Cant get code to compile

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1

I've been trying to get this code for a Autonomous satellite tracker to work, but I am now at a loss.

I' using an Adafruit Feather HUZZAH with ESP8266

I dl'd from here: https://www.clearskyinstitute.com/ham/AST/AutoSatTracker-2016082822.zip

I made my own avr subfolder with all of the needed avr files.

Any and all help is greatly appreciated.

Sam

In file included from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\magdecl.cpp:5:
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1529:25: error: 'uint_farptr_t' was not declared in this scope
 extern size_t strlen_PF(uint_farptr_t src) __ATTR_CONST__; /* program memory can't change */
                         ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1529:25: note: suggested alternative: 'uint_fast8_t'
 extern size_t strlen_PF(uint_farptr_t src) __ATTR_CONST__; /* program memory can't change */
                         ^~~~~~~~~~~~~
                         uint_fast8_t
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:94:49: error: attributes after parenthesized initializer ignored [-fpermissive]
 #define __ATTR_CONST__ __attribute__((__const__))
                                                 ^
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1529:44: note: in expansion of macro '__ATTR_CONST__'
 extern size_t strlen_PF(uint_farptr_t src) __ATTR_CONST__; /* program memory can't change */
                                            ^~~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:26: error: 'uint_farptr_t' was not declared in this scope
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                          ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:26: note: suggested alternative: 'uint_fast8_t'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                          ^~~~~~~~~~~~~
                          uint_fast8_t
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:52: error: expected primary-expression before 'len'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                                                    ^~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:94:49: error: attributes after parenthesized initializer ignored [-fpermissive]
 #define __ATTR_CONST__ __attribute__((__const__))
                                                 ^
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:57: note: in expansion of macro '__ATTR_CONST__'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                                                         ^~~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:94:49: error: expression list treated as compound expression in initializer [-fpermissive]
 #define __ATTR_CONST__ __attribute__((__const__))
                                                 ^
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:57: note: in expansion of macro '__ATTR_CONST__'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                                                         ^~~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1560:36: error: 'uint_farptr_t' has not been declared
 extern void *memcpy_PF(void *dest, uint_farptr_t src, size_t len);
                                    ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1575:36: error: 'uint_farptr_t' has not been declared
 extern char *strcpy_PF(char *dest, uint_farptr_t src);
                                    ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1595:37: error: 'uint_farptr_t' has not been declared
 extern char *strncpy_PF(char *dest, uint_farptr_t src, size_t len);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1611:36: error: 'uint_farptr_t' has not been declared
 extern char *strcat_PF(char *dest, uint_farptr_t src);
                                    ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1632:37: error: 'uint_farptr_t' has not been declared
 extern size_t strlcat_PF(char *dst, uint_farptr_t src, size_t siz);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1649:37: error: 'uint_farptr_t' has not been declared
 extern char *strncat_PF(char *dest, uint_farptr_t src, size_t len);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1665:38: error: 'uint_farptr_t' has not been declared
 extern int strcmp_PF(const char *s1, uint_farptr_t s2) __ATTR_PURE__;
                                      ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1682:39: error: 'uint_farptr_t' has not been declared
 extern int strncmp_PF(const char *s1, uint_farptr_t s2, size_t n) __ATTR_PURE__;
                                       ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1698:42: error: 'uint_farptr_t' has not been declared
 extern int strcasecmp_PF(const char *s1, uint_farptr_t s2) __ATTR_PURE__;
                                          ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1716:43: error: 'uint_farptr_t' has not been declared
 extern int strncasecmp_PF(const char *s1, uint_farptr_t s2, size_t n) __ATTR_PURE__;
                                           ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1732:40: error: 'uint_farptr_t' has not been declared
 extern char *strstr_PF(const char *s1, uint_farptr_t s2);
                                        ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1744:37: error: 'uint_farptr_t' has not been declared
 extern size_t strlcpy_PF(char *dst, uint_farptr_t src, size_t siz);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1760:36: error: 'uint_farptr_t' has not been declared
 extern int memcmp_PF(const void *, uint_farptr_t, size_t) __ATTR_PURE__;
                                    ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\magdecl.cpp: In function 'int E0000(int*, double, double, double, double, double*, double*, double*, double*)':
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:671:41: error: cast from 'const double*' to 'uint16_t' {aka 'short unsigned int'} loses precision [-fpermissive]
     __LPM_float((uint16_t)(address_short))
                                         ^
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:557:36: note: in definition of macro '__LPM_float_classic__'
     uint16_t __addr16 = (uint16_t)(addr);   \
                                    ^~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:671:5: note: in expansion of macro '__LPM_float'
     __LPM_float((uint16_t)(address_short))
     ^~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\magdecl.cpp:83:18: note: in expansion of macro 'pgm_read_float_near'
        c[i][j] = pgm_read_float_near (&c0[i][j]);
                  ^~~~~~~~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:671:41: error: cast from 'const double*' to 'uint16_t' {aka 'short unsigned int'} loses precision [-fpermissive]
     __LPM_float((uint16_t)(address_short))
                                         ^
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:557:36: note: in definition of macro '__LPM_float_classic__'
     uint16_t __addr16 = (uint16_t)(addr);   \
                                    ^~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:671:5: note: in expansion of macro '__LPM_float'
     __LPM_float((uint16_t)(address_short))
     ^~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\magdecl.cpp:84:19: note: in expansion of macro 'pgm_read_float_near'
        cd[i][j] = pgm_read_float_near (&cd0[i][j]);
                   ^~~~~~~~~~~~~~~~~~~
In file included from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Webpage.cpp:5:
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1529:25: error: 'uint_farptr_t' was not declared in this scope
 extern size_t strlen_PF(uint_farptr_t src) __ATTR_CONST__; /* program memory can't change */
                         ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1529:25: note: suggested alternative: 'uint_fast8_t'
 extern size_t strlen_PF(uint_farptr_t src) __ATTR_CONST__; /* program memory can't change */
                         ^~~~~~~~~~~~~
                         uint_fast8_t
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:94:49: error: attributes after parenthesized initializer ignored [-fpermissive]
 #define __ATTR_CONST__ __attribute__((__const__))
                                                 ^
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1529:44: note: in expansion of macro '__ATTR_CONST__'
 extern size_t strlen_PF(uint_farptr_t src) __ATTR_CONST__; /* program memory can't change */
                                            ^~~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:26: error: 'uint_farptr_t' was not declared in this scope
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                          ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:26: note: suggested alternative: 'uint_fast8_t'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                          ^~~~~~~~~~~~~
                          uint_fast8_t
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:52: error: expected primary-expression before 'len'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                                                    ^~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:94:49: error: attributes after parenthesized initializer ignored [-fpermissive]
 #define __ATTR_CONST__ __attribute__((__const__))
                                                 ^
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:57: note: in expansion of macro '__ATTR_CONST__'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                                                         ^~~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:94:49: error: expression list treated as compound expression in initializer [-fpermissive]
 #define __ATTR_CONST__ __attribute__((__const__))
                                                 ^
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:57: note: in expansion of macro '__ATTR_CONST__'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                                                         ^~~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1560:36: error: 'uint_farptr_t' has not been declared
 extern void *memcpy_PF(void *dest, uint_farptr_t src, size_t len);
                                    ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1575:36: error: 'uint_farptr_t' has not been declared
 extern char *strcpy_PF(char *dest, uint_farptr_t src);
                                    ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1595:37: error: 'uint_farptr_t' has not been declared
 extern char *strncpy_PF(char *dest, uint_farptr_t src, size_t len);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1611:36: error: 'uint_farptr_t' has not been declared
 extern char *strcat_PF(char *dest, uint_farptr_t src);
                                    ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1632:37: error: 'uint_farptr_t' has not been declared
 extern size_t strlcat_PF(char *dst, uint_farptr_t src, size_t siz);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1649:37: error: 'uint_farptr_t' has not been declared
 extern char *strncat_PF(char *dest, uint_farptr_t src, size_t len);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1665:38: error: 'uint_farptr_t' has not been declared
 extern int strcmp_PF(const char *s1, uint_farptr_t s2) __ATTR_PURE__;
                                      ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1682:39: error: 'uint_farptr_t' has not been declared
 extern int strncmp_PF(const char *s1, uint_farptr_t s2, size_t n) __ATTR_PURE__;
                                       ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1698:42: error: 'uint_farptr_t' has not been declared
 extern int strcasecmp_PF(const char *s1, uint_farptr_t s2) __ATTR_PURE__;
                                          ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1716:43: error: 'uint_farptr_t' has not been declared
 extern int strncasecmp_PF(const char *s1, uint_farptr_t s2, size_t n) __ATTR_PURE__;
                                           ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1732:40: error: 'uint_farptr_t' has not been declared
 extern char *strstr_PF(const char *s1, uint_farptr_t s2);
                                        ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1744:37: error: 'uint_farptr_t' has not been declared
 extern size_t strlcpy_PF(char *dst, uint_farptr_t src, size_t siz);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1760:36: error: 'uint_farptr_t' has not been declared
 extern int memcmp_PF(const void *, uint_farptr_t, size_t) __ATTR_PURE__;
                                    ^~~~~~~~~~~~~
In file included from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Sensor.h:13,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Webpage.h:9,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Webpage.cpp:7:
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h: In member function 'void Circum::startPolling()':
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:23:6: error: 'OCR0A' was not declared in this scope
      OCR0A = 0xAF;
      ^~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:24:6: error: 'TIMSK0' was not declared in this scope
      TIMSK0 |= _BV(OCIE0A);
      ^~~~~~
In file included from C:\Users\samue\AppData\Local\Arduino15\libraries\Ethernet\src/Ethernet.h:51,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Sensor.h:8,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Webpage.h:9,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Webpage.cpp:7:
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:24:20: error: 'OCIE0A' was not declared in this scope
      TIMSK0 |= _BV(OCIE0A);
                    ^~~~~~
C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/Arduino.h:107:25: note: in definition of macro '_BV'
 #define _BV(b) (1UL << (b))
                         ^
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Webpage.cpp: In constructor 'Webpage::Webpage()':
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Webpage.cpp:30:36: error: invalid new-expression of abstract class type 'EthernetServer'
  httpServer = new EthernetServer(80);    // http
                                    ^
In file included from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Sensor.h:8,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Webpage.h:9,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Webpage.cpp:7:
C:\Users\samue\AppData\Local\Arduino15\libraries\Ethernet\src/Ethernet.h:254:7: note:   because the following virtual functions are pure within 'EthernetServer':
 class EthernetServer : public Server {
       ^~~~~~~~~~~~~~
In file included from C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/Arduino.h:182,
                 from C:\Users\samue\AppData\Local\Arduino15\libraries\Ethernet\src/Ethernet.h:51,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Sensor.h:8,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Webpage.h:9,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Webpage.cpp:7:
C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/Server.h:28:18: note: 	'virtual void Server::begin(uint16_t)'
     virtual void begin(uint16_t port=0) =0;
                  ^~~~~
In file included from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Webpage.h:7,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.h:10,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:10,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Sensor.h:13,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\AutoSatTracker.ino:23:
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1529:25: error: 'uint_farptr_t' was not declared in this scope
 extern size_t strlen_PF(uint_farptr_t src) __ATTR_CONST__; /* program memory can't change */
                         ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1529:25: note: suggested alternative: 'uint_fast8_t'
 extern size_t strlen_PF(uint_farptr_t src) __ATTR_CONST__; /* program memory can't change */
                         ^~~~~~~~~~~~~
                         uint_fast8_t
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:94:49: error: attributes after parenthesized initializer ignored [-fpermissive]
 #define __ATTR_CONST__ __attribute__((__const__))
                                                 ^
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1529:44: note: in expansion of macro '__ATTR_CONST__'
 extern size_t strlen_PF(uint_farptr_t src) __ATTR_CONST__; /* program memory can't change */
                                            ^~~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:26: error: 'uint_farptr_t' was not declared in this scope
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                          ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:26: note: suggested alternative: 'uint_fast8_t'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                          ^~~~~~~~~~~~~
                          uint_fast8_t
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:52: error: expected primary-expression before 'len'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                                                    ^~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:94:49: error: attributes after parenthesized initializer ignored [-fpermissive]
 #define __ATTR_CONST__ __attribute__((__const__))
                                                 ^
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:57: note: in expansion of macro '__ATTR_CONST__'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                                                         ^~~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:94:49: error: expression list treated as compound expression in initializer [-fpermissive]
 #define __ATTR_CONST__ __attribute__((__const__))
                                                 ^
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:57: note: in expansion of macro '__ATTR_CONST__'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                                                         ^~~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1560:36: error: 'uint_farptr_t' has not been declared
 extern void *memcpy_PF(void *dest, uint_farptr_t src, size_t len);
                                    ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1575:36: error: 'uint_farptr_t' has not been declared
 extern char *strcpy_PF(char *dest, uint_farptr_t src);
                                    ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1595:37: error: 'uint_farptr_t' has not been declared
 extern char *strncpy_PF(char *dest, uint_farptr_t src, size_t len);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1611:36: error: 'uint_farptr_t' has not been declared
 extern char *strcat_PF(char *dest, uint_farptr_t src);
                                    ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1632:37: error: 'uint_farptr_t' has not been declared
 extern size_t strlcat_PF(char *dst, uint_farptr_t src, size_t siz);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1649:37: error: 'uint_farptr_t' has not been declared
 extern char *strncat_PF(char *dest, uint_farptr_t src, size_t len);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1665:38: error: 'uint_farptr_t' has not been declared
 extern int strcmp_PF(const char *s1, uint_farptr_t s2) __ATTR_PURE__;
                                      ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1682:39: error: 'uint_farptr_t' has not been declared
 extern int strncmp_PF(const char *s1, uint_farptr_t s2, size_t n) __ATTR_PURE__;
                                       ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1698:42: error: 'uint_farptr_t' has not been declared
 extern int strcasecmp_PF(const char *s1, uint_farptr_t s2) __ATTR_PURE__;
                                          ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1716:43: error: 'uint_farptr_t' has not been declared
 extern int strncasecmp_PF(const char *s1, uint_farptr_t s2, size_t n) __ATTR_PURE__;
                                           ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1732:40: error: 'uint_farptr_t' has not been declared
 extern char *strstr_PF(const char *s1, uint_farptr_t s2);
                                        ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1744:37: error: 'uint_farptr_t' has not been declared
 extern size_t strlcpy_PF(char *dst, uint_farptr_t src, size_t siz);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1760:36: error: 'uint_farptr_t' has not been declared
 extern int memcmp_PF(const void *, uint_farptr_t, size_t) __ATTR_PURE__;
                                    ^~~~~~~~~~~~~
In file included from C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/WString.h:26,
                 from C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/Arduino.h:176,
                 from C:\Users\samue\AppData\Local\Temp\arduino\sketches\8698D904881A0D5503C378136C59D476\sketch\AutoSatTracker.ino.cpp:1:
C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/pgmspace.h:81:23: error: 'size_t strlen(const char*)' was declared 'extern' and later 'static' [-fpermissive]
 #define strlen_P      strlen
                       ^~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1780:61: note: in expansion of macro 'strlen_P'
 __attribute__((__always_inline__)) static __inline__ size_t strlen_P(const char * s);
                                                             ^~~~~~~~
In file included from C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/Arduino.h:29,
                 from C:\Users\samue\AppData\Local\Temp\arduino\sketches\8698D904881A0D5503C378136C59D476\sketch\AutoSatTracker.ino.cpp:1:
c:\users\samue\appdata\local\arduino15\packages\esp32\tools\xtensa-esp32-elf-gcc\esp-2021r2-patch5-8.4.0\xtensa-esp32-elf\sys-include\string.h:41:9: note: previous declaration of 'size_t strlen(const char*)'
 size_t  strlen (const char *);
         ^~~~~~
In file included from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Sensor.h:13,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\AutoSatTracker.ino:23:
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h: In member function 'void Circum::startPolling()':
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:23:6: error: 'OCR0A' was not declared in this scope
      OCR0A = 0xAF;
      ^~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:24:6: error: 'TIMSK0' was not declared in this scope
      TIMSK0 |= _BV(OCIE0A);
      ^~~~~~
In file included from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\io.h:99,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:90,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Webpage.h:7,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.h:10,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:10,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Sensor.h:13,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\AutoSatTracker.ino:23:
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:24:20: error: 'OCIE0A' was not declared in this scope
      TIMSK0 |= _BV(OCIE0A);
                    ^~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\sfr_defs.h:208:25: note: in definition of macro '_BV'
 #define _BV(bit) (1 << (bit))
                         ^~~
In file included from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.h:7,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.cpp:4:
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h: In member function 'void Circum::startPolling()':
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:23:6: error: 'OCR0A' was not declared in this scope
      OCR0A = 0xAF;
      ^~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:24:6: error: 'TIMSK0' was not declared in this scope
      TIMSK0 |= _BV(OCIE0A);
      ^~~~~~
In file included from C:\Users\samue\AppData\Local\Arduino15\libraries\Ethernet\src/Ethernet.h:51,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:5,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.h:7,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.cpp:4:
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:24:20: error: 'OCIE0A' was not declared in this scope
      TIMSK0 |= _BV(OCIE0A);
                    ^~~~~~
C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/Arduino.h:107:25: note: in definition of macro '_BV'
 #define _BV(b) (1UL << (b))
                         ^
In file included from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Webpage.h:7,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.h:10,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.cpp:4:
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h: At global scope:
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1529:25: error: 'uint_farptr_t' was not declared in this scope
 extern size_t strlen_PF(uint_farptr_t src) __ATTR_CONST__; /* program memory can't change */
                         ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1529:25: note: suggested alternative: 'uint_fast8_t'
 extern size_t strlen_PF(uint_farptr_t src) __ATTR_CONST__; /* program memory can't change */
                         ^~~~~~~~~~~~~
                         uint_fast8_t
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:94:49: error: attributes after parenthesized initializer ignored [-fpermissive]
 #define __ATTR_CONST__ __attribute__((__const__))
                                                 ^
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1529:44: note: in expansion of macro '__ATTR_CONST__'
 extern size_t strlen_PF(uint_farptr_t src) __ATTR_CONST__; /* program memory can't change */
                                            ^~~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:26: error: 'uint_farptr_t' was not declared in this scope
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                          ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:26: note: suggested alternative: 'uint_fast8_t'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                          ^~~~~~~~~~~~~
                          uint_fast8_t
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:52: error: expected primary-expression before 'len'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                                                    ^~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:94:49: error: attributes after parenthesized initializer ignored [-fpermissive]
 #define __ATTR_CONST__ __attribute__((__const__))
                                                 ^
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:57: note: in expansion of macro '__ATTR_CONST__'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                                                         ^~~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:94:49: error: expression list treated as compound expression in initializer [-fpermissive]
 #define __ATTR_CONST__ __attribute__((__const__))
                                                 ^
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:57: note: in expansion of macro '__ATTR_CONST__'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                                                         ^~~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1560:36: error: 'uint_farptr_t' has not been declared
 extern void *memcpy_PF(void *dest, uint_farptr_t src, size_t len);
                                    ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1575:36: error: 'uint_farptr_t' has not been declared
 extern char *strcpy_PF(char *dest, uint_farptr_t src);
                                    ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1595:37: error: 'uint_farptr_t' has not been declared
 extern char *strncpy_PF(char *dest, uint_farptr_t src, size_t len);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1611:36: error: 'uint_farptr_t' has not been declared
 extern char *strcat_PF(char *dest, uint_farptr_t src);
                                    ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1632:37: error: 'uint_farptr_t' has not been declared
 extern size_t strlcat_PF(char *dst, uint_farptr_t src, size_t siz);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1649:37: error: 'uint_farptr_t' has not been declared
 extern char *strncat_PF(char *dest, uint_farptr_t src, size_t len);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1665:38: error: 'uint_farptr_t' has not been declared
 extern int strcmp_PF(const char *s1, uint_farptr_t s2) __ATTR_PURE__;
                                      ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1682:39: error: 'uint_farptr_t' has not been declared
 extern int strncmp_PF(const char *s1, uint_farptr_t s2, size_t n) __ATTR_PURE__;
                                       ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1698:42: error: 'uint_farptr_t' has not been declared
 extern int strcasecmp_PF(const char *s1, uint_farptr_t s2) __ATTR_PURE__;
                                          ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1716:43: error: 'uint_farptr_t' has not been declared
 extern int strncasecmp_PF(const char *s1, uint_farptr_t s2, size_t n) __ATTR_PURE__;
                                           ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1732:40: error: 'uint_farptr_t' has not been declared
 extern char *strstr_PF(const char *s1, uint_farptr_t s2);
                                        ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1744:37: error: 'uint_farptr_t' has not been declared
 extern size_t strlcpy_PF(char *dst, uint_farptr_t src, size_t siz);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1760:36: error: 'uint_farptr_t' has not been declared
 extern int memcmp_PF(const void *, uint_farptr_t, size_t) __ATTR_PURE__;
                                    ^~~~~~~~~~~~~
In file included from C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/WString.h:26,
                 from C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/Arduino.h:176,
                 from C:\Users\samue\AppData\Local\Arduino15\libraries\Ethernet\src/Ethernet.h:51,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:5,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.h:7,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.cpp:4:
C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/pgmspace.h:81:23: error: 'size_t strlen(const char*)' was declared 'extern' and later 'static' [-fpermissive]
 #define strlen_P      strlen
                       ^~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1780:61: note: in expansion of macro 'strlen_P'
 __attribute__((__always_inline__)) static __inline__ size_t strlen_P(const char * s);
                                                             ^~~~~~~~
In file included from C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/Arduino.h:29,
                 from C:\Users\samue\AppData\Local\Arduino15\libraries\Ethernet\src/Ethernet.h:51,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:5,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.h:7,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.cpp:4:
c:\users\samue\appdata\local\arduino15\packages\esp32\tools\xtensa-esp32-elf-gcc\esp-2021r2-patch5-8.4.0\xtensa-esp32-elf\sys-include\string.h:41:9: note: previous declaration of 'size_t strlen(const char*)'
 size_t  strlen (const char *);
         ^~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.cpp: In member function 'bool Target::overrideValue(char*, char*)':
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.cpp:283:36: error: no matching function for call to 'min(double, int)'
      el = max (min (atof(value), 90), 0);
                                    ^
In file included from c:\users\samue\appdata\local\arduino15\packages\esp32\tools\xtensa-esp32-elf-gcc\esp-2021r2-patch5-8.4.0\xtensa-esp32-elf\include\c++\8.4.0\algorithm:62,
                 from C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/Arduino.h:172,
                 from C:\Users\samue\AppData\Local\Arduino15\libraries\Ethernet\src/Ethernet.h:51,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:5,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.h:7,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.cpp:4:
c:\users\samue\appdata\local\arduino15\packages\esp32\tools\xtensa-esp32-elf-gcc\esp-2021r2-patch5-8.4.0\xtensa-esp32-elf\include\c++\8.4.0\bits\stl_algo.h:3456:5: note: candidate: 'template<class _Tp, class _Compare> _Tp std::min(std::initializer_list<_Tp>, _Compare)'
     min(initializer_list<_Tp> __l, _Compare __comp)
     ^~~
c:\users\samue\appdata\local\arduino15\packages\esp32\tools\xtensa-esp32-elf-gcc\esp-2021r2-patch5-8.4.0\xtensa-esp32-elf\include\c++\8.4.0\bits\stl_algo.h:3456:5: note:   template argument deduction/substitution failed:
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.cpp:283:36: note:   mismatched types 'std::initializer_list<_Tp>' and 'double'
      el = max (min (atof(value), 90), 0);
                                    ^
In file included from c:\users\samue\appdata\local\arduino15\packages\esp32\tools\xtensa-esp32-elf-gcc\esp-2021r2-patch5-8.4.0\xtensa-esp32-elf\include\c++\8.4.0\algorithm:62,
                 from C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/Arduino.h:172,
                 from C:\Users\samue\AppData\Local\Arduino15\libraries\Ethernet\src/Ethernet.h:51,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:5,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.h:7,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.cpp:4:
c:\users\samue\appdata\local\arduino15\packages\esp32\tools\xtensa-esp32-elf-gcc\esp-2021r2-patch5-8.4.0\xtensa-esp32-elf\include\c++\8.4.0\bits\stl_algo.h:3450:5: note: candidate: 'template<class _Tp> _Tp std::min(std::initializer_list<_Tp>)'
     min(initializer_list<_Tp> __l)
     ^~~
c:\users\samue\appdata\local\arduino15\packages\esp32\tools\xtensa-esp32-elf-gcc\esp-2021r2-patch5-8.4.0\xtensa-esp32-elf\include\c++\8.4.0\bits\stl_algo.h:3450:5: note:   template argument deduction/substitution failed:
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.cpp:283:36: note:   mismatched types 'std::initializer_list<_Tp>' and 'double'
      el = max (min (atof(value), 90), 0);
                                    ^
In file included from c:\users\samue\appdata\local\arduino15\packages\esp32\tools\xtensa-esp32-elf-gcc\esp-2021r2-patch5-8.4.0\xtensa-esp32-elf\include\c++\8.4.0\algorithm:61,
                 from C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/Arduino.h:172,
                 from C:\Users\samue\AppData\Local\Arduino15\libraries\Ethernet\src/Ethernet.h:51,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:5,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.h:7,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.cpp:4:
c:\users\samue\appdata\local\arduino15\packages\esp32\tools\xtensa-esp32-elf-gcc\esp-2021r2-patch5-8.4.0\xtensa-esp32-elf\include\c++\8.4.0\bits\stl_algobase.h:243:5: note: candidate: 'template<class _Tp, class _Compare> const _Tp& std::min(const _Tp&, const _Tp&, _Compare)'
     min(const _Tp& __a, const _Tp& __b, _Compare __comp)
     ^~~
c:\users\samue\appdata\local\arduino15\packages\esp32\tools\xtensa-esp32-elf-gcc\esp-2021r2-patch5-8.4.0\xtensa-esp32-elf\include\c++\8.4.0\bits\stl_algobase.h:243:5: note:   template argument deduction/substitution failed:
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.cpp:283:36: note:   deduced conflicting types for parameter 'const _Tp' ('double' and 'int')
      el = max (min (atof(value), 90), 0);
                                    ^
In file included from c:\users\samue\appdata\local\arduino15\packages\esp32\tools\xtensa-esp32-elf-gcc\esp-2021r2-patch5-8.4.0\xtensa-esp32-elf\include\c++\8.4.0\algorithm:61,
                 from C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/Arduino.h:172,
                 from C:\Users\samue\AppData\Local\Arduino15\libraries\Ethernet\src/Ethernet.h:51,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:5,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.h:7,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.cpp:4:
c:\users\samue\appdata\local\arduino15\packages\esp32\tools\xtensa-esp32-elf-gcc\esp-2021r2-patch5-8.4.0\xtensa-esp32-elf\include\c++\8.4.0\bits\stl_algobase.h:195:5: note: candidate: 'template<class _Tp> const _Tp& std::min(const _Tp&, const _Tp&)'
     min(const _Tp& __a, const _Tp& __b)
     ^~~
c:\users\samue\appdata\local\arduino15\packages\esp32\tools\xtensa-esp32-elf-gcc\esp-2021r2-patch5-8.4.0\xtensa-esp32-elf\include\c++\8.4.0\bits\stl_algobase.h:195:5: note:   template argument deduction/substitution failed:
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.cpp:283:36: note:   deduced conflicting types for parameter 'const _Tp' ('double' and 'int')
      el = max (min (atof(value), 90), 0);
                                    ^
In file included from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Webpage.h:7,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.h:10,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:10,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.cpp:5:
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1529:25: error: 'uint_farptr_t' was not declared in this scope
 extern size_t strlen_PF(uint_farptr_t src) __ATTR_CONST__; /* program memory can't change */
                         ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1529:25: note: suggested alternative: 'uint_fast8_t'
 extern size_t strlen_PF(uint_farptr_t src) __ATTR_CONST__; /* program memory can't change */
                         ^~~~~~~~~~~~~
                         uint_fast8_t
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:94:49: error: attributes after parenthesized initializer ignored [-fpermissive]
 #define __ATTR_CONST__ __attribute__((__const__))
                                                 ^
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1529:44: note: in expansion of macro '__ATTR_CONST__'
 extern size_t strlen_PF(uint_farptr_t src) __ATTR_CONST__; /* program memory can't change */
                                            ^~~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:26: error: 'uint_farptr_t' was not declared in this scope
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                          ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:26: note: suggested alternative: 'uint_fast8_t'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                          ^~~~~~~~~~~~~
                          uint_fast8_t
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:52: error: expected primary-expression before 'len'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                                                    ^~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:94:49: error: attributes after parenthesized initializer ignored [-fpermissive]
 #define __ATTR_CONST__ __attribute__((__const__))
                                                 ^
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:57: note: in expansion of macro '__ATTR_CONST__'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                                                         ^~~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:94:49: error: expression list treated as compound expression in initializer [-fpermissive]
 #define __ATTR_CONST__ __attribute__((__const__))
                                                 ^
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:57: note: in expansion of macro '__ATTR_CONST__'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                                                         ^~~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1560:36: error: 'uint_farptr_t' has not been declared
 extern void *memcpy_PF(void *dest, uint_farptr_t src, size_t len);
                                    ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1575:36: error: 'uint_farptr_t' has not been declared
 extern char *strcpy_PF(char *dest, uint_farptr_t src);
                                    ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1595:37: error: 'uint_farptr_t' has not been declared
 extern char *strncpy_PF(char *dest, uint_farptr_t src, size_t len);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1611:36: error: 'uint_farptr_t' has not been declared
 extern char *strcat_PF(char *dest, uint_farptr_t src);
                                    ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1632:37: error: 'uint_farptr_t' has not been declared
 extern size_t strlcat_PF(char *dst, uint_farptr_t src, size_t siz);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1649:37: error: 'uint_farptr_t' has not been declared
 extern char *strncat_PF(char *dest, uint_farptr_t src, size_t len);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1665:38: error: 'uint_farptr_t' has not been declared
 extern int strcmp_PF(const char *s1, uint_farptr_t s2) __ATTR_PURE__;
                                      ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1682:39: error: 'uint_farptr_t' has not been declared
 extern int strncmp_PF(const char *s1, uint_farptr_t s2, size_t n) __ATTR_PURE__;
                                       ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1698:42: error: 'uint_farptr_t' has not been declared
 extern int strcasecmp_PF(const char *s1, uint_farptr_t s2) __ATTR_PURE__;
                                          ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1716:43: error: 'uint_farptr_t' has not been declared
 extern int strncasecmp_PF(const char *s1, uint_farptr_t s2, size_t n) __ATTR_PURE__;
                                           ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1732:40: error: 'uint_farptr_t' has not been declared
 extern char *strstr_PF(const char *s1, uint_farptr_t s2);
                                        ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1744:37: error: 'uint_farptr_t' has not been declared
 extern size_t strlcpy_PF(char *dst, uint_farptr_t src, size_t siz);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1760:36: error: 'uint_farptr_t' has not been declared
 extern int memcmp_PF(const void *, uint_farptr_t, size_t) __ATTR_PURE__;
                                    ^~~~~~~~~~~~~
In file included from C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/WString.h:26,
                 from C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/Arduino.h:176,
                 from C:\Users\samue\AppData\Local\Arduino15\libraries\Ethernet\src/Ethernet.h:51,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:5,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.cpp:5:
C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/pgmspace.h:81:23: error: 'size_t strlen(const char*)' was declared 'extern' and later 'static' [-fpermissive]
 #define strlen_P      strlen
                       ^~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1780:61: note: in expansion of macro 'strlen_P'
 __attribute__((__always_inline__)) static __inline__ size_t strlen_P(const char * s);
                                                             ^~~~~~~~
In file included from C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/Arduino.h:29,
                 from C:\Users\samue\AppData\Local\Arduino15\libraries\Ethernet\src/Ethernet.h:51,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:5,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.cpp:5:
c:\users\samue\appdata\local\arduino15\packages\esp32\tools\xtensa-esp32-elf-gcc\esp-2021r2-patch5-8.4.0\xtensa-esp32-elf\sys-include\string.h:41:9: note: previous declaration of 'size_t strlen(const char*)'
 size_t  strlen (const char *);
         ^~~~~~
In file included from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.cpp:5:
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h: In member function 'void Circum::startPolling()':
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:23:6: error: 'OCR0A' was not declared in this scope
      OCR0A = 0xAF;
      ^~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:24:6: error: 'TIMSK0' was not declared in this scope
      TIMSK0 |= _BV(OCIE0A);
      ^~~~~~
In file included from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\io.h:99,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:90,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Webpage.h:7,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.h:10,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:10,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.cpp:5:
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:24:20: error: 'OCIE0A' was not declared in this scope
      TIMSK0 |= _BV(OCIE0A);
                    ^~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\sfr_defs.h:208:25: note: in definition of macro '_BV'
 #define _BV(bit) (1 << (bit))
                         ^~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.cpp: At global scope:
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.cpp:338:4: error: expected constructor, destructor, or type conversion before '(' token
 ISR(TIMER0_COMPA_vect)
    ^
In file included from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.h:7,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Gimbal.h:11,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Gimbal.cpp:4:
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h: In member function 'void Circum::startPolling()':
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:23:6: error: 'OCR0A' was not declared in this scope
      OCR0A = 0xAF;
      ^~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:24:6: error: 'TIMSK0' was not declared in this scope
      TIMSK0 |= _BV(OCIE0A);
      ^~~~~~
In file included from C:\Users\samue\AppData\Local\Arduino15\libraries\Ethernet\src/Ethernet.h:51,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Gimbal.h:7,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Gimbal.cpp:4:
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:24:20: error: 'OCIE0A' was not declared in this scope
      TIMSK0 |= _BV(OCIE0A);
                    ^~~~~~
C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/Arduino.h:107:25: note: in definition of macro '_BV'
 #define _BV(b) (1UL << (b))
                         ^
In file included from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Webpage.h:7,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.h:10,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Gimbal.h:11,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Gimbal.cpp:4:
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h: At global scope:
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1529:25: error: 'uint_farptr_t' was not declared in this scope
 extern size_t strlen_PF(uint_farptr_t src) __ATTR_CONST__; /* program memory can't change */
                         ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1529:25: note: suggested alternative: 'uint_fast8_t'
 extern size_t strlen_PF(uint_farptr_t src) __ATTR_CONST__; /* program memory can't change */
                         ^~~~~~~~~~~~~
                         uint_fast8_t
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:94:49: error: attributes after parenthesized initializer ignored [-fpermissive]
 #define __ATTR_CONST__ __attribute__((__const__))
                                                 ^
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1529:44: note: in expansion of macro '__ATTR_CONST__'
 extern size_t strlen_PF(uint_farptr_t src) __ATTR_CONST__; /* program memory can't change */
                                            ^~~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:26: error: 'uint_farptr_t' was not declared in this scope
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                          ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:26: note: suggested alternative: 'uint_fast8_t'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                          ^~~~~~~~~~~~~
                          uint_fast8_t
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:52: error: expected primary-expression before 'len'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                                                    ^~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:94:49: error: attributes after parenthesized initializer ignored [-fpermissive]
 #define __ATTR_CONST__ __attribute__((__const__))
                                                 ^
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:57: note: in expansion of macro '__ATTR_CONST__'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                                                         ^~~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:94:49: error: expression list treated as compound expression in initializer [-fpermissive]
 #define __ATTR_CONST__ __attribute__((__const__))
                                                 ^
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:57: note: in expansion of macro '__ATTR_CONST__'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                                                         ^~~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1560:36: error: 'uint_farptr_t' has not been declared
 extern void *memcpy_PF(void *dest, uint_farptr_t src, size_t len);
                                    ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1575:36: error: 'uint_farptr_t' has not been declared
 extern char *strcpy_PF(char *dest, uint_farptr_t src);
                                    ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1595:37: error: 'uint_farptr_t' has not been declared
 extern char *strncpy_PF(char *dest, uint_farptr_t src, size_t len);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1611:36: error: 'uint_farptr_t' has not been declared
 extern char *strcat_PF(char *dest, uint_farptr_t src);
                                    ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1632:37: error: 'uint_farptr_t' has not been declared
 extern size_t strlcat_PF(char *dst, uint_farptr_t src, size_t siz);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1649:37: error: 'uint_farptr_t' has not been declared
 extern char *strncat_PF(char *dest, uint_farptr_t src, size_t len);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1665:38: error: 'uint_farptr_t' has not been declared
 extern int strcmp_PF(const char *s1, uint_farptr_t s2) __ATTR_PURE__;
                                      ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1682:39: error: 'uint_farptr_t' has not been declared
 extern int strncmp_PF(const char *s1, uint_farptr_t s2, size_t n) __ATTR_PURE__;
                                       ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1698:42: error: 'uint_farptr_t' has not been declared
 extern int strcasecmp_PF(const char *s1, uint_farptr_t s2) __ATTR_PURE__;
                                          ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1716:43: error: 'uint_farptr_t' has not been declared
 extern int strncasecmp_PF(const char *s1, uint_farptr_t s2, size_t n) __ATTR_PURE__;
                                           ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1732:40: error: 'uint_farptr_t' has not been declared
 extern char *strstr_PF(const char *s1, uint_farptr_t s2);
                                        ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1744:37: error: 'uint_farptr_t' has not been declared
 extern size_t strlcpy_PF(char *dst, uint_farptr_t src, size_t siz);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1760:36: error: 'uint_farptr_t' has not been declared
 extern int memcmp_PF(const void *, uint_farptr_t, size_t) __ATTR_PURE__;
                                    ^~~~~~~~~~~~~
In file included from C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/WString.h:26,
                 from C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/Print.h:26,
                 from C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/Stream.h:26,
                 from C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\libraries\Wire\src/Wire.h:35,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Gimbal.h:6,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Gimbal.cpp:4:
C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/pgmspace.h:81:23: error: 'size_t strlen(const char*)' was declared 'extern' and later 'static' [-fpermissive]
 #define strlen_P      strlen
                       ^~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1780:61: note: in expansion of macro 'strlen_P'
 __attribute__((__always_inline__)) static __inline__ size_t strlen_P(const char * s);
                                                             ^~~~~~~~
In file included from C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/esp32-hal.h:29,
                 from C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\libraries\Wire\src/Wire.h:29,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Gimbal.h:6,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Gimbal.cpp:4:
c:\users\samue\appdata\local\arduino15\packages\esp32\tools\xtensa-esp32-elf-gcc\esp-2021r2-patch5-8.4.0\xtensa-esp32-elf\sys-include\string.h:41:9: note: previous declaration of 'size_t strlen(const char*)'
 size_t  strlen (const char *);
         ^~~~~~
In file included from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Webpage.h:7,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.h:10,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:10,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Sensor.h:13,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Sensor.cpp:4:
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1529:25: error: 'uint_farptr_t' was not declared in this scope
 extern size_t strlen_PF(uint_farptr_t src) __ATTR_CONST__; /* program memory can't change */
                         ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1529:25: note: suggested alternative: 'uint_fast8_t'
 extern size_t strlen_PF(uint_farptr_t src) __ATTR_CONST__; /* program memory can't change */
                         ^~~~~~~~~~~~~
                         uint_fast8_t
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:94:49: error: attributes after parenthesized initializer ignored [-fpermissive]
 #define __ATTR_CONST__ __attribute__((__const__))
                                                 ^
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1529:44: note: in expansion of macro '__ATTR_CONST__'
 extern size_t strlen_PF(uint_farptr_t src) __ATTR_CONST__; /* program memory can't change */
                                            ^~~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:26: error: 'uint_farptr_t' was not declared in this scope
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                          ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:26: note: suggested alternative: 'uint_fast8_t'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                          ^~~~~~~~~~~~~
                          uint_fast8_t
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:52: error: expected primary-expression before 'len'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                                                    ^~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:94:49: error: attributes after parenthesized initializer ignored [-fpermissive]
 #define __ATTR_CONST__ __attribute__((__const__))
                                                 ^
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:57: note: in expansion of macro '__ATTR_CONST__'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                                                         ^~~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:94:49: error: expression list treated as compound expression in initializer [-fpermissive]
 #define __ATTR_CONST__ __attribute__((__const__))
                                                 ^
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1545:57: note: in expansion of macro '__ATTR_CONST__'
 extern size_t strnlen_PF(uint_farptr_t src, size_t len) __ATTR_CONST__; /* program memory can't change */
                                                         ^~~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1560:36: error: 'uint_farptr_t' has not been declared
 extern void *memcpy_PF(void *dest, uint_farptr_t src, size_t len);
                                    ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1575:36: error: 'uint_farptr_t' has not been declared
 extern char *strcpy_PF(char *dest, uint_farptr_t src);
                                    ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1595:37: error: 'uint_farptr_t' has not been declared
 extern char *strncpy_PF(char *dest, uint_farptr_t src, size_t len);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1611:36: error: 'uint_farptr_t' has not been declared
 extern char *strcat_PF(char *dest, uint_farptr_t src);
                                    ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1632:37: error: 'uint_farptr_t' has not been declared
 extern size_t strlcat_PF(char *dst, uint_farptr_t src, size_t siz);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1649:37: error: 'uint_farptr_t' has not been declared
 extern char *strncat_PF(char *dest, uint_farptr_t src, size_t len);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1665:38: error: 'uint_farptr_t' has not been declared
 extern int strcmp_PF(const char *s1, uint_farptr_t s2) __ATTR_PURE__;
                                      ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1682:39: error: 'uint_farptr_t' has not been declared
 extern int strncmp_PF(const char *s1, uint_farptr_t s2, size_t n) __ATTR_PURE__;
                                       ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1698:42: error: 'uint_farptr_t' has not been declared
 extern int strcasecmp_PF(const char *s1, uint_farptr_t s2) __ATTR_PURE__;
                                          ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1716:43: error: 'uint_farptr_t' has not been declared
 extern int strncasecmp_PF(const char *s1, uint_farptr_t s2, size_t n) __ATTR_PURE__;
                                           ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1732:40: error: 'uint_farptr_t' has not been declared
 extern char *strstr_PF(const char *s1, uint_farptr_t s2);
                                        ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1744:37: error: 'uint_farptr_t' has not been declared
 extern size_t strlcpy_PF(char *dst, uint_farptr_t src, size_t siz);
                                     ^~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1760:36: error: 'uint_farptr_t' has not been declared
 extern int memcmp_PF(const void *, uint_farptr_t, size_t) __ATTR_PURE__;
                                    ^~~~~~~~~~~~~
In file included from C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/WString.h:26,
                 from C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/Print.h:26,
                 from C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/Stream.h:26,
                 from C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\libraries\Wire\src/Wire.h:35,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Sensor.h:7,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Sensor.cpp:4:
C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/pgmspace.h:81:23: error: 'size_t strlen(const char*)' was declared 'extern' and later 'static' [-fpermissive]
 #define strlen_P      strlen
                       ^~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:1780:61: note: in expansion of macro 'strlen_P'
 __attribute__((__always_inline__)) static __inline__ size_t strlen_P(const char * s);
                                                             ^~~~~~~~
In file included from C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\cores\esp32/esp32-hal.h:29,
                 from C:\Users\samue\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.11\libraries\Wire\src/Wire.h:29,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Sensor.h:7,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Sensor.cpp:4:
c:\users\samue\appdata\local\arduino15\packages\esp32\tools\xtensa-esp32-elf-gcc\esp-2021r2-patch5-8.4.0\xtensa-esp32-elf\sys-include\string.h:41:9: note: previous declaration of 'size_t strlen(const char*)'
 size_t  strlen (const char *);
         ^~~~~~
In file included from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Sensor.h:13,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Sensor.cpp:4:
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h: In member function 'void Circum::startPolling()':
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:23:6: error: 'OCR0A' was not declared in this scope
      OCR0A = 0xAF;
      ^~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:24:6: error: 'TIMSK0' was not declared in this scope
      TIMSK0 |= _BV(OCIE0A);
      ^~~~~~
In file included from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\io.h:99,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\pgmspace.h:90,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Webpage.h:7,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Target.h:10,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:10,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Sensor.h:13,
                 from C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Sensor.cpp:4:
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Circum.h:24:20: error: 'OCIE0A' was not declared in this scope
      TIMSK0 |= _BV(OCIE0A);
                    ^~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\avr\sfr_defs.h:208:25: note: in definition of macro '_BV'
 #define _BV(bit) (1 << (bit))
                         ^~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Sensor.cpp: In constructor 'Sensor::Sensor()':
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Sensor.cpp:12:45: error: 'OPERATION_MODE_NDOF' is not a member of 'Adafruit_BNO055'
  sensor_found = bno->begin(Adafruit_BNO055::OPERATION_MODE_NDOF);
                                             ^~~~~~~~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Sensor.cpp: In member function 'void Sensor::saveCalibration()':
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Sensor.cpp:117:33: error: 'OPERATION_MODE_CONFIG' is not a member of 'Adafruit_BNO055'
  bno->setMode (Adafruit_BNO055::OPERATION_MODE_CONFIG);
                                 ^~~~~~~~~~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Sensor.cpp:138:33: error: 'OPERATION_MODE_NDOF' is not a member of 'Adafruit_BNO055'
  bno->setMode (Adafruit_BNO055::OPERATION_MODE_NDOF);
                                 ^~~~~~~~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Sensor.cpp: In member function 'void Sensor::installCalibration()':
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Sensor.cpp:164:33: error: 'OPERATION_MODE_CONFIG' is not a member of 'Adafruit_BNO055'
  bno->setMode (Adafruit_BNO055::OPERATION_MODE_CONFIG);
                                 ^~~~~~~~~~~~~~~~~~~~~
C:\Users\samue\Downloads\AutoSatTracker-2016082822\AutoSatTracker\Sensor.cpp:179:33: error: 'OPERATION_MODE_NDOF' is not a member of 'Adafruit_BNO055'
  bno->setMode (Adafruit_BNO055::OPERATION_MODE_NDOF);
                                 ^~~~~~~~~~~~~~~~~~~

