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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 834 | - | 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 | # 2009-08-15 0.1.2 rw Flip Pan/Tilt servo for >180 degree |
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| 44 | # config servo direction and range |
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| 45 | # optional get antenna home position from Map-config |
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| 46 | # Signal handler replaced by command-queue |
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| 47 | # 2009-09-30 0.1.3 rw Commandline parameter added |
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| 48 | # 2009-10-07 0.1.4 rw COM-Port > 9 |
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| 49 | # Servo Speed, neutral position and 8 bit position |
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| 50 | # Add Coldstart command |
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| 51 | # Relax servo at shutdown |
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| 52 | # PortSetSkip config |
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| 53 | # 2010-01-02 0.1.5 rw bugfix |
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| 54 | # 2010-03-12 0.1.6 rw Pololu Maestro-6 Controller |
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| 55 | # 2010-07-29 0.1.7 rw change ServoTest/GpsWait sequence |
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| 56 | # 2010-11-06 0.1.8 rw Use &MkGpsOK() |
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| 57 | # |
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| 58 | ############################################################################### |
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| 59 | |||
| 60 | $Version{'track.pl'} = "0.1.8 - 2010-11-06"; |
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| 61 | |||
| 62 | |||
| 63 | if ( $0 =~ /track.pl$/i ) |
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| 64 | { |
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| 65 | # Program wurde direkt aufgerufen |
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| 66 | |||
| 67 | # change working directory to program path |
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| 68 | my $Cwd = substr ($0, 0, rindex ($0, "track.pl")); |
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| 69 | chdir $Cwd; |
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| 70 | |||
| 71 | # set path for local Perl libs |
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| 72 | push @INC, $Cwd . "perl/lib"; |
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| 73 | } |
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| 74 | |||
| 75 | |||
| 76 | # Packages |
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| 77 | use Time::HiRes qw(usleep gettimeofday); # http://search.cpan.org/~jhi/Time-HiRes-1.9719/HiRes.pm |
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| 78 | use threads; # http://search.cpan.org/~jdhedden/threads-1.72/threads.pm |
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| 79 | # http://perldoc.perl.org/threads.html |
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| 80 | use threads::shared; # http://search.cpan.org/~jdhedden/threads-shared-1.28/shared.pm |
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| 81 | use Thread::Queue; # http://search.cpan.org/dist/Thread-Queue-2.11/lib/Thread/Queue.pm |
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| 82 | use Math::Trig; |
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| 83 | use Geo::Ellipsoid; # http://search.cpan.org/dist/Geo-Ellipsoid-1.12/lib/Geo/Ellipsoid.pm |
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| 84 | # http://www.kompf.de/gps/distcalc.html |
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| 85 | # http://www.herrmann-w.de/Geocaching/Downloads/Richt.XLS |
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| 86 | # http://williams.best.vwh.net/avform.htm |
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| 87 | # http://williams.best.vwh.net/gccalc.html |
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| 88 | # http://de.wikipedia.org/wiki/Orthodrome |
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| 89 | if ( $^O =~ /Win32/i ) |
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| 90 | { |
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| 91 | require Win32::SerialPort; # http://search.cpan.org/dist/Win32-SerialPort |
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| 92 | } |
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| 93 | else |
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| 94 | { |
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| 95 | require Device::SerialPort; # http://search.cpan.org/~cook/Device-SerialPort-1.04/SerialPort.pm |
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| 96 | } |
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| 97 | |||
| 98 | require "mkcomm.pl"; # MK communication |
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| 99 | |||
| 100 | # Sharing for Threads |
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| 101 | share (@ServoPos); |
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| 102 | share (%MkTrack); |
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| 103 | |||
| 104 | # Queue for receiving commands |
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| 105 | $TrackQueue = Thread::Queue->new(); |
