_Lunar; // Variable for the Interruptions. nterruption is initialized depending on the DATA above -in miliseconds
////////////////////////////////////////////////
#include "DHT.h"
#include <TinyGPS++.h>
#include <Time.h>
//#include <ads7843.h>
#include <UTouch.h> // Because my TFT has on other Touch Chip, we use te UTouch Librarry for XPT2046 instied of ADS7843
#include <SPI.h>
#include <SD.h>
#include <Adafruit_GFX.h> // Core graphics library
#include <tftlib.h> // Hardware-specific library
#include <DueTimer.h> // interruptions library0
#include <DS3231.h>
#include <math.h>
//#define PSTR(a) a
// The control pins for the LCD can be assigned to any digital or
// analog pins...but we'll use the analog pins as this allows us to
// double up the pins with the touch screen (see the TFT paint example).
//#define LCD_CS A3 // Chip Select goes to Analog 3
//#define LCD_CD A2 // Command/Data goes to Analog 2
//#define LCD_WR A1 // LCD Write goes to Analog 1
//#define LCD_RD A0 // LCD Read goes to Analog 0
#define LCD_RESET A4 // Can alternately just connect to Arduino's reset pin
/** ADS7843 pin map */
#ifdef ELECFREAKS_TFT_SHIELD_V2
#define DCLK 6
#define CS 5
#define DIN 4
#define DOUT 3
#define IRQ 2
#elif defined ELECHOUSE_DUE_TFT_SHIELD_V1
/** elechouse TFT shield pin map */
#define DCLK 25
#define CS 26
#define DIN 27
#define DOUT 29
#define IRQ 30
#endif
UTouch myTouch(DCLK, CS, DIN, DOUT, IRQ);
// Assign human-readable names to some common 16-bit color values:
#define BLACK 0x0000 /* 0, 0, 0 */
#define NAVY 0x000F /* 0, 0, 128 */
#define DarkGreen 0x03E0 /* 0, 128, 0 */
#define DarkCyan 0x03EF /* 0, 128, 128 */
#define Maroon 0x7800 /* 128, 0, 0 */
#define Purple 0x780F /* 128, 0, 128 */
#define Olive 0x7BE0 /* 128, 128, 0 */
#define LightGrey 0xC618 /* 192, 192, 192 */
#define DarkGrey 0x7BEF /* 128, 128, 128 */
#define Blue 0x001F /* 0, 0, 255 */
#define GREEN 0x07E0 /* 0, 255, 0 */
#define Cyan 0x07FF /* 0, 255, 255 */
#define RED 0xF800 /* 255, 0, 0 */
#define Magenta 0xF81F /* 255, 0, 255 */
#define YELLOW 0xFFE0 /* 255, 255, 0 */
#define WHITE 0xFFFF /* 255, 255, 255 */
#define Orange 0xFD20 /* 255, 165, 0 */
#define GreenYellow 0xAFE5 /* 173, 255, 47 */
#define Pink 0xF81F
#define DHTPIN 3
#define DHTTYPE DHT22
#define note_c 3830 // 261 Hz
#define note_cb 3610 // 261 Hz
#define note_d 3400 // 294 Hz
#define note_e 3038 // 329 Hz
#define note_f 2864 // 349 Hz
#define note_g 2550 // 392 Hz
#define note_gb 2411 // 392 Hz
#define note_a 2272 // 440 Hz
#define note_b 2028 // 493 Hz
#define note_C 1912 // 523 Hz
#define note_X 1650 //
//
//
const String FirmwareDate = "03 08 17";
const String FirmwareNumber = "v2.3.1 Boiana EQ";
const String FirmwareName = "rDUINOScope";
const String FirmwareTime = "12:00:00";
//
//..... Below are the VARs for the code. Most of them are self explenatory
//
DHT dht(DHTPIN, DHTTYPE);
//ADS7843 touch(CS, DCLK, DIN, DOUT, IRQ);
//Point p;
TFTLCD tft;
TinyGPSPlus gps;
DS3231 rtc(A4, A5); // (SDA, SCL) from the RTC board
int sd_cs = 42; // TFTShield sd card chip select pin is Arduino digital pin 42