exit status 1

Compilation error: 'uint_farptr_t' was not declared in this scope
2

Would you download the zip file, unzip it, and upload the sketch to this topic? Thank you.

3

Look farther down in the webpage for the code for the ESP8266, the code you are compiling looks like it is intended for an Arduino Mega, no other boards I know of used far pointers for PROGMEM.

https://www.clearskyinstitute.com/ham/AST/AutoSatTracker-ESP-2023053003.zip

4

AutoSatTracker-ESP.ino

/* Autonomous Satellite Tracker.
 *
 * Connections on Adafruit ESP8266 Huzzah:
 *   Servo controller connects to SDA and SCL
 *   GPS TX connects to 16, RX to 2
 *
 */


#include "AutoSatTracker-ESP.h"
#include "NV.h"
#include "Sensor.h"
#include "Circum.h"
#include "Gimbal.h"
#include "Target.h"
#include "Webpage.h"
#include "Wire.h"
#include "SSD1306Wire.h"

NV *nv;
Sensor *sensor;
Circum *circum;
Gimbal *gimbal;
Target *target;
Webpage *webpage;

//Globale Variablen die in anderen Modulen gesetzt werden
extern bool gps_lock;
extern bool track_status;
extern String satname;

const int oled_contrast = 64;

//Display settings for 0.96 OLED display
const int I2C_DISPLAY_ADDRESS = 0x3c;
#if defined(ESP8266)
//const int SDA_PIN = D3;
//const int SDC_PIN = D4;
const int SDA_PIN = D2; // same as I2C pins for the rest
const int SDC_PIN = D1; 
#else
const int SDA_PIN = 5; //D3;
const int SDC_PIN = 4; //D4;
#endif

SSD1306Wire     display(I2C_DISPLAY_ADDRESS, SDA_PIN, SDC_PIN);

/* called first and once
 */
void
setup()
{

    // init serial monitor
    Serial.begin (115200);
    delay(500);

    // this just resets the soft timeout, the hard timeout is still 6 seconds
    ESP.wdtDisable();

    // scan for I2C devices
    resetWatchdog();
    Serial.println();
    Serial.print (F("Scanning I2C:"));
    Wire.begin(); // original code did not have Wire.begin and I2C scan was not working
    for (uint8_t a = 1; a < 127; a++) {
	    Wire.beginTransmission(a);
	    if (Wire.endTransmission(true) == 0) 
      {
	      Serial.print (F(" ")); Serial.print (a,HEX);
      }
    }
    Serial.println();

    // instantiate each module
    
    // initialize display
    Serial.println(F("Making OLED"));
    display.init();
    display.clear();
    display.display();

    //  display.flipScreenVertically();
    display.setFont(ArialMT_Plain_24);
    display.setTextAlignment(TEXT_ALIGN_CENTER);
    display.setContrast(oled_contrast);
    display.drawString(64,0,"Welcome");
    display.drawString(64,19,"to");
    display.drawString(64,39,"SatTrack");
    display.display();
    //show welcome screen until main loop starts
    // change font for main loop display
    display.setFont(ArialMT_Plain_10);
    
    Serial.println (F("making NV"));
    nv = new NV();
    Serial.println (F("making Sensor"));
    sensor = new Sensor();
    Serial.println (F("making Circum"));
    circum = new Circum();
    Serial.println (F("making Gimbal"));
    gimbal = new Gimbal();
    Serial.println (F("making Target"));
    target = new Target();
    Serial.println (F("making Webpage"));
    webpage = new Webpage();
    
    // all set to go.. see you in loop()
    Serial.println (F("Ready"));

}

//Update the OLED Status display
void OLED_update()
{

  String statestring = "";
  char st[64];
  
  resetWatchdog();
  display.clear();

  //Display Title
  display.drawString(64, 0, "SatTrack");

  // Display Sat Name if tracking is active and Tracking State (on or off)
  
  if (target->track_status)
    statestring = target->satname + " tracking";
  else
    statestring = target->satname + " not tracking";
  display.drawString(64, 12, statestring);

  //Display GPS state
  if (circum->nsats !=0xff)
    sprintf(st,"%d",circum->nsats);
  else
    sprintf(st,"%s","INVAL"); 
  if (circum->gps_lock)
    statestring = "GPS locked " + (String)st + " satellites";
  else
    statestring = "GPS UNLOCKED";
  display.drawString(64, 24, statestring);
  
  //Display Gimbal state
  if (gimbal->connected())
  {
    if (gimbal->calibrated())
       statestring="Gimbal ok calibrated";
    else
       statestring="Gimbal ok UNCALIBRATED";
  }
  else
    statestring="GIMBAL MISSING";
  display.drawString(64,36, statestring);
  
  float Gimbal_AZ = 0;
  float Gimbal_EL = 0;
  //Display Azimuth and Elevation of the antenne as derived from sensor
  sensor->getAzEl (&Gimbal_AZ, &Gimbal_EL);
  sprintf(st,"AZ: %3.1f°     EL: %3.1f°",Gimbal_AZ,Gimbal_EL);
  display.drawString(64,48, (String)st);

  //Write everyhting to the display
  display.display();
}

/* called repeatedly forever
 */
void
loop()
{
    // check for ethernet activity
    webpage->checkEthernet();

    // check for new GPS info
    circum->checkGPS();

    // follow the target
    target->track();

    //update Oled Display
    OLED_update();
}

void
resetWatchdog()
{
    ESP.wdtFeed();
    yield();
}

More to follow(character limit).

