First

.gitignore

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+.pio

platformio.ini

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+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:nodemcuv2]
+platform = espressif8266
+board = nodemcuv2
+framework = arduino
+lib_deps =
+	adafruit/RTClib@^2.1.1
+	dfrobot/DFRobot_QMC5883@^1.0.0
+	juerd/ESP-WiFiSettings@^3.8.0
+	https://github.com/sivar2311/WebMonitor
+upload_flags = --auth=senha1234

src/comm.cpp

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+#include "comm.h"
+
+#include <ArduinoOTA.h>
+#include <WiFiSettings.h>
+
+
+void setup_ota() {
+    ArduinoOTA.setHostname(WIFI_SSID);
+    ArduinoOTA.setPassword(WIFI_PASSWORD);
+    ArduinoOTA.begin();
+}
+
+void setup_wifi() {
+    WiFiSettings.hostname = WIFI_SSID;
+    WiFiSettings.password = WIFI_PASSWORD;
+
+    WiFiSettings.onPortal = []() {
+        setup_ota();
+    };
+    WiFiSettings.onPortalWaitLoop = []() {
+        ArduinoOTA.handle();
+    };
+
+    WiFiSettings.connect();
+}
+
+void setup_comm() {
+    setup_wifi();
+    setup_ota();
+    WebMonitor.begin();
+}
+
+void comms_loop() {
+    ArduinoOTA.handle();
+}
+

src/comm.h

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+#include <WebMonitor.h>
+
+#define WIFI_SSID "VynTracker"
+#define WIFI_PASSWORD "senha1234"
+
+void setup_ota();
+void setup_wifi();
+void setup_comm();
+
+void comms_loop();

src/coords.h

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+#ifndef COORDS_H
+#define COORDS_H
+
+class AzAlt {
+    public:
+        float azimuth;
+        float altitude;
+
+        RADec toRADec();
+}
+
+class RADec {
+    public:
+        float rightAngle;
+        float decimation;
+
+        AzAlt toAzAt();
+}
+
+#endif

src/main.cpp

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+#include "comm.h"
+#include "servo.h"
+
+#include <SPI.h>
+#include <LittleFS.h>
+
+ServoController controller;
+
+void setup() {
+    controller.initServos();
+    LittleFS.begin();
+    setup_comm();
+
+    pinMode(15, OUTPUT);
+    pinMode(12, OUTPUT);
+    pinMode(13, OUTPUT);
+
+    delay(1000);
+}
+
+void loop() {
+    comms_loop();
+
+    controller.updateHeading();
+
+    digitalWrite(15, 1);
+    WebMonitor.printf("ON!");
+    delay(1000);
+    digitalWrite(15, 0);
+    WebMonitor.printf("OFF!");
+    delay(1000);
+}