String Messier_Array[120];
String Treasure_Array[130];
String ObservedObjects[50];
String Iter_Stars[50];
int int_star_count = 0; // Counter for how many stars are loaded into Iter_Stars[] array.... to be used with Pages, so that it does not show more pages than needed
String Stars[] = { // Definition of the ALIGNMENT Stars. Add as many stars as you like in here
"And;Almaak;2h4m;42.3°",
"And;Alpheratz;0h8m;29.1°",
"And;Mirach;1h10m;35.6°",
"Aql;Altair;19h51m;8.9°",
"Aql;Althalimain;19h6m;-4.9°",
"Aql;Deneb el Okab;19h5m;13.9°",
"Aql;Tarazed;19h46m;10.6°",
"Aqr;Sadalmelik;22h6m;-0.3°",
"Aqr;Sadalsuud;21h32m;-5.6°",
"Aqr;Skat;22h55m;-15.8°",
"Ara;Choo;17h32m;-49.9°",
"Ari;Hamal;2h7m;23.5°",
"Ari;Sheratan;1h55m;20.8°",
"Aur;Almaaz;5h2m;43.8°",
"Aur;Capella;5h17m;46°",
"Aur;Hassaleh;4h57m;33.2°",
"Aur;Hoedus II;5h7m;41.2°",
"Aur;Menkalinan;6h0m;44.9°",
"Boo;Arcturus;14h16m;19.2°",
"Boo;Izar;14h45m;27.1°",
"Boo;Muphrid;13h55m;18.4°",
"Boo;Nekkar;15h2m;40.4°",
"Boo;Seginus;14h32m;38.3°",
"Cap;Dabih;20h21m;-14.8°",
"Cap;Deneb Algedi;21h47m;-16.1°",
"Car;Aspidiske;9h17m;-59.3°",
"Car;Avior;8h23m;-59.5°",
"Car;Canopus;6h24m;-52.7°",
"Car;Miaplacidus;9h13m;-69.7°",
"Cas;Achird;0h49m;57.8°",
"Cas;Caph;0h9m;59.2°",
"Cas;Cih;0h57m;60.7°",
"Cas;Ruchbah;1h26m;60.2°",
"Cas;Schedar;0h41m;56.5°",
"Cas;Segin;1h54m;63.7°",
"Cen;Al Nair al Kent;13h56m;-47.3°",
"Cen;Hadar;14h4m;-60.4°",
"Cen;Ke Kwan;14h59m;-42.1°",
"Cen;Menkent;14h7m;-36.4°",
"Cen;Muhlifain;12h42m;-49°",
"Cen;Rigil Kentaurus;14h40m;-60.8°",
"Cep;Alderamin;21h19m;62.6°",
"Cep;Alphirk;21h29m;70.6°",
"Cep;Errai;23h39m;77.6°",
"Cet;Dheneb;1h9m;-10.2°",
"Cet;Diphda;0h44m;-18°",
"Cet;Kaffaljidhma;2h43m;3.2°",
"Cet;Menkar;3h2m;4.1°",
"CMa;Adhara;6h59m;-29°",
"CMa;Aludra;7h24m;-29.3°",
"CMa;Mirzam;6h23m;-18°",
"CMa;Phurad;6h20m;-30.1°",
"CMa;Sirius;6h45m;-16.7°",
"CMa;Wezen;7h8m;-26.4°",
"CMi;Gomeisa;7h27m;8.3°",
"CMi;Procyon;7h39m;5.2°",
"Cnc;Tarf;8h17m;9.2°",
"Col;Phact;5h40m;-34.1°",
"Col;Wazn;5h51m;-35.8°",
"CrB;Alphecca;15h35m;26.7°",
"Cru;Acrux;12h27m;-63.1°",
"Cru;Gacrux;12h31m;-57.1°",
"Cru;Mimosa;2h48m;-59.7°",
"Crv;Algorel;12h30m;-16.5°",
"Crv;Gienah Ghurab;12h16m;-17.5°",
"Crv;Kraz;12h34m;-23.4°",
"Crv;Minkar;12h10m;-22.6°",
"CVn;Cor Caroli;12h56m;38.3°",
"Cyg;Albireo;19h31m;28°",
"Cyg;Deneb;20h41m;45.3°",
"Cyg;Gienah;20h46m;34°",
"Cyg;Sadr;20h22m;40.3°",
"Dra;Aldhibah;17h9m;65.7°",
"Dra;Aldhibain;16h24m;61.5°",
"Dra;Edasich;15h25m;59°",
"Dra;Eltanin;17h57m;51.5°",
"Dra;Rastaban;17h30m;52.3°",
"Dra;Tais;19h13m;67.7°",
"Eri;Acamar;2h58m;-40.3°",
"Eri;Achernar;1h38m;-57.2°",
"Eri;Kursa;5h8m;-5.1°",
"Eri;Rana;3h43m;-9.8°",
"Eri;Zaurak;3h58m;-13.5°",
"Gem;Alhena;6h38m;16.4°",
"Gem;Alzirr;6h45m;12.9°",
"Gem;Castor;7h35m;31.9°",
"Gem;Mebsuta;6h44m;25.1°",
"Gem;Pollux;7h45m;28°",
"Gem;Propus;6h15m;22.5°",
"Gem;Tejat;6h23m;22.5°",
"Gem;Wasat;7h20m;22°",
"Gru;Al Dhanab;22h43m;-46.9°",
"Gru;Alnair;22h8m;-47°",
"Her;Kornephoros;16h30m;21.5°",
"Her;Rasalgethi;17h15m;14.4°",
"Her;Rutilicus;16h41m;31.6°",
"Her;Sarin;17h15m;24.8°",
"Hya;Alphard;9h28m;-8.7°",