5

AskWiFi.cpp

/* ask op for local wifi info
 */

#include "Webpage.h"

#include <ESP8266WiFi.h>
#include <ESP8266WebServer.h>
#include <DNSServer.h>

// urldecode
//credits for this code go to zenmanenergy (Steve Nelson) on github
unsigned char h2int(char c)
{
    if (c >= '0' && c <='9'){
        return((unsigned char)c - '0');
    }
    if (c >= 'a' && c <='f'){
        return((unsigned char)c - 'a' + 10);
    }
    if (c >= 'A' && c <='F'){
        return((unsigned char)c - 'A' + 10);
    }
    return(0);
}

String urldecode(String str)
{
    
    String encodedString="";
    char c;
    char code0;
    char code1;
    for (int i =0; i < str.length(); i++){
        c=str.charAt(i);
      if (c == '+'){
        encodedString+=' ';  
      }else if (c == '%') {
        i++;
        code0=str.charAt(i);
        i++;
        code1=str.charAt(i);
        c = (h2int(code0) << 4) | h2int(code1);
        encodedString+=c;
      } else{
        
        encodedString+=c;  
      }
      
      yield();
    }
    
   return encodedString;
}


/* set up an Access Point to ask operator for local wifi info, save in NV
 */
void Webpage::askWiFi()
{
	// AP info
	IPAddress ip(192,168,10,10);
	IPAddress gw(192,168,10,10);
	IPAddress nm(255,255,255,0);
	const char *ssid = "SatTrack";

	// start AP
	resetWatchdog();
	WiFi.disconnect(true);
	delay(200);
	WiFi.mode(WIFI_AP);
	if (!WiFi.softAPConfig(ip, gw, nm)) {
	    Serial.println ("Can not configure softAP");
	    return;
	}
	if (!WiFi.softAP (ssid)) {
	    Serial.println ("Can not set AP ssid");
	    return;
	}
	delay(500);
	Serial.print (F("AP IP: ")); Serial.println (WiFi.softAPIP());

	// start HTTP server 
	resetWatchdog();
	WiFiServer remoteServer(80);
	remoteServer.begin();

	// provide clients with an IP pointing back to us
	DNSServer dns;
	dns.start(53, "*", WiFi.softAPIP());

	// repeat until get station info

	int n_info = 0;
	while (n_info < 5) {
	    n_info = 0;

	    // listen for a connection
	    WiFiClient remoteClient;
	    Serial.println ("waiting for client");
	    dns.processNextRequest();
	    do {
		resetWatchdog();
		delay(100);
		remoteClient = remoteServer.available();
	    } while (!remoteClient);
	    Serial.print (F("client connected from ")); Serial.println (remoteClient.remoteIP());

	    // send the WiFI setup page
	    sendAskPage (remoteClient);

	    // look for GET down to blank line
	    char c, line[1024];
	    size_t linel = 0;
	    char *GET = NULL;
	    uint32_t to = millis();
	    while ((c = readNextClientChar (remoteClient, &to)) != 0) {
		if (!GET) {
		    if (c == '\n') {
			line[linel] = '\0';
			linel = 0;
			if (strstr (line, "GET "))
			    GET = line;
		    } else if (linel < sizeof(line)-1)
			line[linel++] = c;
		} else {
		    if (c == '\n') {
			if (linel == 1)	// just \r\n
			    break;
			linel = 0;
		    } else {
			linel++;
		    }
		}
	    }
	    remoteClient.stop();
	    Serial.println (line);

	    // abort if no GET
	    if (!GET) {
		Serial.println (line);
		Serial.println ("No GET");
		break;
	    }

	    // crack GET for desired info
	    char *wifi_id = strstr (line, "id=");
	    char *wifi_pw = strstr (line, "pw=");
	    char *wifi_ip = strstr (line, "ip=");
	    char *wifi_nm = strstr (line, "nm=");
	    char *wifi_gw = strstr (line, "gw=");

	    // TODO: check for special characters

	    // save if looks reasonable
	    char *eos;
	    if (wifi_id) {
		wifi_id += 3;
		eos = strchr (wifi_id, '&');
		if (eos) {
		    *eos = '\0';
		    strncpy (nv->ssid, wifi_id, sizeof(nv->ssid));
		    nv->put();
		    Serial.println(nv->ssid);
		    n_info++;
		}
	    }
	    if (wifi_pw) {
		wifi_pw += 3;
		eos = strchr (wifi_pw, '&');
		if (eos) {
		    *eos = '\0';
// urldecode the string to allow for special characters
        String wifi_pw1 = urldecode((String)wifi_pw);
		    strncpy (nv->pw, (char *)&wifi_pw1[0], sizeof(nv->pw));
		    nv->put();
		    Serial.println(nv->pw);
		    n_info++;
		}
	    }
	    if (wifi_ip) {
		wifi_ip += 3;
		eos = strchr (wifi_ip, '&');
		if (eos) {
		    *eos = '\0';
		    nv->IP.fromString (wifi_ip);
		    nv->put();
        //the original Serial.println(nv->IP.toString()) caused a exception
		    Serial.println(wifi_ip);
		    n_info++;
		}
	    }
        
	    if (wifi_nm) {
		wifi_nm += 3;
		eos = strchr (wifi_nm, '&');
		if (eos) {
		    *eos = '\0';
		    nv->NM.fromString (wifi_nm);
		    nv->put();
        //the original Serial.println(nv->NM.toString()) caused a exception
		    Serial.println(wifi_nm);
		    n_info++;
		}
	    }
     
	    if (wifi_gw) {
		wifi_gw += 3;
		eos = strchr (wifi_gw, ' ');
		if (eos) {
		    *eos = '\0';
		    nv->GW.fromString (wifi_gw);
		    nv->put();
        //the original Serial.println(nv->GW.toString()) caused a exception
		    Serial.println(wifi_gw);
		    n_info++;
		}
	    }
     
	}
	// shut down AP
	WiFi.softAPdisconnect(true);
	delay(200);
}

/* transmit the page that lets operator enter wifi info
 */
void Webpage::sendAskPage(WiFiClient client)
{
        sendHTMLHeader (client);

        // DO NOT HAND EDIT THE FOLLOWING HTML .. use "preppage.pl"
        // DO NOT REMOVE THIS LINE 333333333333333333333333333333
        client.print (F(
            "<!DOCTYPE html> \r\n"
            "<html> \r\n"
            "<head> \r\n"
            "    <meta http-equiv='Content-Type' content='text/html; charset=UTF-8' /> \r\n"
            " \r\n"
            "    <style> \r\n"
            "        body { \r\n"
            "            background-color:#888; \r\n"
            "            font-family:sans-serif; \r\n"
            "            font-size:13px; \r\n"
            "        } \r\n"
            " \r\n"
            "        table { \r\n"
            "            border-collapse: collapse; \r\n"
            "            border: 3px solid brown; \r\n"
            "            background-color:#F8F8F8; \r\n"
            "            float:left; \r\n"
            "        } \r\n"
            " \r\n"
            "        td { \r\n"
            "            padding: 4px; \r\n"
            "        } \r\n"
            " \r\n"
            "        th { \r\n"
            "            padding: 6px; \r\n"
            "            border: 1px solid brown; \r\n"
            "        } \r\n"
            " \r\n"
            "        input { \r\n"
            "            width : 90%; \r\n"
            "        } \r\n"
            " \r\n"
            "    </style> \r\n"
            " \r\n"
            "</head> \r\n"
            "<body> \r\n"
            " \r\n"
            "    <form>  \r\n"
            "    <table> \r\n"
            "        <tr> \r\n"
            "            <th colspan='2' > \r\n"
            "                Enter local WiFi information: \r\n"
            "            </th> \r\n"
            "        </tr> \r\n"
            "        <tr> \r\n"
            "            <td> \r\n"
            "                SSID: \r\n"
            "            </td> \r\n"
            "            <td> \r\n"
            "                <input name='id'></input> \r\n"
            "            </td> \r\n"
            "        </tr> \r\n"
            "        <tr> \r\n"
            "            <td> \r\n"
            "                Password: \r\n"
            "            </td> \r\n"
            "            <td> \r\n"
            "                <input name='pw'></input> \r\n"
            "            </td> \r\n"
            "        </tr> \r\n"
            "        <tr> \r\n"
            "            <td> \r\n"
            "                IP: \r\n"
            "            </td> \r\n"
            "            <td> \r\n"
            "                <input name='ip'></input> \r\n"
            "            </td> \r\n"
            "        </tr> \r\n"
            "        <tr> \r\n"
            "            <td> \r\n"
            "                Network mask: \r\n"
            "            </td> \r\n"
            "            <td> \r\n"
            "                <input name='nm'></input> \r\n"
            "            </td> \r\n"
            "        </tr> \r\n"
            "        <tr> \r\n"
            "            <td> \r\n"
            "                Gateway: \r\n"
            "            </td> \r\n"
            "            <td> \r\n"
            "                <input name='gw'></input> \r\n"
            "            </td> \r\n"
            "        </tr> \r\n"
            "        <tr> \r\n"
            "            <td colspan='2' > \r\n"
            "                <button type='submit'>Send</button> \r\n"
            "            </td> \r\n"
            "    </table> \r\n"
            "    </form> \r\n"
            "</body> \r\n"
            "</html> \r\n"
        ));
        // DO NOT REMOVE THIS LINE 444444444444444444444444444444
}

More to follow(character limit).

6

AutoSatTracker-ESP.h

#ifndef __AST_H
#define __AST_H

extern void resetWatchdog();

extern double myfmod (double a, double n);
extern double myatof (const char *s);


#endif // __AST_H

Circum.cpp

/* information about observing circumstances including time and location from GPS or manually entered.
 */

#include "Circum.h"

// serial configuration for GPS
#define	GPS_TX_PIN	(-1)			// none
#define	GPS_RX_PIN	12                      // Huzzah RX
#define	GPS_BAUD	9600


/* constructor
 */
Circum::Circum ()
{
	// create serial connection to GPS board
	resetWatchdog();
	ss = new SoftwareSerial (GPS_RX_PIN, GPS_TX_PIN);
	ss->begin(GPS_BAUD);

	// create GPS parser
	resetWatchdog();
	GPS = new TinyGPS();

	// init values -- updated when GPS locks
	resetWatchdog();
	latitude = 0.0;
	longitude = 0.0;
	altitude = 0.0;
	obs = NULL;
	newObserver (latitude, longitude, altitude);
	hdop = 99.0;
	nsats = 0;
	setnow (2020, 1, 1, 0, 0, 0);
	magdecl (latitude, longitude, altitude, decimalYear(), &magdeclination);
  
	// init flags
	gps_lock = false;
	gps_ok = false;
	time_overridden = false;
	loc_overridden = false;
}

/* return current time as a decimal year
 */
float Circum::decimalYear()
{
	// get time now, sets dt_now.DN and dt_now.TN
	int year; uint8_t month, day, h, m, s;
	getnow (year, month, day, h, m, s);

	// get time on jan 1 this year
	DateTime y0 (year, 1, 1, 0, 0, 0);

	// n days this year
	int nd = (year%4) ? 365 : 366;

	// return year and fraction
	return (year + ((dt_now.DN + dt_now.TN) - (y0.DN + y0.TN))/nd);
}

/* send latest values to web page.
 * N.B. names must match ids in web page
 */
void Circum::sendNewValues (WiFiClient client)
{

	int year; uint8_t month, day, h, m, s;
	getnow (year, month, day, h, m, s);

	client.print (F("GPS_Date="));
	printDate (client, year, month, day);
	    printPL (client, time_overridden ? BADNEWS : NORMAL);

	client.print (F("GPS_UTC="));
	printHMS (client, h, m, s);
	    printPL (client, time_overridden ? BADNEWS : NORMAL);

	client.print (F("GPS_Status="));
	if (gps_lock) {
	    if (time_overridden || loc_overridden)
		client.println (F("Overridden!"));
	    else
		client.println (F("Locked+"));
	} else if (gps_ok)
	    client.println (F("No lock!"));
	else
	    client.println (F("Not found!"));

	client.print (F("GPS_Enable="));
	if (gps_lock && (time_overridden || loc_overridden))
	    client.println (F("true"));
	else
	    client.println (F("false"));

	client.print (F("GPS_Lat=")); client.print (latitude, 3);
	    printPL (client, loc_overridden ? BADNEWS : NORMAL);
	client.print (F("GPS_Long=")); client.print (longitude, 3);
	    printPL (client, loc_overridden ? BADNEWS : NORMAL);
	client.print (F("GPS_Alt=")); client.print (altitude);
	    printPL (client, loc_overridden ? BADNEWS : NORMAL);

	client.print (F("GPS_MagDecl=")); client.println (magdeclination);
	client.print (F("GPS_HDOP=")); client.println (hdop);
	client.print (F("GPS_NSat=")); client.println (nsats);
}

/* print value v in sexagesimal format, can be negative
 */
void Circum::printSexa (WiFiClient client, float v)
{
	bool isneg = v < 0;
	if (isneg) {
	    v = -v;
	    client.print (F("-"));
	}

        uint8_t h = (uint8_t) v;
        v = (v - h)*60;
        uint8_t m = (uint8_t) v;
        v = (v - m)*60;
        uint8_t s = (uint8_t) v;

	printHMS (client, h, m, s);
}

/* print time
 */
void Circum::printHMS (WiFiClient client, uint8_t h, uint8_t m, uint8_t s)
{
	client.print (h);

	if (m < 10)
	    client.print (F(":0"));
	else
	    client.print (F(":"));
	client.print (m);

	if (s < 10)
	    client.print (F(":0"));
	else
	    client.print (F(":"));
	client.print (s);
}

/* print the given date
 */
void Circum::printDate (WiFiClient client, int y, uint8_t m, uint8_t d)
{
	client.print(y);
	client.print(F(" "));
	client.print(m);
	client.print(F(" "));
	client.print(d);
}

/* end a value with the given print level code
 */
void Circum::printPL (WiFiClient client, PrintLevel pl)
{
	switch (pl) {
	case BADNEWS:
	    client.println (F("!"));
	    break;
	case GOODNEWS:
	    client.println (F("+"));
	    break;
	default:
	    client.println (F(""));
	    break;
	}
}

/* process name = value.
 * return whether we recognize it
 */
bool Circum::overrideValue (char *name, char *value)
{
	if (!strcmp (name, "GPS_UTC")) {
	    // op is setting new UTC
	    int year; uint8_t month, day, h, m, s;
	    getnow (year, month, day, h, m, s);		// start with now
	    char *mat, *sat;				// start of min and sec, if any
	    h = strtol (value, &mat, 10);		// override hour
	    if (mat != value) {				// if new minute ...
		m = strtol (mat, &sat, 10);		// override minutes
		if (sat != mat)				// if new seconds ...
		    s = strtol (sat, NULL, 10);		// override seconds
	    }
	    setnow (year, month, day, h, m, s);		// set system time to new value
	    time_overridden = true;			// set flag that op has overridden GPS time
	    target->updateTopo();			// update target to new time
	    target->findNextPass();			// update pass from now
	    target->computeSkyPath();			// and show
	    return (true);
	}
	if (!strcmp (name, "GPS_Date")) {
	    // op is setting new date
	    int year; uint8_t month, day, h, m, s;
	    getnow (year, month, day, h, m, s);		// start with now
	    char *mat, *dat;				// start of month and day, if any
	    year = strtol (value, &mat, 10);		// override year
	    if (mat != value) {				// if new month ...
		month = strtol (mat, &dat, 10);		// override month
		if (dat != mat)				// if new day ...
		    day = strtol (dat, NULL, 10);	// override day
	    }
	    setnow (year, month, day, h, m, s);		// set system time to new value
	    time_overridden = true;			// set flag that op has overridden GPS time
	    target->updateTopo();			// update target to new time
	    target->findNextPass();			// update pass from now
	    target->computeSkyPath();			// and show
	    return (true);
	}
	if (!strcmp (name, "GPS_Lat")) {
	    latitude = atof (value);
	    newObserver (latitude, longitude, altitude);
	    loc_overridden = true;			// set flag that op has overridden GPS loc
	    target->updateTopo();			// update target to new time
	    target->findNextPass();			// update pass from here
	    target->computeSkyPath();			// and show
	    magdecl (latitude, longitude, altitude, decimalYear(), &magdeclination);
	    return (true);
	}
	if (!strcmp (name, "GPS_Long")) {
	    longitude = atof (value);
	    newObserver (latitude, longitude, altitude);
	    loc_overridden = true;			// set flag that op has overridden GPS loc
	    target->updateTopo();			// update target to new time
	    target->findNextPass();			// update pass from here
	    target->computeSkyPath();			// and show
	    magdecl (latitude, longitude, altitude, decimalYear(), &magdeclination);
	    return (true);
	}
	if (!strcmp (name, "GPS_Alt")) {
	    altitude = atof (value);
	    newObserver (latitude, longitude, altitude);
	    loc_overridden = true;			// set flag that op has overridden GPS loc
	    target->updateTopo();			// update target to new time
	    target->findNextPass();			// update pass from here
	    target->computeSkyPath();			// and show
	    magdecl (latitude, longitude, altitude, decimalYear(), &magdeclination);
	    return (true);
	}
	if (!strcmp (name, "GPS_Enable")) {
	    time_overridden = false;			// resume GPS values
	    loc_overridden = false;			// resume GPS values
	}

	return (false);	// not one of ours
}

/* call occasionally to sync our system time from GPS, if it is running ok.
 */
void Circum::checkGPS()
{
	resetWatchdog();

	// read more from GPS, process when new message complete
	while (ss->available()) {

	    //Serial.print((char)ss->peek());

	    if (GPS->encode(ss->read())) {

		// note we receiving GPS sentences ok
		gps_ok = true;

		// get location and age
		float new_lat, new_lng, new_alt;
		unsigned long loc_fix_age;
		GPS->f_get_position(&new_lat, &new_lng, &loc_fix_age);
		new_alt = GPS->f_altitude();

		// get time and age
		unsigned long time_fix_age;
		int new_year; byte new_mon, new_day, new_hr, new_min, new_sec, new_hund;
		GPS->crack_datetime (&new_year, &new_mon, &new_day, &new_hr, &new_min, &new_sec,
				&new_hund, &time_fix_age);

		// determine whether data are up to date
		if (loc_fix_age == TinyGPS::GPS_INVALID_AGE || time_fix_age  == TinyGPS::GPS_INVALID_AGE) {
		    gps_lock = false;
		    Serial.println("No fix detected");
		} else {
		    gps_lock = true;
		    if (loc_fix_age > 5000 || time_fix_age > 5000)
			Serial.println("Warning: possible stale data!");
		}
    
		if (gps_lock) {

		    // update system time from GPS unless op has overridden
                    double year_diff = 0;
		    if (!time_overridden) {
                        double year0 = decimalYear();
			setnow (new_year, new_mon, new_day, new_hr, new_min, new_sec);
                        year_diff = decimalYear() - year0;
                    }

		    // update location from GPS, unless op has overridden or within allowed jitter
		    if (!loc_overridden 
			    && (fabs(latitude - new_lat) > 0.01
				|| fabs(longitude - new_lng) > 0.01
				|| fabs (altitude - new_alt) > 100
                                || fabs (year_diff) > .01)
			    ) {

			latitude = new_lat;
			longitude = new_lng;
			altitude = new_alt;

			newObserver (latitude, longitude, altitude);
			magdecl (latitude, longitude, altitude, decimalYear(), &magdeclination);
		    }

		    // get fix quality info
		    hdop = 0.01*GPS->hdop();
		    nsats = (int)GPS->satellites();
		}
	    }
	}
}

/* get time from dt_now advanced to current millis()
 */
void Circum::getnow(int &year, uint8_t &month, uint8_t &day, uint8_t &h, uint8_t &m, uint8_t &s)
{
	dt_now.TN = dt_TN0;
	dt_now.DN = dt_DN0;
	dt_now.add ((long)((millis() - dt_m0)/1000));
	dt_now.gettime(year, month, day, h, m, s);
}

/* init dt_now based on current millis()
 */
void Circum::setnow(int year, uint8_t month, uint8_t day, uint8_t h, uint8_t m, uint8_t s)
{
	dt_m0 = millis();
	dt_now.settime(year, month, day, h, m, s);
	dt_TN0 = dt_now.TN;
	dt_DN0 = dt_now.DN;
}

/* return age of satellite elements in days
 */
float Circum::age (Satellite *sat)
{
	return ((dt_now.DN + dt_now.TN) - (sat->DE + sat->TE));

}

/* install a new Observer
 */
void Circum::newObserver (float lat, float lng, float hgt)
{
	if (obs)
	    delete (obs);
	obs = new Observer (lat, lng, hgt);
}

/* return the current Observer
 */
Observer *Circum::observer()
{
	return (obs);
}

More to follow(character limit).

7

Circum.h

#ifndef _CIRCUM_H
#define	_CIRCUM_H

#include <WiFiClient.h>
#include <SoftwareSerial.h>
#include <TinyGPS.h>

#include "AutoSatTracker-ESP.h"
#include "P13.h"
#include "Target.h"

extern int magdecl ( double l, double L, double e, double y, double *mdp);

class Circum {

    private:

	/* flags
	 */
	bool gps_ok;			// set when we get a valid line
	bool time_overridden;		// some element of time has been set by op
	bool loc_overridden;		// some element of location has been set by op

	Observer *obs;			// topocentric place
	SoftwareSerial *ss;		// GPS serial IO

	float decimalYear();
	void newObserver (float lat, float lng, float hgt);

	/* implement on top of DateTime a running time based on elapsed millis()
	 */
	DateTime dt_now;
	float dt_TN0;
	long dt_DN0;
	uint32_t dt_m0;
	void getnow(int &year, uint8_t &month, uint8_t &day, uint8_t &h, uint8_t &m, uint8_t &s);
	void setnow(int year, uint8_t month, uint8_t day, uint8_t h, uint8_t m, uint8_t s);

    public:

	TinyGPS *GPS;			// GPS parser
	double magdeclination;		// true az - magnetic az
	float latitude, longitude;	// degs +N, +E
	float altitude;			// altitude above MSL, m
	float hdop;			// horizontal degradation
	int nsats;			// number of satellites used
  bool gps_lock; // set when we get a valid fix

	Circum ();
	void sendNewValues (WiFiClient client);
	bool overrideValue (char *name, char *value);
	void checkGPS();
	DateTime now() {return dt_now;};
	float age (Satellite *sat);
	Observer *observer();
	void printSexa (WiFiClient client, float v);
	void printHMS (WiFiClient client, uint8_t h, uint8_t m, uint8_t s);
	void printDate (WiFiClient client, int y, uint8_t m, uint8_t d);

	typedef enum {
	    NORMAL, BADNEWS, GOODNEWS
	} PrintLevel;
	void printPL (WiFiClient client, PrintLevel pl);

};

extern Circum *circum;

#endif // _CIRCUM_H

More to follow(character limit).

8

Gimbal.cpp

// class to control two motors to track a target az and el using the Adafruit I2C interface


#include "Gimbal.h"


/* issue raw motor command in microseconds pulse width, clamped at limit
 */
void Gimbal::setMotorPosition (uint8_t motn, uint16_t newpos)
{
	if (motn >= NMOTORS || !gimbal_found)
	    return;
	MotorInfo *mip = &motor[motn];

	mip->atmin = (newpos <= mip->min);
	if (mip->atmin)
	    newpos = mip->min;
	mip->atmax = (newpos >= mip->max);
	if (mip->atmax)
	    newpos = mip->max;

	mip->del_pos = (int)newpos - (int)mip->pos;
	mip->pos = newpos;
	pwm->setPWM(mip->servo_num, 0, mip->pos/US_PER_BIT);
	// Serial.print(mip->servo_num); Serial.print(" "); Serial.println (newpos);
}

/* constructor 
 */
Gimbal::Gimbal ()
{
	// first confirm whether controller is present
	resetWatchdog();
	Wire.beginTransmission(GIMBAL_I2C_ADDR);
	gimbal_found = (Wire.endTransmission() == 0);
	if (!gimbal_found) {
	    Serial.println (F("PWM controller not found"));
	    return;
	}
	Serial.println (F("PWM controller found ok"));
  
	// instantiate PWM controller
	pwm = new Adafruit_PWMServoDriver(GIMBAL_I2C_ADDR);
	pwm->begin();
	pwm->setPWMFreq(SERVO_FREQ);

	// record axis assignments
	motor[0].servo_num = MOT1_UNIT;
	motor[1].servo_num = MOT2_UNIT;

	// init each motor state
	nv->get();
	motor[0].min = nv->mot0min;
	motor[0].max = nv->mot0max;
	motor[0].pos = 0;
	motor[0].atmin = false;
	motor[0].atmax = false;
	motor[0].az_scale = 0;
	motor[0].el_scale = 0;

	motor[1].min = nv->mot1min;
	motor[1].max = nv->mot1max;
	motor[1].pos = 0;
	motor[1].atmin = false;
	motor[1].atmax = false;
	motor[1].az_scale = 0;
	motor[1].el_scale = 0;

	// init to arbitrary, but at least defined, state
	init_step = 0;
	best_azmotor = 0;
	last_update = 0;
	prevfast_az = prevfast_el = -1000;
	prevstop_az = prevstop_el = -1000;
}

/* move motors towards the given new target az and el 
 */
void Gimbal::moveToAzEl (float az_t, float el_t)
{
	// only update every UPD_PERIOD
	uint32_t now = millis();
	if (now - last_update < UPD_PERIOD)
	    return;
	last_update = now;

	// read current sensor direction
	float az_s, el_s;
	sensor->getAzEl (&az_s, &el_s);

	// only check further when motion has stopped as evidenced by stable sensor values
	if (fabs (azDist (prevfast_az, az_s)) < MAX_SETTLE && fabs (el_s - prevfast_el) < MAX_SETTLE) {

	    // calibrate if not already else seek target
	    if (!calibrated())

		calibrate (az_s, el_s);

	    else

		seekTarget (az_t, el_t, az_s, el_s);
	    

	    // preserve for next stopped iteration
	    prevstop_az = az_s;
	    prevstop_el = el_s;

	}

	// preserve for next fast iteration
	prevfast_az = az_s;
	prevfast_el = el_s;
}

/* run the next step of the initial scale calibration series.
 * steps proceed using init_step up to N_INIT_STEPS
 */
void Gimbal::calibrate (float& az_s, float& el_s)
{
	// handy step ranges
	uint16_t range0 = motor[0].max - motor[0].min;
	uint16_t range1 = motor[1].max - motor[1].min;

	switch (init_step++) {

	case 0:

	    // move near min of each range
	    setMotorPosition (0, motor[0].min + (1-CAL_FRAC)/2*range0);
	    setMotorPosition (1, motor[1].min + (1-CAL_FRAC)/2*range1);
	    break;

	case 1:

	    // move just motor 0 a subtantial distance
	    /*
	    Serial.print(F("Init 1: Mot 0 starts at:\t"));
		Serial.print(az_s); Serial.print(F("\t"));
		Serial.print (el_s); Serial.print(F("\tMoves\t"));
		Serial.println(CAL_FRAC*range0, 0);
	    */
	    setMotorPosition (0, motor[0].pos + CAL_FRAC*range0);
	    break;

	case 2:

	    // calculate scale of motor 0
	    motor[0].az_scale = CAL_FRAC*range0/azDist(prevstop_az, az_s);
	    motor[0].el_scale = CAL_FRAC*range0/(el_s - prevstop_el);
	    /*
	    Serial.print(F("Init 2: Mot 0 ended  at:\t"));
		Serial.print(az_s); Serial.print(F("\t"));
		Serial.print (el_s); Serial.print(F("\tusec:\t"));
		Serial.print (CAL_FRAC*range0); Serial.print (F("\tDel usec/Deg:\t"));
		Serial.print (motor[0].az_scale); Serial.print (F("\t"));
		Serial.println (motor[0].el_scale);
	    */

	    // repeat procedure for motor 1
	    /*
	    Serial.print(F("Init 2: Mot 1 starts at:\t"));
		Serial.print(az_s); Serial.print(F("\t"));
		Serial.print (el_s); Serial.print(F("\tMoves\t"));
		Serial.println(CAL_FRAC*range1, 0);
	    */
	    setMotorPosition (1, motor[1].pos + CAL_FRAC*range1);
	    break;

	case 3:

	    // calculate scale of motor 1
	    motor[1].az_scale = CAL_FRAC*range1/azDist(prevstop_az, az_s);
	    motor[1].el_scale = CAL_FRAC*range1/(el_s - prevstop_el);
	    /*
	    Serial.print(F("Init 3: Mot 1 ended  at:\t"));
		Serial.print(az_s); Serial.print(F("\t"));
		Serial.print (el_s); Serial.print(F("\tusec:\t"));
		Serial.print (CAL_FRAC*range1); Serial.print (F("\tDel usec/Deg:\t"));
		Serial.print (motor[1].az_scale); Serial.print (F("\t"));
		Serial.println (motor[1].el_scale);
	    */

	    // select best motor for az
	    best_azmotor = fabs(motor[0].az_scale) < fabs(motor[1].az_scale) ? 0 : 1;
	    Serial.print (F("Best Az motor:\t"));
		Serial.print (best_azmotor); Serial.print (F("\tScale:\t"));
		Serial.print (motor[best_azmotor].az_scale);
		Serial.print (F("\tEl motor:\t"));
		Serial.print (!best_azmotor); Serial.print (F("\tScale:\t"));
		Serial.println (motor[!best_azmotor].el_scale);

	    // report we have finished calibrating
	    target->setTrackingState (true);
	    break;

	default:

	    webpage->setUserMessage (F("BUG! Bogus init_step"));
	    break;
	}
}

/* run the next step of seeking the given target given the current stable az/el sensor values
 */
void Gimbal::seekTarget (float& az_t, float& el_t, float& az_s, float& el_s)
{
	// find pointing error in each dimension as a move from sensor to target
	float az_err = azDist (az_s, az_t);
	float el_err = el_t - el_s;

	// correct each error using motor with most effect in that axis
	MotorInfo *azmip = &motor[best_azmotor];
	MotorInfo *elmip = &motor[!best_azmotor];

