V1.13.7 - Added Az/Alt homing support (#248)

Changelog.md

@@ -1,3 +1,6 @@
+**V1.13.7 - Updates**
+- Added ability to keep track of AZ and ALT positions across sessions, set their home positions and slew back to their home positions.
+
 **V1.13.6 - Updates**
 - Added ability to query homing status during autohoming (:XGAH#)
 - Fixed a bug in autohoming that would make it fail if it did not pass over the sensor during the initial 30 degree search

Version.h

@@ -3,4 +3,4 @@
 // Also, numbers are interpreted as simple numbers.                        _   __   _
 // So 1.8 is actually 1.08, meaning that 1.12 is a later version than 1.8.  \_(..)_/
 
-#define VERSION "V1.13.6"
+#define VERSION "V1.13.7"

src/EPROMStore.cpp

@@ -139,6 +139,8 @@ void EEPROMStore::displayContents()
     LOG(DEBUG_INFO, "[EEPROM]: Stored Pitch Calibration Angle: %f", getPitchCalibrationAngle());
     LOG(DEBUG_INFO, "[EEPROM]: Stored Roll Calibration Angle: %f", getRollCalibrationAngle());
     LOG(DEBUG_INFO, "[EEPROM]: Stored RA Homing Offset: %l", getRAHomingOffset());
+    LOG(DEBUG_INFO, "[EEPROM]: Stored AZ Position: %l", getAZPosition());
+    LOG(DEBUG_INFO, "[EEPROM]: Stored ALT Position: %l", getALTPosition());
     LOG(DEBUG_INFO, "[EEPROM]: Stored DEC Homing Offset : %l", getDECHomingOffset());
     LOG(DEBUG_INFO, "[EEPROM]: Stored DEC Lower Limit: %l", getDECLowerLimit());
     LOG(DEBUG_INFO, "[EEPROM]: Stored DEC Upper Limit: %l", getDECUpperLimit());
@@ -794,3 +796,59 @@ void EEPROMStore::storeDECHomingOffset(int32_t decHomingOffset)
     updateFlagsExtended(DEC_HOMING_MARKER_FLAG);
     commit();  // Complete the transaction
 }
+
+// Get the current AZ position from home (in steps)
+int32_t EEPROMStore::getAZPosition()
+{
+    int32_t azPosition(0);  // microsteps (slew)
+
+    if (isPresentExtended(AZ_POSITION_MARKER_FLAG))
+    {
+        azPosition = readInt32(AZ_POSITION_ADDR);
+        LOG(DEBUG_EEPROM, "[EEPROM]: AZ position read as %l", azPosition);
+    }
+    else
+    {
+        LOG(DEBUG_EEPROM, "[EEPROM]: No stored values for AZ position");
+    }
+
+    return azPosition;  // microsteps (slew)
+}
+
+// Store the current AZ position (in steps)
+void EEPROMStore::storeAZPosition(int32_t azPosition)
+{
+    LOG(DEBUG_EEPROM, "[EEPROM]: Write: Updating AZ Position to %l", azPosition);
+
+    updateInt32(AZ_POSITION_ADDR, azPosition);
+    updateFlagsExtended(AZ_POSITION_MARKER_FLAG);
+    commit();  // Complete the transaction
+}
+
+// Get the current ALT position from home (in steps)
+int32_t EEPROMStore::getALTPosition()
+{
+    int32_t altPosition(0);  // microsteps (slew)
+
+    if (isPresentExtended(ALT_POSITION_MARKER_FLAG))
+    {
+        altPosition = readInt32(ALT_POSITION_ADDR);
+        LOG(DEBUG_EEPROM, "[EEPROM]: ALT position read as %l", altPosition);
+    }
+    else
+    {
+        LOG(DEBUG_EEPROM, "[EEPROM]: No stored values for ALT position");
+    }
+
+    return altPosition;  // microsteps (slew)
+}
+
+// Store the current ALT position in steps
+void EEPROMStore::storeALTPosition(int32_t altPosition)
+{
+    LOG(DEBUG_EEPROM, "[EEPROM]: Write: Updating ALT Position to %l", altPosition);
+
+    updateInt32(ALT_POSITION_ADDR, altPosition);
+    updateFlagsExtended(ALT_POSITION_MARKER_FLAG);
+    commit();  // Complete the transaction
+}

src/EPROMStore.hpp

@@ -62,6 +62,12 @@ class EEPROMStore
     static int16_t getLastFlashedVersion();
     static void storeLastFlashedVersion(int16_t lastVersion);
 