"Hyi;Head of Hydrus;1h59m;-61.6°",
"Ind;Persian;20h38m;-47.3°",
"Leo;Algieba;10h20m;19.8°",
"Leo;Chort;11h14m;15.4°",
"Leo;Denebola;11h49m;14.6°",
"Leo;dhafera;10h17m;23.4°",
"Leo;Ras Elased Austr;9h46m;23.8°",
"Leo;Regulus;10h8m;12°",
"Leo;Subra;9h41m;9.9°",
"Leo;Zosma;11h14m;20.5°",
"Lep;Arneb;5h33m;-17.8°",
"Lep;Nihal;5h28m;-20.8°",
"Lib;Brachium;15h04m;-25.3°",
"Lib;Zubenelgenubi;14h51m;-16°",
"Lib;Zubeneschamali;15h17m;-9.4°",
"Lup;Ke Kouan;14h59m;-43.1°",
"Lup;Men;14h42m;-47.4°",
"Lyr;Sheliak;18h50m;33.4°",
"Lyr;Sulaphat;18h59m;32.7°",
"Lyr;Vega;18h37m;38.8°",
"Oph;Cebalrai;17h43m;4.6°",
"Oph;Han;16h37m;-10.6°",
"Oph;Rasalhague;17h35m;12.6°",
"Oph;Sabik;17h10m;-15.7°",
"Oph;Yed Posterior;16h18m;-4.7°",
"Oph;Yed Prior;16h14m;-3.7°",
"Ori;Algjebbah;5h24m;-2.4°",
"Ori;Alnilam;5h36m;-1.2°",
"Ori;Alnitak;5h41m;-1.9°",
"Ori;Bellatrix;5h25m;6.3°",
"Ori;Betelgeuse;5h55m;7.41°",
"Ori;Hatysa;5h35m;-5.9°",
"Ori;Meissa;5h35m;9.9°",
"Ori;Mintaka;5h32m;-0.3°",
"Ori;Rigel;5h15m;-8.2°",
"Ori;Saiph;5h48m;-9.7°",
"Ori;Tabit;4h50m;7°",
"Pav;Peacock;20h26m;-56.7°",
"Peg;Algenib;0h13m;15.2°",
"Peg;Baham;22h10m;6.2°",
"Peg;Enif;21h44m;9.9°",
"Peg;Homam;22h41m;10.8°",
"Peg;Markab;23h5m;15.2°",
"Peg;Matar;22h43m;30.2°",
"Peg;Sadalbari;22h50m;24.6°",
"Peg;Scheat;23h4m;28.1°",
"Per;Algol;3h8m;41°",
"Per;Gorgonea Tertia;3h5m;38.8°",
"Per;Mirfak;3h24m;49.9°",
"Phe;Ankaa;0h26m;-42.3°",
"PsA;Fomalhaut;22h58m;-29.6°",
"Pup;Asmidiske;7h49m;-24.9°",
"Pup;Naos;8h4m;-40°",
"Pup;Turais;8h8m;-24.3°",
"Sco;Alniyat;16h21m;-25.6°",
"Sco;Antares;16h29m;-26.4°",
"Sco;Dschubba;16h0m;-22.6°",
"Sco;Girtab;17h42m;-39°",
"Sco;Graffias;16h5m;-19.8°",
"Sco;Lesath;17h31m;-37.3°",
"Sco;Sargas;17h37m;-43°",
"Sco;Shaula;17h34m;-37.1°",
"Sco;We;16h50m;-34.3°",
"Ser;Alava;18h21m;-2.9°",
"Ser;Unukalhai;15h44m;6.4°",
"Sgr;Albaldah;9h10m;-21°",
"Sgr;Alnasl;18h6m;-30.4°",
"Sgr;Ascella;19h3m;-29.9°",
"Sgr;Kaus Australis;18h24m;-34.4°",
"Sgr;Kaus Borealis;18h28m;-25.4°",
"Sgr;Kaus Meridionalis;18h21m;-29.8°",
"Sgr;Nunki;18h55m;-26.3°",
"Tau;Ain;4h29m;19.2°",
"Tau;Alcyone;3h47m;24.1°",
"Tau;Aldebaran;4h36m;16.5°",
"Tau;Alheka;5h38m;21.1°",
"Tau;Elnath;5h26m;28.6°",
"TrA;Atria;16h49m;-69°",
"Tri;Mothallah;1h53m;29.6°",
"UMa;Al Haud;9h33m;51.7°",
"UMa;Alioth;12h54m;56°",
"UMa;Alkaid;13h48m;49.3°",
"UMa;Alula Borealis;11h18m;33.1°",
"UMa;Dubhe;11h4m;61.8°",
"UMa;Megrez;12h15m;57°",
"UMa;Merak;11h2m;56.4°",
"UMa;Mizar;13h24m;54.9°",
"UMa;Muscida;8h30m;60.7°",
"UMa;Phecda;11h54m;53.7°",
"UMa;Talita;8h59m;48°",
"UMa;Tania Australis;10h22m;41.5°",
"UMa;Tania Borealis;10h17m;42.9°",
"UMi;Kochab;14h51m;74.2°",
"UMi;Pherkad Major;15h21m;71.8°",
"UMi;Polaris;2h32m;89.3°",
"Vel;Koo She;8h45m;-54.7°",
"Vel;Markeb;9h22m;-55°",
"Vel;Regor;8h10m;-47.3°",
"Vel;Suhail;9h8m;-43.4°",
"Vel;Tseen Ke;9h57m;-54.6°",
"Vir;Auva;12h56m;3.4°",
"Vir;Heze;13h35m;-0.6°",
"Vir;Porrima;12h42m;-1.5°",
"Vir;Spica;13h25m;-11.2°",
"Vir;Vindemiatrix;13h2m;11°"
};
int Observed_Obj_Count = 0;
int ALLIGN_STEP = 0; // Using this variable to count the allignment steps - 1: Synchronize, 2: Allign and Center, 3:....