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| 106 | |||
| 107 | # Commandline |
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| 108 | my %CmdLine = @ARGV; |
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| 109 | |||
| 110 | # |
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| 111 | # Parameter |
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| 112 | # |
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| 113 | |||
| 114 | $SysTimerResolution = 1000; # System Timer resolution in us |
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| 115 | $TrackInterval = 50; # Tracking in ms |
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| 116 | |||
| 117 | # Com Port for Pololu Mikro-Servoboard |
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| 118 | # http://www.shop.robotikhardware.de/shop/catalog/product_info.php?cPath=65&products_id=118 |
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| 119 | my $ComPort = $Cfg->{'track'}->{'Port'} || "COM8"; |
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| 120 | |||
| 121 | # Servo parameter |
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| 122 | $ServoPan = 0; # Servo channel Pan |
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| 123 | $ServoTilt = 1; # Servo channel Tilt |
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| 124 | $MkTrack{'ServoPan'} = $ServoPan; |
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| 125 | $MkTrack{'ServoTilt'} = $ServoTilt; |
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| 126 | @ServoSpeed = (200/40, 200/40, 200/40, 200/40, 200/40, 200/40, 200/40, 200/40); # ms/degree |
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| 127 | $ServoConstPpm = 20; # PPM protocol overhead in ms |
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| 128 | |||
| 129 | # Servo Parameter defaults |
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| 130 | @ServoPar = ( { Min => 1000, Mid => 1500, Max => 2000, Speed => 0, Accel => 0, }, # Servo 0 |
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| 131 | { Min => 1000, Mid => 1500, Max => 2000, Speed => 0, Accel => 0, }, # Servo 1 |
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| 132 | { Min => 1000, Mid => 1500, Max => 2000, Speed => 0, Accel => 0, }, # Servo 2 |
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| 133 | { Min => 1000, Mid => 1500, Max => 2000, Speed => 0, Accel => 0, }, # Servo 3 |
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| 134 | { Min => 1000, Mid => 1500, Max => 2000, Speed => 0, Accel => 0, }, # Servo 4 |
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| 135 | { Min => 1000, Mid => 1500, Max => 2000, Speed => 0, Accel => 0, }, # Servo 5 |
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| 136 | { Min => 1000, Mid => 1500, Max => 2000, Speed => 0, Accel => 0, }, # Servo 6 |
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| 137 | { Min => 1000, Mid => 1500, Max => 2000, Speed => 0, Accel => 0, }, # Servo 7 |
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| 138 | ); |
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| 139 | |||
| 140 | # Read configuration |
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| 141 | $ServoPar[$ServoPan]{'Min'} = $Cfg->{'track'}->{'ServoPanLeft'} || "1000"; |
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| 142 | $ServoPar[$ServoPan]{'Mid'} = $Cfg->{'track'}->{'ServoPanMiddle'} || "1500"; |
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| 143 | $ServoPar[$ServoPan]{'Max'} = $Cfg->{'track'}->{'ServoPanRight'} || "2000"; |
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| 144 | $ServoPar[$ServoPan]{'Speed'} = $Cfg->{'track'}->{'ServoPanSpeed'} || "0"; |
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| 145 | $ServoPar[$ServoPan]{'Accel'} = $Cfg->{'track'}->{'ServoPanAccel'} || "0"; |
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| 146 | |||
| 147 | $ServoPar[$ServoTilt]{'Min'} = $Cfg->{'track'}->{'ServoTiltFront'} || "1000"; |
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| 148 | $ServoPar[$ServoTilt]{'Mid'} = $Cfg->{'track'}->{'ServoTiltTop'} || "1500"; |
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| 149 | $ServoPar[$ServoTilt]{'Max'} = $Cfg->{'track'}->{'ServoTiltBack'} || "2000"; |
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| 150 | $ServoPar[$ServoTilt]{'Speed'} = $Cfg->{'track'}->{'ServoTiltSpeed'} || "0"; |
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| 151 | $ServoPar[$ServoTilt]{'Accel'} = $Cfg->{'track'}->{'ServoTiltAccel'} || "0"; |
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| 152 | |||
| 153 | my $ServoController = $Cfg->{'track'}->{'ServoController'} || "Pololu Micro Serial"; |
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| 154 | |||
| 155 | # Debug |
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| 156 | $MkTrack{'ServoPanLeft'} = $ServoPar[$ServoPan]{'Min'}; |
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| 157 | $MkTrack{'ServoPanMiddle'} = $ServoPar[$ServoPan]{'Mid'}; |
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| 158 | $MkTrack{'ServoPanRight'} = $ServoPar[$ServoPan]{'Max'}; |
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| 159 | $MkTrack{'ServoPanSpeed'} = $ServoPar[$ServoPan]{'Speed'}; |
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| 160 | $MkTrack{'ServoPanAccel'} = $ServoPar[$ServoPan]{'Accel'}; |
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| 161 | |||
| 162 | $MkTrack{'ServoTiltLeft'} = $ServoPar[$ServoTilt]{'Min'}; |
