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Using Microcontrollers in Amateur Radio, an AZ EL Controller Application A Presentation For The Southwest Ohio Digital Symposium Presented by Bill Erwin – N9CX January 10, 2009

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Things I Hope To Leave You With Share my experience with the rotor controller project Explain why I made the choices I did How it works Status of the project But more than that: Why a microcontroller was a good choice for this project What software development environments are all about Tempt you to consider experimenting with microcontrollers

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Motivation For This Project Developed an interest in LEO (Low Earth Orbit) satellites Led to an interest in a better antenna system Wanted to track LEOs with small beam antennas Commercial rotors & controllers are available Didn’t want to commit that much money at this stage of interest Decided to use inexpensive rotors & build my own controller

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Low Earth Orbit Satellites Basically LEOs are orbital repeaters AMSAT has a lot of information on the WEB LEOs offer some special challenges They move fast. Short contacts Low RF power

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LEO Satellites Vary In Both Size & Complexity

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Satellite QSOs Are Interesting! There are a lot of “things” involved in working the LEO satellites! Computer screen Keyboard Mouse Downlink frequency Uplink frequency Doppler effects Code paddles or a microphone Azimuth of the satellite Elevation of the satellite

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So Many things – So Little Time! The window for a QSO is often less than 8 minutes. If you can automate a few “things”, your QSOs may have more “talk” time. This project is about automating the rotors for directional azimuth & elevation antennas.

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My Approach To The Project Research the WEB for similar projects Evaluate what I might do that is different Understand how rotors work Keep it (relatively) cheap Breadboard parts of the design to verify critical assumptions Rotor controller needs an LCD display & flashing LEDs!

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Why Use A Microcontroller Anyway?

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Choices To Make Features Rotors Software Development tools & Environment Microcontroller

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Desirable Features Work with the Nova tracking software Have 2 main modes: “manual” & “autotrack” Self-calibrate to any Pulser type rotor Remember antenna position during powerdown. Reliable beam positioning – within 5 degrees. Easy to update the controller software. Minimize cost

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The Rotor – You must understand the thing you are trying to control!

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Yes – You Can Stack Them

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Anatomy Of A U100 Rotor #2

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Anatomy Of A U100 Rotor #3

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Anatomy Of A U100 Rotor #4

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Commercial Controller for the U100 Rotor

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The Original U100 Rotor Schematic Diagram

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Model of the U100 Rotor

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Block Diagram Of the Rotor Controller

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A FEW OF THE ATMEGA 16 FEATURES THE DATA SHEET IS 358 PAGES ! – 32 x 8 General Purpose Working Registers – Up to 16 MIPS Throughput at 16 MHz – 16K Bytes of In-System Self-programmable Flash program memory – 512 Bytes EEPROM – 1K Byte Internal SRAM – Two 8-bit Timer/Counters with Prescalers – One 16-bit Timer/Counter with Prescaler – Real Time Counter with Separate Oscillator – Four PWM Channels – 8-channel, 10-bit ADC – Byte-oriented Two-wire Serial Interface – Programmable Serial USART – Master/Slave SPI Interface – 32 Programmable I/O Lines YOU CAN NOT USE ALL AT SAME TIME – SHARE I/O PINS

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Microcontroller – Atmel Atmega16

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Microcontroller – Save Time By Buying a Proto board

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Partial Schematic of the Rotor Controller System – Rotor interfaces

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Front Panel Switches – Interface to the Microcontroller Micro Controller Port assignments (Active low) Port A Pin 0 - Azimuth ClockWise (CW) Port A Pin 1 - Azimuth Counter ClockWise (CCW) Port A Pin 2 - Elevation Up Port A Pin 3 - Elevation Down Port A Pin 4 - Calibrate momentary pushbutton Port A Pin 5 - Auto Track momentary pushbutton Port A Pin 6 - Azimuth Pulse input Port A Pin 7 - Elevation Pulse input LCD Port assignments (4 bit data interface) Details are in a header file

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Development Environment

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Features On My Rotor Control Box

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Manual Mode - AZ & EL Reading

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Auto track mode – tracking AO-10 satellite

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The Rotor Teststand

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A Look Under The Hood

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A Few Software Statistics ATMEGA 16 Controller 16KBytes Flash (Program) memory 512 Bytes of EEPROM 1 K SRAM Software Sizes Program 13394 Bytes Data 262 Bytes – Initialized read only data BSS 399 Bytes – initialized read/write data Total 13995 Bytes 30 source files All source is written in “C” AVR-GCC Tool Chain programs

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High Level Software Design BACKGROUND processing every 5 milliseconds Watch every switch in the system Monitor & debounce every switch in the controller Advertise debounced state to the FOREGROUND processing Maintain software timers Decrement every interrupt (5 ms) FOREGROUND processing Manage a simple “state machine” based on operating modes: Calibrate Initialize Manual Auto Manages the front panel LCD display & LEDs Fault detection/recovery strategy

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Field Day 2008 Satellite Antenna Setup

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Performance Of The Controller Used successfully in last two Field Days Sensitive to drag on the beams – coax False detection of physical stop or obstruction Dressing the coax better resolved this Have changed “late pulse” detection parameters Be sure the beams are oriented properly before raising the mast I consider it a success but it has not seen extensive use

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Things Left Undone Need to get a better schematic in electronic form Scattered around in a notebook now Finish the front panel Print another front panel template and put plastic over it Need to paint the box Understand other Pulser rotors better (AR-22) Mainly for azimuth rotor use Motor power requirements may not be compatible Adapt to “Potentiometer” type rotors - Perhaps Made some accommodations, but didn’t finish this A few things in the software to clean-up

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Closing Thoughts About Antenna Rotors Pulsers have many issues to consider Resolution - must interpolate Calibration process Must have persistent memory (power-down) for AZ & EL position Can find them reasonably priced at hamfests Potentiometer type rotors seem less complicated Always know where the rotor is No persistent memory required for power-down No interpolation required No directional history needed Less opportunity to get out of sync. Nova tracking software may do most of the work for you But – these rotors may be expensive!

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FROM A SOFTWARE PERSPECTIVE This was an interesting microcontroller project! Microcontrollers can be used for a lot of amateur radio projects! If you are patient and persistent you will be successful!