int ALLIGN_TYPE = 0; // Variable to store the alignment type (0-Skip Alignment, 1-1 Star alignment, 2-2 Star alignment
float delta_a_RA = 0;
float delta_a_DEC = 0;
int Iterative_Star_Index = 0;
String Prev_Obj_Start;
int lastScreenUpdateTimer;
unsigned long Slew_timer, Slew_RA_timer = 0;
int OBJECT_Index;
String OBJECT_NAME;
String OBJECT_DESCR;
String OBJECT_DETAILS;
String BT_COMMAND_STR;
String START_TIME;
int STP_FWD = LOW;
int STP_BACK = HIGH;
float OBJECT_RA_H;
float OBJECT_RA_M;
float OBJECT_DEC_D;
float OBJECT_DEC_M;
float OBJECT_MAG;
float curr_RA_H, curr_RA_M, curr_RA_S, curr_DEC_D, curr_DEC_M, curr_DEC_S; // Global variables to store Mount's current RA and DEC.
char curr_RA_lz[9], curr_DEC_lz[10], curr_HA_lz[9]; // Global variable to store current RA and DEC with Leading Zeroes and sign (RA: 00:00:00; DEC: +/-00*00:00)
int SELECTED_STAR = 0;
double DELTA_RA_ADJUST = 1; // cos RA
double DELTA_DEC_ADJUST = 1; // cos DEC
// Default values to load when CANCEL button is hit on the GPS screen
float OBSERVATION_LONGITUDE = 23.3333; // (23.3333* - Home)
float OBSERVATION_LATTITUDE = 42.6378; // (42.6378* - Home)
float OBSERVATION_ALTITUDE = 760.60; // Sofia, Bulgaria
int TIME_ZONE = 2;
// .............................................................
int GPS_iterrations = 0;
double LST, HAHour, HAMin, ALT, AZ;
double JD;
String BTs;
int last_button, MESS_PAGER, TREAS_PAGER, STARS_PAGER;
boolean IS_TFT_ON = true;
boolean IS_STEPPERS_ON = true;
boolean IS_OBJ_VISIBLE = false;
boolean IS_IN_OPERATION = false; // This variable becomes True when Main screen appears
boolean IS_TRACKING = false;
boolean IS_NIGHTMODE;
boolean IS_OBJ_FOUND = true;
boolean IS_OBJECT_RA_FOUND = true;
boolean IS_OBJECT_DEC_FOUND = true;
boolean IS_MERIDIAN_PASSED = false;
boolean IS_POSIBLE_MERIDIAN_FLIP = true;
boolean IS_MERIDIAN_FLIP_AUTOMATIC = true;
boolean IS_BT_MODE_ON = false;
boolean IS_MANUAL_MOVE = false;
boolean IS_DEV1_ON = false;
boolean IS_DEV2_ON = false;
boolean IS_CUSTOM_MAP_SELECTED = false;
boolean IS_SOUND_ON = true;
int TFT_Brightness = 255;
int MAIN_SCREEN_MENU = 0;
int CURRENT_SCREEN = 0;
int LOAD_SELECTOR; // selector to show which LOADING mechanism is used: 1 - Messier, 2 - File, 3 - NGCs
int RA_microSteps, DEC_microSteps, rev_RA_microSteps, rev_DEC_microSteps; // Current position of the motors in MicroSteps! - when movement occures, values are changed accordingly (manual, tracking or slew to);
int RA_mode_steps, DEC_mode_steps;
int SLEW_RA_microsteps, SLEW_DEC_microsteps; // Where the mottors needs to go in order to point to the object
int RA_finish_last = 0;
int map_r = 0; // Used to determine the StarMap Row ... image name (1-1.bmp; 1-2.bmp ....)