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| 163 | $MkTrack{'ServoTiltMiddle'} = $ServoPar[$ServoTilt]{'Mid'}; |
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| 164 | $MkTrack{'ServoTiltRight'} = $ServoPar[$ServoTilt]{'Max'}; |
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| 165 | $MkTrack{'ServoTiltSpeed'} = $ServoPar[$ServoTilt]{'Speed'}; |
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| 166 | $MkTrack{'ServoTiltAccel'} = $ServoPar[$ServoTilt]{'Accel'}; |
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| 167 | |||
| 168 | $MkTrack{'ServoController'} = $ServoController; |
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| 169 | |||
| 170 | # Pan, Tilt in degrees for servo test |
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| 171 | @ServoTest = ( [ 90, 0 ], |
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| 172 | [ 180, 0 ], |
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| 173 | [ 180, 90 ], |
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| 174 | [ 90, 0 ], |
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| 175 | [ 0, 0 ], |
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| 176 | [ 0, 90 ], |
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| 177 | [ 90, 0 ], |
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| 178 | [ 90, 180 ], |
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| 179 | [ 90, 0 ], ); |
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| 180 | |||
| 181 | # |
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| 182 | # Timer |
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| 183 | # |
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| 184 | |||
| 185 | sub SetTimer_ms() |
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| 186 | { |
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| 187 | return $SysTimerCount_ms + $_[0]; |
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| 188 | } |
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| 189 | |||
| 190 | sub CheckTimer_ms() |
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| 191 | { |
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| 192 | my $Diff = $_[0] - $SysTimerCount_ms; |
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| 193 | return ($Diff <= 0); |
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| 194 | } |
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| 195 | |||
| 196 | # |
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| 197 | # Servo |
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| 198 | # |
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| 199 | |||
| 200 | sub ServoInit() |
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| 201 | { |
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| 202 | # open COM-Port |
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| 203 | undef $ServoPort; |
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| 204 | |||
| 205 | if ( $ComPort =~ /^COM/i ) |
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| 206 | { |
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| 207 | $ComPort = "\\\\.\\" . $ComPort; # for Port > 9 required |
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| 208 | } |
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| 209 | |||
| 210 | if ( $^O =~ m/Win32/ ) |
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| 211 | { |
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| 212 | $ServoPort = Win32::SerialPort->new ($ComPort) || die "Error open $ComPort\n"; |
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| 213 | } |
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| 214 | else |
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| 215 | { |
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| 216 | $ServoPort = Device::SerialPort->new ($ComPort) || die "Error open $ComPort\n"; |
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| 217 | } |
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| 218 | |||
| 219 | if ( ! ($Cfg->{'track'}->{'PortSetSkip'} =~ /y/i) ) |
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| 220 | { |
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| 221 | # Set COM parameters, don't set for Bluetooth device |
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| 222 | $ServoPort->baudrate(38400); |
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| 223 | $ServoPort->parity("none"); |
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| 224 | $ServoPort->databits(8); |
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| 225 | $ServoPort->stopbits(1); |
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| 226 | $ServoPort->handshake('none'); |
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| 227 | $ServoPort->write_settings; |
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| 228 | } |
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| 229 | |||
| 230 | if ( $ServoController =~ /Pololu Micro Serial/i ) |
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| 231 | { |
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| 232 | # Byte 1: sync - Pololu Mode |
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| 233 | # Byte 2: device |
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| 234 | # Byte 3: command |
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| 235 | # Byte 4: Servo num |
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| 236 | |||
| 237 | # Byte 5: Set Speed 0, 1..127, 0=full speed |
