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544 | rain-er | 1 | #!/usr/bin/perl |
2 | #!/usr/bin/perl -d:ptkdb |
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3 | |||
4 | ############################################################################### |
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5 | # |
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6 | # mktrack.pl - Tracking Antenne |
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7 | # |
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8 | # Copyright (C) 2009 Rainer Walther (rainerwalther-mail@web.de) |
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9 | # |
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10 | # Creative Commons Lizenz mit den Zusaetzen (by, nc, sa) |
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11 | # |
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12 | # Es ist Ihnen gestattet: |
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13 | # * das Werk vervielfältigen, verbreiten und öffentlich zugänglich machen |
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14 | # * Abwandlungen bzw. Bearbeitungen des Inhaltes anfertigen |
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15 | # |
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16 | # Zu den folgenden Bedingungen: |
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17 | # * Namensnennung. |
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18 | # Sie müssen den Namen des Autors/Rechteinhabers in der von ihm festgelegten Weise nennen. |
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19 | # * Keine kommerzielle Nutzung. |
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20 | # Dieses Werk darf nicht für kommerzielle Zwecke verwendet werden. |
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21 | # * Weitergabe unter gleichen Bedingungen. |
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22 | # Wenn Sie den lizenzierten Inhalt bearbeiten oder in anderer Weise umgestalten, |
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23 | # verändern oder als Grundlage für einen anderen Inhalt verwenden, |
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24 | # dürfen Sie den neu entstandenen Inhalt nur unter Verwendung von Lizenzbedingungen |
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25 | # weitergeben, die mit denen dieses Lizenzvertrages identisch oder vergleichbar sind. |
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26 | # |
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27 | # Im Falle einer Verbreitung müssen Sie anderen die Lizenzbedingungen, unter welche dieses |
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28 | # Werk fällt, mitteilen. Am Einfachsten ist es, einen Link auf diese Seite einzubinden. |
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29 | # |
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30 | # Jede der vorgenannten Bedingungen kann aufgehoben werden, sofern Sie die Einwilligung |
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31 | # des Rechteinhabers dazu erhalten. |
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32 | # |
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33 | # Diese Lizenz lässt die Urheberpersönlichkeitsrechte unberührt. |
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34 | # |
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35 | # Weitere Details zur Lizenzbestimmung gibt es hier: |
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36 | # Kurzform: http://creativecommons.org/licenses/by-nc-sa/3.0/de/ |
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37 | # Komplett: http://creativecommons.org/licenses/by-nc-sa/3.0/de/legalcode |
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38 | # |
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39 | ############################################################################### |
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40 | # 2009-02-14 0.0.1 rw created |
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41 | # 2009-04-01 0.1.0 rw RC1 |
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42 | # 2009-06-14 0.1.1 rw Tilt-Servo added |
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43 | # |
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44 | ############################################################################### |
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45 | |||
46 | $Version{'track.pl'} = "0.1.1 - 2009-06-11"; |
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47 | |||
48 | # Packages |
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49 | use Time::HiRes qw(usleep gettimeofday); # http://search.cpan.org/~jhi/Time-HiRes-1.9719/HiRes.pm |
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50 | use threads; |
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51 | use threads::shared; |
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52 | use Math::Trig; |
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53 | use Geo::Ellipsoid; # http://search.cpan.org/dist/Geo-Ellipsoid-1.12/lib/Geo/Ellipsoid.pm |
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54 | # http://www.kompf.de/gps/distcalc.html |
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55 | # http://www.herrmann-w.de/Geocaching/Downloads/Richt.XLS |
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56 | # http://williams.best.vwh.net/avform.htm |
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57 | # http://williams.best.vwh.net/gccalc.html |
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58 | # http://de.wikipedia.org/wiki/Orthodrome |
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59 | if ( $^O =~ /Win32/i ) |
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60 | { |
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61 | require Win32::SerialPort; # http://search.cpan.org/dist/Win32-SerialPort |
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62 | } |
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63 | else |
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64 | { |
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65 | require Device::SerialPort; # http://search.cpan.org/~cook/Device-SerialPort-1.04/SerialPort.pm |
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66 | } |
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67 | |||
68 | require "mkcomm.pl"; # MK communication |
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69 | |||
70 | # Sharing for Threads |
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71 | share (@ServoPos); |
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72 | share (%MkTrack); |
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73 | |||
74 | # |
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75 | # Parameter |