int map_c = 0; // Ued to determine the StarMap Column .... image name
String old_t, old_d;
String Start_date;
int update_time, Tupdate_time, TFT_timeout;
unsigned long UPD_T, UPD_coord, DELAY_Slew, UPD_LST, TFT_Timer;
int RA_move_ending;
int w_DateTime[12]={0,0,0,0,0,0,0,0,0,0,0,0}; // array to store date - as updated from updater screen - Wishing_Date
int dateEntryPos = 0;
int Summer_Time = 0;
int xPosition = 0; // Joystick
int yPosition = 0; // Joystick
float _temp,_Stemp;
float _humid,_Shumid;
int16_t texts, l_text, d_text, btn_l_border, btn_d_border, btn_l_text, btn_d_text, btn_l_selection, title_bg, title_texts, messie_btn, file_btn, ngc_btn, MsgBox_bg, MsgBox_t; // defines string constants for the clor - Depending on the DAY/NIGHT modes
File roots;
File StarMaps; // bmp files
// Some variables used for Alignment procedure:
double Star_1_HA = 0;
double Star_1_DEC = 0;
double Star_2_HA = 0;
double Star_2_DEC = 0;
double err_RA = 0;
double err_DEC = 0;
double Eerr_RA = 0;
double Eerr_DEC = 0;
double err_ALT = 0;
double err_AZ = 0;
double det = 0;
// PIN selection
int speakerOut = 2;
//int dht_pin = 3;
// Day/Night mode - A6;
int RA_STP = 4;
int RA_DIR = 5;
int DEC_STP = 6;
int DEC_DIR = 7;
// New version of the HW 1.4_c was with changed pins for RA_MODE2 and RA_MODE1
// I needed to switch them in the code!
// int RA_MODE1 = 13;
// int RA_MODE2 = 12;
int RA_MODE0 = 11;
int RA_MODE1 = 12;
int RA_MODE2 = 13;
int DEC_MODE0 = 10;
int DEC_MODE1 = 9;
int DEC_MODE2 = 8;
// RTC (A4, A5); // (SDA, SCL) from the RTC board
// 17 (RX) - goes to TX on GPS;
// 16 (TX) - goes to RX on GPS;
// 15 (RX) - goes to Bluetooth RX;
// 14 (TX) - goes to Bluetooth TX;
int yPin = A0;
int xPin = A1;
int DEV1 = A2;
int DEV2 = A3;
int TFTBright = DAC0;
int Joy_SW = A11;
int POWER_DRV8825 = A8;
void setup(void) {
Serial.begin(9600);
Serial2.begin(9600); // Initialize GPS communication on PINs: 17 (RX) and 16 (TX)
Serial3.begin(9600); // Bluetooth communication on PINs: 15 (RX) and 14 (TX)
pinMode(speakerOut, OUTPUT);
// below variables are used to calculate the paramters where the drive works
float ww = WORM*REDUCTOR;
float www = DRIVE_STP*MICROSteps;
MicroSteps_360 = ww*www;
RA_90 = MicroSteps_360 / 4; // How much in microSteps the RA motor have to turn in order to make 6h = 90 degrees;
DEC_90 = RA_90; // How mich in microSteps the DEC motor have to turn in order to make 6h = 90 degrees;
HA_H_CONST = MicroSteps_360/360;
DEC_D_CONST = HA_H_CONST;
Clock_Sidereal = 1000000/(MicroSteps_360/SIDEREAL_DAY); // This way I make the interruption occuer 2wice faster than needed - REASON: allow max time for Pin-UP, Pin-DOWN action
Clock_Solar = 1000000/(MicroSteps_360/(SIDEREAL_DAY-235.9095));
Clock_Lunar = 1000000/(MicroSteps_360/(SIDEREAL_DAY-2089.2292));
//analogWriteResolution(12);
analogWrite(TFTBright, 255); // LCD Backlight brightness 255 = ~100%)
// touch.begin();
myTouch.InitTouch(LANDSCAPE);
myTouch.setPrecision(PREC_MEDIUM);
rtc.begin();
dht.begin();
tft.begin();
tft.fillScreen(BLACK);
// DRB8825 - drive mode pins (determine Steppping Modes 1/8, 1/16 and etc.
pinMode(RA_MODE0, OUTPUT);
pinMode(RA_MODE1, OUTPUT);
pinMode(RA_MODE2, OUTPUT);
pinMode(DEC_MODE0, OUTPUT);
pinMode(DEC_MODE1, OUTPUT);
pinMode(DEC_MODE2, OUTPUT);
pinMode(RA_STP,OUTPUT); // RA Step
pinMode(RA_DIR,OUTPUT); // RA Dir
pinMode(DEC_STP,OUTPUT); // DEC Step
pinMode(DEC_DIR,OUTPUT); // DEC Dir
//digitalWrite(RA_DIR,HIGH); // Set Dir high
//digitalWrite(RA_STP,LOW);
//digitalWrite(DEC_DIR,HIGH); // Set Dir high
//digitalWrite(DEC_STP,LOW);
// Joystick
pinMode(xPin, INPUT);
pinMode(yPin, INPUT);
// Device 1 & 2 command Pins
pinMode(DEV1, OUTPUT);
pinMode(DEV2, OUTPUT);
// Pin to define Power to the DRV8825 using MOSFET!