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| 238 | # Speed Pan/Tilt servo #0/#1 |
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| 239 | my $Output = pack('C*', 0x80, 0x01, 0x01, $ServoPan, $ServoPar[$ServoPan]{'Speed'} ); |
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| 240 | $ServoPort->write($Output); |
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| 241 | my $Output = pack('C*', 0x80, 0x01, 0x01, $ServoTilt, $ServoPar[$ServoTilt]{'Speed'} ); |
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| 242 | $ServoPort->write($Output); |
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| 243 | |||
| 244 | # Acceleration not supported |
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| 245 | } |
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| 246 | |||
| 247 | elsif ( $ServoController =~ /Pololu Maestro/i ) |
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| 248 | { |
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| 249 | # Pololu compact protocoll |
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| 250 | # Byte 1: Command |
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| 251 | # Byte 2: device |
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| 252 | # Byte 3: low bits 0..6 |
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| 253 | # Byte 4: high bits 7..14 |
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| 254 | |||
| 255 | # Speed |
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| 256 | my $Speed = $ServoPar[$ServoPan]{'Speed'}; |
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| 257 | my $Output = pack('C*', 0x87, $ServoPan, $Speed & 0x7f, ($Speed >> 7) & 0x7f ); |
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| 258 | $ServoPort->write($Output); |
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| 259 | |||
| 260 | my $Speed = $ServoPar[$ServoTilt]{'Speed'}; |
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| 261 | my $Output = pack('C*', 0x87, $ServoTilt, $Speed & 0x7f, ($Speed >> 7) & 0x7f ); |
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| 262 | $ServoPort->write($Output); |
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| 263 | |||
| 264 | # Acceleration |
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| 265 | my $Accel = $ServoPar[$ServoPan]{'Accel'}; |
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| 266 | my $Output = pack('C*', 0x89, $ServoPan, $Accel & 0x7f, ($Accel >> 7) & 0x7f ); |
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| 267 | $ServoPort->write($Output); |
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| 268 | |||
| 269 | my $Accel = $ServoPar[$ServoTilt]{'Accel'}; |
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| 270 | my $Output = pack('C*', 0x89, $ServoTilt, $Accel & 0x7f, ($Accel >> 7) & 0x7f ); |
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| 271 | $ServoPort->write($Output); |
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| 272 | } |
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| 273 | |||
| 274 | @ServoStartTime = (0, 0, 0, 0, 0, 0, 0, 0); # Timestamp of last ServoMove() call |
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| 275 | @ServoEndTime = (0, 0, 0, 0, 0, 0, 0, 0); # Timestamp of estimated arrival at end position |
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| 276 | @ServoPos = (90, 90, 90, 90, 90, 90, 90, 90); # Current servo position 0..180 degree |
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| 277 | } |
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| 278 | |||
| 279 | |||
| 280 | sub ServoMove() |
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| 281 | { |
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| 282 | my ($Num, $Angel, $Time) = @_; |
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| 283 | |||
| 284 | my $Overhead = 0; |
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| 285 | |||
| 286 | if ( $Angel != $ServoPos[$Num] ) |
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| 287 | { |
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| 288 | if ( $Angel < 0) {$Angel = 0;} |
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| 289 | if ( $Angel > 180) {$Angel = 180;} |
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| 290 | |||
| 291 | my $Pos = $Angel - 90; # -90..0..90 |
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| 292 | |||
| 293 | my $Min = $ServoPar[$Num]{'Min'}; |
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| 294 | my $Mid = $ServoPar[$Num]{'Mid'}; |
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| 295 | my $Max = $ServoPar[$Num]{'Max'}; |
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| 296 | |||
| 297 | if ( $Pos >= 0 ) |
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| 298 | { |
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| 299 | $Pos = int ($Mid + $Pos / 90 * ($Max - $Mid) + 0.5); |
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| 300 | } |
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| 301 | else |
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| 302 | { |
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| 303 | $Pos = int ($Mid + $Pos / 90 * ($Mid - $Min) + 0.5); |
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| 304 | } |
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| 305 | |||
| 306 | if ( $ServoController =~ /Pololu Micro Serial/i ) |
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| 307 | { |
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| 308 | # output to COM port |