	/*
	Serial.print (F("Az:\t"));
	    Serial.print(az_s); Serial.print(F("\t"));
	    Serial.print(azmip->pos); Serial.print (F("\t"));
	    Serial.print(az_err, 1); Serial.print (F("\t"));
	    Serial.print(az_err*azmip->az_scale, 0);
	Serial.print (F("\tEl:\t"));
	    Serial.print(el_s); Serial.print(F("\t"));
	    Serial.print(elmip->pos); Serial.print (F("\t"));
	    Serial.print(el_err, 1); Serial.print (F("\t"));
	    Serial.println(el_err*elmip->el_scale, 0);
	*/


	// tweak scale if move was substantial and sanity check by believing only small changes
	const float MIN_ANGLE = 30;		// min acceptable move
	const float MAX_CHANGE = 0.1;		// max fractional scale change
	float az_move = azDist (prevstop_az, az_s);
	if (fabs(az_move) >= MIN_ANGLE) {
	    float new_az_scale = azmip->del_pos/az_move;
	    if (fabs((new_az_scale - azmip->az_scale)/azmip->az_scale) < MAX_CHANGE) {
		Serial.print (F("New Az scale\t"));
		    Serial.print (azmip->az_scale); Serial.print (F("\t->\t"));
		    Serial.println(new_az_scale);
		azmip->az_scale = new_az_scale;
	    }
	}
	float el_move = el_s - prevstop_el;
	if (fabs(el_move) >= MIN_ANGLE) {
	    float new_el_scale = elmip->del_pos/el_move;
	    if (fabs((new_el_scale - elmip->el_scale)/elmip->el_scale) < MAX_CHANGE) {
		Serial.print (F("New El scale\t"));
		    Serial.print (elmip->el_scale); Serial.print (F("\t->\t"));
		    Serial.println(new_el_scale);
		elmip->el_scale = new_el_scale;
	    }
	}


	// move each motor to reduce error, but if at Az limit then swing back to near opposite limit
	if (azmip->atmin) {
	    // Serial.println (F("At Az Min"));
	    setMotorPosition (best_azmotor, azmip->min + 0.8*(azmip->max - azmip->min));
	} else if (azmip->atmax) {
	    // Serial.println (F("At Az Max"));
	    setMotorPosition (best_azmotor, azmip->min + 0.2*(azmip->max - azmip->min));
	} else
	    setMotorPosition (best_azmotor, azmip->pos + az_err*azmip->az_scale);
	setMotorPosition (!best_azmotor, elmip->pos + el_err*elmip->el_scale);

}

/* given two azimuth values, return path length going shortest direction
 */
float Gimbal::azDist (float &from, float &to)
{
	float d = to - from;
	if (d < -180)
	    d += 360;
	else if (d > 180)
	    d -= 360;
	return (d);
}

/* send latest web values.
 * N.B. must match id's in main web page
 */
void Gimbal::sendNewValues (WiFiClient client)
{
	if (!gimbal_found) {
	    client.println (F("G_Status=Not found!"));
	    return;
	}

	client.print (F("G_Mot1Pos="));
	if (init_step > 0)
	    client.println (motor[0].pos);
	else
	    client.println (F(""));
	client.print (F("G_Mot1Min=")); client.println (motor[0].min);
	client.print (F("G_Mot1Max=")); client.println (motor[0].max);

	client.print (F("G_Mot2Pos="));
	if (init_step > 0)
	    client.println (motor[1].pos);
	else
	    client.println (F(""));
	client.print (F("G_Mot2Min=")); client.println (motor[1].min);
	client.print (F("G_Mot2Max=")); client.println (motor[1].max);

	client.print (F("G_Status="));
	    if (motor[0].atmin)
		client.println (F("1 at Min!"));
	    else if (motor[0].atmax)
		client.println (F("1 at Max!"));
	    else if (motor[1].atmin)
		client.println (F("2 at Min!"));
	    else if (motor[1].atmax)
		client.println (F("2 at Max!"));
	    else
		client.println (F("Ok+"));

}

/* process name = value.
 * return whether we recognize it
 */
bool Gimbal::overrideValue (char *name, char *value)
{
	const __FlashStringHelper *nog = F("No gimbal!");

	if (!strcmp (name, "G_Mot1Pos")) {
	    if (gimbal_found) {
		target->setTrackingState(false);
		setMotorPosition (0, atoi(value));
	    } else
		webpage->setUserMessage (nog);
	    return (true);
	}
	if (!strcmp (name, "G_Mot1Min")) {
	    if (gimbal_found) {
		nv->mot0min = motor[0].min = atoi(value);
		nv->put();
		webpage->setUserMessage (F("Servo 1 minimum saved in EEPROM+"));
	    } else
		webpage->setUserMessage (nog);
	    return (true);
	}
	if (!strcmp (name, "G_Mot1Max")) {
	    if (gimbal_found) {
		nv->mot0max = motor[0].max = atoi(value);
		nv->put();
		webpage->setUserMessage (F("Servo 1 maximum saved in EEPROM+"));
	    } else
		webpage->setUserMessage (nog);
	    return (true);
	}
	if (!strcmp (name, "G_Mot2Pos")) {
	    if (gimbal_found) {
		target->setTrackingState(false);
		setMotorPosition (1, atoi(value));
	    } else
		webpage->setUserMessage (nog);
	    return (true);
	}
	if (!strcmp (name, "G_Mot2Min")) {
	    if (gimbal_found) {
		nv->mot1min = motor[1].min = atoi(value);
		nv->put();
		webpage->setUserMessage (F("Servo 2 minimum saved in EEPROM+"));
	    } else
		webpage->setUserMessage (nog);
	    return (true);
	}
	if (!strcmp (name, "G_Mot2Max")) {
	    if (gimbal_found) {
		nv->mot1max = motor[1].max = atoi(value);
		nv->put();
		webpage->setUserMessage (F("Servo 2 maximum saved in EEPROM+"));
	    } else
		webpage->setUserMessage (nog);
	    return (true);
	}
	return (false);
}

More to follow(character limit).

9

Gimbal.h

// class to control two motors to track a target az and el using the Adafruit I2C interface

#ifndef _GIMBAL_H
#define _GIMBAL_H

#include <Wire.h>
#include <WiFiClient.h>
#include <Adafruit_PWMServoDriver.h>

#include "AutoSatTracker-ESP.h"
#include "Target.h"
#include "Sensor.h"

class Gimbal {

    private:

	// I2C servo interface
	Adafruit_PWMServoDriver *pwm;
	static const uint8_t GIMBAL_I2C_ADDR = 0x40;	// I2C bus address of servo controller
	static const uint8_t SERVO_FREQ = 50;		// typical servo pulse frequency, Hz
	static constexpr float US_PER_BIT = (1e6/SERVO_FREQ/4096);	// usec per bit @ 12 bit resolution
	static const uint8_t MOT1_UNIT = 0;		// motor 1 I2C unit number
	static const uint8_t MOT2_UNIT = 1;		// motor 2 I2C unit number
	bool gimbal_found;				// whether PWM controller is present

	// motor info
	typedef struct {
	    float az_scale, el_scale;			// az and el scale: steps (del usec) per degree
	    uint16_t min, max;				// position limits, usec
	    uint16_t pos;				// last commanded position, usec
	    int16_t del_pos;				// change in pos since previous move
	    bool atmin, atmax;				// (would have been commanded to) limit
	    uint8_t servo_num;				// I2C bus address 0..15
	} MotorInfo;
	static const uint8_t NMOTORS = 2;		// not easily changed
	MotorInfo motor[NMOTORS];

	// search info
	// N.B.: max az physical motion must be < 180/CAL_FRAC
	static const uint16_t UPD_PERIOD = 500;		// ms between updates
	static constexpr float MAX_SETTLE = 5.0;	// considered stopped, degs
	static const uint8_t N_INIT_STEPS = 4;		// number of init_steps
	static constexpr float CAL_FRAC = 0.333;	// fraction of full range to move for calibration
							// N.B.: max physical motion must be < 180/CAL_FRAC
	uint8_t init_step;				// initialization sequencing
	uint8_t best_azmotor;				// after cal, motor[] index with most effect in az
	uint32_t last_update;				// millis() time of last move
	float prevfast_az, prevfast_el;			// previous pointing position
	float prevstop_az, prevstop_el;			// previous stopped position

	void setMotorPosition (uint8_t motn, uint16_t newpos);
	void calibrate (float &az_s, float &el_s);
	void seekTarget (float& az_t, float& el_t, float& az_s, float& el_s);
	float azDist (float &from, float &to);

    public:

	Gimbal();

	void moveToAzEl (float az_t, float el_t);
	void sendNewValues (WiFiClient client);
	bool overrideValue (char *name, char *value);
	bool connected() { return (gimbal_found); };
	bool calibrated() { return (init_step >= N_INIT_STEPS); }
};

extern Gimbal *gimbal;

#endif // _GIMBAL_H

More to follow(character limit).

10

NV.h

/* Class to organize variables stored in EEPROM.
 * The public class variables are mirrored in RAM, so change nv then call put(), or call get() then access nv.
 * The validity of EEPROM is checked using a magic constant that must match. All values will be inited to 0.
 */

#ifndef _NV_H
#define _NV_H

#include <ESP8266WiFi.h>
#include <EEPROM.h>

#include "AutoSatTracker-ESP.h"

class NV {

    private:

	    enum {
	      MAGIC  = 0x5a5aa5a5,
	      NBNO055CALBYTES = 22,
	      EEBYTES = 250,
	    };

    public:

	// these variables are stored in EEPROM
	uint32_t magic;
	IPAddress IP, GW, NM;
	char ssid[64];
	char pw[64];
	uint16_t mot0min, mot0max, mot1min, mot1max;
	uint8_t BNO055cal[NBNO055CALBYTES];

	NV() {
	    EEPROM.begin(EEBYTES);
	}

	void get() {
	    // fill this object from EEPROM
	    byte *this_addr = (byte *)this;
	    for (size_t i = 0; i < sizeof(*this); i++)
		this_addr[i] = EEPROM.read(i);
	    // it no magic cookie, init and save in EEPROM
	    if (magic != MAGIC) {
		memset (this, 0, sizeof(*this));
		magic = MAGIC;
		put();
	    }
	}

	void put() {
	    // save this object in EEPROM
	    byte *this_addr = (byte *)this;
	    for (size_t i = 0; i < sizeof(*this); i++)
		    EEPROM.write(i, this_addr[i]);
	    EEPROM.commit();
	}
};

extern NV *nv;

#endif // _NV_H

More to follow(character limit).

11

P13.cpp

//
// P13.cpp
//
// An implementation of Plan13 in C++ by Mark VandeWettering
//
// Plan13 is an algorithm for satellite orbit prediction first formulated
// by James Miller G3RUH.  I learned about it when I saw it was the basis 
// of the PIC based antenna rotator project designed by G6LVB.
//
// http://www.g6lvb.com/Articles/LVBTracker2/index.htm
//
// I ported the algorithm to Python, and it was my primary means of orbit
// prediction for a couple of years while I operated the "Easy Sats" with 
// a dual band hand held and an Arrow antenna.
//
// I've long wanted to redo the work in C++ so that I could port the code
// to smaller processors including the Atmel AVR chips.  Bruce Robertson,
// VE9QRP started the qrpTracker project to fufill many of the same goals,
// but I thought that the code could be made more compact and more modular,
// and could serve not just the embedded targets but could be of more
// use for more general applications.  And, I like the BSD License a bit
// better too.
//
// So, here it is!
//

#include "P13.h"

// here are a bunch of constants that will be used throughout the
// code, but which will probably not be helpful outside.

// Updated with 2014 values from
// http://www.amsat.org/amsat/articles/g3ruh/111.html

static const float RE = 6378.137f ;
static const float FL = 1.f/298.257224f ;
static const float GM = 3.986E5f ;
static const float J2 = 1.08263E-3f ;
static const float YM = 365.25f ;
static const float YT = 365.2421874f ;
static const float WW = 2.f*M_PI/YT ;
static const float WE = 2.f*M_PI+ WW ;
static const float W0 = WE/86400.f ;
static const float YG = 2014.f ;
static const float G0 = 99.5828f ;
static const float MAS0 = 356.4105f ;
static const float MASD = 0.98560028f ;
static const float EQC1 = 0.03340 ;
static const float EQC2 = 0.00035 ;
static const float INS = (23.4375f)*M_PI/180.0 ;
static const float CNS = cos(INS) ;
static const float SNS = sin(INS) ;


float
RADIANS(float deg)
{
    return deg * M_PI / 180. ;
}

float
DEGREES(float rad)
{
    return rad * 180. / M_PI ;
}


//----------------------------------------------------------------------
//     _              ___       _      _____ _           
//  __| |__ _ ______ |   \ __ _| |_ __|_   _(_)_ __  ___ 
// / _| / _` (_-<_-< | |) / _` |  _/ -_)| | | | '  \/ -_)
// \__|_\__,_/__/__/ |___/\__,_|\__\___||_| |_|_|_|_\___|
//                                                       
//----------------------------------------------------------------------

static long
fnday(int y, uint8_t m, uint8_t d)
{
    if (m < 3) {
	m += 12 ;
	y -- ;
    }
    return (long) (y * YM) + (long) ((m+1)*30.6f) + (long)d - 428L ;
}

static void
fndate(int &y, uint8_t &m, uint8_t &d, long dt)
{
    dt += 428L ;
    y = (int) ((dt-122.1)/365.25) ;
    dt -= (long) (y*365.25) ;
    m = (uint8_t) (dt / 30.61) ;
    dt -= (long) (m*30.6) ;
    m -- ;
    if (m > 12) {
	m -= 12 ;
	y++ ;
    }
    d = dt ;
}

DateTime::DateTime(int year, uint8_t month, uint8_t day, uint8_t h, uint8_t m, uint8_t s) 
{
    settime(year, month, day, h, m, s) ;
}


// copy constructor
DateTime::DateTime(const DateTime &dt)
{
    DN = dt.DN ;
    TN = dt.TN ;
}

// default constructor
DateTime::DateTime()
{
   DN = 0L ;
   TN = 0. ;
}

// overload assignment
DateTime &DateTime::operator= (const DateTime &source)
{
    DN = source.DN;
    TN = source.TN;
    return *this;
}

void
DateTime::gettime(int &year, uint8_t &month, uint8_t &day, uint8_t &h, uint8_t &m, uint8_t &s)
{
    fndate(year, month, day, DN) ;
    float t = TN ;
    t *= 24. ;
    h = (uint8_t) t ;
    t -= h ;
    t *= 60 ;
    m = (uint8_t) t ;
    t -= m ;
    t *= 60 ;
    s = (uint8_t) (t+0.5) ;
    if (s == 60)
	s = 59;

}

void
DateTime::settime(int year, uint8_t month, uint8_t day, uint8_t h, uint8_t m, uint8_t s) 
{
    DN = fnday(year, month, day) ;
    TN = ((float) h + m / 60. + s / 3600.) / 24. ;
}

void
DateTime::add(float days)
{
    TN += days ;
    DN += (long) TN ;
    TN -= (long) TN ;
}

void
DateTime::add(long seconds)
{
    TN += seconds/(24.0*3600.0);
    DN += (long) TN ;
    TN -= (long) TN ;
}

// return (t0 - this) in days
float
DateTime::diff (DateTime& t0)
{
    long ddn = t0.DN - DN;
    float dtn = t0.TN - TN;
    return (ddn + dtn);
}

//----------------------------------------------------------------------
//     _               ___  _                            
//  __| |__ _ ______  / _ \| |__ ___ ___ _ ___ _____ _ _ 
// / _| / _` (_-<_-< | (_) | '_ (_-</ -_) '_\ V / -_) '_|
// \__|_\__,_/__/__/  \___/|_.__/__/\___|_|  \_/\___|_|  
//                                                      
//----------------------------------------------------------------------

Observer::Observer(float lat, float lng, float hgt)
{
    LA = RADIANS(lat) ;
    LO = RADIANS(lng) ;
    HT = hgt / 1000 ;

    U[0] = cos(LA)*cos(LO) ;
    U[1] = cos(LA)*sin(LO) ;
    U[2] = sin(LA) ;

    E[0] = -sin(LO) ;
    E[1] =  cos(LO) ;
    E[2] =  0. ;

    N[0] = -sin(LA)*cos(LO) ;
    N[1] = -sin(LA)*sin(LO) ;
    N[2] =  cos(LA) ;

    float RP = RE * (1 - FL) ;
    float XX = RE * RE ;
    float ZZ = RP * RP ;
    float D = sqrt(XX*cos(LA)*cos(LA) + 
	            ZZ*sin(LA)*sin(LA)) ;
    float Rx = XX / D + HT ;
    float Rz = ZZ / D + HT ;

    O[0] = Rx * U[0] ;
    O[1] = Rx * U[1] ;
    O[2] = Rz * U[2] ;

    V[0] = -O[1] * W0 ;
    V[1] =  O[0] * W0 ;
    V[2] =  0 ;
}

//----------------------------------------------------------------------
//     _              ___       _       _ _ _ _       
//  __| |__ _ ______ / __| __ _| |_ ___| | (_) |_ ___ 
// / _| / _` (_-<_-< \__ \/ _` |  _/ -_) | | |  _/ -_)
// \__|_\__,_/__/__/ |___/\__,_|\__\___|_|_|_|\__\___|
//
//----------------------------------------------------------------------

static float
getfloat(const char *c, int i0, int i1)
{
    char buf[20] ;
    int i ;
    for (i=0; i0+i<i1; i++) 
	buf[i] = c[i0+i] ;
    buf[i] = '\0' ;
    return strtod(buf, NULL) ;
}

static long
getlong(const char *c, int i0, int i1)
{
    char buf[20] ;
    int i ;
    for (i=0; i0+i<i1; i++) 
	buf[i] = c[i0+i] ;
    buf[i] = '\0' ;
    return atol(buf) ;
}

Satellite::Satellite(const char *l1, const char *l2)
{
    tle(l1, l2) ;
}

Satellite::~Satellite()
{
}

void
Satellite::tle(const char *l1, const char *l2)
{
    // direct quantities from the orbital elements

    N = getlong(l2, 2, 7) ;
    YE = getlong(l1, 18, 20) ;
    if (YE < 58)
	YE += 2000 ;
    else
	YE += 1900 ;

    TE = getfloat(l1, 20, 32) ;
    M2 = RADIANS(getfloat(l1, 33, 43)) ;

    IN = RADIANS(getfloat(l2, 8, 16)) ;
    RA = RADIANS(getfloat(l2, 17, 25)) ;
    EC = getfloat(l2, 26, 33)/1e7f ;
    WP = RADIANS(getfloat(l2, 34, 42)) ;
    MA = RADIANS(getfloat(l2, 43, 51)) ;
    MM = 2.0f * M_PI * getfloat(l2, 52, 63) ;
    RV = getlong(l2, 63, 68) ;

    // derived quantities from the orbital elements 

    // convert TE to DE and TE 
    DE = fnday(YE, 1, 0) + (long) TE ;
    TE -= (long) TE ;
    N0 = MM/86400 ;
    A_0 = pow(GM/(N0*N0), 1./3.) ;
    B_0 = A_0*sqrt(1.-EC*EC) ;
    PC = RE*A_0/(B_0*B_0) ;
    PC = 1.5f*J2*PC*PC*MM ;
    float CI = cos(IN) ;
    QD = -PC*CI ;
    WD =  PC*(5*CI*CI-1)/2 ;
    DC = -2*M2/(3*MM) ;
}
void
Satellite::predict(const DateTime &dt)
{
    long DN = dt.DN ;
    float TN = dt.TN ;

    float TEG = DE - fnday(YG, 1, 0) + TE ;

    float GHAE = RADIANS(G0) + TEG * WE ;

    float T = (float) (DN - DE) + (TN-TE) ;
    float DT = DC * T / 2. ;
    float KD = 1. + 4. * DT ;
    float KDP = 1. - 7. * DT ;
  
    float M = MA + MM * T * (1. - 3. * DT) ;
    float DR = (long) (M / (2. * M_PI)) ;
    M -= DR * 2. * M_PI ;
    float EA = M ;

    float DNOM, C_EA, S_EA ;

    for (;;) {
	C_EA = cos(EA) ;
	S_EA = sin(EA) ;
	DNOM = 1. - EC * C_EA ;
	float D = (EA-EC*S_EA-M)/DNOM ;
	EA -= D ;
	if (fabs(D) < 1e-5)
	    break ;
    }

    float A = A_0 * KD ;
    float B = B_0 * KD ;
    RS = A * DNOM ;

    float Vx, Vy ;
    float Sx, Sy ;
    Sx = A * (C_EA - EC) ;
    Sy = B * S_EA ;

    Vx = -A * S_EA / DNOM * N0 ;
    Vy =  B * C_EA / DNOM * N0 ;

    float AP = WP + WD * T * KDP ;
    float CW = cos(AP) ;
    float SW = sin(AP) ;

    float RAAN = RA + QD * T * KDP ;
 
    float CQ = cos(RAAN) ;
    float SQ = sin(RAAN) ;

    float CI = cos(IN) ;
    float SI = sin(IN) ;

    // CX, CY, and CZ form a 3x3 matrix
    // that converts between orbit coordinates,
    // and celestial coordinates.

    Vec3 CX, CY, CZ ;
   
    CX[0] =  CW * CQ - SW * CI * SQ ;
    CX[1] = -SW * CQ - CW * CI * SQ ;
    CX[2] =  SI * SQ ;

    CY[0] =  CW * SQ + SW * CI * CQ ;
    CY[1] = -SW * SQ + CW * CI * CQ ;
    CY[2] = -SI * CQ ;

    CZ[0] = SW * SI ;
    CZ[1] = CW * SI ;
    CZ[2] = CI ;

    // satellite in celestial coords

    SAT[0] = Sx * CX[0] + Sy * CX[1] ;
    SAT[1] = Sx * CY[0] + Sy * CY[1] ;
    SAT[2] = Sx * CZ[0] + Sy * CZ[1] ;

    VEL[0] = Vx * CX[0] + Vy * CX[1] ;
    VEL[1] = Vx * CY[0] + Vy * CY[1] ;
    VEL[2] = Vx * CZ[0] + Vy * CZ[1] ;

    // and in geocentric coordinates

    float GHAA = (GHAE + WE * T) ;
    float CG = cos(-GHAA) ;
    float SG = sin(-GHAA) ;

    S[0] = SAT[0] * CG - SAT[1] * SG ;
    S[1] = SAT[0] * SG + SAT[1] * CG ;
    S[2] = SAT[2] ;

    V[0] = VEL[0] * CG - VEL[1]* SG ;
    V[1] = VEL[0] * SG + VEL[1]* CG ;
    V[2] = VEL[2] ;
}

void
Satellite::topo(const Observer *obs, float &alt, float &az, float &range, float &range_rate)
{
    Vec3 R ;
    R[0] = S[0] - obs->O[0] ;
    R[1] = S[1] - obs->O[1] ;
    R[2] = S[2] - obs->O[2] ;
    range = sqrt(R[0]*R[0]+R[1]*R[1]+R[2]*R[2]) ;
    R[0] /= range ;
    R[1] /= range ;
    R[2] /= range ;

    range_rate = 1000*((V[0]-obs->V[0])*R[0] + (V[1]-obs->V[1])*R[1] + V[2]*R[2]);	// m/s

    float u = R[0] * obs->U[0] + R[1] * obs->U[1] + R[2] * obs->U[2] ;
    float e = R[0] * obs->E[0] + R[1] * obs->E[1] + R[2] * obs->E[2] ;
    float n = R[0] * obs->N[0] + R[1] * obs->N[1] + R[2] * obs->N[2] ;

    az = DEGREES(atan2(e, n)) ;
    if (az < 0.) az += 360. ;
    alt = DEGREES(asin(u)) ;

    /* N.B. ignore refraction
     */
}

bool
Satellite::eclipsed(Sun *sp)
{
    float CUA = -(SAT[0]*sp->SUN[0]+SAT[1]*sp->SUN[1]+SAT[2]*sp->SUN[2])/RS;
    float UMD = RS*sqrt(1-CUA*CUA)/RE;
    return (UMD<=1 && CUA>=0);
       
}

//----------------------------------------------------------------------

Sun::Sun()
{
}

void
Sun::predict(const DateTime &dt)
{
    long DN = dt.DN ;
    float TN = dt.TN ;

    float T = (float) (DN - fnday(YG, 1, 0)) + TN ;
    float GHAE = RADIANS(G0) + T * WE ;
    float MRSE = RADIANS(G0) + T * WW + M_PI ;
    float MASE = RADIANS(MAS0 + T * MASD) ;
    float TAS = MRSE + EQC1*sin(MASE) + EQC2*sin(2.*MASE) ;
    float C, S ;

    C = cos(TAS) ;
    S = sin(TAS) ;
    SUN[0]=C ;
    SUN[1]=S*CNS ;
    SUN[2]=S*SNS ;
    C = cos(-GHAE) ; 
    S = sin(-GHAE) ; 
    H[0]=SUN[0]*C - SUN[1]*S ;
    H[1]=SUN[0]*S + SUN[1]*C ;
    H[2]=SUN[2] ;
}

More to follow(character limit).

12

P13.h

#ifndef _P13_H
#define _P13_H

//
// Plan13.cpp
//
// An implementation of Plan13 in C++ by Mark VandeWettering
//
// Plan13 is an algorithm for satellite orbit prediction first formulated
// by James Miller G3RUH.  I learned about it when I saw it was the basis 
// of the PIC based antenna rotator project designed by G6LVB.
//
// http://www.g6lvb.com/Articles/LVBTracker2/index.htm
//
// I ported the algorithm to Python, and it was my primary means of orbit
// prediction for a couple of years while I operated the "Easy Sats" with 
// a dual band hand held and an Arrow antenna.
//
// I've long wanted to redo the work in C++ so that I could port the code
// to smaller processors including the Atmel AVR chips.  Bruce Robertson,
// VE9QRP started the qrpTracker project to fufill many of the same goals,
// but I thought that the code could be made more compact and more modular,
// and could serve not just the embedded targets but could be of more
// use for more general applications.  And, I like the BSD License a bit
// better too.
//
// So, here it is!
//


//----------------------------------------------------------------------

#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#include <math.h>

//----------------------------------------------------------------------

// the original BASIC code used three variables (e.g. Ox, Oy, Oz) to
// represent a vector quantity.  I think that makes for slightly more
// obtuse code, so I going to collapse them into a single variable 
// which is an array of three elements

typedef float Vec3[3] ;


extern float RADIANS(float deg);
extern float DEGREES(float rad);


//----------------------------------------------------------------------

class DateTime {
public:
    long DN ;
    float TN ;
    DateTime(int year, uint8_t month, uint8_t day, uint8_t h, uint8_t m, uint8_t s) ;
    DateTime(const DateTime &) ;
    DateTime() ;
    ~DateTime() { } 
    DateTime& operator= (const DateTime &source) ;
    void add(float) ;
    void add(long) ;
    float diff (DateTime& t0);
    void settime(int year, uint8_t month, uint8_t day, uint8_t h, uint8_t m, uint8_t s) ;
    void gettime(int& year, uint8_t& mon, uint8_t& day, uint8_t& h, uint8_t& m, uint8_t& s) ;
} ;

//----------------------------------------------------------------------

class Observer {
public:
    float LA ;
    float LO ;
    float HT ;
    Vec3 U, E, N, O, V  ;
    
    Observer(float, float, float) ;
    ~Observer() { } ;
} ;

//----------------------------------------------------------------------


class Sun {
public:
	Vec3 SUN, H ;
	Sun() ;
	~Sun() { } ;
        void predict(const DateTime &dt) ;
} ;

//----------------------------------------------------------------------

class Satellite { 
  	long N ;
	long YE ;	
	float IN ;
	float RA ;
	float EC ;
	float WP ;
	float MA ;
	float MM ;
	float M2 ;
	float RV ;


	// these values are stored, but could be calculated on the fly
	// during calls to predict() 
	// classic space/time tradeoff

        float N0, A_0, B_0 ;
        float PC ;
        float QD, WD, DC ;
        float RS ;

public:
        long DE ;
	float TE ;

	Vec3 SAT, VEL ;		// celestial coordinates
    	Vec3 S, V ; 		// geocentric coordinates
 
	Satellite() { } ;
	Satellite(const char *l1, const char *l2) ;
	~Satellite() ;
        void tle(const char *l1, const char *l2) ;
        void predict(const DateTime &dt) ;
	bool eclipsed(Sun *sp);
	void topo(const Observer *obs, float &alt, float &az, float &range, float &range_rate);
} ;

#endif // _P13_H

More to follow(character limit).