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76 | # |
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77 | |||
78 | # System Timer |
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79 | $SysTimerResolution = 1000; # Resolution in us |
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80 | $LogOn = 0; |
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81 | |||
82 | # Com Port for Pololu Mikro-Servoboard |
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83 | # http://www.shop.robotikhardware.de/shop/catalog/product_info.php?cPath=65&products_id=118 |
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84 | if ( ! defined $Cfg->{'track'}->{'Port'} ) |
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85 | { |
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86 | # set default port |
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87 | $Cfg->{'track'}->{'Port'} = "COM8"; |
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88 | } |
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89 | |||
90 | # Servo parameter |
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91 | $ServoPan = 0; # Servo channel Pan |
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92 | $ServoTilt = 1; # Servo channel Tilt |
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93 | $MkTrack{'ServoPan'} = $ServoPan; |
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94 | $MkTrack{'ServoTilt'} = $ServoTilt; |
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95 | @ServoSpeed = (100/40, 100/40, 100/40, 100/40, 100/40, 100/40, 100/40, 100/40); # ms/degree |
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96 | $ServoConstPpm = 20; # PPM protocol overhead in ms |
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97 | |||
98 | @ServoTest = ( [ 90, 0 ], # Pan, Tilt in degrees for servo test |
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99 | [ 180, 0 ], |
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100 | [ 180, 90 ], |
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101 | [ 90, 0 ], |
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102 | [ 0, 0 ], |
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103 | [ 0, 90 ], |
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104 | [ 90, 0 ], |
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105 | [ 90, 180 ], |
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106 | [ 90, 0 ], ); |
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107 | |||
108 | |||
109 | # Tracking |
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110 | $TrackInterval = 100; # in ms |
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111 | # |
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112 | # Logging |
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113 | # |
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114 | |||
115 | sub Log() |
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116 | { |
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117 | my ($Message, $Level) = @_; |
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118 | |||
119 | if ( $LogOn ) |
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120 | { |
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121 | print ("$SysTimerCount_ms: $Message\n"); |
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122 | } |
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123 | } |
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124 | |||
125 | # |
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126 | # Timer |
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127 | # |
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128 | |||
129 | sub SetTimer_ms() |
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130 | { |
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131 | return $SysTimerCount_ms + $_[0]; |
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132 | } |
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133 | |||
134 | sub CheckTimer_ms() |
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135 | { |
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136 | my $Diff = $_[0] - $SysTimerCount_ms; |
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137 | return ($Diff <= 0); |
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138 | } |
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139 | |||
140 | # |
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141 | # Servo |
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142 | # |
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143 | |||
144 | sub ServoInit() |
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145 | { |
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146 | # open COM-Port |
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147 | my $ComPort = $Cfg->{'track'}->{'Port'}; |
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148 | undef $ServoPort; |
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149 | if ( $^O =~ m/Win32/ ) |
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150 | { |
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151 | $ServoPort = Win32::SerialPort->new ($ComPort) || die "Error open $ComPort\n"; |
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152 | } |
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153 | else |
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154 | { |
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155 | $ServoPort = Device::SerialPort->new ($ComPort) || die "Error open $ComPort\n"; |
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156 | } |
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157 | # Set COM parameters |
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158 | $ServoPort->baudrate(38400); |
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159 | $ServoPort->parity("none"); |
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160 | $ServoPort->databits(8); |
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161 | $ServoPort->stopbits(1); |
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162 | $ServoPort->handshake('none'); |
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163 | $ServoPort->write_settings; |
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164 | |||
165 | # Byte 1: sync - Pololu Mode |
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166 | # Byte 2: device |
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167 | # Byte 3: command |
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168 | # Byte 4: Servo num |
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169 | # Byte 5: data |
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170 | # Bit 6: Servo on/off |
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171 | # Bit 5: Direction |
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172 | # Bit 4-0: Servo Range |
