/* GRADAC - AUTOPILOT v0 * * >>> Beitian_BN_880 connection <<< * SDA - D20 * SCL - D21 * GND - GND * VCC - 5V * TX - D18 * RX - D19 * * >>> Rotary encoder KY - 040 <<< * CLK - D7 * DT - D6 * SW - D5 * VCC - 5V * GND - GND * * >>> PUSH BUTTONS <<< * PB_1 positive degree - D8 * PB_10 positive degree - D9 * PB_1 negative degree - D10 * PB_1 negative degree - D11 * * >>> STEPPER DRIVER TB6600 <<< * stepPin - - D14; * dirPin - - D15; * enablePin - - D16; * * >>> 4 Channel 433MHz RF <<< * D0 - D2 * D1 - D12 * D2 - D13 * D3 - D17 * VCC - 5V * GND - GND * * >>> BUZZER <<< * VCC - D3 * GND - GND * * * >>> THERMISTOR PTC 100k <<< * wire1 - 5V * wire2 - A4 * resistor 100k: A4 - GND */ #define Beitian_BN_880 #define TIME_ZONE // #define NON_BLOCKING // #define Add_new_POI // ***>>>>>>>>>>>>>> <<<<<<<<<<<<<<*** #ifdef TIME_ZONE #include time_t local, utc; // Change these two rules corresponding to your timezone, see https://github.com/JChristensen/Timezone // Central European Time (Frankfurt, Paris) 120 = +2 hours in daylight saving time (summer). TimeChangeRule CEST = {"CEST", Last, Sun, Mar, 2, 120}; // Central European Time (Frankfurt, Paris) 60 = +1 hour in normal time (winter) TimeChangeRule CET = {"CET ", Last, Sun, Oct, 3, 60}; Timezone CE(CEST, CET); #endif #include #include #include File myFile; #include #include // TFT_LCD library TFT_HX8357 tft = TFT_HX8357(); //*** KORAČNI MOTORI - PIN *** #define stepPin 14 #define dirPin 15 #define enablePin 16 //*** 4 Channel 433MHz RF *** #define button1 2 #define button2 12 #define button3 13 #define button4 17 // *** ROTARY ENCODER PINOUT AND VARIABLE *** #define CLK 7 #define DT 6 #define SW 5 // *** PUSH BUTTONS *** #define PB_1p 9 #define PB_10p 8 #define PB_1n 11 #define PB_10n 10 // *** BUZZER *** #define buzzer 3 // Thermistor #define THERMISTOR int thermistorPin = A4; int Vo; // Holds the ADC Value float R2, tKelvin, tCelsius; const float Beta = 3974.0; const float roomTemp = 298.15; // room temperature in Kelvin const float Ro = 10000.0; // Resistance of the thermistor at roomTemp const float R1 = 9710.0; // Resistnce of the known resistor float temp; // System SETUP bool autopilot_ON = false; bool autopilot_heading = true; bool steering = false; long time_count; bool dir = true; int course_COG = 1; int step_direction_positive = 0; // settin positive turning of steering wheel int gps_reading_smart_delay = 5; // delay in sec const int stepsPerRevolution = 200; SpeedyStepper STEPPER_MOTOR; int lastStateCLK; #ifdef Beitian_BN_880 #include TinyGPSPlus gps; // The TinyGPSPlus object #include #include #include Adafruit_HMC5883_Unified mag = Adafruit_HMC5883_Unified(12345); double gps_long; // GPS variable for current position storing double gps_lat; // GPS variable for current position storing double gps_long_anc; // GPS variable for anchoring double gps_lat_anc; // GPS variable for anchoring #endif // STEPPER SETTINGS int StepsPerMillimeter = 160; // stepper initialisation - change if necessary int StepperAcceleration = 80; // mm/sec^2 float declinationAngle = 0.0788; // Milna - Brač - change acording your location float Heading_reading; int difference = 0; // variable for storing deviation of the actual bearing value from the desired value int number_of_POI; // variable to storing number of POI (stored on the SD card) int POI_selection; // variable for remember selected POI float custom_POI_long; // variable for custom position storing - it is enabled to store only one current position float custom_POI_lat; // variable for custom position storing - it is enabled to store only one current position float course_over_ground; float speed_knots; int lower_speed_limit = 3; int stepper_speed = 5; float CEP = 2; // Accuracy Position Horizontal : 2.0 m CEP for Beitian BN-880 module // ******************************************************************* //// USING FLASH MEMORY (ROM) FOR SAVING STRINGS kurs_labels AND CONSTANT allowed_course_deviation const char string_0[] PROGMEM = "N"; const char string_1[] PROGMEM = "30"; const char string_2[] PROGMEM = "60"; const char string_3[] PROGMEM = "E"; const char string_4[] PROGMEM = "120"; const char string_5[] PROGMEM = "150"; const char string_6[] PROGMEM = "S"; const char string_7[] PROGMEM = "210"; const char string_8[] PROGMEM = "240"; const char string_9[] PROGMEM = "W"; const char string_10[] PROGMEM = "300"; const char string_11[] PROGMEM = "330"; const char string_12[] PROGMEM = "N"; const char string_13[] PROGMEM = "30"; const char string_14[] PROGMEM = "60"; const char string_15[] PROGMEM = "E"; const char string_16[] PROGMEM = "120"; const char string_17[] PROGMEM = "150"; const char string_18[] PROGMEM = "S"; const char string_19[] PROGMEM = "210"; const char string_20[] PROGMEM = "240"; const char string_21[] PROGMEM = "W"; const char string_22[] PROGMEM = "300"; const char string_23[] PROGMEM = "330"; const char *const kurs_labels[] PROGMEM = {string_0, string_1, string_2, string_3, string_4, string_5, string_6, string_7, string_8, string_9, string_10, string_11, string_12, string_13, string_14, string_15, string_16, string_17, string_18, string_19, string_20, string_21, string_22, string_23}; char buffer[10]; int heading_correction = 108; int allowed_course_deviation = 10; int steering_offset = 20; bool steering_neutral = true; float hdg_set_value = 180; // VARIABLE FOR SAVING THE DESIRED COURSE (Heading) float cog = 252.1; float sog = 12.2; File myfile; long x, y; String loc, loc2; float longArray[26] = {}; float latArray[26] = {}; String pointArray[26] = {}; bool sign_custom_POI = false; // variable for checking the previous CUSTOM POI entry // *********** FUNCTION DECLARATRION *********** void Compas_preparation(); #ifdef Declination float Calc_declination(float longitude, float latitude, uint8_t godina, uint8_t mjesec, uint8_t dan); #endif Declination float rot_encoder(float value, int dec_plc); float rot_encoder_CUSTOM_coordinate(int max_val, String text); float rot_encoder_SET_CUSTOM_COORDINATE(int x_pos, int y_pos, int max_val, int text_size, int min_val = 0, int leading = 2, int custom_value = 0); void rot_encoder_CUSTOM_POI(); void SET_HDG(float hdg_set_value); void Navigate_by_POI(); void Lat_Long(float latitude, float longitude); void Cog_Sog(float cog, float sog); void Time_TFT(int sati, int minuta, int posx = 0, int posy = 60, int letter_size = 2); void Label(String labela, int posx, int posy, int letter_size, String colour_fore = "green"); void Date_TFT(int dan, int mjesec, int godina); void Satelites_TFT(int sat_num); int Calc_heading(); bool readLine(File &f, char* line, size_t maxLen); bool readVals(long* v1, long* v2, String* loc, String* loc2); String Leading_space(int number, int number_of_place); void Screen_1_navigation();