Adding support for LCH-360 Inclinometer

k3ng_rotator_controller/k3ng_rotator_controller.ino

@@ -725,6 +725,13 @@ byte current_az_speed_voltage = 0;
   #endif //GPS_MIRROR_PORT
 #endif //defined(FEATURE_GPS)
 
+#if defined(FEATURE_EL_POSITION_LCH)
+  HardwareSerial * lch_port; 
+  char lchbuffer[30];
+  int  lchbufferIndex = 0;
+  float lchreading = 0.0;
+#endif //defined(FEATURE_LCH)
+
 #if defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING) || defined(FEATURE_CLOCK) || defined(FEATURE_GPS) || defined(FEATURE_REMOTE_UNIT_SLAVE) || defined(OPTION_DISPLAY_ALT_HHMM_CLOCK_AND_MAIDENHEAD) || defined(OPTION_DISPLAY_CONSTANT_HHMMSS_CLOCK_AND_MAIDENHEAD)
   double latitude = DEFAULT_LATITUDE;
   double longitude = DEFAULT_LONGITUDE;
@@ -2789,7 +2796,20 @@ void check_serial(){
 
       }
   #endif // defined(FEATURE_MASTER_WITH_SERIAL_SLAVE)
-
+  #ifdef FEATURE_EL_POSITION_LCH
+     if (lch_port->available()) {
+          char ch = lch_port->read();
+          if( ch == '\r')  
+          {
+              lchbuffer[ lchbufferIndex ] = 0; // terminate the string with a 0      
+              lchbufferIndex = 0;  // reset the index ready for another string;
+
+               lchreading = atof (lchbuffer);
+           }
+   else
+     lchbuffer[ lchbufferIndex++ ] = ch; // add the character into the buffer
+      }
+     #endif // FEATURE_EL_POSITION_LCH
 
   #ifdef FEATURE_GPS
     #if defined(OPTION_DONT_READ_GPS_PORT_AS_OFTEN)
@@ -5336,7 +5356,15 @@ void read_elevation(byte force_read){
       elevation = 0;
     }
     #endif // FEATURE_EL_POSITION_POTENTIOMETER
+    #ifdef FEATURE_EL_POSITION_LCH
 
+     elevation = lchreading*10;
+     #ifdef FEATURE_ELEVATION_CORRECTION
+     elevation = (correct_elevation(elevation / (float) HEADING_MULTIPLIER) * HEADING_MULTIPLIER);
+     #endif // FEATURE_ELEVATION_CORRECTION
+     elevation = elevation + (configuration.elevation_offset * HEADING_MULTIPLIER);
+
+     #endif // FEATURE_EL_POSITION_LCH
 
     #ifdef FEATURE_EL_POSITION_ROTARY_ENCODER
     static byte el_position_encoder_state = 0;
@@ -6675,6 +6703,18 @@ void initialize_serial(){
     #endif //GPS_MIRROR_PORT
   #endif //FEATURE_GPS
 
+  #ifdef FEATURE_EL_POSITION_LCH
+    lch_port = LCH_PORT_MAPPED_TO;
+    lch_port->begin(LCH_PORT_BAUD_RATE);
+    //sets default settings (filters, etc) and sets autoupdate (device just pushes data without asking it)
+    lch_port->write("str0100\n"); //sets autopudate speed to 0.1sec
+    lch_port->write("setcasc\n"); //this activates auto push
+    //lch_port->write("setflt1\n"); //sets device filter to 0.125Hz
+    //lch_port->write("stpcasc\n");
+    //lch_port->write("setcasc\n");
+    lch_port->flush();
+  #endif //FEATURE_lch
+
 } /* initialize_serial */
 
 
@@ -9306,6 +9346,10 @@ void port_flush(){
 
   #if defined(FEATURE_MASTER_WITH_SERIAL_SLAVE)
   remote_unit_port->flush();
+  #endif
+
+   #if defined(FEATURE_EL_POSITION_LCH)
+  lch_port->flush();
   #endif
 
   #if defined(GPS_PORT_MAPPED_TO) && defined(FEATURE_GPS)

k3ng_rotator_controller/rotator_features.h

@@ -63,6 +63,7 @@
 // #define FEATURE_EL_POSITION_INCREMENTAL_ENCODER
 // #define FEATURE_EL_POSITION_MEMSIC_2125
 // #define FEATURE_EL_POSITION_A2_ABSOLUTE_ENCODER
+#define FEATURE_EL_POSITION_LCH
 