src/mainb.cpp

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+/*#include <SPI.h>
+#include <Wire.h>
+#include <Servo.h>
+#include <RTClib.h>
+#include <Arduino.h>
+#include <ESP8266WiFi.h>
+#include <DFRobot_QMC5883.h>
+
+#define PORT 10001
+#define SERIAL_RATE 115200
+#define SSID "Vyn"
+#define PASSWD "test123321"
+#define LOCATION "\x19\x19\x2A\x01\x31\x10\x18\x01"
+#define VERSION "040101"
+
+
+WiFiClient Client;
+WiFiServer Server(PORT);
+
+Servo servo;
+RTC_DS1307 rtc;
+DFRobot_QMC5883 compass(&Wire, 0x0D);
+
+String recv();
+void send(String str);
+void reply(String str);
+void printDate(DateTime date);
+void printTime(DateTime time);
+void syncDateTime(String str);
+
+
+int16_t mx, my, mz;
+
+void setup() {
+  Serial.begin(SERIAL_RATE);
+  WiFi.begin(SSID, PASSWD);
+
+  while (!Serial);
+
+  Serial.print("Conectando em SSID: ");
+  Serial.print(SSID);
+
+  while (WiFi.status() != WL_CONNECTED) {
+    delay(250);
+    Serial.print(".");
+  }
+  Serial.println();
+
+  Serial.print("Conectado! Endereço: ");
+  Serial.println(WiFi.localIP());
+
+  Server.begin();
+  Serial.println("Servidor iniciado!");
+
+  while (!compass.begin()) {
+    Serial.println("Could not find a valid 5883 sensor, check wiring!");
+    delay(500);
+  }
+
+  if (!rtc.begin()) {
+    Serial.println("Erro iniciando RTC.");
+    while(1);
+  }
+
+  if (!rtc.isrunning()) {
+    Serial.print("RTC não está rodando. Setando o tempo em: ");
+    Serial.print(__DATE__);
+    Serial.print(" ");
+    Serial.println(__TIME__);
+    rtc.adjust(DateTime(F(__DATE__), F(__TIME__)));
+  }
+
+  if(compass.isQMC()) {
+    Serial.println("Initialize QMC5883");
+    compass.setRange(QMC5883_RANGE_8GA);
+    Serial.print("compass range is:");
+    Serial.println(compass.getRange());
+
+    compass.setMeasurementMode(QMC5883_CONTINOUS);
+    Serial.print("compass measurement mode is:");
+    Serial.println(compass.getMeasurementMode());
+
+    compass.setDataRate(QMC5883_DATARATE_200HZ);
+    Serial.print("compass data rate is:");
+    Serial.println(compass.getDataRate());
+
+    compass.setSamples(QMC5883_SAMPLES_8);
+    Serial.print("compass samples is:");
+    Serial.println(compass.getSamples());
+  }
+
+  pinMode(12, INPUT);
+  pinMode(14, INPUT);
+
+  DateTime now = rtc.now();
+  printDate(now);
+  printTime(now);
+  pinMode(2, OUTPUT);
+
+  servo.attach(2, 500, 2500);
+}
+
+void printDate(DateTime date) {
+  Serial.print(date.day());
+  Serial.print("/");
+  Serial.print(date.month(), DEC);
+  Serial.print("/");
+  Serial.print(date.year(), DEC);
+  Serial.print(" (");
+  Serial.print(date.dayOfTheWeek(), DEC);
+  Serial.println(")");
+}
+
+void printTime(DateTime time) {
+  Serial.print(time.hour(), DEC);
+  Serial.print(":");
+  Serial.print(time.minute(), DEC);
+  Serial.print(":");
+  Serial.println(time.second(), DEC);
+}
+
+bool moving = true;
+bool aligned = true;
+uint8_t dst = 0;
+uint8_t tz = 252;
+String loc = "34AB0500,12CE0500";
+
+void loop() {
+  float declinationAngle = (-20-(15.0/60.0))/(180/PI);
+
+  compass.setDeclinationAngle(declinationAngle);
+  sVector_t mag = compass.readRaw();
+  compass.getHeadingDegrees();
+  Serial.print("X:");
+  Serial.print(mag.XAxis);
+  Serial.print(" Y:");
+  Serial.print(mag.YAxis);
+  Serial.print(" Z:");
+  Serial.println(mag.ZAxis);
+  Serial.print("Degress = ");
+  Serial.println(mag.HeadingDegress);
+  
+  delay(250);
+
+  Client = Server.accept();
+
+  if (Client) {
+    while (Client.connected()) {
+      moving = digitalRead(12);
+      aligned = digitalRead(14);
+      Client.flush();
+
+      String str = recv();
+
+      //Empty response
+      if (str.startsWith("Ç")) {
+        continue;
+      }
+
+      ///HANDSHAKE
+      //Ping
+      if (str.startsWith("K")) {
+        reply(str.substring(1));
+      }
+      //Firmware version
+      if (str.startsWith("V")) {
+        reply(VERSION);
+      }
+      //Location
+      if (str.startsWith("w")) {
+        reply(LOCATION);
+      }
+      //Tracking mode
+      if (str.startsWith("t")) {
+        String tmp = "F";
+        tmp.setCharAt(0, '1');
+
+        reply(tmp);
+      }
+      //Device version
+      if (str.startsWith("P\x01")) {
+        String tmp = "FF";
+        tmp.setCharAt(0, '2');
+        tmp.setCharAt(1, '3');
+
+        reply(tmp);
+      }
+      //Mount model
+      if (str.startsWith("m")) {
+        String tmp = "F";
+        tmp.setCharAt(0, 4);
+
+        reply(tmp);
+      }
+      //Failed
+      if (str.startsWith("##")) {
+        Client.stop();
+      }
+
+      ///STATUS
+      //GOTO?
+      if (str.startsWith("L")) {
+        reply(moving ? "1" : "0");
+      }
+      //Aligned?
+      if (str.startsWith("J")) {
+        String tmp = "F";
+        tmp.setCharAt(0, aligned ? 1 : '0');
+        
+        reply(tmp);
+      }
+      if (str.startsWith("M")) {
+        reply("");
+      }
+      
+
+      ///SYNC
+      //Position
+      if (str.startsWith("W")) {
+        //TODO: store pos
+        reply("");
+      }
+      //Hour and date
+      if (str.startsWith("H")) {
+        syncDateTime(str.substring(1));
+        reply("");
+      }
+      if (str.startsWith("h")) {
+        DateTime now = rtc.now();
+        String datetime = "FFFFFFFF";
+
+        datetime.setCharAt(0, now.hour());
+        datetime.setCharAt(1, now.minute());
+        datetime.setCharAt(2, now.second());
+        datetime.setCharAt(3, now.month());
+        datetime.setCharAt(4, now.day());
+        datetime.setCharAt(5, now.year()-2000);
+        datetime.setCharAt(6, tz);
+        datetime.setCharAt(7, dst);
+
+        datetime.replace("\n", "\x10");
+
+        reply(datetime);
+      }
+      //Precise RA/DEC
+      if (str.startsWith("e")) {
+        reply(loc);
+      }
+      if (str.startsWith("r")) {
+        loc = str.substring(1);
+        String rightAscencion = loc.substring(0, 8);
+        Serial.println(rightAscencion);
+        String decimation = loc.substring(9);
+        Serial.println(decimation);
+
+        double ra = strtoul(rightAscencion.c_str(), NULL, 16);
+        ra = ra/4294967296;
+        ra = ra*360;
+
+        double dec = strtoul(decimation.c_str(), NULL, 16);
+        dec = dec/4294967296;
+        dec = dec*360;
+        
+        
+
+        reply("");
+      }
+    }
+
+    if (!Client.connected()) {
+      Serial.println("Cliente desconectado :(");
+      Client.stop();
+    }
+  }
+}
+
+
+void syncDateTime(String str) {
+  tz = str.charAt(6);
+  dst  = str.charAt(7);
+
+  uint8_t hr = str.charAt(0);
+  uint8_t mn = str.charAt(1);
+  uint8_t sc = str.charAt(2);
+  uint8_t mo = str.charAt(3);
+  uint8_t dy = str.charAt(4);
+  uint16_t y = str.charAt(5);
+
+  hr = dst ? hr-1 : hr;
+
+  DateTime dt = DateTime(
+    y, mo, dy,
+    hr, mn, sc
+  );
+
+  if (!dt.isValid()) {
+    char temp[] = "DD/MM/YY hh:mm:ss";
+
+    Serial.print("Data recebida é invalida! Impossível sincronizar: ");
+    Serial.println(dt.toString(temp));
+    return;
+  }
+
+  rtc.adjust(dt);
+  dt = rtc.now();
+
+  Serial.println("Tempo ajustado!");
+  printDate(dt);
+  printTime(dt);
+}
+
+String recv() {
+  String str = "";
+
+  while (Client.available()) {
+    str += (char)(Client.read());
+  }
+
+  if (str.length() == 0) {
+    str = "Ç";
+  } else {
+    Serial.print("R: ");
+    Serial.println(str);
+  }
+
+  return str;
+}
+
+void reply(String str) {
+  Client.flush();
+  Serial.print("S: ");
+  Serial.println(str += "#");
+  byte n = Client.print(str.c_str());
+  Serial.print("S: ");
+  Serial.print(n);
+  Serial.println("b");
+}*/