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173 | |||
174 | # Pan servo #0 |
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175 | my $Output = pack('C*', 0x80, 0x01, 0x00, 0, 0x40 | 29 ); |
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176 | $ServoPort->write($Output); |
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177 | |||
178 | # Tilt servo #1 |
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179 | my $Output = pack('C*', 0x80, 0x01, 0x00, 1, 0x60 | 27 ); |
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180 | $ServoPort->write($Output); |
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181 | |||
182 | @ServoStartTime = (0, 0, 0, 0, 0, 0, 0, 0); # Timestamp of last ServoMove() call |
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183 | @ServoEndTime = (0, 0, 0, 0, 0, 0, 0, 0); # Timestamp of estimated arrival at end position |
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184 | @ServoPos = (0, 0, 0, 0, 0, 0, 0, 0); # Current servo position 0..180 degree |
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185 | } |
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186 | |||
187 | |||
188 | sub ServoMove() |
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189 | { |
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190 | my ($Num, $Angel, $Time) = @_; |
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191 | |||
192 | my $Overhead = 0; |
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193 | |||
194 | if ( $Angel != $ServoPos[$Num] ) |
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195 | { |
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196 | if ( $Angel < 0) {$Angel = 0;} |
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197 | if ( $Angel > 180) {$Angel = 180;} |
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198 | |||
199 | my $Pos = int ($Angel * 127/180); # angel 0..180 degree to servo position 0..127 |
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200 | |||
201 | # output to COM port |
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202 | # Byte 1: sync - Pololu Mode |
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203 | # Byte 2: device |
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204 | # Byte 3: command |
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205 | # Byte 4: Servo num |
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206 | # Byte 5: servo position 0..127 |
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207 | |||
208 | my $Output = pack('C*', 0x80, 0x01, 0x02, $Num, $Pos ); |
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209 | $ServoPort->write($Output); |
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210 | |||
211 | $Overhead += $ServoConstPpm; # PPM protocol overhead |
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212 | } |
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213 | |||
214 | # set timer stuff for travel time predicion |
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215 | my $LastAngel = $ServoPos[$Num]; |
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216 | my $EstimatedTime = abs($Angel - $LastAngel) * $ServoSpeed[$Num] + $Overhead; |
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217 | if ( $Time > 0 ) |
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218 | { |
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219 | # Parameter override |
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220 | $EstimatedTime = $Time; |
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221 | } |
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222 | $ServoStartTime[$Num] = $SysTimerCount_ms; |
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223 | $ServoEndTime[$Num] = $SysTimerCount_ms + $EstimatedTime; |
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224 | $ServoPos[$Num] = $Angel; |
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225 | |||
226 | &Log ("ServoMove: Num: $Num : LastPos: $LastAngel NewPos: $Angel Estimated: $EstimatedTime ms"); |
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227 | |||
228 | return $ServoEndTime[$Num]; |
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229 | } |
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230 | |||
231 | |||
232 | # Check, if servo has reached end position |
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233 | sub ServoCheck() |
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234 | { |
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235 | my $Num = $_[0]; |
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236 | return &CheckTimer_ms($ServoEndTime[$Num]); |
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237 | } |
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238 | |||
239 | |||
240 | sub ServoClose() |
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241 | { |
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242 | # close COM-Port |
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243 | undef $ServoPort; |
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244 | } |
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245 | |||
246 | # |
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247 | # Signal handler |
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248 | # |
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249 | |||
250 | $SIG{'INT'} = 'SigHandler'; |
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251 | $SIG{'KILL'} = 'SigHandler'; |
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252 | |||
253 | sub SigHandler() |
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254 | { |
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255 | # move all Servo to neutral position |
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256 | &ServoMove ($ServoPan, 90); |
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257 | &ServoMove ($ServoTilt, 90); |
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258 | |||
259 | &ServoClose(); |
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260 | |||
261 | if ( defined threads->self() ) |
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262 | { |
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263 | threads->exit(); |
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264 | } |
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265 | exit; |
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266 | } |
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267 | |||
268 | |||
269 | # |
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270 | # Track it |
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271 | # |
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272 | |||
273 | sub TrackAntennaGps() |
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274 | { |