 // If you are using an Adafruit, Yourduino, RFRobot, YWRobot, or SainSmart display, you must also change the feature setting in rotator_k3ngdisplay.h!!!!
 // #define FEATURE_4_BIT_LCD_DISPLAY // Uncomment for classic 4 bit LCD display (most common)

k3ng_rotator_controller/rotator_settings.h

@@ -109,6 +109,8 @@ You can tweak these, but read the online documentation!
 #define REMOTE_UNIT_PORT_BAUD_RATE 9600
 #define GPS_PORT_BAUD_RATE 9600
 #define GPS_MIRROR_PORT_BAUD_RATE 9600
+#define LCH_PORT_BAUD_RATE 9600
+#define LCH_PORT_MAPPED_TO &Serial1  // change this line to map the LCH-360 sensor port
 #define CONTROL_PORT_MAPPED_TO &Serial  // change this line to map the control port to a different serial port (Serial1, Serial2, etc.)
 //#define REMOTE_PORT_MAPPED_TO &Serial1  // change this line to map the remote_unit port to a different serial port
 #define GPS_PORT_MAPPED_TO &Serial2  // change this line to map the GPS port to a different serial port

lch360_emulator/lch360_emulator.ino

@@ -0,0 +1,114 @@
+
+#include <SerialCommand.h>
+
+SerialCommand sCmd;     // The SerialCommand object
+int delayauto = 1000;
+String output = "+181.010";
+boolean automa = true ;
+int val = 0;
+
+//float val3 = 0.0;s
+float r;
+void setup() {
+
+
+  // put your setup code here, to run once:
+  Serial.begin(9600);           // set up Serial library at 9600 bps
+  while (! Serial);
+  sCmd.addCommand("get-360",    print_angle);          // prints angle to serial
+  sCmd.addCommand("str0100",   set_delay_100ms);         // sets auto print delay to 100ms
+  sCmd.addCommand("str1000",   set_delay_1000ms);         // sets auto print delay to 1000ms
+  sCmd.addCommand("setcasc", setauto);        // set auto print on
+  sCmd.addCommand("stpcasc",     stopauto);  // stop auto print
+  sCmd.setDefaultHandler(unrecognized);      // Handler for command that isn't matched  (says "What?")
+  Serial.println("LCH-360 emulator");
+  Serial.println("get-360 gives onetime readings, setcasc gives reading every 0.1 sec (set by str0100),stpcasc stops ");
+}
+
+void loop() {
+
+  // put your main code here, to run repeatedly:
+   sCmd.readSerial(); 
+    if (automa)
+     {
+        Serial.println(output);
+        delay(delayauto); 
+     }
+     val = analogRead(5);
+     //val3 = 360/1024;
+     float val2 = 0.0; 
+     val2 = ((float)val*((float)360/(float)1024))-(float)180; 
+     delay(delayauto/10);
+     char buf[16];
+
+     r = sprintf(buf, "%04d", val2);
+     String str2 =  String(val2, 3);
+
+     // creating somewhat similar output as sensor, hax hax
+     String outout =  String();
+     //Serial.println(sizeof(str2));
+     //Serial.println(str2.length());
+     //Serial.println(str2);
+     //char outout[7] = "+000.000";
+     //Serial.println(sizeof(outout));
+     if (val2 < 0){
+         outout +=  "-";
+         str2.remove(0,1);
+         //if
+     }
+     else
+     {
+      outout +=  "+";
+     }
+     if (8-str2.length()==4){
+      outout += "000";
+     }
+     if (8-str2.length()==3){
+      outout += "00";
+     }
+     if (8-str2.length()==2){
+      outout += "0";
+     }
+
+     outout += str2;
+     output = outout;
+     //Serial.println(outout);
+
+     //Serial.println(str2);
+     // now print the string inside of 'buf'
+     //Serial.println(buf);
+     //Serial.println(val);
+     //Serial.println(val2);
+
+     //Serial.println(val3);
+     //String output = String(analogRead(5), DEC);
+
+}
+void print_angle() {
+  Serial.println(output);
+  //digitalWrite(arduinoLED, HIGH);
+}
+void set_delay_100ms() {
+  Serial.println("OK");
+  delayauto = 100;
+  //digitalWrite(arduinoLED, HIGH);
+}
+void set_delay_1000ms() {
+  Serial.println("OK");
+  delayauto = 1000;
+  //digitalWrite(arduinoLED, HIGH);
+}
+void setauto() {
+  Serial.println("OK");
+   automa = true;
+  //digitalWrite(arduinoLED, HIGH);
+}
+void stopauto() {
+  Serial.println("OK");
+  automa = false;
+  //digitalWrite(arduinoLED, HIGH);
+}
+void unrecognized(const char *command) {
+  Serial.println("What?");
+}
+