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| 309 | # Byte 1: sync - Pololu Mode |
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| 310 | # Byte 2: device |
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| 311 | # Byte 3: command |
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| 312 | # Byte 4: Servo num |
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| 313 | # Byte 5: bits 7..14 in 0.5 us |
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| 314 | # Byte 6: bits 0..6 in 0.5 us |
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| 315 | |||
| 316 | $Pos *= 2; # 0.5 us resolution |
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| 317 | |||
| 318 | my $Output = pack('C*', 0x80, 0x01, 0x04, $Num, ($Pos >> 7) & 0x7f, $Pos & 0x7f ); |
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| 319 | $ServoPort->write($Output); |
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| 320 | } |
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| 321 | |||
| 322 | elsif ( $ServoController =~ /Pololu Maestro/i ) |
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| 323 | { |
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| 324 | # Pololu compact protocoll |
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| 325 | # Byte 1: Command |
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| 326 | # Byte 2: device |
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| 327 | # Byte 3: low bits 0..6 in 0.25 us |
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| 328 | # Byte 4: high bits 7..14 in 0.25 us |
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| 329 | |||
| 330 | $Pos *= 4; # 0.25 us resolution |
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| 331 | |||
| 332 | my $Output = pack('C*', 0x84, $Num, $Pos & 0x7f, ($Pos >> 7) & 0x7f ); |
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| 333 | $ServoPort->write($Output); |
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| 334 | } |
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| 335 | |||
| 336 | $Overhead += $ServoConstPpm; # PPM protocol overhead |
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| 337 | } |
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| 338 | |||
| 339 | # set timer stuff for travel time predicion |
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| 340 | my $LastAngel = $ServoPos[$Num]; |
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| 341 | my $EstimatedTime = abs($Angel - $LastAngel) * $ServoSpeed[$Num] + $Overhead; |
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| 342 | if ( $Time > 0 ) |
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| 343 | { |
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| 344 | # Parameter override |
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| 345 | $EstimatedTime = $Time; |
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| 346 | } |
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| 347 | $ServoStartTime[$Num] = $SysTimerCount_ms; |
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| 348 | $ServoEndTime[$Num] = $SysTimerCount_ms + $EstimatedTime; |
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| 349 | $ServoPos[$Num] = $Angel; |
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| 350 | |||
| 351 | return $ServoEndTime[$Num]; |
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| 352 | } |
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| 353 | |||
| 354 | |||
| 355 | # switch off servo |
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| 356 | sub ServoRelax() |
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| 357 | { |
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| 358 | if ( defined $ServoPort ) |
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| 359 | { |
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| 360 | if ( $ServoController =~ /Pololu Micro Serial/i ) |
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| 361 | { |
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| 362 | |||
| 363 | # Byte 1: sync - Pololu Mode |
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| 364 | # Byte 2: device |
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| 365 | # Byte 3: command |
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| 366 | # Byte 4: Servo num |
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| 367 | |||
| 368 | # Byte 5: Set Parameter |
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| 369 | # Bit 6: Servo on/off |
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| 370 | # Bit 5: Direction |
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| 371 | # Bit 4-0: Servo Range |
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| 372 | # Set Pan/Tilt servo #0/#1 |
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| 373 | my $Output = pack('C*', 0x80, 0x01, 0x00, $ServoPan, 0x00 | 15 ); |
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| 374 | $ServoPort->write($Output); |
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| 375 | my $Output = pack('C*', 0x80, 0x01, 0x00, $ServoTilt, 0x00 | 15 ); |
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| 376 | $ServoPort->write($Output); |
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| 377 | } |
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| 378 | |||
| 379 | elsif ( $ServoController =~ /Pololu Maestro/i ) |
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| 380 | { |
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| 381 | # not supported |