src/servo.cpp

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+#include "servo.h"
+
+
+void ServoController::initServos() {
+    HrzSrv.attach(12,  500, 2500);
+    delay(50);
+    VrtSrv.attach(13,  500, 2500);
+}
+
+/*void ServoController::initMag() {
+
+}*/
+
+void ServoController::updateHeading() {
+    for (int i = 0; i <= 180; i+=5) {
+        HrzSrv.write(i);
+        delay(20);
+        VrtSrv.write(i);
+        delay(200);
+    }
+    for (int i = 180; i >= 0; i-=5) {
+        HrzSrv.write(i);
+        delay(20);
+        VrtSrv.write(i);
+        delay(200);
+    }
+}
+
+void ServoController::moveToAzAlt() {
+
+}
+
+void ServoController::moveToRADec() {
+
+}

src/servo.h

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+#include <Servo.h>
+#include <DFRobot_QMC5883.h>
+
+#ifndef SERVO_H
+#define SERVO_H
+
+class ServoController {
+    private:
+        float headingDegress;
+
+        Servo HrzSrv;
+        Servo VrtSrv;
+        DFRobot_QMC5883 mag;
+
+    public:
+        void initServos();
+        //void initMag(): mag~{&Wire, 0xD};
+        void moveToAzAlt();
+        void moveToRADec();
+        void updateHeading();
+};
+
+#endif