pinMode(POWER_DRV8825, OUTPUT);
// Set RA and DEC microstep position
RA_microSteps = RA_90; // --> point to North Sudereal Pole = -180 deg (-12h)
DEC_microSteps = 0; // --> Point to North Sudereal Pole = 90 deg
Timer3.attachInterrupt(Sidereal_rate);
// Timer3.start(Clock_Sidereal); // executes the code every 62.329 ms.
if (analogRead(A6) < 800){
IS_NIGHTMODE = true;
texts = Maroon;
l_text = RED;
d_text = Maroon;
title_bg = RED;
title_texts = BLACK;
messie_btn = Maroon;
btn_l_text = RED;
btn_d_text = Maroon;
btn_l_border = RED;
btn_d_border = Maroon;
btn_l_selection = RED;
MsgBox_bg = RED;
MsgBox_t = BLACK;
} else {
IS_NIGHTMODE = false;
texts = LightGrey;
l_text = WHITE;
d_text = LightGrey;
btn_l_text = GreenYellow;
btn_d_text = DarkGreen;
btn_l_border = GREEN;
btn_d_border = DarkGreen;
btn_l_selection = DarkGreen;
title_bg = Orange;
title_texts = BLACK;
messie_btn = DarkGrey;
MsgBox_bg = Purple;
MsgBox_t = GreenYellow;
}
// Draw initial screen - INITIALIZE
// The below part cannot be removed form the code
// You can add messages, but not remove!
tft.setCursor(20, 10);
tft.setTextColor(title_bg);
tft.setTextSize(3);
tft.println("rDUINOScope");
tft.setTextColor(l_text);
tft.setTextSize(2);
tft.setCursor(20, 35);
tft.setTextColor(l_text);
tft.print("coded by <dEskoG>");
tft.setCursor(0, 50);
tft.print("Dessislav Gouzgounov");
tft.setCursor(33, 70);
tft.setTextSize(1);
tft.print("rduinoscope.byethost24.com");
tft.setCursor(33, 80);
tft.setTextColor(d_text);
tft.print("GNU General Public License");
tft.setCursor(42, 90);
tft.setTextColor(d_text);
tft.println("Version: " + FirmwareNumber);
if (!SD.begin(sd_cs)) {
tft.println("ERROR: Card failed, or not present");
// don't do anything more:
while(1);
}
// Draw Supporters Logos
String PIC_Supporters = "hackad16.bmp";
StarMaps = SD.open(PIC_Supporters);
drawPic(&StarMaps, 0, 375, 120, 24);
StarMaps.close();
delay(200);
//tft.setCursor(5, 290);
//tft.println("FINALIST");
tft.setCursor(0, 365);
tft.setTextColor(btn_l_text);
tft.println("SUPPORTERS:");
tft.setTextColor(d_text);
tft.setCursor(0, 120);
// EMPIRIAL MARCH :)
if (IS_SOUND_ON){
SoundOn(note_f, 48);
delay(100);
SoundOn(note_f, 48);
delay(100);
SoundOn(note_f, 48);
delay(100);
SoundOn(note_cb, 32);
delay(140);
SoundOn(note_gb, 8);
delay(50);
SoundOn(note_f, 48);
delay(100);
SoundOn(note_cb, 32);
delay(140);
SoundOn(note_gb, 8);
delay(50);
SoundOn(note_f, 48);
}
// Indiana Jones :)
// notes: E-E-F-G-C-C-C-C D-D-E-F-F-F-F G-G-A-B-F-F-F-F-F A-A-B-C-D-E-E-E-E
// Write the code if you are a fan :)
// see if the card is present and can be initialized:
char in_char;
String items="";
int j=0;
int k=0;
MESS_PAGER = 0;
TREAS_PAGER = 0;
STARS_PAGER = 0;
tft.println("...card initialized");
delay(200);
// open the file. note that only one file can be open at a time,
// so you have to close this one before opening another.
File dataFile = SD.open("messier.csv");
// if the file is available, write to it:
if (dataFile) {
tft.println("...loading data from MESSIER.CSV");
delay(100);
while (dataFile.available()) {
in_char=dataFile.read();
items += in_char;
k=k+1;
if(in_char == '\n'){
Messier_Array[j] = items;
j=j+1;
// Serial.print(items);
items="";
}
}
tft.println("...loading Messier COMPLETED");
delay(100);
}else {
tft.println("ERROR opening: messier.csv");
}
dataFile.close();
items="";
j=0;
k=0;
dataFile = SD.open("treasure.csv");
// if the file is available, write to it:
if (dataFile) {
tft.println("...loading data from TREASURE.CSV");
delay(100);
while (dataFile.available()) {
in_char=dataFile.read();
items += in_char;
k=k+1;
if(in_char == '\n'){
Treasure_Array[j] = items;
j=j+1;
// Serial.print(items);
items="";
}
}
tft.println("...loading Treasures COMPLETED");
delay(100);
}else {
tft.println("ERROR opening: treasure.csv");
}
dataFile.close();
last_button=0;
LOAD_SELECTOR = 0;
tft.println(".................................");
tft.println("...initializing BlueTooth");
delay(100);
tft.println("...initializing GPS");
delay(1000);
CURRENT_SCREEN = 0;
drawGPSScreen();
UPD_T = millis();
UPD_LST = millis();
DELAY_Slew = millis();
TFT_Timer = millis();
TFT_timeout = 0;
RA_move_ending = 0;
considerTempUpdates();
digitalWrite(POWER_DRV8825, HIGH); // Switch on the Motor Diver Power!