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| 382 | } |
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| 383 | } |
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| 384 | } |
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| 385 | |||
| 386 | |||
| 387 | # Check, if servo has reached end position |
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| 388 | sub ServoCheck() |
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| 389 | { |
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| 390 | my $Num = $_[0]; |
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| 391 | return &CheckTimer_ms($ServoEndTime[$Num]); |
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| 392 | } |
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| 393 | |||
| 394 | |||
| 395 | sub ServoClose() |
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| 396 | { |
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| 397 | # close COM-Port |
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| 398 | undef $ServoPort; |
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| 399 | } |
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| 400 | |||
| 401 | # |
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| 402 | # Track it |
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| 403 | # |
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| 404 | |||
| 405 | sub TrackAntennaGps() |
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| 406 | { |
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| 407 | |||
| 408 | # initialize system-timer |
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| 409 | $SysTimerCount_ms = 0; |
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| 410 | $SysTimerError = 0; |
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| 411 | ($t0_s, $t0_us) = gettimeofday; |
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| 412 | |||
| 413 | # |
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| 414 | # State maschine |
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| 415 | # |
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| 416 | |||
| 417 | my $State = "Idle"; |
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| 418 | while (1) |
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| 419 | { |
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| 420 | |||
| 421 | $MkTrack{'State'} = $State; # export state |
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| 422 | |||
| 423 | # |
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| 424 | # Idle |
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| 425 | # |
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| 426 | if ( $State eq "Idle" ) |
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| 427 | { |
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| 428 | # nothing to do. Wait for commands in TrackQueue |
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| 429 | } |
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| 430 | |||
| 431 | # |
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| 432 | # ColdStart |
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| 433 | # |
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| 434 | elsif ( $State eq "ColdStart" ) |
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| 435 | { |
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| 436 | &ServoInit(); |
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| 437 | |||
| 438 | |||
| 439 | $ServoTestIndex = 0; |
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| 440 | |||
| 441 | $State = "WaitGps"; |
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| 442 | } |
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| 443 | |||
| 444 | # |
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| 445 | # Wait for GPS Home position and compass |
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| 446 | # |
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| 447 | elsif ( $State eq "WaitGps" ) |
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| 448 | { |
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| 449 | lock (%MkOsd); # until end of block |
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| 450 | lock (%MkTrack); |
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| 451 | |||
| 452 | if ( $MkOsd{'_Timestamp'} >= time-2 and &MkGpsOk() ) |
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| 453 | { |
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| 454 | # gültige OSD daten vom MK und guter Satellitenempfang |
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| 455 | |||
| 456 | # take GPS and compass from map definition or MK as antenna home-position |
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| 457 | $MkTrack{'HomePos_Lon'} = $Map{'Track_Lon'} || $MkOsd{'HomePos_Lon'}; |
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| 458 | $MkTrack{'HomePos_Lat'} = $Map{'Track_Lat'} || $MkOsd{'HomePos_Lat'}; |
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| 459 | $MkTrack{'HomePos_Alt'} = $Map{'Track_Alt'} || $MkOsd{'HomePos_Alt'}; |
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| 460 | $MkTrack{'CompassHeading'} = $Map{'Track_Bearing'} || $MkOsd{'CompassHeading'}; |
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| 461 | |||
| 462 | $TrackTimer = &SetTimer_ms($TrackInterval); |
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| 463 | |||
| 464 | $State = "InitServoTest"; |
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| 465 | } |
