V1.13 Firmware updates (#239)

Author: ClutchplateDude

Changelog.md

@@ -1,3 +1,17 @@
+**V1.13.0 - Updates**
+NOTE: Make sure to do a Factory Reset when using this version.
+- Sped up ESP32 stepper code.
+- Re-instate some defines that were inadvertantly removed.
+- Ported some bug fix code from the LCD branch (e.g. track on boot)
+- Potentially some DEC guide issues were fixed.
+- Inadvertantly removed some default #defines. Put them back.
+- Allow new stepper lib to be enabled by via #define
+- Added ability to detect new firmware flashed
+- Removed/disabled parking offset variable and commands, use home offset instead
+- Fixed Park command to slew home and then to the parking position (home offset)
+- Re-integrated old stepper library
+
+
 **V1.12.17 - Updates**
 - Fixed a bug that prevented clients from writing the DEC offset.
 
@@ -29,7 +43,7 @@
 **V1.12.12 - Updates**
 - Change MKS Gen L v1.0, v2.0, v2.1 default separate debug serial port from `Serial3` to `Serial2`.
 
-- **V1.12.11 - Updates**
+**V1.12.11 - Updates**
 - Allowed the active state of the hall sensors for auto homing RA and DEC to be configured.
 
 **V1.12.10 - Updates**

ConfigurationValidation.hpp

@@ -434,3 +434,13 @@
         #endif
     #endif
 #endif
+
+// For OAT, we must have DEC limits defined, otherwise free slew does nto work.
+#ifndef OAM
+    #ifndef DEC_LIMIT_UP
+        #error "You must set DEC_LIMIT_UP to the number of degrees that your OAT can move upwards from the home position."
+    #endif
+    #ifndef DEC_LIMIT_DOWN
+        #error "You must set DEC_LIMIT_DOWN to the number of degrees that your OAT can move downwards from the home position."
+    #endif
+#endif

Configuration_adv.hpp

@@ -226,10 +226,18 @@
 #endif
 
 #ifndef DEC_LIMIT_UP
-    #define DEC_LIMIT_UP 0.0f
+    #ifdef OAM
+        #define DEC_LIMIT_UP 100.0f
+    #else
+        #define DEC_LIMIT_UP 0.0f
+    #endif
 #endif
 #ifndef DEC_LIMIT_DOWN
-    #define DEC_LIMIT_DOWN 0.0f
+    #ifdef OAM
+        #define DEC_LIMIT_DOWN 100.0f
+    #else
+        #define DEC_LIMIT_DOWN 0.0f
+    #endif
 #endif
 
 ////////////////////////////
@@ -318,11 +326,10 @@
         #define AZ_STEPPER_ACCELERATION (100 * AZ_MICROSTEPPING)
     #endif
 
+    // the Circumference of the AZ rotation. 808mm dia.
     #ifndef AZ_CIRCUMFERENCE
-        // the Circumference of the AZ rotation. 808mm dia.
         #define AZ_CIRCUMFERENCE 2538.4f
     #endif
-
     #ifndef AZIMUTH_STEPS_PER_REV
         #define AZIMUTH_STEPS_PER_REV                                                                                                      \
             (AZ_CORRECTION_FACTOR * (AZ_CIRCUMFERENCE / (AZ_PULLEY_TEETH * GT2_BELT_PITCH)) * AZ_STEPPER_SPR                               \

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 "V1.12.17"
+#define VERSION "V1.13.0"

src/Core.cpp

@@ -18,7 +18,8 @@
 #include "c_buttons.hpp"
 #include "f_serial.hpp"
 
-#ifdef ARDUINO_ARCH_AVR
+#ifdef NEW_STEPPER_LIB
+    #ifdef ARDUINO_ARCH_AVR
 ISR(TIMER1_OVF_vect)
 {
     IntervalInterrupt_AVR<Timer::TIMER_1>::handle_overflow();
@@ -51,4 +52,5 @@ ISR(TIMER5_COMPA_vect)
 {
     IntervalInterrupt_AVR<Timer::TIMER_5>::handle_compare_match();
 }
+    #endif
 #endif

src/EPROMStore.cpp

@@ -138,10 +138,11 @@ void EEPROMStore::displayContents()
     LOG(DEBUG_INFO, "[EEPROM]: Stored Longitude: %s", getLongitude().ToString());
     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 Parking Position: %l", getRAParkingPos());
-    LOG(DEBUG_INFO, "[EEPROM]: Stored DEC Parking Position: %l", getDECParkingPos());
+    LOG(DEBUG_INFO, "[EEPROM]: Stored RA Homing Offset: %l", getRAHomingOffset());
+    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());
+    LOG(DEBUG_INFO, "[EEPROM]: Stored Last Flashed Version: %d", getLastFlashedVersion());
 #endif
 }
 