}
void loop(void) {
// This is done in order to prevent multiple calculations of LST_HA per second (especially while SlewTo) and only
// do it once the DEC SlewTo slows down, but before stopping OR once every 10 seconds (in order to do the Meridian Flip)
if (RA_move_ending == 1){
calculateLST_HA();
}
if ((IS_MERIDIAN_FLIP_AUTOMATIC) && ((UPD_LST + 10000) <= millis()) && (IS_OBJ_FOUND == true)){
calculateLST_HA();
UPD_LST = millis();
}
// Adding this delay to SLOW DOWN the Arduino so that the motors can catch up!
// The delay is only needed when in full speed.... otherways the CalculateLST_HA() takes over and
// slows down the arduino enought. CalculateLST_HA() when slewing only fires when the motors slows down
// after they are very close to the Object Position.
if ((DELAY_Slew + 1 <= millis()) && (IS_OBJ_FOUND == false)){
// If you wonder how I get to this delay - 800 uS
// When I optimised the code for speed, the main delay was coming from calculateLST_HA() which back then was calculated on every Loop();
// Once I optimized it to only calculate when the SlewTo stops (to fine tune after DEC stops) it turned out that
// the code is too fast and the motors only "screemed" but not rotating - due to the low voltage/current.
// This variable depends on How You Limit the Current to your motors and the Voltage you use!
// I use 12V and 1.6A (70% in full step = 1.10A) to drive my NEMA 17 SY42STH47-1684B Motors.
// Please note that Potentiometer does not really give consistent results for current on every restart (it drifted between 1.12A - 0.9A).
// HINT: you can try to play with the Current/Voltage that powers the mottors to get faster speeds.
if (IS_STEPPERS_ON){
cosiderSlewTo();
}else{
IS_OBJECT_RA_FOUND = true;
IS_OBJECT_DEC_FOUND = true;
IS_OBJ_FOUND = true;
RA_move_ending = 0;
}
DELAY_Slew = millis();
// delayMicroseconds(800);
}
// The below part of the code makes sure that the system does NOT process any other inputs while SlweingTo!
// Since both motors need every STEP to come from Arduino board, it needs it's entire power to run the motors in fastest possible way
// The fastes possible from this board in the current state of the software is approx 3 turns/sec (600 steps/sec)
// IS_OBJ_FOUND == true --> Means that SLEW command have completed
//
if (IS_OBJ_FOUND == true){
// BLUETOOTH Considerations ? ... if any
if ((IS_BT_MODE_ON == true)&&(Serial3.available()>0)&&(IS_MANUAL_MOVE == false)){
BT_COMMAND_STR = Serial3.readStringUntil('#');
//Serial.println(BT_COMMAND_STR);
considerBTCommands();
}
// JOYSTICK Movements ? ... if any
xPosition = analogRead(xPin);
yPosition = analogRead(yPin);
if ((xPosition < 470) || (xPosition > 620) || (yPosition < 470) || (yPosition > 620)){
IS_MANUAL_MOVE = true;
if (IS_STEPPERS_ON){
consider_Manual_Move(xPosition, yPosition);
}
}else{
IS_MANUAL_MOVE = false;
}
// TOUCH SCREEN Inputs ? ... if any
//uint8_t flag;
//int tx, ty;
//p=touch.getpos(&flag);
//tx=(p.x- 310)/14;
//ty=(p.y- 150)/9;
// This will take care of turning OFF the TFT's background light if the device is not used
// for XXX amont of seconds and IS_IN_OPERATION = TRUE
if ((TFT_timeout > 0) && (millis() - TFT_Timer > TFT_timeout) && (IS_TFT_ON)&&(IS_IN_OPERATION)){
analogWrite(TFTBright, 0);
IS_TFT_ON = false;
}
int tx = 0;
int ty = 0;
if (myTouch.dataAvailable() == true){
myTouch.read();
tx = myTouch.getX();
ty = myTouch.getY();
}
considerTouchInput(tx, ty);
// OTHER UPDATES ? ... if any
// Happens every 2 seconds
if (((millis()- UPD_T) > 2000)&&(IS_MANUAL_MOVE == false)){
calculateLST_HA(); // Make sure it Updates the LST! used on Main Screen and When Calculating current Coords.
considerTimeUpdates();
considerDayNightMode();
considerTempUpdates();
// I need to make sure the Drives are not moved to track the stars,
// if Object is below horizon ALT < 0 - Stop tracking.