13

Sensor.cpp

/* this class contains information about the 9 dof spatial sensor
 */

#include "Sensor.h"

/* class constructor
 */
Sensor::Sensor()
{
	// instantiate, discover and initialize
	resetWatchdog();
	bno = new Adafruit_BNO055(-1, BNO055_I2CADDR);
	resetWatchdog();
	sensor_found = bno->begin(Adafruit_BNO055::OPERATION_MODE_NDOF);
	if (sensor_found)
	    Serial.println (F("Sensor found ok"));
	else
	    Serial.println (F("Sensor not found"));
	installCalibration();
}

/* read the current temperature, in degrees C
 */
int8_t Sensor::getTempC()
{
	if (sensor_found)
	    return bno->getTemp();
	return (-1);
}

/* return whether sensor is connected and calibrated
 */
bool Sensor::calibrated(uint8_t& sys, uint8_t& gyro, uint8_t& accel, uint8_t& mag)
{
	if (!sensor_found)
	    return (false);

	sys = 0;
	gyro = 0;
	accel = 0;
	mag = 0;;
	bno->getCalibration(&sys, &gyro, &accel, &mag);
	return (sys >= 1 && gyro >= 1 && accel >= 1 && mag >= 1);
}

/* read the current az and el, corrected for mag decl but not necessarily calibrated.
 * N.B. we assume this will only be called if we know the sensor is connected.
 * N.B. Adafruit board:
 *   the short dimension is parallel to the antenna boom,
 *   the populated side of the board faces upwards and
 *   the side with the control signals (SDA, SCL etc) points in the rear direction of the antenna pattern.
 * Note that az/el is a left-hand coordinate system.
 */
void Sensor::getAzEl (float *azp, float *elp)
{
	Wire.setClockStretchLimit(2000);
	imu::Vector<3> euler = bno->getVector(Adafruit_BNO055::VECTOR_EULER);
	*azp = myfmod (euler.x() + circum->magdeclination + 540, 360);
	*elp = euler.z();
}

/* process name = value pair
 * return whether we recognize it
 */
bool Sensor::overrideValue (char *name, char *value)
{
	if (!strcmp (name, "SS_Save")) {
	    saveCalibration();
	    webpage->setUserMessage (F("Sensor calibrations saved to EEPROM+"));
	    return (true);
	}

	return (false);
}

/* send latest values to web page
 * N.B. labels must match ids in wab page
 */
void Sensor::sendNewValues (WiFiClient client)
{
	if (!sensor_found) {
	    client.println (F("SS_Status=Not found!"));
	    client.println (F("SS_Save=false"));
	    return;
	}

	float az, el;
	getAzEl (&az, &el);
	client.print (F("SS_Az=")); client.println (az);
	client.print (F("SS_El=")); client.println (el);

	uint8_t sys, gyro, accel, mag;
	bool calok = calibrated (sys, gyro, accel, mag);
	if (calok)
	    client.println (F("SS_Status=Ok+"));
	else
	    client.println (F("SS_Status=Uncalibrated!"));
	client.print (F("SS_SStatus=")); client.println (sys);
	client.print (F("SS_GStatus=")); client.println (gyro);
	client.print (F("SS_MStatus=")); client.println (mag);
	client.print (F("SS_AStatus=")); client.println (accel);

	client.print (F("SS_Save="));
	if (calok && sys == 3 && gyro == 3 && accel == 3 && mag == 3) 
	    client.println (F("true"));
	else
	    client.println (F("false"));

	client.print (F("SS_Temp="));
	client.println (getTempC());
}

/* read the sensor calibration values and save into EEPROM.
 * Wanted to stick with stock Adafruit lib so pulled from
 * post by protonstorm at https://forums.adafruit.com/viewtopic.php?f=19&t=75497
 */
void Sensor::saveCalibration()
{
	// put into config mode
	bno->setMode (Adafruit_BNO055::OPERATION_MODE_CONFIG);
	delay(25);

	// request all bytes starting with the ACCEL
	byte nbytes = (byte)sizeof(nv->BNO055cal);
	Wire.beginTransmission((uint8_t)BNO055_I2CADDR);
	Wire.write((uint8_t)(Adafruit_BNO055::ACCEL_OFFSET_X_LSB_ADDR));
	Wire.endTransmission();
	Wire.requestFrom((uint8_t)BNO055_I2CADDR, nbytes);

	// wait for all 22 bytes to be available
	while (Wire.available() < nbytes);

	// copy to NV
	Serial.println (F("Saving sensor values"));
	for (uint8_t i = 0; i < nbytes; i++) {
	    nv->BNO055cal[i] = Wire.read();
	    Serial.println (nv->BNO055cal[i]);
	}

	// restore NDOF mode
	bno->setMode (Adafruit_BNO055::OPERATION_MODE_NDOF);
	delay(25);

	// save in EEPROM
	nv->put();
}

/* install previously stored calibration data from EEPROM if it looks valid.
 * Wanted to stick with stock Adafruit lib so pulled from
 * post by protonstorm at https://forums.adafruit.com/viewtopic.php?f=19&t=75497
 */
void Sensor::installCalibration()
{
	resetWatchdog();
	byte nbytes = (byte)sizeof(nv->BNO055cal);

	// read from EEPROM, qualify
	nv->get();
	uint8_t i;
	for(i = 0; i < nbytes; i++) {
	    if (nv->BNO055cal[i] != 0)
		break;
	}
	if (i == nbytes)
	    return;		// all zeros can't be valid

	// put into config mode
	bno->setMode (Adafruit_BNO055::OPERATION_MODE_CONFIG);
	delay(25);

	// set from NV
	// Serial.println (F("Restoring sensor values"));
	for(uint8_t i = 0; i < nbytes; i++) {
	    Wire.beginTransmission((uint8_t)BNO055_I2CADDR);
	    Wire.write((Adafruit_BNO055::adafruit_bno055_reg_t)
	    		((uint8_t)(Adafruit_BNO055::ACCEL_OFFSET_X_LSB_ADDR)+i));
	    Wire.write(nv->BNO055cal[i]);
	    // Serial.println (nv->BNO055cal[i]);
	    Wire.endTransmission();
	}

	// restore NDOF mode
	bno->setMode (Adafruit_BNO055::OPERATION_MODE_NDOF);
	delay(25);
}

More to follow(character limit).

14

Sensor.h

/* this class contains information about the 9 dof spatial sensor
 */

#ifndef _SENSOR_H
#define _SENSOR_H

#include <Wire.h>
#include <WiFiClient.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BNO055.h>


#include "AutoSatTracker-ESP.h"
#include "Circum.h"

class Sensor {

    private:

	Adafruit_BNO055 *bno;		// sensor detail
	bool sensor_found;		// whether sensor is connected
	bool calibrated(uint8_t& sys, uint8_t& gyro, uint8_t& accel, uint8_t& mag);
	enum {
	    BNO055_I2CADDR = 0x28,	// I2C bus address of BNO055
	};

    public:

	Sensor();
	int8_t getTempC();
	void getAzEl (float *azp, float *elp);
	void sendNewValues (WiFiClient client);
	bool connected() { return sensor_found; };
	void saveCalibration(void);
	void installCalibration(void);
	bool overrideValue (char *name, char *value);

};

extern Sensor *sensor;

#endif // _SENSOR_H

More to follow(character limit).

15

Target.cpp

/* define and track a target
 */

#include "Target.h"

/* constructor
 */
Target::Target()
{
	// init values
	resetWatchdog();
	az = el = range = rate = 0;
	memset (TLE_L0, 0, sizeof(TLE_L0));
	memset (TLE_L1, 0, sizeof(TLE_L1));
	memset (TLE_L2, 0, sizeof(TLE_L2));
	sat = new Satellite();
	sun = new Sun();
  satname = "";
  track_status = false;
	// init flags
	tle_ok = false;
	tracking = false;
	overridden = false;
	set_ok = rise_ok = trans_ok = false;
	nskypath = 0;
}

/* update target if valid, and move gimbal if tracking
 */
void Target::track()
{
	resetWatchdog();

	// update ephemerides
	updateTopo();

	// update gimbal if tracking
	if (tracking)
	    gimbal->moveToAzEl (az, el);
}

/* update target info
 */
void Target::updateTopo()
{
	if (tle_ok && !overridden) {
	    DateTime now (circum->now());
	    sat->predict (now);
	    sun->predict (now);
	    sat->topo (circum->observer(), el, az, range, rate);
	}
}

/* turn tracking on or off if it makes sense to do so
 */
void Target::setTrackingState (bool want_on)
{
	if (want_on) {
	    if (!gimbal->connected()) {
		webpage->setUserMessage (F("Can not track without a gimbal!"));
		tracking = false;
	    } else if (!gimbal->calibrated()) {
		webpage->setUserMessage (F("Calibrating gimbal motor scales!"));
		tracking = true;
	    } else if (!sensor->connected()) {
		webpage->setUserMessage (F("Can not track without a position sensor!"));
		tracking = false;
	    } else if (overridden) {
		webpage->setUserMessage (F("Now tracking overridden Az and El+"));
		tracking = true;
    satname = "Override";
	    } else if (tle_ok) {
		webpage->setUserMessage (F("Now tracking: "), TLE_L0, '+');
    satname = TLE_L0;
		tracking = true;
	    } else {
		webpage->setUserMessage (F("First Upload a TLE or override Target Az and El!"));
		tracking = false;
	    }
	} else {
	    webpage->setUserMessage (F("Tracking is off"));
	    tracking = false;
	}
  if (tracking)
    track_status = true;
  else
    track_status = false;
}

/* send latest values to web page.
 * N.B. names must match ids in web page
 */
void Target::sendNewValues (WiFiClient client)
{

	const __FlashStringHelper *zerostr = F("");

	// update pass info just after main events
	// N.B. transit jiggles back and forth too much to recompute after it
	DateTime now (circum->now());
	bool just_rose = rise_ok && now.diff(rise_time) < 0;
	bool just_sat = set_ok && now.diff(set_time) < 0;
	if (just_rose || just_sat) {
	    updateTopo();
	    findNextPass();
	    computeSkyPath();
	}

	if (tle_ok || overridden) {
	    client.print (F("T_Az="));
	    client.print (az);
	    displayAsWarning (client, overridden);
	    client.print (F("T_El="));
	    client.print (el);
	    displayAsWarning (client, overridden);
	}

	if (tle_ok && !overridden) {
	    float age = circum->age(sat);
	    client.print (F("T_Age="));
	    client.print (age);
	    displayAsWarning (client, age < -10 || age > 10);

	    client.print (F("T_Sunlit="));
	    if (sat->eclipsed (sun))
		client.println (F("No"));
	    else
		client.println (F("Yes"));

	    client.print (F("T_Range=")); client.println (range);
	    client.print (F("T_RangeR=")); client.println (rate);
	    client.print (F("T_VHFDoppler=")); client.println (-rate*144000/3e8); // want kHz
	    client.print (F("T_UHFDoppler=")); client.println (-rate*440000/3e8); // want kHz


	    client.print (F("T_NextRise="));
	    if (rise_ok) {
		float dt = 24*now.diff(rise_time);
		circum->printSexa (client, dt);
		circum->printPL (client, (dt < 1.0/60.0) ? Circum::GOODNEWS : Circum::NORMAL);
	    } else
		client.println (F("??? !"));		// beware trigraphs

	    client.print (F("T_RiseAz="));
	    if (rise_ok)
		client.println (rise_az);
	    else
		client.println (F("??? !"));

	    const __FlashStringHelper *transin, *transaz, *transel;
	    client.print (F("T_NextTrans="));
	    if (trans_ok) {
		float dt = 24*now.diff(trans_time);
		circum->printSexa (client, dt);
		circum->printPL (client, Circum::NORMAL);
		if (dt < 0) {
		    transin = F("This Transited ago");
		    transaz = F("This Transit Azimuth");
		    transel = F("This Transit Elevation");
		} else {
		    transin = F("Next Transit in");
		    transaz = F("Next Transit Azimuth");
		    transel = F("Next Transit Elevation");
		}
	    } else {
		client.println (F("??? !"));
		transin = zerostr;
		transaz = zerostr;
		transel = zerostr;
	    }
	    client.print ("T_NextTrans_l=");
	    client.println (transin);

	    client.print (F("T_TransAz="));
	    if (trans_ok)
		client.println (trans_az);
	    else
		client.println (F("??? !"));
	    client.print ("T_TransAz_l=");
	    client.println (transaz);

	    client.print (F("T_TransEl="));
	    if (trans_ok)
		client.println (trans_el);
	    else
		client.println (F("??? !"));
	    client.print ("T_TransEl_l=");
	    client.println (transel);


	    client.print (F("T_NextSet="));
	    if (set_ok) {
		float dt = 24*now.diff(set_time);
		circum->printSexa (client, dt);
		circum->printPL (client, Circum::NORMAL);
	    } else
		client.println (F("??? !"));

	    client.print (F("T_SetAz="));
	    if (rise_ok)
		client.println (set_az);
	    else
		client.println (F("??? !"));

	    const __FlashStringHelper *tup;
	    client.print ("T_Up=");
	    if (rise_ok && set_ok) {
		float up = rise_time.diff(set_time);
		if (up > 0) {
		    circum->printSexa (client, up*24);			// next whole pass
		    circum->printPL (client, Circum::NORMAL);
		    tup= F("Next pass duration");
		} else {
		    up = 24*now.diff(set_time);				// this pass remaining
		    circum->printSexa (client, up);
		    circum->printPL (client, (up < 1.0/60.0) ? Circum::BADNEWS : Circum::NORMAL);
		    tup= F("This pass Ends in");
		}
	    } else {
		tup= zerostr;
		client.println (zerostr);
	    }
	    client.print ("T_Up_l=");
	    client.println (tup);
	}

	client.print (F("T_TLE="));
	if (tle_ok) {
	    client.println (TLE_L0);
	    client.println (TLE_L1);
	    client.println (TLE_L2);
	} else {
	    client.println (zerostr);
	    client.println (zerostr);
	    client.println (zerostr);
	}

	if (overridden) {
	    client.println (F("T_Age="));
	    client.println (F("T_Sunlit="));
	    client.println (F("T_Range="));
	    client.println (F("T_RangeR="));
	    client.println (F("T_VHFDoppler="));
	    client.println (F("T_UHFDoppler="));
	    client.println (F("T_NextRise="));
	    client.println (F("T_RiseAz="));
	    client.println (F("T_NextTrans="));
	    client.println (F("T_TransAz="));
	    client.println (F("T_TransEl="));
	    client.println (F("T_NextSet="));
	    client.println (F("T_SetAz="));
	}

	client.print (F("T_Status="));
	    client.println (tle_ok || overridden ? (el > 0 ? "Up+" : "Down") : "No target!");

	client.print (F("tracking="));
	if (tracking)
	    client.println (F("On"));
	else
	    client.println (F("Off"));

	client.print(F("skypath="));
	for (uint8_t i = 0; i < nskypath; i++) {
	    client.print(skypath[i].az);
	    client.print(F(","));
	    client.print(skypath[i].el);
	    client.print(F(";"));
	}
	client.println(zerostr);
}

/* optionally add code to display the value as a warning
 */
void Target::displayAsWarning (WiFiClient client, bool mark)
{
	if (mark)
	    client.println (F("!"));
	else
	    client.println (F(""));
}

/* process name = value other than T_TLE (that's done with setTLE()).
 * return whether we recognize it
 */
bool Target::overrideValue (char *name, char *value)
{
	if (!strcmp (name, "T_Az")) {
	    az = atof(value);
	    while (az < 0)
		az += 360;
	    while (az >= 360)
		az -= 360;
	    overridden = true;
	    tle_ok = false;
	    nskypath = 0;
	    return (true);
	}
	if (!strcmp (name, "T_El")) {
	    el = fmax (fmin (atof(value), 90), 0);
	    overridden = true;
	    tle_ok = false;
	    nskypath = 0;
	    return (true);
	}
	return (false);
}

/* record a TLE for possible tracking, set tle_ok if valid
 */
void Target::setTLE (char *l1, char *l2, char *l3)
{
  satname=l1;
  Serial.println("setTLE mit" + satname);
	if (tleValidChecksum (l2) && tleValidChecksum(l3)) {
	    tle_ok = true;
	    sat->tle (l2, l3);
	    strncpy (TLE_L0, l1, sizeof(TLE_L0)-1);
	    strncpy (TLE_L1, l2, sizeof(TLE_L1)-1);
	    strncpy (TLE_L2, l3, sizeof(TLE_L2)-1);
	    Serial.println (TLE_L0);
	    Serial.println (TLE_L1);
	    Serial.println (TLE_L2);
	    overridden = false;
	    tracking = false;
	    updateTopo();
	    findNextPass();		// init for track()
	    computeSkyPath();
	    webpage->setUserMessage (F("New TLE uploaded successfully for "), TLE_L0, '+');
	} else {
	    webpage->setUserMessage (F("Uploaded TLE is invalid!"));
	    tle_ok = false;
	}
}

/* find next pass for sat, if currently valid
 */
void Target::findNextPass()
{
        // init all no
	set_ok = rise_ok = trans_ok = ever_up = false;

        // finisged if no sat or custom
	if (!tle_ok || overridden)
	    return;

        const float SAT_MIN_EL = 1;     // min el considered "up", degs
	const int8_t COARSE_DT = 60;	// seconds/step forward for course search
	const int8_t FINE_DT = -1;	// seconds/step backward for refined search
	float pel = 0, ppel = 0;	// previous 2 elevations
	float paz = 0;			// previous az
	int8_t dt = COARSE_DT;		// search step size, seconds
	DateTime t_srch(circum->now());	// search time, init with now

	// search no more than two days ahead
	while ((!set_ok || !rise_ok || !trans_ok) && circum->now().diff(t_srch) < 2) {

	    // find circumstances at time t
	    float tel, taz, trange, trate;
	    sat->predict (t_srch);
	    sat->topo (circum->observer(), tel, taz, trange, trate);
	    // Serial.print (24*60*circum->now().diff(t)); Serial.print(" ");
	    // Serial.print (tel, 6); Serial.print(" ");
	    // Serial.print (rise_ok); Serial.print (trans_ok); Serial.println (set_ok);

	    // check for a visible transit event
	    // N.B. too flat to use FINE_DT
	    if (dt == COARSE_DT && tel > 0 && ppel > 0 && ppel < pel && pel > tel) {
		// found a coarse transit at previous time, good enough
		trans_time = t_srch;
		trans_time.add ((long)(-COARSE_DT));
		trans_az = paz;
		trans_el = pel;
		trans_ok = true;
	    }

	    // check for rising or setting events
	    // N.B. invalidate ppel after turning around
            if (tel >= SAT_MIN_EL) {
                ever_up = true;
                if (pel < SAT_MIN_EL) {
                    if (dt == FINE_DT) {
                        // found a refined set event (recall we are going backwards),
                        // record and resume forward time.
                        set_time = t_srch;
                        set_az = taz;
                        set_ok = true;
                        dt = COARSE_DT;
                        pel = tel;
                    } else if (!rise_ok) {
                        // found a coarse rise event, go back slower looking for better set
                        dt = FINE_DT;
                        pel = tel;
                    }
                }
	    } else {
                if (pel > SAT_MIN_EL) {
                    if (dt == FINE_DT) {
                        // found a refined rise event (recall we are going backwards).
                        // record and resume forward time but skip if set is within COARSE_DT because we
                        // would jump over it and find the NEXT set.
                        float check_tel, check_taz;
                        DateTime check_set(t_srch);
                        check_set.add((long)COARSE_DT);
                        sat->predict (check_set);
                        sat->topo (circum->observer(), check_tel, check_taz, trange, trate);
                        if (check_tel >= SAT_MIN_EL) {
                            rise_time = t_srch;
                            rise_az = taz;
                            rise_ok = true;
                        }
                        // regardless, resume forward search
                        dt = COARSE_DT;
                        pel = tel;
                    } else if (!set_ok) {
                        // found a coarse set event, go back slower looking for better rise
                        dt = FINE_DT;
                        pel = tel;
                    }
                }
            }

	    // next time step
	    paz = taz;
	    ppel = pel;
	    pel = tel;
	    t_srch.add ((long)dt);
	}
}

/* compute sky path of current pass.
 * if up now just plot until set because rise_time will be for subsequent pass
 */
void Target::computeSkyPath()
{
        if (!set_ok || !rise_ok || !ever_up)
            return;

        DateTime t;

        if (el > -1)	// allow for a bit of rise/set round off
            t = circum->now();
        else if (rise_time.diff(set_time) > 0)
            t = rise_time;
        else {
            // rise or set is unknown or for different passes
            nskypath = 0;
            return;
        }


        long secsup = (long)(t.diff(set_time)*24*3600);
        long stepsecs = secsup/(MAXSKYPATH-1);  // inclusive

        for (nskypath = 0; nskypath < MAXSKYPATH; nskypath++) {
            float srange, srate;
            sat->predict (t);
            sat->topo (circum->observer(), skypath[nskypath].el, skypath[nskypath].az, srange, srate);
            t.add (stepsecs);
        }
}

/* return whether the given line appears to be a valid TLE
 * only count digits and '-' counts as 1
 */
bool Target::tleValidChecksum (const char *line)
{
	// sum first 68 chars
	int sum = 0;
	for (uint8_t i = 0; i < 68; i++) {
	    char c = *line++;
	    if (c == '-')
		sum += 1;
	    else if (c == '\0')
		return (false);		// too short
	    else if (c >= '0' && c <= '9')
		sum += c - '0';
	}

	// last char is sum of previous modulo 10
	return ((*line - '0') == (sum%10));
}

More to follow(character limit).

16

Target.h

/* define and track a target
 */

#ifndef _TARGET_H
#define _TARGET_H

#include <WiFiClient.h>

#include "Circum.h"
#include "Sensor.h"
#include "Gimbal.h"
#include "Webpage.h"

#include "AutoSatTracker-ESP.h"
#include "P13.h"

class Target {

    private:

	// target
	float az, el;		// from TLE or op if overridden
	float range, rate;
	Satellite *sat;
	Sun *sun;

	// rise set transit state
	DateTime rise_time;
	DateTime set_time;
	DateTime trans_time;
	float rise_az, set_az;
	float trans_az, trans_el;
	bool set_ok, rise_ok, trans_ok;
        bool ever_up;

	// current TLE lines
	char TLE_L0[30];	// name is arbitrarily truncated to this length
	char TLE_L1[70];	// 69 + '\0'
	char TLE_L2[70];	// 69 + '\0'

	// flags
	bool tle_ok;		// whether TLE and myobj are valid
	bool tracking;		// whether currently tracking
	bool overridden;	// whether target az or el has been overridden

	// skypath for displaying graph of a pass on an all-sky map
	enum {MAXSKYPATH = 20};
	struct {
	    float az, el;
	} skypath[MAXSKYPATH];
	uint8_t nskypath;

	// handy
	void displayAsWarning (WiFiClient client, bool mark);

    public:

  bool track_status;
  String satname;
	Target();
	void track();
	bool tleValidChecksum (const char *line);
	void setTrackingState (bool on);
        void sendNewValues (WiFiClient client);
        bool overrideValue (char *name, char *value);
	void setTLE (char *l1, char *l2, char *l3);
	void updateTopo(void);
	void findNextPass(void);
	void computeSkyPath(void);

};

extern Target *target;

#endif // _TARGET_H

More to follow(character limit).