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| 466 | } |
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| 467 | |||
| 468 | # |
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| 469 | # Start servo test |
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| 470 | # doesn't really make much sense, but looks cool:-) |
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| 471 | # |
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| 472 | |||
| 473 | elsif ( $State eq "InitServoTest") |
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| 474 | { |
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| 475 | if ( &ServoCheck ($ServoPan) and &ServoCheck ($ServoTilt) ) |
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| 476 | { |
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| 477 | |||
| 478 | my $PanPos = $ServoTest[$ServoTestIndex][0]; |
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| 479 | my $TiltPos = $ServoTest[$ServoTestIndex][1]; |
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| 480 | $ServoTestIndex ++; |
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| 481 | |||
| 482 | if ( defined $PanPos and defined $TiltPos ) |
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| 483 | { |
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| 484 | my $Delay = 200; |
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| 485 | my $LastPan = $ServoPos[$ServoPan]; |
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| 486 | my $LastTilt = $ServoPos[$ServoTilt]; |
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| 487 | |||
| 488 | my $ServoPanSpeed = $ServoPar[$ServoPan]{'Speed'}; |
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| 489 | my $ServoTiltSpeed = $ServoPar[$ServoTilt]{'Speed'}; |
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| 490 | |||
| 491 | if ( $ServoController =~ /Pololu Micro Serial/i ) |
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| 492 | { |
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| 493 | # 50 us/s |
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| 494 | } |
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| 495 | elsif ( $ServoController =~ /Pololu Maestro/i ) |
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| 496 | { |
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| 497 | # 25 us/s |
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| 498 | $ServoPanSpeed /= 2; |
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| 499 | $ServoTiltSpeed /= 2; |
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| 500 | } |
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| 501 | |||
| 502 | my $EstimatedPan = 1000; |
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| 503 | if ( $ServoPanSpeed != 0 ) |
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| 504 | { |
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| 505 | # about 2ms/180degree pulse, 50us/s servo pulse change per unit |
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| 506 | $EstimatedPan = abs($PanPos - $LastPan) * 0.002/180 / ($ServoPanSpeed * 0.000050) * 1000 + $Delay; |
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| 507 | } |
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| 508 | |||
| 509 | my $EstimatedTilt = 1000; |
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| 510 | if ( $ServoTiltSpeed != 0 ) |
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| 511 | { |
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| 512 | # about 2ms/180degree pulse, 50us/s servo pulse change per unit |
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| 513 | $EstimatedTilt = abs($TiltPos - $LastTilt) * 0.002/180 / ($ServoTiltSpeed * 0.000050) * 1000 + $Delay; |
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| 514 | } |
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| 515 | |||
| 516 | &ServoMove ($ServoPan, $PanPos, $EstimatedPan); # override travel time |
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| 517 | &ServoMove ($ServoTilt, $TiltPos, $EstimatedTilt); # override travel time |
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| 518 | } |
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| 519 | else |
||
| 520 | { |
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| 521 | # complete |
||
| 522 | $ServoTestIndex = 0; |
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| 523 | $State = "TrackGps"; |
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| 524 | } |
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| 525 | } |
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| 526 | } |
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| 527 | |||
| 528 | # |
||
| 529 | # Servo test finisched |
||
| 530 | |||
| 531 | # |
||
| 532 | # GPS Fix Home position |
||
| 533 | # Track now |
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| 534 | # |
||
| 535 | elsif ( $State eq "TrackGps" ) |
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| 536 | { |
||
| 537 | if ( &CheckTimer_ms($TrackTimer) and &ServoCheck($ServoPan) ) |
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| 538 | { |
||
| 539 | $TrackTimer = &SetTimer_ms($TrackInterval); # reload Timer |
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| 540 | |||
| 541 | lock (%MkOsd); # until end of block |
||
| 542 | lock (%MkTrack); |
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| 543 | |||
| 544 | if ( $MkOsd{'_Timestamp'} >= time -2 and &MkGpsOk() ) |
||
| 545 | { |
||