if ((ALT <= 0) && (IS_TRACKING==true) && (IS_IN_OPERATION == true)){
IS_TRACKING = false;
Timer3.stop();
drawMainScreen();
}
UPD_T = millis();
}
}
}
void calculateLST_HA(){
// HA = LST - RA
String Date_q = String(rtc.getDateStr());
String Time_q = String(rtc.getTimeStr());
int D = Date_q.substring(0,2).toInt();
int M = Date_q.substring(3,5).toInt();
int Y = Date_q.substring(6).toInt();
int S = Time_q.substring(6).toInt();
int H = Time_q.substring(0,2).toInt(); // hours
if (Summer_Time == 1){
H -= 1;
}
int MN = Time_q.substring(3,5).toInt();
if (M < 3) {
M = M + 12;
Y = Y - 1;
}
float HH = H + ((float)MN/60.00) + ((float)S/3600.00);
float AA= (int)(365.25*(Y+4716));
float BB= (int)(30.6001*(M+1));
double CurrentJDN = AA + BB + D - 1537.5 + (HH-TIME_ZONE)/24;
float current_day = CurrentJDN - 2451543.5;
//calculate terms required for LST calcuation and calculate GMST using an approximation
double MJD = CurrentJDN - 2400000.5;
int MJD0 = (int)MJD;
float ut = (MJD - MJD0)*24.0;
double t_eph = (MJD0-51544.5)/36525.0;
double GMST = 6.697374558 + 1.0027379093*ut + (8640184.812866 + (0.093104 - 0.0000062*t_eph)*t_eph)*t_eph/3600.0;
LST = GMST + OBSERVATION_LONGITUDE/15.0;
//reduce it to 24 format
int LSTint = (int)LST;
LSTint/=24;
LST = LST - (double) LSTint * 24;
// Now I'll use the global Variables OBJECT_RA_H and OBJECT_RA_M To calculate the Hour angle of the selected object.
double dec_RA = OBJECT_RA_M/60 + OBJECT_RA_H;
double HA_decimal = LST - dec_RA;
HAHour = int(HA_decimal);
HAMin = (HA_decimal - HAHour)*60;
if (HAMin < 0){
HAHour -= 1;
HAMin +=60;
}
if (HAHour < 0){
HAHour +=24;
}
// Convert degrees into Decimal Radians
double rDEC = 0;
rDEC = OBJECT_DEC_D + (OBJECT_DEC_M/60);
//rDEC += delta_a_DEC;
rDEC *= 0.0174532925199;
double rHA = HA_decimal*0.26179938779915; // 0.261799.. = 15 * 3.1415/180 (to convert to Deg. and * Pi) :)
double rLAT = OBSERVATION_LATTITUDE * 0.0174532925199;
IS_OBJ_VISIBLE = true;
double sin_rDEC = sin(rDEC);
double cos_rDEC = cos(rDEC);
double sin_rLAT = sin(rLAT);
double cos_rLAT = cos(rLAT);
double cos_rHA = cos(rHA);
double sin_rHA = sin(rHA);
ALT = sin_rDEC * sin_rLAT;
ALT += (cos_rDEC * cos_rLAT * cos_rHA);
double sin_rALT = ALT;
ALT = asin(ALT);
double cos_rALT = cos(ALT);
ALT *= 57.2958;
AZ = sin_rALT * sin_rLAT;
AZ = sin_rDEC - AZ;
AZ /= (cos_rALT * cos_rLAT);
AZ = acos(AZ)*57.2957795;
if (sin_rHA > 0){
AZ = 360 - AZ;
}
if (ALT < 0){
IS_OBJ_VISIBLE = false;
if ((IS_BT_MODE_ON == true) && (IS_OBJ_FOUND == false)){
Serial3.println("Object is out of sight! Telescope not moved.");
}
IS_OBJ_FOUND = true;
IS_OBJECT_RA_FOUND = true;
IS_OBJECT_DEC_FOUND = true;
Slew_RA_timer = 0;
RA_finish_last = 0;
}else{
IS_OBJ_VISIBLE = true;
}
// Take care of the Meridian Flip coordinates
// This will make the telescope do Meridian Flip... depending on the current HA and predefined parameter: MIN_TO_MERIDIAN_FLIP
if (IS_MERIDIAN_FLIP_AUTOMATIC){
mer_flp = HAHour + ((HAMin + MIN_TO_MERIDIAN_FLIP)/60);
float old_HAMin = HAMin;
float old_HAHour = HAHour;
if (IS_POSIBLE_MERIDIAN_FLIP == true){
if (mer_flp >= 24){
HAMin = HAMin - 60;
HAHour = 0;
if (MERIDIAN_FLIP_DO == false){
IS_TRACKING = false;
Timer3.stop();
OnScreenMsg(1);
if (IS_SOUND_ON){
SoundOn(note_C,32);
delay(200);
SoundOn(note_C,32);
delay(200);
SoundOn(note_C,32);
delay(1000);
}
IS_OBJ_FOUND = false;
IS_OBJECT_RA_FOUND = false;
IS_OBJECT_DEC_FOUND = false;
Slew_timer = millis();