17

Webpage.cpp

/* this class handles the main web page and all interactions
 *
 * N.B. do not edit the html, edit ast.html then use preppage.pl. See README.
 */

#include <ctype.h>

#include "Webpage.h"
extern String satname;

/* constructor
 */
Webpage::Webpage()
{
	// ask user how to connect to wifi if we can not attach
	while (!connectWiFi())
	    askWiFi();

	// create server
	resetWatchdog();
	Serial.println ("Creating ethernet server");
	httpServer = new WiFiServer(80);				// http
	httpServer->begin();
	Serial.println (WiFi.localIP());

	// init user message mechanism
	user_message_F = F("Hello+");					// page welcome message
	memset (user_message_s, 0, sizeof(user_message_s));

	// init TLE storage and state
	memset (&tlef, 0, sizeof(tlef));
	tlef.running = false;
}

/* try to connect to wifi using creds we have in EEPROM
 * return whether it connected ok
 */
bool Webpage::connectWiFi()
{
	// start over
	// WiFi.disconnect(true);
	// WiFi.softAPdisconnect(true);
	delay(400);

	// configure
	WiFi.mode(WIFI_STA);
	WiFi.begin (nv->ssid, nv->pw);
	WiFi.config (nv->IP, nv->GW, nv->NM);

	// wait for connect
	uint32_t t0 = millis();
	uint32_t timeout = 15000;					// timeout, millis()
	while (WiFi.status() != WL_CONNECTED) {
	    resetWatchdog();
	    if (millis() - t0 > timeout) {
		Serial.println (F("connect failed, starting as AP"));
		return (false);
	    }
	    delay(100);
	}

	// ok
	return (true);
}

/* remove non-alphanumeric chars and convert to upper case IN PLACE
 */
void Webpage::scrub (char *s)
{
	char *scrub_s;
	for (scrub_s = s; *s != '\0'; s++)
	    if (isalnum(*s))
		*scrub_s++ = toupper(*s);
	*scrub_s = '\0';
}

/* call this occasionally to check for Ethernet activity
 */
void Webpage::checkEthernet()
{
	resetWatchdog();

	// do more of remote fetch if active
	resumeTLEFetch();

	// now check our page
	WiFiClient client = httpServer->available();
	if (!client)
	    return;

	// Serial.println ("client connected");
	uint32_t to = millis();		// init timeout
	char firstline[128];		// first line
	unsigned fll = 0;		// firstline length
	bool eoh = false;		// set when see end of header
	bool fldone = false;		// set when finished collecting first line
	char c, prevc = 0;		// new and previous character read from client

	// read header, collecting first line and discarding rest until find blank line
	while (!eoh && (c = readNextClientChar (client, &to))) {
	    if (c == '\n') {
		if (!fldone) {
		    firstline[fll] = '\0';
		    fldone = true;
		}
		if (prevc == '\n')
		    eoh = true;
	    } else if (!fldone && fll < sizeof(firstline)-1) {
		firstline[fll++] = c;
	    }
	    prevc = c;
	}
	if (c == 0) {
	    // Serial.println ("closing client");
	    client.stop();
	    return;
	}

	// client socket is now at first character after blank line

	// replace trailing ?time cache-buster with blank
	char *q = strrchr (firstline, '?');
	if (q)
	    *q = ' ';

	// what we do next depends on first line
	resetWatchdog();
	// Serial.println (firstline);
	if (strstr (firstline, "GET / ")) {
	    sendMainPage (client);
	} else if (strstr (firstline, "GET /getvalues.txt ")) {
	    sendNewValues (client);
	} else if (strstr (firstline, "POST / ")) {
	    overrideValue (client);
	    sendEmptyResponse (client);
	} else if (strstr (firstline, "POST /reboot ")) {
	    sendEmptyResponse (client);
	    reboot();
	} else if (strstr (firstline, "POST /start ")) {
	    target->setTrackingState(true);
	    sendEmptyResponse (client);
	} else if (strstr (firstline, "POST /stop ")) {
	    target->setTrackingState(false);
	    sendEmptyResponse (client);
	} else {
	    send404Page (client);
	}

	// finished
	// Serial.println ("closing client");
	client.stop();
}

/* given "sat,URL" search the given URL for the given satellite TLE.
 * N.B. in order for our web page to continue to function, this method is just the first step, other
 *   steps are done incrementally by resumeTLEFetch().
 */
void Webpage::startTLEFetch (char *query_text)
{
	// split query at , to get sat name and URL
	char *sat = query_text;
	char *url = strchr (query_text, ',');
	if (!url) {
	    setUserMessage (F("Invalid querySite string: "), query_text, '!');
	    return;
	}
	*url++ = '\0';		// overwrite , with EOS for sat then move to start of url

	// remove leading protocol, if any
	if (strncmp (url, "http://", 7) == 0)
	    url += 7;

	// file name
	char *path = strchr (url, '/');
	if (!path) {
	    setUserMessage (F("Invalid querySite URL: "), url, '!');
	    return;
	}
	*path++ = '\0';		// overwrite / with EOS for server then move to start of path

	// connect
	tlef.remote = new WiFiClient();
	if (!tlef.remote->connect (url, 80)) {
	    setUserMessage (F("Failed to connect to "), url, '!');
	    delete tlef.remote;
	    return;
	}

	// send query to retrieve the file containing TLEs
	// Serial.print(sat); Serial.print(F("@")); Serial.println (url);
	tlef.remote->print (F("GET /"));
	tlef.remote->print (path);
	tlef.remote->print (F(" HTTP/1.0\r\n"));
	tlef.remote->print (F("Content-Type: text/plain \r\n"));
	tlef.remote->print (F("\r\n"));

	// set up so we can resume the search later....
	scrub (sat);
	strncpy (tlef.sat, sat, sizeof(tlef.sat)-1);
	tlef.lineno = 1;
	tlef.running = true;
}

/* called to resume fetching a remote web page, started by startTLEFetch().
 * we are called periodically regardless, do nothing if no fetch is in progress.
 * we know to run based on whether tlef.remote is connected.
 */
void Webpage::resumeTLEFetch ()
{
	// skip if nothing in progress
	if (!tlef.running)
	    return;

	// init
	const uint32_t tout = millis() + 10000;		// timeout, ms
	uint8_t nfound = 0;				// n good lines found so far
	char *bp = tlef.buf;				// next buf position to use
	tlef.l0 = NULL;					// flag for sendNewValues();

	// read another line, if find sat read two more and finish up
	while (tlef.remote->connected() && nfound < 3 && millis() < tout) {
	    if (tlef.remote->available()) {
		char c = tlef.remote->read();
		if (c == '\r')
		    continue;
		if (c == '\n') {
		    // show some progress
		    char lnbuf[10];
		    setUserMessage (F("Reading line "), itoa(tlef.lineno++, lnbuf, 10), '+');

		    *bp++ = '\0';
		    switch (nfound) {
		    case 0:
			char sl0[50];			// copy enough that surely contains sat
			strncpy (sl0, tlef.buf, sizeof(sl0)-1);
			sl0[sizeof(sl0)-1] = '\0';	// insure EOS
			scrub (sl0);			// scrub the copy so l0 remains complete
			if (strstr (sl0, tlef.sat)) {	// look for scrubbed sat in scrubbed l0
			    // found sat, prepare to collect TLE line 1 in l1
			    nfound++;			// found name
			    tlef.l0 = tlef.buf;		// l0 begins at buf
			    tlef.l1 = bp;		// l1 begins at next buf position
			} else
			    return;			// try next line on next call
			break;
		    case 1:
			if (target->tleValidChecksum(tlef.l1)) {
			    // found TLE line 1, prep for line 2
			    nfound++;			// found l1
			    tlef.l2 = bp;		// l2 begins at next buf position
			} else {
			    nfound = 0;			// no good afterall
			    tlef.l0 = NULL;		// reset flag for sendNewValues()
			}
			break;
		    case 2:
			if (target->tleValidChecksum(tlef.l2)) {
			    // found last line
			    nfound++;			// found l2
			} else {
			    nfound = 0;			// no good afterall
			    tlef.l0 = NULL;		// reset flag for sendNewValues()
			}
			break;
		    default:
			// can't happen ;-)
			break;
		    }
		} else if (bp - tlef.buf < (int)(sizeof(tlef.buf)-1))
		    *bp++ = c;				// add to buf iif room, including EOS
	    } else {
		// static long n;
		// Serial.println (n++);
	    }
	}

	// get here if remote disconnected, found sat or timed out
	if (!tlef.remote->connected())
	    setUserMessage (F("TLE not found!"));
	else if (nfound == 3) 
	    setUserMessage (F("Found TLE: "), tlef.l0, '+');
	else
	    setUserMessage (F("Remote site timed out!"));

	// finished regardless
	tlef.remote->stop();
	delete tlef.remote;
	tlef.running = false;
}

/* record a brief F() message to inform the user, it will be sent on the next sendNewValues() sweep
 */
void Webpage::setUserMessage (const __FlashStringHelper *ifsh)
{
	user_message_F = ifsh;
	user_message_s[0] = '\0';
}

/* record a brief message to inform the user, it will be sent on the next sendNewValues() sweep.
 * the message consists of an F() string, then a stack string, then a trailing character, typically
 *  '!' to indicate an alarm, '+' to indicate good progress, or '\0' for no effect.
 */
void Webpage::setUserMessage (const __FlashStringHelper *ifsh, const char *msg, char state)
{
	user_message_F = ifsh;
	strncpy (user_message_s, msg, sizeof(user_message_s)-2);	// room for state and EOS
	user_message_s[strlen(user_message_s)] = state;
}

/* read next character, return 0 if it disconnects or times out.
 * '\r' is discarded completely.
 */
char Webpage::readNextClientChar (WiFiClient client, uint32_t *to)
{
	static const int timeout = 1000;		// client socket timeout, ms
	resetWatchdog();
	while (client.connected()) {
	    if (millis() > *to + timeout) {
		Serial.println ("client timed out");
		return (0);
	    }
	    if (!client.available())
		continue;
	    char c = client.read();
	    *to = millis();
	    if (c == '\r')
		continue;
	    // Serial.write(c);
	    return (c);
	}
	// Serial.println ("client disconnected");
	return (0);
}

/* op has entered manually a value to be overridden.
 * client is at beginning of NAME=VALUE line, parse and send to each subsystem
 * N.B. a few are treated specially.
 */
void Webpage::overrideValue (WiFiClient client)
{
	char c, buf[200];			// must be at least enough for a known-valid TLE
	uint8_t nbuf = 0;			// type must be large enough to count to sizeof(buf)

	// read next line into buf
	uint32_t to = millis();		// init timeout
	while ((c = readNextClientChar (client, &to)) != 0) {
	    if (c == '\n') {
		buf[nbuf++] = '\0';
		break;
	    } else if (nbuf < sizeof(buf)-1)
		buf[nbuf++] = c;
	}
	if (c == 0)
	    return;		// bogus; let caller close

	// break at = into name, value
	char *valu = strchr (buf, '=');
	if (!valu)
	    return;		// bogus; let caller close
	*valu++ = '\0';	// replace = with 0 then valu starts at next char
	// now buf is NAME and valu is VALUE

	Serial.print (F("Override: ")); Serial.print (buf); Serial.print("="); Serial.println (valu);

	if (strcmp (buf, "T_TLE") == 0) {

	    // T_TLE needs two more lines

	    char *l1 = valu;		// TLE target name is valu
	    char *l2 = &buf[nbuf];	// line 2 begins after valu
	    char *l3 = NULL;		// set when find end of line 2

	    // scan for two more lines
	    uint8_t nlines = 1;
	    while (nlines < 3 && (c = readNextClientChar (client, &to)) != 0) {
		if (c == '\n') {
		    buf[nbuf++] = '\0';
		    if (++nlines == 2)
			l3 = &buf[nbuf];	// line 3 starts next
		} else if (nbuf < sizeof(buf)-1)
		    buf[nbuf++] = c;
	    }
	    if (nlines < 3)
		return;	// premature end, let caller close

	    // new target!
	    target->setTLE (l1, l2, l3);

	} else if (strcmp (buf, "IP") == 0) {

	    // op is setting a new IP, save in EEPROM for use on next reboot
	    char *octet = valu;
	    for (uint8_t i = 0; i < 4; i++) {
		int o = atoi(octet);
		if (o < 0 || o > 255)
		    return;				// bogus IP
		nv->IP[i] = o;
		if (i == 3)
		    break;
		octet = strchr (octet, '.');		// find next .
		if (!octet)
		    return;				// bogus format
		octet++;				// point to first char after .
	    }
	    nv->put();
	    setUserMessage (F("Successfully stored new IP address in EEPROM -- reboot to engage+"));

	} else if (strcmp (buf, "querySite") == 0) {

	    // op wants to look up a target at a web site, valu is target,url
	    startTLEFetch (valu);

	} else {

	    // not ours, give to each other subsystem in turn until one accepts
	    if (!circum->overrideValue (buf, valu)
			&& !gimbal->overrideValue (buf, valu)
			&& !target->overrideValue (buf, valu)
			&& !sensor->overrideValue (buf, valu))
		setUserMessage (F("Bug: unknown override -- see Serial Monitor!"));

	}
}

/* inform each subsystem to send its latest values, including ours
 */
void Webpage::sendNewValues (WiFiClient client)
{
	// send plain text header for NAME=VALUE pairs
	sendPlainHeader(client);

	// send user message
	client.print ("op_message=");
	if (user_message_F != NULL)
	    client.print (user_message_F);
	if (user_message_s[0])
	    client.print (user_message_s);
	client.println();

	// send our values
	client.print ("IP=");
	for (uint8_t i = 0; i < 4; i++) {
	    client.print (nv->IP[i]);
	    if (i < 3)
		client.print (F("."));
	}
	client.println (F(""));

	if (tlef.l0) {
	    // set newly fetched name on web page
	    client.print (F("new_TLE="));
	    client.println (tlef.l0);
	    client.println (tlef.l1);
	    client.println (tlef.l2);
	    tlef.l0 = NULL;			// just send once
	}

	client.print (F("uptime="));
	circum->printSexa (client, millis()/1000.0/3600.0);
	circum->printPL (client, Circum::NORMAL);

	// send whatever the other modules want to
	circum->sendNewValues (client);
	gimbal->sendNewValues (client);
	sensor->sendNewValues (client);
	target->sendNewValues (client);

}

/* send the main page, in turn it will send us commands using XMLHttpRequest
 */
void Webpage::sendMainPage (WiFiClient client)
{
	sendHTMLHeader (client);