| 546 | # valid OSD data from the MK and sufficient satellites |
||
| 547 | |||
| 548 | my $Track_Geo = Geo::Ellipsoid->new( 'units' => 'degrees', |
||
| 549 | 'distance_units' => 'meter', |
||
| 550 | 'ellipsoid' => 'WGS84', |
||
| 551 | 'longitude' => 1, # Symmetric: -pi..pi |
||
| 552 | ); |
||
| 553 | |||
| 554 | my ($Dist, $Bearing) = $Track_Geo->to($MkTrack{'HomePos_Lat'}, $MkTrack{'HomePos_Lon'}, |
||
| 555 | $MkOsd{'CurPos_Lat'}, $MkOsd{'CurPos_Lon'}); |
||
| 556 | my $Dir_h = $MkTrack{'CompassHeading'}; |
||
| 557 | my $Dir_c = $MkOsd{'CompassHeading'}; |
||
| 558 | |||
| 559 | if ( $Dist < 4 ) # meter |
||
| 560 | { |
||
| 561 | # Too close to Home-Position. Set antenna to middle position |
||
| 562 | $Bearing = $Dir_h; |
||
| 563 | } |
||
| 564 | |||
| 565 | $MkTrack{'Bearing'} = sprintf ("%d", $Bearing); |
||
| 566 | $MkTrack{'Dist'} = sprintf ("%d", $Dist); |
||
| 567 | $MkTrack{'CurPos_Lon'} = $MkOsd{'CurPos_Lon'}; |
||
| 568 | $MkTrack{'CurPos_Lat'} = $MkOsd{'CurPos_Lat'}; |
||
| 569 | $MkTrack{'CurPos_Alt'} = $MkOsd{'CurPos_Alt'}; |
||
| 570 | |||
| 571 | # antenna pan direction: 0..180 degree, centre = 90 |
||
| 572 | my $AngelPan = $Bearing - $Dir_h + 90; |
||
| 573 | $AngelPan = $AngelPan % 360; |
||
| 574 | |||
| 575 | # antenna tilt direction: 0..180 degree, centre is up, 0 is front |
||
| 576 | my $AngelTilt = rad2deg(atan2(($MkOsd{'CurPos_Alt'} - $MkTrack{'HomePos_Alt'}), $Dist)); |
||
| 577 | if ( $AngelTilt < 0 ) { $AngelTilt = 0; } |
||
| 578 | if ( $AngelTilt > 180 ) { $AngelTilt = 180; } |
||
| 579 | |||
| 580 | if ( $AngelPan >= 180 ) |
||
| 581 | { |
||
| 582 | # Flip Pan/Tilt |
||
| 583 | $AngelPan = $AngelPan - 180; |
||
| 584 | $AngelTilt = 180 - $AngelTilt; |
||
| 585 | } |
||
| 586 | |||
| 587 | $MkTrack{'AngelPan'} = $AngelPan; |
||
| 588 | $MkTrack{'AngelTilt'} = $AngelTilt; |
||
| 589 | |||
| 590 | &ServoMove ($ServoPan, $AngelPan); |
||
| 591 | &ServoMove ($ServoTilt, $AngelTilt); |
||
| 592 | |||
| 593 | # Timestamp, wann der Datensatz geschtieben wurde |
||
| 594 | $MkTrack{'_Timestamp'} = time; |
||
| 595 | } |
||
| 596 | } |
||
| 597 | } |
||
| 598 | |||
| 599 | else |
||
| 600 | { |
||
| 601 | # Restart |
||
| 602 | $State = "ColdStart"; |
||
| 603 | } |
||
| 604 | |||
| 605 | # |
||
| 606 | # check command queue |
||
| 607 | # |
||
| 608 | while ( $TrackQueue->pending() > 0 ) |
||
| 609 | { |
||
| 610 | my $Cmd = $TrackQueue->dequeue(1); |
||
| 611 | |||
| 612 | if ( $Cmd =~ /COLDSTART/i ) |
||
| 613 | { |
||
| 614 | $State = "ColdStart"; |
||
| 615 | } |
||
| 616 | |||
| 617 | if ( $Cmd =~ /IDLE/i ) |
||
| 618 | { |
||
| 619 | if ( defined $ServoPort ) |
||
| 620 | { |
||
| 621 | # move all Servo to neutral position |
||
| 622 | &ServoMove ($ServoPan, 90); |
||
| 623 | &ServoMove ($ServoTilt, 0); |
||
| 624 | |||
| 625 | sleep 1; |
||
| 626 | &ServoRelax(); # swith off servo |
||
| 627 | } |
||
| 628 | |||
| 629 | $State = "Idle"; |
||
| 630 | } |
||
| 631 | } |
||
| 632 | |||
| 633 | # |
||
| 634 | # update system-timer |
||
| 635 | # |
||
| 636 | ($t1_s, $t1_us) = gettimeofday; |
||
| 637 | $SysTimerSleep_us = ($t0_s - $t1_s) * 1000000 + $t0_us - $t1_us + $SysTimerCount_ms * $SysTimerResolution; |
||
| 638 | |||
| 639 | if ($SysTimerSleep_us > 0) |
||
| 640 | { |
||
| 641 | usleep ($SysTimerSleep_us); |
||
| 642 | } |
||
| 643 | else |
||
| 644 | { |
||
| 645 | $SysTimerError ++; |
||
| 646 | } |
||
| 647 | |||
| 648 | $SysTimerCount_ms ++; |
||
| 649 | } |
||
| 650 | } |
||
| 651 | |||
| 652 | |||
| 653 | # |
||
| 654 | # Main Program |
||
| 655 | # |
||
| 656 | |||
| 657 | if ( $0 =~ /track.pl$/i ) |
||
| 658 | { |
||
| 659 | # Program wurde direkt aufgerufen |
||
| 660 | |||
| 661 | # |
||
| 662 | # Commandline Parameter |
||
| 663 | # |
||
| 664 | my $TrackPort = $CmdLine{'-TrackPort'}; |
||
| 665 | if ( $TrackPort ne "" ) |
||
| 666 | { |
||
| 667 | $ComPort = $TrackPort; |
||
| 668 | } |
||
| 669 | |||
| 670 | my $MkPort = $CmdLine{'-MkPort'}; |
||
| 671 | if ( $MkPort ne "" ) |
||
| 672 | { |
||
| 673 | $Cfg->{'mkcomm'}->{'Port'} = $MkPort; |
||
| 674 | } |
||
| 675 | |||
| 676 | my $Pan = $CmdLine{'-ServoPan'}; |
||
| 677 | if ( $Pan ne "" ) |
||
| 678 | { |
||
| 679 | my ($Min, $Mid, $Max) = split ',', $Pan; |
||
| 680 | $ServoPar[$ServoPan]{'Min'} = $Min; |
||
| 681 | $ServoPar[$ServoPan]{'Mid'} = $Mid; |
||
| 682 | $ServoPar[$ServoPan]{'Max'} = $Max; |
||
| 683 | } |
||
| 684 | |||
| 685 | my $Tilt = $CmdLine{'-ServoTilt'}; |
||
| 686 | if ( $Tilt ne "" ) |
||
| 687 | { |
||
| 688 | my ($Min, $Mid, $Max) = split ',', $Tilt; |
||
| 689 | $ServoPar[$ServoTilt]{'Min'} = $Min; |
||
| 690 | $ServoPar[$ServoTilt]{'Mid'} = $Mid; |
||
| 691 | $ServoPar[$ServoTilt]{'Max'} = $Max; |
||
| 692 | } |
||
| 693 | |||
| 694 | my $PanSpeed = $CmdLine{'-PanSpeed'}; |
||
| 695 | if ( $PanSpeed ne "" ) |
||
| 696 | { |
||
| 697 | $ServoPar[$ServoPan]{'Speed'} = $PanSpeed; |
||
| 698 | } |
||
| 699 | |||
| 700 | my $TiltSpeed = $CmdLine{'-TiltSpeed'}; |
||
| 701 | if ( $TiltSpeed ne "" ) |
||
| 702 | { |
||
| 703 | $ServoPar[$ServoTilt]{'Speed'} = $TiltSpeed; |
||
| 704 | } |
||
| 705 | |||
| 706 | # Kommunikation zum MK herstellen |
||
| 707 | # Input: %MkOsd, %MkTarget, %MkNcDebug |
||
| 708 | # Ouput: Thread-Queue: $MkSendQueue |
||
| 709 | $mk_thr = threads->create (\&MkCommLoop) -> detach(); |
||
| 710 | |||
| 711 | $TrackQueue->enqueue("COLDSTART"); # start command |
||
| 712 | &TrackAntennaGps(); |
||
| 713 | |||
| 714 | # should never exit |
||
| 715 | } |
||
| 716 | |||
| 717 | 1; |
||
| 718 | |||
| 719 | __END__ |