+    static int32_t getAZPosition();
+    static void storeAZPosition(int32_t azPosition);
+
+    static int32_t getALTPosition();
+    static void storeALTPosition(int32_t altPosition);
+
   private:
     /////////////////////////////////
     //
@@ -85,7 +91,9 @@ class EEPROMStore
     // If Location 5 is 0xCF, then an extended 16-bit flag is stored in 21/22 and
     // indicates the additional fields that have been stored: 0000 0000 0000 0000
     //                                                        ^^^^ ^^^^ ^^^^ ^^^^
-    //                                                                  |||| ||||
+    //                                                               || |||| ||||
+    //                           ALT position (62-65) ---------------+| |||| ||||
+    //                            AZ Position (58-61) ----------------+ |||| ||||
     //                   Last flashed version (56-57) ------------------+||| ||||
     //                       DEC Homing Offet (52-55) -------------------+|| ||||
     //      DEC Steps/deg, normalized to 256MS (48-51) -------------------+| ||||
@@ -127,6 +135,8 @@ class EEPROMStore
         DEC_NORM_STEPS_MARKER_FLAG = 0x0020,
         DEC_HOMING_MARKER_FLAG     = 0x0040,
         LAST_FLASHED_MARKER_FLAG   = 0x0080,
+        AZ_POSITION_MARKER_FLAG    = 0x0100,
+        ALT_POSITION_MARKER_FLAG   = 0x0200,
     };
 
     // These are the offsets to each item stored in the EEPROM
@@ -191,7 +201,15 @@ class EEPROMStore
         _DEC_HOMING_OFFSET_ADDR_3,  // Int32
         LAST_FLASHED_VERSION = 56,
         _LAST_FLASHED_VERSION_1,
-        STORE_SIZE = 64
+        AZ_POSITION_ADDR = 58,
+        _AZ_POSITION_ADDR_1,
+        _AZ_POSITION_ADDR_2,
+        _AZ_POSITION_ADDR_3,
+        ALT_POSITION_ADDR = 62,
+        _ALT_POSITION_ADDR_1,
+        _ALT_POSITION_ADDR_2,
+        _ALT_POSITION_ADDR_3,
+        STORE_SIZE = 66
     };
 