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275 | |||
276 | # |
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277 | # State maschine |
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278 | # |
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279 | |||
280 | my $State = "ColdStart"; |
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281 | while (1) |
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282 | { |
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283 | |||
284 | if ( $State eq "ColdStart" ) |
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285 | { |
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286 | &ServoInit(); |
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287 | |||
288 | # initialize system-timer |
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289 | $SysTimerCount_ms = 0; |
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290 | $SysTimerError = 0; |
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291 | ($t0_s, $t0_us) = gettimeofday; |
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292 | |||
293 | $ServoTestIndex = 0; |
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294 | |||
295 | $State = "InitServoTest"; |
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296 | } |
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297 | |||
298 | # |
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299 | # Start servo test |
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300 | # doesn't really make much sense, but looks cool:-) |
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301 | # |
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302 | |||
303 | elsif ( $State eq "InitServoTest") |
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304 | { |
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305 | if ( &ServoCheck ($ServoPan) and &ServoCheck ($ServoTilt) ) |
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306 | { |
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307 | |||
308 | my $PanPos = $ServoTest[$ServoTestIndex][0]; |
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309 | my $TiltPos = $ServoTest[$ServoTestIndex][1]; |
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310 | $ServoTestIndex ++; |
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311 | |||
312 | if ( defined $PanPos and defined $TiltPos ) |
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313 | { |
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314 | &ServoMove ($ServoPan, $PanPos, 1000); # override 1s travel time |
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315 | &ServoMove ($ServoTilt, $TiltPos, 1000); # override 1s travel time |
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316 | } |
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317 | else |
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318 | { |
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319 | # complete |
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320 | $ServoTestIndex = 0; |
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321 | $State = "WaitGps"; |
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322 | } |
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323 | } |
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324 | } |
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325 | |||
326 | # |
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327 | # Servo test finisched |
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328 | # |
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329 | # Wait for GPS Home position and compass |
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330 | # |
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331 | |||
332 | elsif ( $State eq "WaitGps" ) |
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333 | { |
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334 | if ( &ServoCheck ($ServoPan) ) |
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335 | { |
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336 | if ( $MkOsd{'_Timestamp'} >= time-2 and |
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337 | $MkOsd{'SatsInUse'} >= 6 ) |
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338 | { |
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339 | # gültige OSD daten vom MK und guter Satellitenempfang |
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340 | |||
341 | # take GPS and compass from MK as antenna home-position |
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342 | $MkTrack{'HomePos_Lon'} = $MkOsd{'HomePos_Lon'}; |
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343 | $MkTrack{'HomePos_Lat'} = $MkOsd{'HomePos_Lat'}; |
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344 | $MkTrack{'HomePos_Alt'} = $MkOsd{'HomePos_Alt'}; |
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345 | if ( $MkTrack{'CompassHeading'} eq "" ) |
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346 | { |
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347 | # nur beim ersten mal |
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348 | $MkTrack{'CompassHeading'} = $MkOsd{'CompassHeading'}; |
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349 | } |
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350 | |||
351 | $TrackTimer = &SetTimer_ms($TrackInterval); |
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352 | |||
353 | $State = "TrackGps"; |
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354 | } |
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355 | } |
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356 | } |
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357 | |||
358 | # |
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359 | # GPS Fix Home position |
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360 | # Track now |
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361 | # |
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362 | elsif ( $State eq "TrackGps" ) |
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363 | { |
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364 | if ( &CheckTimer_ms($TrackTimer) and &ServoCheck($ServoPan) ) |
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365 | { |
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366 | $TrackTimer = &SetTimer_ms($TrackInterval); # reload Timer |
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367 | |||
368 | if ( $MkOsd{'_Timestamp'} >= time -2 and |
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369 | $MkOsd{'SatsInUse'} >= 4 ) |
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370 | { |
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371 | # valid OSD data from the MK and sufficient satellites |
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372 | lock (%MkOsd); # until end of block |