	// DO NOT HAND EDIT THE FOLLOWING HTML .. use "preppage.pl"
	// DO NOT REMOVE THIS LINE 111111111111111111111111111111
        client.print (F(
            "<!DOCTYPE html> \r\n"
            "<html> \r\n"
            "<head> \r\n"
            "    <meta http-equiv='Content-Type' content='text/html; charset=UTF-8' /> \r\n"
            "    <title>Sat Tracker</title> \r\n"
            " \r\n"
            "    <style> \r\n"
            " \r\n"
            "        body { \r\n"
            "            background-color:#888; \r\n"
            "            font-family:sans-serif; \r\n"
            "            font-size:13px; \r\n"
            "        } \r\n"
            " \r\n"
            "        table { \r\n"
            "            border-collapse: collapse; \r\n"
            "            border: 3px solid brown; \r\n"
            "            background-color:#F8F8F8; \r\n"
            "            float:left; \r\n"
            "        } \r\n"
            " \r\n"
            "        th { \r\n"
            "            padding: 6px; \r\n"
            "            border: 1px solid brown; \r\n"
            "        } \r\n"
            " \r\n"
            "        .even-row { \r\n"
            "            background-color:#F8F8F8; \r\n"
            "        } \r\n"
            " \r\n"
            "        .odd-row { \r\n"
            "            background-color:#D8D8D8; \r\n"
            "        } \r\n"
            " \r\n"
            "        #title-row { \r\n"
            "            text-align: center; \r\n"
            "            padding: 2px; \r\n"
            "            border-bottom: 6px double brown; \r\n"
            "        } \r\n"
            " \r\n"
            "        #title-label { \r\n"
            "            font-size: 18px; \r\n"
            "            font-weight: bold; \r\n"
            "            color: #0066CC; \r\n"
            "        } \r\n"
            " \r\n"
            "        #title-attrib { \r\n"
            "            font-size: 8px; \r\n"
            "            font-weight: bold; \r\n"
            "            color: #0066CC; \r\n"
            "        } \r\n"
            " \r\n"
            "        a { \r\n"
            "            color: #0066CC; \r\n"
            "        } \r\n"
            " \r\n"
            "        #op_message { \r\n"
            "            font-size:16px; \r\n"
            "            display: block; \r\n"
            "            padding: 10px; \r\n"
            "        } \r\n"
            " \r\n"
            "        td { \r\n"
            "            padding: 6px; \r\n"
            "            border: 1px solid #0066CC; \r\n"
            "        } \r\n"
            " \r\n"
            "        .TLE-display { \r\n"
            "            background-color:#D8D8D8; \r\n"
            "            font-family:monospace; \r\n"
            "            resize:none; \r\n"
            "            font-size:inherit; \r\n"
            "            overflow:hidden; \r\n"
            "            border: 1px solid brown; \r\n"
            "        } \r\n"
            " \r\n"
            "        .TLE-entry { \r\n"
            "            background-color:#FFF; \r\n"
            "            font-family:monospace; \r\n"
            "            resize:none; \r\n"
            "            font-size:inherit; \r\n"
            "            overflow:hidden; \r\n"
            "            border: 1px solid brown; \r\n"
            "        } \r\n"
            " \r\n"
            "        .major-section { \r\n"
            "            border-top: 6px double brown; \r\n"
            "        } \r\n"
            " \r\n"
            "        .minor-section { \r\n"
            "            border-top: 4px double brown; \r\n"
            "        } \r\n"
            " \r\n"
            "        .override { \r\n"
            "            background-color:#FFF; \r\n"
            "            padding: 0px; \r\n"
            "            font-family:monospace; \r\n"
            "            resize:none; \r\n"
            "            font-size:inherit; \r\n"
            "            width:7em; \r\n"
        ));
        client.print (F(
            "        } \r\n"
            " \r\n"
            "        .group-head { \r\n"
            "            text-align:center; \r\n"
            "            vertical-align:top; \r\n"
            "            border-right: 4px double brown; \r\n"
            "        } \r\n"
            " \r\n"
            "        .datum-label { \r\n"
            "            text-align:left; \r\n"
            "            vertical-align:top; \r\n"
            "            color:black; \r\n"
            "        } \r\n"
            " \r\n"
            "        .datum { \r\n"
            "            font-family:monospace; \r\n"
            "            text-align:right; \r\n"
            "            color:black \r\n"
            "        } \r\n"
            " \r\n"
            "        #tracking { \r\n"
            "            font-size: 14px; \r\n"
            "            font-weight: bold; \r\n"
            "        } \r\n"
            " \r\n"
            " \r\n"
            "    </style> \r\n"
            " \r\n"
            "    <script> \r\n"
            " \r\n"
            "        // labels on track button determine state \r\n"
            "        var tracking_on_label = 'Stop Tracking'; \r\n"
            "        var tracking_off_label = 'Start Tracking'; \r\n"
            " \r\n"
            "        // sky path border \r\n"
            "        var sky_border = 25; \r\n"
            " \r\n"
            "        // handy shortcut \r\n"
            "        function byId (id) { \r\n"
            "            return document.getElementById(id); \r\n"
            "        } \r\n"
            " \r\n"
            "        // separate window for plotting skypath \r\n"
            "        var skypathwin = undefined; \r\n"
            " \r\n"
            "        // called once after DOM is loaded \r\n"
            "        window.onload = function() { \r\n"
            "            createSkyPathWin(); \r\n"
            "            setTimeout (queryNewValues, 1000); \r\n"
            "        } \r\n"
            " \r\n"
            "        // close skyplotwin when main page is closed \r\n"
            "        window.onunload = function() { \r\n"
            "            if (skypathwin) \r\n"
            "                skypathwin.close(); \r\n"
            "        } \r\n"
            " \r\n"
            "        // create separate skypathwin filled with a canvas \r\n"
            "        function createSkyPathWin() { \r\n"
            " \r\n"
            "            // create a new HTML window \r\n"
            "            skypathwin = window.open ('', '_blank', 'width=350,height=350,scrollbars=no'); \r\n"
            "            if (!skypathwin) { \r\n"
            "                alert (\"Please turn off Popup blocker if you want to see the Sky Path plot\"); \r\n"
            "                return; \r\n"
            "            } \r\n"
            "            skypathwin.document.write ('<!DOCTYPE html><html></html>'); \r\n"
            " \r\n"
            "            // fill with a canvas \r\n"
            "            var controls = '<head><title> Sky Path </title></head>'; \r\n"
            "            controls += '<body>'; \r\n"
            "            controls += '  <canvas id=\"skypath\" > </canvas>'; \r\n"
            "            controls += '</body>'; \r\n"
            "            skypathwin.document.documentElement.innerHTML = controls; \r\n"
            " \r\n"
            "            // connect click handler \r\n"
            "            var cvs = skypathwin.document.getElementById ('skypath'); \r\n"
        ));
        client.print (F(
            "            cvs.addEventListener (\"click\", onSkyPathClick); \r\n"
            " \r\n"
            "        } \r\n"
            " \r\n"
            "        // called when user clicks on the sky path, send Az/El as if override \r\n"
            "        function onSkyPathClick(event) { \r\n"
            "            var cvs = skypathwin.document.getElementById ('skypath'); \r\n"
            "            var rect = cvs.getBoundingClientRect(); \r\n"
            "            var cvsw = rect.right - rect.left; \r\n"
            "            var cvsh = rect.bottom - rect.top; \r\n"
            "            var hznr = Math.min(cvsh,cvsw)/2 - sky_border; \r\n"
            "            var skye = event.clientX-rect.left-cvsw/2;                        // right from center \r\n"
            "            var skyn = cvsh/2-(event.clientY-rect.top);                        // up from center \r\n"
            "            var az = (180.0/Math.PI*Math.atan2(skye, skyn)+360) % 360; \r\n"
            "            var el = 90*(1-Math.hypot(skye,skyn)/hznr); \r\n"
            " \r\n"
            "            POSTNV ('T_Az', az); \r\n"
            "            POSTNV ('T_El', el); \r\n"
            "        } \r\n"
            "         \r\n"
            "        // query for new values forever \r\n"
            "        function queryNewValues() { \r\n"
            "            var xhr = new XMLHttpRequest(); \r\n"
            "            xhr.onreadystatechange = function() { \r\n"
            "                if (xhr.readyState==4 && xhr.status==200) { \r\n"
            "                    // response is id=value pairs, one per line, end ! warning + good \r\n"
            "                    // id is in DOM but some require special treatment. \r\n"
            "                    var lines = xhr.responseText.replace(/\\r/g,'').split('\\n'); \r\n"
            "                    for (var i = 0; i < lines.length; i++) { \r\n"
            "                        console.log('getvalues line ' + i + ': ' + lines[i]); \r\n"
            "                        var nv = lines[i].trim().split('='); \r\n"
            "                        if (nv.length != 2) \r\n"
            "                            continue; \r\n"
            "                        var id = byId (nv[0]); \r\n"
            "                        if (nv[0] == 'T_TLE' || nv[0] == 'new_TLE') { \r\n"
            "                            console.log('getvalues line ' + (i+1) + ': ' + lines[i+1]); \r\n"
            "                            console.log('getvalues line ' + (i+2) + ': ' + lines[i+2]); \r\n"
            "                            id.value = nv[1] + '\\n' + lines[i+1] + '\\n' + lines[i+2]; \r\n"
            "                            i += 2; \r\n"
        ));
        client.print (F(
            "                        } else if (nv[0] == 'skypath') { \r\n"
            "                            plotSkyPath (nv[1]); \r\n"
            "                        } else if (nv[0] == 'tracking') { \r\n"
            "                            setTrackingButton (nv[1] == 'On' ? tracking_on_label : tracking_off_label); \r\n"
            "                        } else if (nv[0] == 'IP') { \r\n"
            "                            setNewIP (nv[1]); \r\n"
            "                        } else if (nv[0] == 'GPS_Enable') { \r\n"
            "                            setGPSEnable(nv[1]); \r\n"
            "                        } else if (nv[0] == 'SS_Save') { \r\n"
            "                            setSSSave(nv[1]); \r\n"
            "                        } else { \r\n"
            "                            var l = nv[1].length; \r\n"
            "                            if (nv[1].substr(l-1) == '!') { \r\n"
            "                                // warning \r\n"
            "                                id.innerHTML = nv[1].substr(0,l-1); \r\n"
            "                                id.style.color = 'red'; \r\n"
            "                            } else if (nv[1].substr(l-1) == '+') { \r\n"
            "                                // good news \r\n"
            "                                id.innerHTML = nv[1].substr(0,l-1); \r\n"
            "                                id.style.color = '#297'; \r\n"
            "                            } else { \r\n"
            "                                // normal \r\n"
            "                                id.innerHTML = nv[1]; \r\n"
            "                                id.style.color = 'black'; \r\n"
            "                            } \r\n"
            "                        } \r\n"
            "                    } \r\n"
            " \r\n"
            "                    // repeat after a short breather \r\n"
            "                    setTimeout (queryNewValues, 1000); \r\n"
            "                } \r\n"
            "            } \r\n"
            "            xhr.open('GET', UniqURL('/getvalues.txt'), true); \r\n"
            "            xhr.send(); \r\n"
            "        } \r\n"
            " \r\n"
            "        // handy function to POST a name=value pair \r\n"
            "        function POSTNV (name, value) { \r\n"
            "            var xhr = new XMLHttpRequest(); \r\n"
            "            xhr.open('POST', UniqURL('/'), true); \r\n"
            "            xhr.send(name + '=' + String(value) + '\\r\\n'); \r\n"
            "        } \r\n"
            " \r\n"
            "        // handy function that modifies a URL to be unique so it voids the cache \r\n"
            "        function UniqURL (url) { \r\n"
            "            return (url + '?' + (new Date()).getTime()); \r\n"
        ));
        client.print (F(
            "        } \r\n"
            " \r\n"
            "        // plot a skypath, points are az,el;... \r\n"
            "        function plotSkyPath (points) { \r\n"
            "            // ignore if not built yet \r\n"
            "            if (!skypathwin) \r\n"
            "                return; \r\n"
            " \r\n"
            "            // render to off-screen canvas then blit to void flashing \r\n"
            "            var cvs = skypathwin.document.createElement ('canvas'); \r\n"
            " \r\n"
            "            // track current window size \r\n"
            "            var cvsw = skypathwin.innerWidth - 20;                // ~ 20 to eliminate scroll bars \r\n"
            "            var cvsh = skypathwin.innerHeight - 20; \r\n"
            "            cvs.width = cvsw; \r\n"
            "            cvs.height = cvsh; \r\n"
            "            var ctx = cvs.getContext ('2d'); \r\n"
            " \r\n"
            "            var hznr = Math.min(cvsw,cvsh)/2 - sky_border;        // horizon radius \r\n"
            " \r\n"
            "            // local function to convert az el in degrees to skypath canvas x y \r\n"
            "            function azel2xy (az, el) { \r\n"
            "                var az = Math.PI*az/180;                        // cw from up, rads \r\n"
            "                var zr = hznr*(90-el)/90;                        // radius in pixels \r\n"
            "                return { \r\n"
            "                    x: cvsw/2 + zr*Math.sin(az),                // right \r\n"
            "                    y: cvsh/2 - zr*Math.cos(az),                // up is -  \r\n"
            "                }; \r\n"
            "            } \r\n"
            " \r\n"
            "            // cleaner looking lines if center on pixels \r\n"
            "            ctx.setTransform (1, 0, 0, 1, 0, 0); \r\n"
            "            ctx.translate (0.5, 0.5); \r\n"
            " \r\n"
            "            // reset background \r\n"
            "            ctx.strokeStyle = 'black' \r\n"
            "            ctx.fillStyle = '#EEE' \r\n"
            "            ctx.beginPath(); \r\n"
            "                ctx.rect (0, 0, cvsw-1, cvsh-1); \r\n"
            "            ctx.fill(); \r\n"
            "            ctx.stroke(); \r\n"
            " \r\n"
            "            // draw az and el lines \r\n"
            "            ctx.strokeStyle = '#777' \r\n"
            "            ctx.beginPath(); \r\n"
            "                for (var i = 1; i <= 3; i++) { \r\n"
            "                    ctx.moveTo (cvsw/2+i*hznr/3, cvsh/2); \r\n"
            "                    ctx.arc (cvsw/2, cvsh/2, i*hznr/3, 0, 2*Math.PI); \r\n"
            "                } \r\n"
            "                for (var i = 0; i < 12; i++) { \r\n"
            "                    ctx.moveTo (cvsw/2, cvsh/2); \r\n"
            "                    var xy = azel2xy (i*360/12, 0); \r\n"
            "                    ctx.lineTo (xy.x, xy.y); \r\n"
        ));
        client.print (F(
            "                } \r\n"
            "            ctx.stroke(); \r\n"
            " \r\n"
            "            // label cardinal directions \r\n"
            "            ctx.fillStyle = '#297' \r\n"
            "            ctx.font = '18px Arial'; \r\n"
            "            ctx.fillText ('N', cvsw/2-5, cvsh/2-hznr-4); \r\n"
            "            ctx.fillText ('E', cvsw/2+hznr+4, cvsh/2+5); \r\n"
            "            ctx.fillText ('S', cvsw/2-5, cvsh/2+hznr+20); \r\n"
            "            ctx.fillText ('W', cvsw/2-hznr-sky_border+5, cvsh/2+5); \r\n"
            " \r\n"
            "            // split path into individual points, we always get one even if points is empty \r\n"
            "            var pts = points.replace(/;$/,'').split(/;/); \r\n"
            "            if (pts.length > 1) { \r\n"
            "                // path, plotted N up E right \r\n"
            "                ctx.strokeStyle = '#22A' \r\n"
            "                ctx.lineWidth = 2; \r\n"
            "                ctx.beginPath(); \r\n"
            "                    for (var i = 0; i < pts.length; i++) { \r\n"
            "                        var azel = pts[i].split(/,/); \r\n"
            "                        var xy = azel2xy (azel[0], azel[1]); \r\n"
            "                        if (i == 0) \r\n"
            "                            ctx.moveTo (xy.x, xy.y); \r\n"
            "                        else \r\n"
            "                            ctx.lineTo (xy.x, xy.y); \r\n"
            "                    } \r\n"
            "                ctx.stroke(); \r\n"
            " \r\n"
            "                // label set location \r\n"
            "                // N.B. first location will not be rise if path computed while up \r\n"
            "                ctx.font = '14px Arial'; \r\n"
            "                ctx.fillStyle = '#22A'; \r\n"
            "                var az = pts[pts.length-1].split(/,/)[0]; \r\n"
            "                var el = (az < 90 || az > 270) ? -5 : -12; \r\n"
            "                var xy = azel2xy (az, el); \r\n"
            "                ctx.fillText ('S', xy.x-5, xy.y); \r\n"
            "            } \r\n"
            " \r\n"
            "            // plot target, get loc from text fields \r\n"
            "            var taz = parseFloat(byId('T_Az').innerHTML); \r\n"
            "            var tel = parseFloat(byId('T_El').innerHTML); \r\n"
            "            if (tel >= 0) { \r\n"
            "                var xy = azel2xy (taz, tel); \r\n"
            "                ctx.fillStyle = '#FD0000'; \r\n"
            "                var r = 5; \r\n"
            "                var px = cvsw/2-hznr-sky_border+r+5, py = cvsh/2-hznr-8-r; \r\n"
            "                ctx.beginPath(); \r\n"
            "                    ctx.moveTo (xy.x + r, xy.y); \r\n"
            "                    ctx.arc (xy.x, xy.y, r, 0, 2*Math.PI); \r\n"
        ));
        client.print (F(
            "                    ctx.moveTo (px + r, py); \r\n"
            "                    ctx.arc (px, py, r, 0, 2*Math.PI); \r\n"
            "                ctx.fill(); \r\n"
            "                ctx.fillStyle = 'black' \r\n"
            "                ctx.font = '14px Arial'; \r\n"
            "                ctx.fillText ('Target', px+2*r, py+r); \r\n"
            "            } \r\n"
            " \r\n"
            "            // plot sensor position, get loc from text fields \r\n"
            "            var saz = parseFloat(byId('SS_Az').innerHTML); \r\n"
            "            var sel = parseFloat(byId('SS_El').innerHTML); \r\n"
            "            if (sel >= -10) {        // allow for symbol size \r\n"
            "                var xy = azel2xy (saz, sel); \r\n"
            "                ctx.strokeStyle = '#297' \r\n"
            "                var r = 8; \r\n"
            "                var px = cvsw/2-hznr-sky_border+r+5, py = cvsh/2+hznr+(20-r); \r\n"
            "                ctx.beginPath(); \r\n"
            "                    ctx.moveTo (xy.x + r, xy.y); \r\n"
            "                    ctx.arc (xy.x, xy.y, r, 0, 2*Math.PI); \r\n"
            "                    ctx.moveTo (px + r, py); \r\n"
            "                    ctx.arc (px, py, r, 0, 2*Math.PI); \r\n"
            "                ctx.stroke(); \r\n"
            "                ctx.fillStyle = 'black' \r\n"
            "                ctx.font = '14px Arial'; \r\n"
            "                ctx.fillText ('Sensor', px+2*r, py+r); \r\n"
            "            } \r\n"
            " \r\n"
            "            // display pointing error from text fields \r\n"
            "            // haversine form is better than law of cosines for small separations \r\n"
            "            var tazr = taz*Math.PI/180; \r\n"
            "            var telr = tel*Math.PI/180; \r\n"
            "            var sazr = saz*Math.PI/180; \r\n"
            "            var selr = sel*Math.PI/180; \r\n"
            "            // var sep = 180/Math.PI*acos(sin(telr)*sin(selr) + cos(telr)*cos(selr)*sin(tazr-sazr)); \r\n"
            "            var delel = telr - selr; \r\n"
            "            var delaz = tazr - sazr; \r\n"
            "            var a = Math.sin(delel/2)*Math.sin(delel/2) + \r\n"
            "                            Math.cos(telr) * Math.cos(selr) * Math.sin(delaz/2) * Math.sin(delaz/2); \r\n"
            "            var sep = 2*180/Math.PI*Math.atan2(Math.sqrt(a), Math.sqrt(1-a)); \r\n"
            "            if (!isNaN(sep)) { \r\n"
            "                ctx.fillStyle = 'black' \r\n"
            "                ctx.font = '14px Arial'; \r\n"
            "                ctx.fillText ('Error: ' + sep.toFixed(1) + '\\u00B0', cvsw/2+hznr+sky_border-90, cvsh/2-hznr-8); \r\n"
        ));
        client.print (F(
            "            } \r\n"
            " \r\n"
            "            // blit onto screen \r\n"
            "            var spcvs = skypathwin.document.getElementById ('skypath'); \r\n"
            "            spcvs.width = cvsw; \r\n"
            "            spcvs.height = cvsh; \r\n"
            "            var spctx = spcvs.getContext ('2d'); \r\n"
            "            spctx.drawImage (cvs, 0, 0); \r\n"
            "        } \r\n"
            " \r\n"
            "        // called when op wants to read a TLE from a file \r\n"
            "        function handleFileSelect(file) { \r\n"
            " \r\n"
            "            // get target \r\n"
            "            var target = byId('target_name').value.trim(); \r\n"
            "            if (!target || target.length<1) { \r\n"
            "                alert ('Please enter name of target in file'); \r\n"
            "                return; \r\n"
            "            } \r\n"
            " \r\n"
            "            // use FileReader to read file \r\n"
            "            var reader = new FileReader(); \r\n"
            " \r\n"
            "            // define callback called after reader is triggered \r\n"
            "            reader.onload = function(event) { \r\n"
            "                var fr = event.target;                      // FileReader \r\n"
            "                var text = fr.result;                       // file text as string \r\n"
            " \r\n"
            "                // scan file looking for named target, allowing a very generous match \r\n"
            "                var target_scrubbed = target.replace(/\\W/g,'').toUpperCase(); \r\n"
            "                var lines = text.replace(/\\r/g,'').split(/\\n/); \r\n"
            "                for (i = 0; i < lines.length; i++) { \r\n"
            "                    var line = lines[i].trim(); \r\n"
            "                    var line_scrubbed = line.replace(/\\W/g,'').toUpperCase(); \r\n"
            "                    if (line_scrubbed.indexOf(target_scrubbed) >= 0) { \r\n"
            "                        if (i < lines.length-2) { \r\n"
            "                            var l1 = lines[i+1].trim(); \r\n"
            "                            var l2 = lines[i+2].trim(); \r\n"
            "                            var candidate = line + '\\n' + l1 + '\\n' + l2; \r\n"
            "                            var telok = validateTLE(candidate); \r\n"
            "                            if (telok != null) \r\n"
            "                                alert ('Found \"' + target + '\" in ' + file.name + ' but ' + telok); \r\n"
            "                            else \r\n"
            "                                byId('new_TLE').value = candidate; \r\n"
            "                        } else \r\n"
            "                            alert ('Found \"' + target + '\" in ' + file.name + ' but not followed by a valid TLE'); \r\n"
        ));
        client.print (F(
            "                        return; \r\n"
            "                    } \r\n"
            "                } \r\n"
            "                alert ('Can not find \"' + target + '\" in file ' + file.name); \r\n"
            " \r\n"
            "            }; \r\n"
            " \r\n"
            "            // read file, triggers onload when complete \r\n"
            "            reader.readAsText(file); \r\n"
            "        } \r\n"
            " \r\n"
            " \r\n"
            " \r\n"
            "        // send new value in response to operator typing an override value. \r\n"
            "        function onOvd(event) { \r\n"
            "            if (event.keyCode == 13) { \r\n"
            "                var oid = event.target.id; \r\n"
            "                var nam = oid.replace ('_Ovd', ''); \r\n"
            "                var vid = byId(nam); \r\n"
            "                if (vid) { \r\n"
            "                    var val = event.target.value.trim(); \r\n"
            "                    POSTNV (nam, val); \r\n"
            "                } \r\n"
            "            } \r\n"
            "        } \r\n"
            " \r\n"
            "        // called when op wants to look for a target at a remote web site \r\n"
            "        function querySite(event) { \r\n"
            "            var url = event.target.value; \r\n"
            "            var sat = byId('target_name').value.trim(); \r\n"
            "            console.log(url); \r\n"
            "            POSTNV ('querySite', sat + ',' + url); \r\n"
            "        } \r\n"
            " \r\n"
            "        // called when op wants to upload a new TLE \r\n"
            "        function onUploadTLE() { \r\n"
            "            var tid = byId('new_TLE'); \r\n"
            "            var newtle = tid.value.trim(); \r\n"
            "            var telok = validateTLE(newtle); \r\n"
            "            if (telok != null) \r\n"
            "                alert (telok); \r\n"
            "            else { \r\n"
            "                tid.value = newtle;                // show trimmed version \r\n"
            "                POSTNV ('T_TLE', newtle); \r\n"
            "            } \r\n"
            "        } \r\n"
            " \r\n"
            "        // called to enable GPS \r\n"
            "        function onGPSEnable() { \r\n"
            "            POSTNV ('GPS_Enable', 'true'); \r\n"
            "        } \r\n"
            " \r\n"
            "        // called to save Sensor calibration to EEPROM \r\n"
            "        function onSSSave() { \r\n"
            "            POSTNV ('SS_Save', 'true'); \r\n"
            "        } \r\n"
            " \r\n"
            "        // called to upload a new IP, either with Set (k==0) or by typing Enter (k==1) \r\n"
            "        function onIP (k,event) { \r\n"
            "            if (k && event.keyCode != 13) \r\n"
            "                return;        // wait for Enter \r\n"
            "            var ip = byId ('IP').value.trim(); \r\n"
            "            var octets = ip.split(/\\./); \r\n"
            "            for (var i = 0; i < octets.length; i++) { \r\n"
        ));
        client.print (F(
            "                var o = octets[i]; \r\n"
            "                if (!o.match(/^\\d+$/)) \r\n"
            "                    break; \r\n"
            "                var v = parseInt(o); \r\n"
            "                if (v < 0 || v > 255) \r\n"
            "                    break; \r\n"
            "            } \r\n"
            "            if (octets.length != 4 || i < octets.length) \r\n"
            "                alert (ip + ': not a valid IP address format'); \r\n"
            "            else \r\n"
            "                POSTNV ('IP', ip); \r\n"
            "        } \r\n"
            " \r\n"
            "        // called to display the current IP.  N.B. leave IP text alone if it or Set currently has focus \r\n"
            "        function setNewIP (ip) { \r\n"
            "            var ip_text = byId('IP') \r\n"
            "            var ip_set  = byId('IP-set') \r\n"
            "            var focus = document.activeElement; \r\n"
            "            if (focus != ip_text && focus != ip_set) \r\n"
            "                ip_text.value = ip; \r\n"
            "        } \r\n"
            " \r\n"
            "        // called to set visibility of GPS_Enable \r\n"
            "        function setGPSEnable (whether) { \r\n"
            "            var gid = byId ('GPS_Enable'); \r\n"
            "            gid.style.visibility = (whether == 'true') ? 'visible' : 'hidden'; \r\n"
            "        } \r\n"
            " \r\n"
            "        // called to set visibility of SS_Save \r\n"
            "        function setSSSave (whether) { \r\n"
            "            var sid = byId ('SS_Save'); \r\n"
            "            sid.style.visibility = (whether == 'true') ? 'visible' : 'hidden'; \r\n"
            "        } \r\n"
            " \r\n"
            "        // send command to start tracking \r\n"
            "        function commandStartTracking() { \r\n"
            "            var xhr = new XMLHttpRequest(); \r\n"
            "            xhr.open('POST', UniqURL('/start'), true); \r\n"
            "            xhr.send(); \r\n"
            "        } \r\n"
            " \r\n"
            "        // send command to stop tracking \r\n"
            "        function commandStopTracking() { \r\n"
            "            var xhr = new XMLHttpRequest(); \r\n"
            "            xhr.open('POST', UniqURL('/stop'), true); \r\n"
            "            xhr.send(); \r\n"
            "        } \r\n"
            " \r\n"
            "        // the Run/Stop tracking button was clicked, label determines action \r\n"
            "        function onTracking() { \r\n"
            "            var tb = byId('tracking'); \r\n"
            "            // just issue command, let next getvalues update button appearance \r\n"
            "            if (tb.innerHTML == tracking_off_label) \r\n"
            "                commandStartTracking(); \r\n"
            "            else \r\n"
            "                commandStopTracking(); \r\n"
            "        } \r\n"
            " \r\n"
            "        // given one of tracking_on/off_label, set the tracking button appearance \r\n"
        ));
        client.print (F(
            "        function setTrackingButton (label) { \r\n"
            "            var tb = byId('tracking'); \r\n"
            "            if (label == tracking_off_label) { \r\n"
            "                tb.innerHTML = label; \r\n"
            "                tb.style.color = 'black'; \r\n"
            "            } else if (label == tracking_on_label) { \r\n"
            "                tb.innerHTML = label; \r\n"
            "                tb.style.color = 'red'; \r\n"
            "            } else { \r\n"
            "                tb.innerHTML = '?'; \r\n"
            "                tb.style.color = 'blue'; \r\n"
            "            } \r\n"
            "        } \r\n"
            " \r\n"
            "        // send command to reboot the Ardunio then reload our page after a short while  \r\n"
            "        function onReboot() { \r\n"
            "            if (confirm('Are you sure you want to reboot the Tracker?')) { \r\n"
            " \r\n"
            "                var xhr = new XMLHttpRequest(); \r\n"
            "                xhr.open ('POST', UniqURL('/reboot'), true); \r\n"
            "                xhr.send (); \r\n"
            " \r\n"
            "                byId ('op_message').style.color = 'red'; \r\n"
            " \r\n"
            "                function reloadMessage (n) { \r\n"
            "                    var msg = 'This page will reload in ' + n + ' second' + ((n == 1) ? '' : 's'); \r\n"
            "                    byId ('op_message').innerHTML = msg; \r\n"
            "                    if (n == 0) \r\n"
            "                        location.reload(); \r\n"
            "                    else \r\n"
            "                        setTimeout (function() {reloadMessage(n-1);}, 1000); \r\n"
            "                } \r\n"
            "                reloadMessage(5); \r\n"
            "            } \r\n"
            "        } \r\n"
            " \r\n"
            "        // return why the given text appears not to be a valid TLE, else null \r\n"
            "        function validateTLE (text) { \r\n"
            "            var lines = text.replace(/\\r/g,'').split('\\n'); \r\n"
            "            if (lines.length != 3) \r\n"
            "                return ('TLE must be exactly 3 lines'); \r\n"
            "            var l1 = lines[0].trim(); \r\n"
            "            if (l1.length < 1) \r\n"
            "                return ('Missing name on line 1'); \r\n"
            "            var l2 = lines[1].trim(); \r\n"
            "            if (!TLEChecksum(l2)) \r\n"
            "                return ('Invalid checksum on line 2'); \r\n"
            "            var l3 = lines[2].trim(); \r\n"
            "            if (!TLEChecksum(l3)) \r\n"
            "                return ('Invalid checksum on line 3'); \r\n"
            "            return null;        // ok! \r\n"
            "        } \r\n"
            " \r\n"
            "        // return whether the given line has a valid TLE checksum \r\n"
        ));
        client.print (F(
            "        function TLEChecksum (line) { \r\n"
            "            if (line.length < 69) \r\n"
            "                return false; \r\n"
            "            var scrub = line.replace(/[^\\d-]/g,'').replace(/-/g,'1');        // only digits and - is worth 1 \r\n"
            "            var sl = scrub.length; \r\n"
            "            var sum = 0; \r\n"
            "            for (var i = 0; i < sl-1; i++)                                // last char is checksum itself \r\n"
            "                sum += parseInt(scrub.charAt(i)); \r\n"
            "            return ((sum%10) == parseInt(scrub.charAt(sl-1))); \r\n"
            "        } \r\n"
            " \r\n"
            "        // called when op wants to erase the TLE text entry \r\n"
            "        function onEraseTLE() { \r\n"
            "            byId ('new_TLE').value = ''; \r\n"
            "        } \r\n"
            " \r\n"
            " \r\n"
            "    </script>  \r\n"
            " \r\n"
            "</head> \r\n"
            " \r\n"
            "<body> \r\n"
            " \r\n"
            "    <!-- table floats left, so this actually centers what remains, ie, the skypath canvas --> \r\n"
            "    <center> \r\n"
            " \r\n"
            "    <table> \r\n"
            "        <tr> \r\n"
            "            <td id='title-row' colspan='7' > \r\n"
            "                <table style='border:none;' width='100%'> \r\n"
            "                    <tr> \r\n"
            "                        <td width='25%' style='text-align:left; border:none' > \r\n"
            "                            IP: \r\n"
            "                            <input id='IP' type='text' onkeypress='onIP(1,event)' size='14' > </input> \r\n"
            "                            <button id='IP-set' onclick='onIP(0,event)'>Change</button \r\n"
            "                        </td> \r\n"
            "                        <td width='50%' style='border:none' > \r\n"
            "                            <label id='title-label' title='Version 2020061701' >Autonomous Satellite Tracker</label> \r\n"
            "                            <br> \r\n"
            "                            <label id='title-attrib' > by \r\n"
            "                                <a target='_blank' href='http://www.clearskyinstitute.com/ham'>WB&Oslash;OEW</a> \r\n"
            "                            </label> \r\n"
            "                        </td> \r\n"
            "                        <td width='25%' style='text-align:right; border:none' > \r\n"
            "                            <button id='reboot_b' onclick='onReboot()'> Reboot Tracker </button> \r\n"
            "                            <br> \r\n"
            "                            Up: <label id='uptime' style='padding:10px;'  ></label> \r\n"
            "                        </td> \r\n"
            "                    </tr> \r\n"
        ));
        client.print (F(
            "                    <tr> \r\n"
            "                        <td colspan='3' width='100%' style='text-align:center; border:none'> \r\n"
            "                            <label id='op_message' > Hello </label> \r\n"
            "                        </td> \r\n"
            "                    </tr> \r\n"
            "                </table> \r\n"
            "            </td> \r\n"
            "        </tr> \r\n"
            " \r\n"
            "        <tr class='major-section' > \r\n"
            "            <td colspan='7' style='text-align:left; border-bottom-style:none; font-weight:bold' > \r\n"
            "                <table width='100%' style='border:none'> \r\n"
            "                    <tr> \r\n"
            "                        <td width='33%' style='text-align:left; border:none; font-weight:bold' > \r\n"
            "                            Loaded TLE: \r\n"
            "                        </td> \r\n"
            "                        <td width='33%' style='text-align:center; border:none' > \r\n"
            "                            <button id='tracking' onclick='onTracking()' > </button> \r\n"
            "                        </td> \r\n"
            "                        <td width='33%' style='border-style:none' > \r\n"
            "                        </td> \r\n"
            "                    </tr> \r\n"
            "                </table> \r\n"
            "            </td> \r\n"
            "        </tr> \r\n"
            " \r\n"
            "        <tr> \r\n"
            "            <td colspan='7' style='text-align:center; border:none; padding-bottom:10px' > \r\n"
            "                <textarea id='T_TLE' class='TLE-display' rows='3' cols='69' readonly> \r\n"
            "                </textarea> \r\n"
            "            </td> \r\n"
            "        </tr> \r\n"
            " \r\n"
            "        <tr> \r\n"
            "            <td colspan='7' style='text-align:left; border: none; ' > \r\n"
            "                <table width='100%' style='border:none'> \r\n"
            "                    <tr> \r\n"
            "                        <td style='text-align:left; border:none; font-weight:bold' > \r\n"
            "                            Paste next TLE or find \r\n"
            "                            <input id='target_name' type='text' size='8' > </input> \r\n"
            "                            at \r\n"
            "                            <button onclick='querySite(event)' value='http://amsat.org/amsat/ftp/keps/current/nasa.all'>AMSAT</button> \r\n"
            "                            <button onclick='querySite(event)' value='http://celestrak.com/NORAD/elements/amateur.txt' >Celestrak</button> \r\n"
            "                            or in \r\n"
            "                            <input type='file' id='filesel' onchange='handleFileSelect(this.files[0])' /> \r\n"
        ));
        client.print (F(
            "                            <button onclick='onUploadTLE()'>Upload</button> \r\n"
            "                        </td> \r\n"
            "                        <td style='text-align:right; border:none;' > \r\n"
            "                            <button onclick='onEraseTLE()'>Erase</button> \r\n"
            "                        </td> \r\n"
            "                    </tr> \r\n"
            "                </table> \r\n"
            "            </td> \r\n"
            "        </tr> \r\n"
            " \r\n"
            "        <tr> \r\n"
            "            <td colspan='7' style='text-align:center; border-top-style:none; border-bottom-style:none; padding-bottom:10px' > \r\n"
            "                <textarea id='new_TLE' class='TLE-entry' rows='3' cols='69' > \r\n"
            "                </textarea> \r\n"
            "            </td> \r\n"
            "        </tr> \r\n"
            " \r\n"
            "        <tr class='major-section' > \r\n"
            "            <th class='group-head' > Subsystem </th> \r\n"
            "            <th> Parameter </th> \r\n"
            "            <th> Value </th> \r\n"
            "            <th> Override </th> \r\n"
            "            <th> Parameter </th> \r\n"
            "            <th> Value </th> \r\n"
            "            <th> Override </th> \r\n"
            "        </tr> \r\n"
            " \r\n"
            " \r\n"
            " \r\n"
            "        <tr class='minor-section even-row' > \r\n"
            "            <th rowspan='8' class='group-head' > \r\n"
            "                    Target \r\n"
            "                <br> \r\n"
            "                <label id='T_Status'></label> \r\n"
            "            </th> \r\n"
            " \r\n"
            "            <td class='datum-label' > Azimuth, degrees E of N </td> \r\n"
            "            <td id='T_Az' class='datum' > </td> \r\n"
            "            <td> \r\n"
            "                <input id='T_Az_Ovd' type='text' onkeypress='onOvd(event)' class='override' > \r\n"
            "                </input> \r\n"
            "            </td> \r\n"
            " \r\n"
            "            <td class='datum-label' > Next Rise in H:M:S</td> \r\n"
            "            <td id='T_NextRise' class='datum' > </td> \r\n"
            "            <td></td> \r\n"
            "        </tr> \r\n"
            "        <tr class='odd-row' > \r\n"
            "            <td class='datum-label' > Elevation, degrees Up </td> \r\n"
            "            <td id='T_El' class='datum' > </td> \r\n"
            "            <td> \r\n"
            "                <input id='T_El_Ovd' type='text' onkeypress='onOvd(event)' class='override' > \r\n"
            "                </input> \r\n"
            "            </td> \r\n"
            " \r\n"
            "            <td class='datum-label' > Next Rise Azimuth</td> \r\n"
            "            <td id='T_RiseAz' class='datum' > </td> \r\n"
            "            <td></td> \r\n"
            "        </tr> \r\n"
            "        <tr class='even-row' > \r\n"
            "            <td class='datum-label' > TLE age, days </td> \r\n"
        ));
        client.print (F(
            "            <td id='T_Age' class='datum' > </td> \r\n"
            "            <td></td> \r\n"
            " \r\n"
            "            <td id='T_NextTrans_l' class='datum-label' > Next Transit in </td> \r\n"
            "            <td id='T_NextTrans' class='datum' > </td> \r\n"
            "            <td></td> \r\n"
            "        </tr> \r\n"
            "        <tr class='odd-row' > \r\n"
            "            <td class='datum-label' > Range, km </td> \r\n"
            "            <td id='T_Range' class='datum' > </td> \r\n"
            "            <td></td> \r\n"
            " \r\n"
            "            <td id='T_TransAz_l' class='datum-label' > Next Transit Azimuth </td> \r\n"
            "            <td id='T_TransAz' class='datum' > </td> \r\n"
            "            <td></td> \r\n"
            "        </tr> \r\n"
            "        <tr class='even-row' > \r\n"
            "            <td class='datum-label' > Range rate, m/s</td> \r\n"
            "            <td id='T_RangeR' class='datum' > </td> \r\n"
            "            <td></td> \r\n"
            " \r\n"
            "            <td id='T_TransEl_l' class='datum-label' > Next Transit Elevation </td> \r\n"
            "            <td id='T_TransEl' class='datum' > </td> \r\n"
            "            <td></td> \r\n"
            "        </tr> \r\n"
            "        <tr class='odd-row' > \r\n"
            "            <td class='datum-label' > Doppler, kHz @ 144 MHz</td> \r\n"
            "            <td id='T_VHFDoppler' class='datum' > </td> \r\n"
            "            <td></td> \r\n"
            " \r\n"
            "            <td class='datum-label' > Next Set in </td> \r\n"
            "            <td id='T_NextSet' class='datum' > </td> \r\n"
            "            <td></td> \r\n"
            "        </tr> \r\n"
            "        <tr class='even-row' > \r\n"
            "            <td class='datum-label' > Doppler, kHz @ 440 MHz</td> \r\n"
            "            <td id='T_UHFDoppler' class='datum' > </td> \r\n"
            "            <td></td> \r\n"
            " \r\n"
            "            <td class='datum-label' > Next Set Azimuth</td> \r\n"
            "            <td id='T_SetAz' class='datum' > </td> \r\n"
            "            <td></td> \r\n"
            "        </tr> \r\n"
            "        <tr class='odd-row' > \r\n"
            "            <td class='datum-label' > Sunlit</td> \r\n"
            "            <td id='T_Sunlit' class='datum' > </td> \r\n"
            "            <td></td> \r\n"
            " \r\n"
            "            <td id='T_Up_l' class='datum-label' > Next pass duration </td> \r\n"
            "            <td id='T_Up' class='datum' > </td> \r\n"
            "            <td></td> \r\n"
            "        </tr> \r\n"
            " \r\n"
            " \r\n"
            "        <tr class='minor-section even-row' > \r\n"
            "            <th rowspan='4' class='group-head' > \r\n"
            "                    Spatial sensor \r\n"
            "                <br> \r\n"
            "                <label id='SS_Status'></label> \r\n"
        ));
        client.print (F(
            "                <br> \r\n"
            "                <button id='SS_Save' onclick='onSSSave()' > Save Cal </button> \r\n"
            "            </th> \r\n"
            " \r\n"
            "            <td class='datum-label' > Azimuth, degrees E of N </td> \r\n"
            "            <td id='SS_Az' class='datum' > </td> \r\n"
            "            <td></td> \r\n"
            " \r\n"
            "            <td class='datum-label' > System status, 0 .. 3 </td> \r\n"
            "            <td id='SS_SStatus' class='datum' > </td> \r\n"
            "            <td></td> \r\n"
            "        </tr> \r\n"
            "        <tr class='odd-row' > \r\n"
            "            <td class='datum-label' > Elevation, degrees Up </td> \r\n"
            "            <td id='SS_El' class='datum' > </td> \r\n"
            "            <td></td> \r\n"
            " \r\n"
            "            <td class='datum-label' > Gyro status </td> \r\n"
            "            <td id='SS_GStatus' class='datum' > </td> \r\n"
            "            <td></td> \r\n"
            "        </tr> \r\n"
            "        <tr class='even-row' > \r\n"
            "            <td class='datum-label' > Temperature, degrees C </td> \r\n"
            "            <td id='SS_Temp' class='datum' > </td> \r\n"
            "            <td></td> \r\n"
            " \r\n"
            "            <td class='datum-label' > Magnetometer status </td> \r\n"
            "            <td id='SS_MStatus' class='datum' > </td> \r\n"
            "            <td></td> \r\n"
            "        </tr> \r\n"
            "        <tr class='odd-row' > \r\n"
            "            <td class='datum-label' ></td> \r\n"
            "            <td id='SS_XXX' class='datum' > </td> \r\n"
            "            <td></td> \r\n"
            " \r\n"
            "            <td class='datum-label' > Accelerometer status </td> \r\n"
            "            <td id='SS_AStatus' class='datum' > </td> \r\n"
            "            <td></td> \r\n"
            "        </tr> \r\n"
            " \r\n"
            " \r\n"
            " \r\n"
            " \r\n"
            "        <tr class='minor-section even-row' > \r\n"
            "            <th rowspan='4' class='group-head' > \r\n"
            "                    GPS \r\n"
            "                <br> \r\n"
            "                <label id='GPS_Status'></label> \r\n"
            "                <br> \r\n"
            "                <button id='GPS_Enable' onclick='onGPSEnable()' > Enable </button> \r\n"
            "            </th> \r\n"
            " \r\n"
            "            <td class='datum-label' > UTC, H:M:S </td> \r\n"
            "            <td id='GPS_UTC' class='datum' > </td> \r\n"
            "            <td> \r\n"
            "                <input id='GPS_UTC_Ovd' type='text' onkeypress='onOvd(event)' class='override' > \r\n"
            "                </input> \r\n"
            "            </td> \r\n"
            " \r\n"
            "            <td class='datum-label' > Altitude, m </td> \r\n"
            "            <td id='GPS_Alt' class='datum' > </td> \r\n"
            "            <td> \r\n"
            "                <input id='GPS_Alt_Ovd' type='text' onkeypress='onOvd(event)' class='override' > \r\n"
        ));
        client.print (F(
            "                </input> \r\n"
            "            </td> \r\n"
            "        </tr> \r\n"
            "        <tr class='odd-row' > \r\n"
            "            <td class='datum-label' > Date, Y M D </td> \r\n"
            "            <td id='GPS_Date' class='datum' > </td> \r\n"
            "            <td> \r\n"
            "                <input id='GPS_Date_Ovd' type='text' onkeypress='onOvd(event)' class='override' > \r\n"
            "                </input> \r\n"
            "            </td> \r\n"
            " \r\n"
            "            <td class='datum-label' > Mag decl, true - mag </td> \r\n"
            "            <td id='GPS_MagDecl' class='datum' > </td> \r\n"
            "            <td></td> \r\n"
            "        </tr> \r\n"
            "        <tr class='even-row' > \r\n"
            "            <td class='datum-label' > Latitude, degrees +N </td> \r\n"
            "            <td id='GPS_Lat' class='datum' > </td> \r\n"
            "            <td> \r\n"
            "                <input id='GPS_Lat_Ovd' type='text' onkeypress='onOvd(event)' class='override' > \r\n"
            "                </input> \r\n"
            "            </td> \r\n"
            " \r\n"
            "            <td class='datum-label' > HDOP, ~1 .. 20 </td> \r\n"
            "            <td id='GPS_HDOP' class='datum' > </td> \r\n"
            "            <td></td> \r\n"
            "        </tr> \r\n"
            "        <tr class='odd-row' > \r\n"
            "            <td class='datum-label' > Longitude, degrees +E </td> \r\n"
            "            <td id='GPS_Long' class='datum' > </td> \r\n"
            "            <td> \r\n"
            "                <input id='GPS_Long_Ovd' type='text' onkeypress='onOvd(event)' class='override' > \r\n"
            "                </input> \r\n"
            "            </td> \r\n"
            " \r\n"
            "            <td class='datum-label' > N Satellites </td> \r\n"
            "            <td id='GPS_NSat' class='datum' > </td> \r\n"
            "            <td></td> \r\n"
            "        </tr> \r\n"
            " \r\n"
            " \r\n"
            " \r\n"
            "        <!-- N.B. beware that some ID's are used in a match in onOvd(event) --> \r\n"
            "        <tr class='minor-section even-row ' > \r\n"
            "            <th rowspan='3' class='group-head' > \r\n"
            "                    Gimbal \r\n"
            "                <br> \r\n"
            "                <label id='G_Status'></label> \r\n"
            "            </th> \r\n"
            " \r\n"
            "            <td class='datum-label' > Servo 1 pulse length, &micro;s </td> \r\n"
            "            <td id='G_Mot1Pos' class='datum' > </td> \r\n"
            "            <td> \r\n"
            "                <input id='G_Mot1Pos_Ovd' type='text' onkeypress='onOvd(event)' class='override' > \r\n"
            "                </input> \r\n"
            "            </td> \r\n"
            " \r\n"
            "            <td class='datum-label' > Servo 2 pulse length, &micro;s </td> \r\n"
        ));
        client.print (F(
            "            <td id='G_Mot2Pos' class='datum' > </td> \r\n"
            "            <td> \r\n"
            "                <input id='G_Mot2Pos_Ovd' type='text' onkeypress='onOvd(event)' class='override' > \r\n"
            "                </input> \r\n"
            "            </td> \r\n"
            "        </tr> \r\n"
            "        <tr class='odd-row' > \r\n"
            "            <td class='datum-label' > Servo 1 minimum pulse </td> \r\n"
            "            <td id='G_Mot1Min' class='datum' > </td> \r\n"
            "            <td> \r\n"
            "                <input id='G_Mot1Min_Ovd' type='text' onkeypress='onOvd(event)' class='override' > \r\n"
            "                </input> \r\n"
            "            </td> \r\n"
            " \r\n"
            "            <td class='datum-label' > Servo 2 minimum pulse </td> \r\n"
            "            <td id='G_Mot2Min' class='datum' > </td> \r\n"
            "            <td> \r\n"
            "                <input id='G_Mot2Min_Ovd' type='text' onkeypress='onOvd(event)' class='override' > \r\n"
            "                </input> \r\n"
            "            </td> \r\n"
            "        </tr> \r\n"
            "        <tr class='even-row' > \r\n"
            "            <td class='datum-label' > Servo 1 maximum pulse </td> \r\n"
            "            <td id='G_Mot1Max' class='datum' > </td> \r\n"
            "            <td> \r\n"
            "                <input id='G_Mot1Max_Ovd' type='text' onkeypress='onOvd(event)' class='override' > \r\n"
            "                </input> \r\n"
            "            </td> \r\n"
            " \r\n"
            "            <td class='datum-label' > Servo 2 maximum pulse </td> \r\n"
            "            <td id='G_Mot2Max' class='datum' > </td> \r\n"
            "            <td> \r\n"
            "                <input id='G_Mot2Max_Ovd' type='text' onkeypress='onOvd(event)' class='override' > \r\n"
            "                </input> \r\n"
            "            </td> \r\n"
            "        </tr> \r\n"
            " \r\n"
            "    </table> \r\n"
            " \r\n"
            "</body> \r\n"
            "</html> \r\n"
        ));
	// DO NOT REMOVE THIS LINE 222222222222222222222222222222
}