     // Helper functions

src/MeadeCommandProcessor.cpp

@@ -544,6 +544,14 @@ bool gpsAqcuisitionComplete(int &indicator);  // defined in c72_menuHA_GPS.hpp
 //        "1" if search is started
 //        "0" if homing has not been enabled in the local config
 //
+// :MAAH#
+//      Description:
+//        Move Azimuth and Altitude to home
+//      Information:
+//        If the scope supports automated azimuth and altitutde operations, move AZ and ALT axis to their zero positions.
+//      Returns:
+//        "1"
+//
 // :MAZn.nn#
 //      Description:
 //        Move Azimuth
@@ -587,7 +595,7 @@ bool gpsAqcuisitionComplete(int &indicator);  // defined in c72_menuHA_GPS.hpp
 //        nothing
 //
 //------------------------------------------------------------------
-// PARK Extensions
+// HOME/PARK Extensions
 //
 // :hU#
 //      Description:
@@ -597,6 +605,14 @@ bool gpsAqcuisitionComplete(int &indicator);  // defined in c72_menuHA_GPS.hpp
 //      Returns:
 //        "1"
 //
+// :hZ#
+//      Description:
+//        Set home position for AZ and ALT axes
+//      Information:
+//        If the mount supports AZ and ALT axes, this call sets their positions to 0 and stores this in persistent storage.
+//      Returns:
+//        "1"
+//
 //------------------------------------------------------------------
 // QUIT MOVEMENT FAMILY
 //
@@ -710,6 +726,15 @@ bool gpsAqcuisitionComplete(int &indicator);  // defined in c72_menuHA_GPS.hpp
 //        "1#" if succsessful
 //        "0#" if there is no Digital Level
 //
+// :XGAA#
+//      Description:
+//        Get position of AZ and ALT axes
+//      Information:
+//        Get the current position in steps of the AZ and ALT axes if they are enabled.
+//        If an axis is not enabled, this always returns zero as the axis's value.
+//      Returns:
+//        "azpos|altpos#" if either axis is enabled
+//
 // :XGAH#
 //      Description:
 //        Get auto homing state
@@ -730,7 +755,7 @@ bool gpsAqcuisitionComplete(int &indicator);  // defined in c72_menuHA_GPS.hpp
 //          FINDING_START_REVERSE
 //          FINDING_END
 //          RANGE_FOUND
-//          
+//
 //        If the mount status (:GX#) is not 'Homing' the command returns one of these:
 //          SUCCEEDED
 //          NEVER RUN
@@ -1544,6 +1569,13 @@ String MeadeCommandProcessor::handleMeadeMovement(String inCmd)
     {
         LOG(DEBUG_MEADE, "[MEADE]: Move Az/Alt");
 
+        if (inCmd[1] == 'A')  // :MAA
+        {
+            LOG(DEBUG_MEADE, "[MEADE]: Move AZ and ALT to home");
+            _mount->moveAZALTToHome();
+            return "1";
+        }
+
         // Move Azimuth or Altitude by given arcminutes
         // :MAZ+32.1# or :MAL-32.1#
 #if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
@@ -1653,19 +1685,24 @@ String MeadeCommandProcessor::handleMeadeMovement(String inCmd)
 /////////////////////////////
 String MeadeCommandProcessor::handleMeadeHome(String inCmd)
 {
-    if (inCmd[0] == 'P')
-    {  // Park
+    if (inCmd[0] == 'P')  // :hP
+    {                     // Park
         _mount->park();
     }
-    else if (inCmd[0] == 'F')
-    {  // Home
+    else if (inCmd[0] == 'F')  // :hF
+    {                          // Home
         _mount->startSlewingToHome();
     }
-    else if (inCmd[0] == 'U')
-    {  // Unpark
+    else if (inCmd[0] == 'U')  // :hU
+    {                          // Unpark
         _mount->startSlewing(TRACKING);
         return "1";
     }
+    else if (inCmd[0] == 'Z')  // :hZ
+    {                          // Set AZ/ALT home
+        _mount->setAZALTHome();
+        return "1";
+    }
     return "";
 }
 
@@ -1780,6 +1817,14 @@ String MeadeCommandProcessor::handleMeadeExtraCommands(String inCmd)
         {
             return _mount->getAutoHomingStates() + "#";
         }
+        else if ((inCmd[1] == 'A') && (inCmd.length() > 2) && (inCmd[2] == 'A'))  // :XGAA#
+        {
+            long azPos, altPos;
+            _mount->getAZALTPositions(azPos, altPos);
+            char scratchBuffer[20];
+            sprintf(scratchBuffer, "%ld|%ld#", azPos, altPos);
+            return String(scratchBuffer);
+        }
         else if (inCmd[1] == 'C')  // :XGCn.nn*m.mm#
         {
             String coords = inCmd.substring(2);