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373 | lock (%MkTrack); |
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374 | |||
375 | my $Track_Geo = Geo::Ellipsoid->new( 'units' => 'degrees', |
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376 | 'distance_units' => 'meter', |
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377 | 'ellipsoid' => 'WGS84', |
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378 | ); |
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379 | |||
380 | my ($Dist, $Bearing) = $Track_Geo->to($MkTrack{'HomePos_Lat'}, $MkTrack{'HomePos_Lon'}, |
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381 | $MkOsd{'CurPos_Lat'}, $MkOsd{'CurPos_Lon'}); |
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382 | my $Dir_h = $MkTrack{'CompassHeading'}; |
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383 | my $Dir_c = $MkOsd{'CompassHeading'}; |
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384 | |||
385 | if ( $Dist < 2 ) # meter |
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386 | { |
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387 | # Too close to Home-Position. Set antenna to middle position |
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388 | $Bearing = $Dir_h; |
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389 | } |
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390 | |||
391 | $MkTrack{'Bearing'} = sprintf ("%d", $Bearing); |
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392 | $MkTrack{'Dist'} = sprintf ("%d", $Dist); |
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393 | $MkTrack{'CurPos_Lon'} = $MkOsd{'CurPos_Lon'}; |
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394 | $MkTrack{'CurPos_Lat'} = $MkOsd{'CurPos_Lat'}; |
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395 | $MkTrack{'CurPos_Alt'} = $MkOsd{'CurPos_Alt'}; |
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396 | |||
397 | my $AngelPan = $Bearing - $Dir_h + 90; # antenna direction: 0..180 degree, centre = 90 |
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398 | while ( $AngelPan >= 360 ) |
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399 | { |
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400 | $AngelPan -= 360; |
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401 | } |
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402 | while ( $AngelPan <0 ) |
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403 | { |
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404 | $AngelPan += 360; |
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405 | } |
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406 | |||
407 | $MkTrack{'AngelPan'} = $AngelPan; |
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408 | &ServoMove ($ServoPan, $AngelPan); |
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409 | |||
410 | # determine tilt angle |
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411 | my $AngelTilt = rad2deg(atan2(($MkOsd{'CurPos_Alt'} - $MkTrack{'HomePos_Alt'}), $Dist)); # antenna direction: 0..180 degree |
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412 | $MkTrack{'AngelTilt'} = $AngelTilt; |
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413 | &ServoMove ($ServoTilt, $AngelTilt); |
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414 | |||
415 | # Timestamp, wann der Datensatz geschtieben wurde |
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416 | $MkTrack{'_Timestamp'} = time; |
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417 | } |
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418 | } |
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419 | } |
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420 | |||
421 | else |
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422 | { |
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423 | # Restart |
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424 | &Log ("WARNING: Error in state machine - $State - ColdStart"); |
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425 | |||
426 | $State = "ColdStart"; |
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427 | } |
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428 | |||
429 | # |
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430 | # update system-timer |
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431 | # |
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432 | ($t1_s, $t1_us) = gettimeofday; |
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433 | $SysTimerSleep_us = ($t0_s - $t1_s) * 1000000 + $t0_us - $t1_us + $SysTimerCount_ms * $SysTimerResolution; |
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434 | |||
435 | #&Log ("SysTimerSleep_us: $SysTimerSleep_us"); |
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436 | |||
437 | if ($SysTimerSleep_us > 0) |
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438 | { |
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439 | usleep ($SysTimerSleep_us); |
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440 | } |
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441 | else |
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442 | { |
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443 | $SysTimerError ++; |
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444 | } |
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445 | |||
446 | $SysTimerCount_ms ++; |
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447 | } |
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448 | } |
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449 | |||
450 | |||
451 | # |
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452 | # Main Program |
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453 | # |
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454 | |||
455 | if ( $0 =~ /track.pl$/i ) |
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456 | { |
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457 | # Program wurde direkt aufgerufen |
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458 | |||
459 | # Kommunikation zum MK herstellen |
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460 | # Input: %MkOsd, %MkTarget, %MkNcDebug |
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461 | # Ouput: Thread-Queue: $MkSendQueue |
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462 | $mk_thr = threads->create (\&MkCommLoop) -> detach(); |
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463 | |||
464 | &TrackAntennaGps(); |
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465 | |||
466 | # should never exit |
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467 | } |
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468 | |||
469 | 1; |
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470 | |||
471 | __END__ |