/* send HTTP header for plain text content
 */
void Webpage::sendPlainHeader (WiFiClient client)
{
	client.print (F(
	    "HTTP/1.0 200 OK \r\n"
	    "Content-Type: text/plain \r\n"
	    "Connection: close \r\n"
	    "\r\n"
	));
}

/* send HTTP header for html content
 */
void Webpage::sendHTMLHeader (WiFiClient client)
{
	client.print (F(
	    "HTTP/1.0 200 OK \r\n"
	    "Content-Type: text/html \r\n"
	    "Connection: close \r\n"
	    "\r\n"
	));
}

/* send empty response
 */
void Webpage::sendEmptyResponse (WiFiClient client)
{
	client.print (F(
	    "HTTP/1.0 200 OK \r\n"
	    "Content-Type: text/html \r\n"
	    "Connection: close \r\n"
	    "Content-Length: 0 \r\n"
	    "\r\n"
	));
}

/* send back error 404 when requested page not found.
 * N.B. important for chrome otherwise it keeps asking for favicon.ico
 */
void Webpage::send404Page (WiFiClient client)
{
	Serial.println ("Sending 404");
	client.print (F(
	    "HTTP/1.0 404 Not Found \r\n"
	    "Content-Type: text/html \r\n"
	    "Connection: close \r\n"
	    "\r\n"
	    "<html> \r\n"
	    "<body> \r\n"
	    "<h2>404: Not found</h2>\r\n \r\n"
	    "</body> \r\n"
	    "</html> \r\n"
	));
}

/* reboot
 */
void Webpage::reboot()
{
	resetWatchdog();
	Serial.println("rebooting");
	delay(5000);
	ESP.restart();
}

More to follow(character limit).

18

Webpage.h

/* this class handles the web page and interactions
 */

#ifndef _WEBPAGE_H
#define _WEBPAGE_H

#include <ESP8266WiFi.h>
#include <WiFiServer.h>
#include <WiFiClient.h>

#include "AutoSatTracker-ESP.h"
#include "Sensor.h"
#include "Circum.h"
#include "Gimbal.h"
#include "Target.h"
#include "NV.h"

// persistent state info to fetch a TLE from a remote web site incrementally
typedef struct {
    bool running;			// set while reading a remote file
    char sat[30];			// scrubbed name of satellite we are looking for
    char buf[200];			// long enough for a complete name and TLE: ~30+70+70
    char *l0, *l1, *l2;			// start of each TLE line within buf[], l0==NULL until complete
    WiFiClient *remote;			// remote connection object
    int lineno;				// show line number as progress
} TLEFetch;

class Webpage
{

    public:

	Webpage();
	void checkEthernet();
	void setUserMessage (const __FlashStringHelper *ifsh);
	void setUserMessage (const __FlashStringHelper *ifsh, const char *msg, char state);

    private:

	WiFiServer *httpServer;

	const __FlashStringHelper *user_message_F;
	char user_message_s[100];

	void startTLEFetch (char *query_text);
	void resumeTLEFetch (void);
	TLEFetch tlef;

	bool connectWiFi();
	void askWiFi();
	void sendAskPage (WiFiClient client);
	void scrub (char *s);
	char readNextClientChar (WiFiClient client, uint32_t *to);
	void overrideValue (WiFiClient client);
	void sendMainPage (WiFiClient client);
	void sendNewValues (WiFiClient client);
	void sendPlainHeader (WiFiClient client);
	void sendHTMLHeader (WiFiClient client);
	void sendEmptyResponse (WiFiClient client);
	void send404Page (WiFiClient client);
	void reboot();
};

extern Webpage *webpage;

#endif // _WEBPAGE_H

More to follow(character limit).

19

This file probably has nothing wrong with it... but it is in a location where it is using variables in files not in the expected place... file references might use relative location, an not hard-coded locations. Try re-doing this in the normal "sketches" folder, and not in your new avr subfolder.

20

magdecl.cpp

/* inline World Magnetic Model good from 2015 through 2020.
 * from http://www.ngdc.noaa.gov
 */


#include <math.h>
#include <stdio.h>
#include <string.h>

#include "AutoSatTracker-ESP.h"

// wmm.cof starting year
static float epoc = 2020.0;

// wmm.cof as two arrays
static const float c0[13][13] = {
    {      0.0, -29404.5,  -2500.0,   1363.9,    903.1,   -234.4,     65.9,     80.6,     23.6,      5.0,     -1.9,      3.0,     -2.0,},
    {   4652.9,  -1450.7,   2982.0,  -2381.0,    809.4,    363.1,     65.6,    -76.8,      9.8,      8.2,     -6.2,     -1.4,     -0.1,},
    {  -2991.6,   -734.8,   1676.8,   1236.2,     86.2,    187.8,     73.0,     -8.3,    -17.5,      2.9,     -0.1,     -2.5,      0.5,},
    {    -82.2,    241.8,   -542.9,    525.7,   -309.4,   -140.7,   -121.5,     56.5,     -0.4,     -1.4,      1.7,      2.4,      1.3,},
    {    282.0,   -158.4,    199.8,   -350.1,     47.9,   -151.2,    -36.2,     15.8,    -21.1,     -1.1,     -0.9,     -0.9,     -1.2,},
    {     47.7,    208.4,   -121.3,     32.2,     99.1,     13.7,     13.5,      6.4,     15.3,    -13.3,      0.6,      0.3,      0.7,},
    {    -19.1,     25.0,     52.7,    -64.4,      9.0,     68.1,    -64.7,     -7.2,     13.7,      1.1,     -0.9,     -0.7,      0.3,},
    {    -51.4,    -16.8,      2.3,     23.5,     -2.2,    -27.2,     -1.9,      9.8,    -16.5,      8.9,      1.9,     -0.1,      0.5,},
    {      8.4,    -15.3,     12.8,    -11.8,     14.9,      3.6,     -6.9,      2.8,     -0.3,     -9.3,      1.4,      1.4,     -0.2,},
    {    -23.3,     11.1,      9.8,     -5.1,     -6.2,      7.8,      0.4,     -1.5,      9.7,    -11.9,     -2.4,     -0.6,     -0.5,},
    {      3.4,     -0.2,      3.5,      4.8,     -8.6,     -0.1,     -4.2,     -3.4,     -0.1,     -8.8,     -3.9,      0.2,      0.1,},
    {     -0.0,      2.6,     -0.5,     -0.4,      0.6,     -0.2,     -1.7,     -1.6,     -3.0,     -2.0,     -2.6,      3.1,     -1.1,},
    {     -1.2,      0.5,      1.3,     -1.8,      0.1,      0.7,     -0.1,      0.6,      0.2,     -0.9,     -0.0,      0.5,     -0.3,},
};

static const float cd0[13][13] = {
    {      0.0,      6.7,    -11.5,      2.8,     -1.1,     -0.3,     -0.6,     -0.1,     -0.1,     -0.1,      0.0,     -0.0,      0.0,},
    {    -25.1,      7.7,     -7.1,     -6.2,     -1.6,      0.6,     -0.4,     -0.3,      0.1,     -0.2,     -0.0,     -0.1,     -0.0,},
    {    -30.2,    -23.9,     -2.2,      3.4,     -6.0,     -0.7,      0.5,     -0.1,     -0.1,     -0.0,     -0.0,     -0.0,     -0.0,},
    {      5.7,     -1.0,      1.1,    -12.2,      5.4,      0.1,      1.4,      0.7,      0.5,      0.4,      0.2,      0.0,      0.0,},
    {      0.2,      6.9,      3.7,     -5.6,     -5.5,      1.2,     -1.4,      0.2,     -0.1,     -0.3,     -0.1,     -0.0,     -0.0,},
    {      0.1,      2.5,     -0.9,      3.0,      0.5,      1.0,     -0.0,     -0.5,      0.4,     -0.0,     -0.2,     -0.1,     -0.0,},
    {      0.1,     -1.8,     -1.4,      0.9,      0.1,      1.0,      0.8,     -0.8,      0.5,      0.3,     -0.0,      0.0,      0.0,},
    {      0.5,      0.6,     -0.7,     -0.2,     -1.2,      0.2,      0.3,      1.0,      0.0,     -0.0,     -0.1,     -0.0,     -0.0,},
    {     -0.3,      0.7,     -0.2,      0.5,     -0.3,     -0.5,      0.4,      0.1,      0.4,     -0.0,     -0.2,     -0.1,      0.0,},
    {     -0.3,      0.2,     -0.4,      0.4,      0.1,     -0.0,     -0.2,      0.5,      0.2,     -0.4,     -0.1,     -0.1,     -0.0,},
    {     -0.0,      0.1,     -0.3,      0.1,     -0.2,      0.1,     -0.0,     -0.1,      0.2,     -0.0,     -0.0,     -0.1,     -0.0,},
    {     -0.0,      0.1,      0.0,      0.2,     -0.0,      0.0,      0.1,     -0.0,     -0.1,      0.0,     -0.0,     -0.1,     -0.0,},
    {     -0.0,      0.0,     -0.1,      0.1,     -0.0,      0.0,     -0.0,      0.1,     -0.0,     -0.0,      0.0,     -0.1,     -0.1,},
};


static int E0000(int *maxdeg, double alt,
double glat, double glon, double t, double *dec, double *mdp, double *ti,
double *gv)
{
     /* N.B. storage types are a tradeoff between stack and program memory.
      * N.B. the algorithm modifies c[][] and cd[][] IN PLACE so they must be inited each time upon entry.
      */
     static int maxord,n,m,j,D1,D2,D3,D4;
     static double c[13][13],cd[13][13],tc[13][13],dp[13][13];
     static double snorm[169],sp[13],cp[13],fn[13],fm[13],pp[13],k[13][13],dtr,a,b,re,
	  a2,b2,c2,a4,b4,c4,flnmj,
	  dt,rlon,rlat,srlon,srlat,crlon,crlat,srlat2,
	  crlat2,q,q1,q2,ct,st,r2,r,d,ca,sa,aor,ar,br,bt,bp,bpp,
	  par,temp1,temp2,parp,bx,by,bz,bh;
     static double *p = snorm;


// GEOMAG:

/* INITIALIZE CONSTANTS */
      maxord = *maxdeg;
      sp[0] = 0.0;
      cp[0] = *p = pp[0] = 1.0;
      dp[0][0] = 0.0;
      a = 6378.137;
      b = 6356.7523142;
      re = 6371.2;
      a2 = a*a;
      b2 = b*b;
      c2 = a2-b2;
      a4 = a2*a2;
      b4 = b2*b2;
      c4 = a4 - b4;

      resetWatchdog();
      for (int i = 0; i < 13; i++) {
	  for (int j = 0; j < 13; j++) {
	      c[i][j] = c0[i][j];
	      cd[i][j] = cd0[i][j];
	  }
      }


/* CONVERT SCHMIDT NORMALIZED GAUSS COEFFICIENTS TO UNNORMALIZED */
      *snorm = 1.0;
      for (n=1; n<=maxord; n++) 
      {
	*(snorm+n) = *(snorm+n-1)*(double)(2*n-1)/(double)n;
	j = 2;
	for (m=0,D1=1,D2=(n-m+D1)/D1; D2>0; D2--,m+=D1) 
	{
	  k[m][n] = (double)(((n-1)*(n-1))-(m*m))/(double)((2*n-1)*(2*n-3));
	  if (m > 0) 
	  {
	    flnmj = (double)((n-m+1)*j)/(double)(n+m);
	    *(snorm+n+m*13) = *(snorm+n+(m-1)*13)*sqrt(flnmj);
	    j = 1;
	    c[n][m-1] = *(snorm+n+m*13)*c[n][m-1];
	    cd[n][m-1] = *(snorm+n+m*13)*cd[n][m-1];
	  }
	  c[m][n] = *(snorm+n+m*13)*c[m][n];
	  cd[m][n] = *(snorm+n+m*13)*cd[m][n];
	}
	fn[n] = (double)(n+1);
	fm[n] = (double)n;
      }
      k[1][1] = 0.0;

/*************************************************************************/

// GEOMG1:

      dt = t - epoc;
      if (dt < 0.0 || dt > 5.0) {
	  *ti = epoc;			/* pass back base time for diag msg */
	  return (-1);
      }

      dtr = M_PI/180.0;
      rlon = glon*dtr;
      rlat = glat*dtr;
      srlon = sin(rlon);
      srlat = sin(rlat);
      crlon = cos(rlon);
      crlat = cos(rlat);
      srlat2 = srlat*srlat;
      crlat2 = crlat*crlat;
      sp[1] = srlon;
      cp[1] = crlon;

/* CONVERT FROM GEODETIC COORDS. TO SPHERICAL COORDS. */
      q = sqrt(a2-c2*srlat2);
      q1 = alt*q;
      q2 = ((q1+a2)/(q1+b2))*((q1+a2)/(q1+b2));
      ct = srlat/sqrt(q2*crlat2+srlat2);
      st = sqrt(1.0-(ct*ct));
      r2 = (alt*alt)+2.0*q1+(a4-c4*srlat2)/(q*q);
      r = sqrt(r2);
      d = sqrt(a2*crlat2+b2*srlat2);
      ca = (alt+d)/r;
      sa = c2*crlat*srlat/(r*d);
      for (m=2; m<=maxord; m++) 
      {
	sp[m] = sp[1]*cp[m-1]+cp[1]*sp[m-1];
	cp[m] = cp[1]*cp[m-1]-sp[1]*sp[m-1];
      }
      aor = re/r;
      ar = aor*aor;
      br = bt = bp = bpp = 0.0;
      for (n=1; n<=maxord; n++) 
      {
	ar = ar*aor;
	for (m=0,D3=1,D4=(n+m+D3)/D3; D4>0; D4--,m+=D3) 
	{
/*
   COMPUTE UNNORMALIZED ASSOCIATED LEGENDRE POLYNOMIALS
   AND DERIVATIVES VIA RECURSION RELATIONS
*/
	  if (n == m) 
	  {
	    *(p+n+m*13) = st**(p+n-1+(m-1)*13);
	    dp[m][n] = st*dp[m-1][n-1]+ct**(p+n-1+(m-1)*13);
	    goto S50;
	  }
	  if (n == 1 && m == 0) 
	  {
	    *(p+n+m*13) = ct**(p+n-1+m*13);
	    dp[m][n] = ct*dp[m][n-1]-st**(p+n-1+m*13);
	    goto S50;
	  }
	  if (n > 1 && n != m) 
	  {
	    if (m > n-2) *(p+n-2+m*13) = 0.0;
	    if (m > n-2) dp[m][n-2] = 0.0;
	    *(p+n+m*13) = ct**(p+n-1+m*13)-k[m][n]**(p+n-2+m*13);
	    dp[m][n] = ct*dp[m][n-1] - st**(p+n-1+m*13)-k[m][n]*dp[m][n-2];
	  }
S50:
/*
    TIME ADJUST THE GAUSS COEFFICIENTS
*/
	  tc[m][n] = c[m][n]+dt*cd[m][n];
	  if (m != 0) tc[n][m-1] = c[n][m-1]+dt*cd[n][m-1];
/*
    ACCUMULATE TERMS OF THE SPHERICAL HARMONIC EXPANSIONS
*/
	  par = ar**(p+n+m*13);
	  if (m == 0) 
	  {
	    temp1 = tc[m][n]*cp[m];
	    temp2 = tc[m][n]*sp[m];
	  }
	  else 
	  {
	    temp1 = tc[m][n]*cp[m]+tc[n][m-1]*sp[m];
	    temp2 = tc[m][n]*sp[m]-tc[n][m-1]*cp[m];
	  }
	  bt = bt-ar*temp1*dp[m][n];
	  bp += (fm[m]*temp2*par);
	  br += (fn[n]*temp1*par);
/*
    SPECIAL CASE:  NORTH/SOUTH GEOGRAPHIC POLES
*/
	  if (st == 0.0 && m == 1) 
	  {
	    if (n == 1) pp[n] = pp[n-1];
	    else pp[n] = ct*pp[n-1]-k[m][n]*pp[n-2];
	    parp = ar*pp[n];
	    bpp += (fm[m]*temp2*parp);
	  }
	}
      }
      if (st == 0.0) bp = bpp;
      else bp /= st;
/*
    ROTATE MAGNETIC VECTOR COMPONENTS FROM SPHERICAL TO
    GEODETIC COORDINATES
*/
      bx = -bt*ca-br*sa;
      by = bp;
      bz = bt*sa-br*ca;
/*
    COMPUTE DECLINATION (DEC), INCLINATION (DIP) AND
    TOTAL INTENSITY (TI)
*/
      bh = sqrt((bx*bx)+(by*by));
      *ti = sqrt((bh*bh)+(bz*bz));
      *dec = atan2(by,bx)/dtr;
      *mdp = atan2(bz,bh)/dtr;
/*
    COMPUTE MAGNETIC GRID VARIATION IF THE CURRENT
    GEODETIC POSITION IS IN THE ARCTIC OR ANTARCTIC
    (I.E. GLAT > +55 DEGREES OR GLAT < -55 DEGREES)

    OTHERWISE, SET MAGNETIC GRID VARIATION TO -999.0
*/
      *gv = -999.0;
      if (fabs(glat) >= 55.) 
      {
	if (glat > 0.0 && glon >= 0.0) *gv = *dec-glon;
	if (glat > 0.0 && glon < 0.0) *gv = *dec+fabs(glon);
	if (glat < 0.0 && glon >= 0.0) *gv = *dec+glon;
	if (glat < 0.0 && glon < 0.0) *gv = *dec-fabs(glon);
	if (*gv > +180.0) *gv -= 360.0;
	if (*gv < -180.0) *gv += 360.0;
      }
      return (0);
}


/* compute magnetic declination for given location, elevation and time.
 * sign is such that mag bearing = true az + mag deviation.
 * return 0 if ok.
 */
int
magdecl (
double l, double L,		/* geodesic lat, +N, long, +E, degrees */
double e,			/* elevation, m */
double y,			/* time, decimal year */
double *mdp			/* return magnetic deviation, degrees E of N */
)
{
	double alt = e/1000.;
	double dp, ti, gv;
	int maxdeg = 12;

	int ok = E0000(&maxdeg,alt,l,L,y,mdp,&dp,&ti,&gv);
	return (ok);
}

#ifdef TEST_MAIN

#include <stdlib.h>

/* stand-alone test program
 */

int main (int ac, char *av[])
{
	if (ac != 5) {
	    char *slash = strrchr (av[0], '/');
	    char *base = slash ? slash+1 : av[0];
	    fprintf (stderr, "Purpose: test stand-alone magnetic declination model.\n");
	    fprintf (stderr, "Usage: %s lat_degsN lng_degsE elevation_m decimal_year\n", base);
	    exit(1);
	}

	double l = atof (av[1]);
	double L = atof (av[2]);
	double e = atof (av[3]);
	double y = atof (av[4]);
	double mdp;

	int ok = magdecl (l, L, e, y, &mdp);

	printf ("%d %g\n", ok, mdp);

	return (!!ok);
}

#endif // TEST_MAIN

More to follow(character limit).