src/Mount.cpp

@@ -182,6 +182,13 @@ void Mount::readPersistentData()
         LOG(DEBUG_INFO, "[MOUNT]: EEPROM: New Flash detected! Flashed from %d to %d.", lastFlashed, version);
         // Write upgrade code here if needed. lastFlashed is 0 if we have never flashed V1.14.x and beyond
         EEPROMStore::storeLastFlashedVersion(version);
+        if (lastFlashed < 11307)
+        {
+            LOG(DEBUG_INFO, "[MOUNT]: EEPROM: First time post 1.13.6, setting AZ and ALT home to 0");
+            // Introduced these two in 1.13.7
+            EEPROMStore::storeALTPosition(0);
+            EEPROMStore::storeAZPosition(0);
+        }
     }
     else
     {
@@ -230,6 +237,16 @@ void Mount::readPersistentData()
     }
     LOG(DEBUG_INFO, "[MOUNT]: EEPROM: DEC limits read as %l -> %l", _decLowerLimit, _decUpperLimit);
 
+#if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
+    long altPos = EEPROMStore::getALTPosition();
+    _stepperALT->setCurrentPosition(altPos);
+#endif
+
+#if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
+    long azPos = EEPROMStore::getAZPosition();
+    _stepperAZ->setCurrentPosition(azPos);
+#endif
+
     configureHemisphere(_latitude.getTotalHours() > 0);
 }
 
@@ -1772,6 +1789,44 @@ void Mount::setSpeed(StepperAxis which, float speedDegsPerSec)
 #endif
 }
 
+void Mount::getAZALTPositions(long &azPos, long &altPos)
+{
+#if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
+    azPos = _stepperAZ->currentPosition();
+#else
+    azPos  = 0;
+#endif
+#if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
+    altPos = _stepperALT->currentPosition();
+#else
+    altPos = 0;
+#endif
+}
+
+void Mount::moveAZALTToHome()
+{
+#if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
+    enableAzAltMotors();
+    _stepperAZ->moveTo(0);
+#endif
+#if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
+    enableAzAltMotors();
+    _stepperALT->moveTo(0);
+#endif
+}
+
+void Mount::setAZALTHome()
+{
+#if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
+    _stepperAZ->setCurrentPosition(0);
+    EEPROMStore::storeAZPosition(0);
+#endif
+#if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
+    _stepperALT->setCurrentPosition(0);
+    EEPROMStore::storeALTPosition(0);
+#endif
+}
+
 /////////////////////////////////
 //
 // park
@@ -2814,6 +2869,8 @@ void Mount::loop()
         // One of the motors was running last time through the loop, but not anymore, so shutdown the outputs.
         disableAzAltMotors();
         _azAltWasRunning = false;
+        EEPROMStore::storeAZPosition(_stepperAZ->currentPosition());
+        EEPROMStore::storeALTPosition(_stepperALT->currentPosition());
     }
 
     oneIsRunning = false;
@@ -2854,12 +2911,18 @@ void Mount::loop()
     if (isGuiding())
     {
         now                 = millis();
-        bool stopRaGuiding  = now > _guideRaEndTime;
-        bool stopDecGuiding = now > _guideDecEndTime;
+        bool stopRaGuiding  = (now > _guideRaEndTime) && (_mountStatus & STATUS_GUIDE_PULSE_RA);
+        bool stopDecGuiding = (now > _guideDecEndTime) && (_mountStatus & STATUS_GUIDE_PULSE_DEC);
         if (stopRaGuiding || stopDecGuiding)
         {
             stopGuiding(stopRaGuiding, stopDecGuiding);
         }
+        else
+        {
+#if INFO_DISPLAY_TYPE != INFO_DISPLAY_TYPE_NONE
+            updateInfoDisplay();
+#endif
+        }
         return;
     }
 

src/Mount.hpp

@@ -301,6 +301,11 @@ class Mount
     // Sends the mount to the home position
     void startSlewingToHome();
 
+    // Move AZ and ALT motors to their zero position
+    void moveAZALTToHome();
+    void getAZALTPositions(long &azPos, long &altPos);
+    void setAZALTHome();
+
     // Various status query functions
     bool isSlewingRAorDEC() const;
     bool isSlewingIdle() const;