@@ -412,7 +413,7 @@ float EEPROMStore::getRAStepsPerDegree()
 void EEPROMStore::storeRAStepsPerDegree(float raStepsPerDegree)
 {
     // Store steps as 100x steps/deg at 256 MS.
-    const float factor = SteppingStorageNormalized / RA_TRACKING_MICROSTEPPING;
+    const float factor = SteppingStorageNormalized / RA_SLEW_MICROSTEPPING;
     int32_t val        = raStepsPerDegree * factor;
     LOG(DEBUG_EEPROM, "[EEPROM]: Storing RA steps to %l (%f)", val, raStepsPerDegree);
 
@@ -430,7 +431,7 @@ float EEPROMStore::getDECStepsPerDegree()
     if (isPresentExtended(DEC_NORM_STEPS_MARKER_FLAG))
     {
         // This version stored 100x steps/deg for 256 MS
-        const float factor = SteppingStorageNormalized / DEC_GUIDE_MICROSTEPPING;
+        const float factor = SteppingStorageNormalized / DEC_SLEW_MICROSTEPPING;
         decStepsPerDegree  = readInt32(DEC_NORM_STEPS_DEGREE_ADDR) / factor;
         LOG(DEBUG_EEPROM, "[EEPROM]: DEC Normed Marker Present! DEC steps/deg is %f", decStepsPerDegree);
     }
@@ -451,7 +452,7 @@ float EEPROMStore::getDECStepsPerDegree()
 // Store the DEC steps per degree for guiding (actually microsteps per degree).
 void EEPROMStore::storeDECStepsPerDegree(float decStepsPerDegree)
 {
-    const float factor = SteppingStorageNormalized / DEC_GUIDE_MICROSTEPPING;
+    const float factor = SteppingStorageNormalized / DEC_SLEW_MICROSTEPPING;
     int32_t val        = decStepsPerDegree * factor;
     LOG(DEBUG_EEPROM, "[EEPROM]: Storing DEC steps to %l (%f)", val, decStepsPerDegree);
 
@@ -460,6 +461,30 @@ void EEPROMStore::storeDECStepsPerDegree(float decStepsPerDegree)
     commit();  // Complete the transaction
 }
 
+int16_t EEPROMStore::getLastFlashedVersion()
+{
+    if (isPresentExtended(LAST_FLASHED_MARKER_FLAG))
+    {
+        // This version stored 100x steps/deg for 256 MS
+        int16_t version = readInt16(LAST_FLASHED_VERSION);
+        LOG(DEBUG_EEPROM, "[EEPROM]: Last Flashed version Marker Present! last version %d", version);
+        return version;
+    }
+    else
+    {
+        LOG(DEBUG_EEPROM, "[EEPROM]: No stored value for Last Flashed Version");
+    }
+    return 0;
+}
+
+void EEPROMStore::storeLastFlashedVersion(int16_t version)
+{
+    LOG(DEBUG_EEPROM, "[EEPROM]: Storing Last flashed version (%d)", version);
+    updateInt16(LAST_FLASHED_VERSION, version);
+    updateFlagsExtended(LAST_FLASHED_MARKER_FLAG);
+    commit();  // Complete the transaction
+}
+
 // Return the Speed Factor scalar (dimensionless).
 // If it is not present then the default uncalibrated value of 1.0 is returned.
 float EEPROMStore::getSpeedFactor()
@@ -652,68 +677,6 @@ void EEPROMStore::storeRollCalibrationAngle(float rollCalibrationAngle)
     commit();  // Complete the transaction
 }
 
-// Return the stored RA Parking Pos (slew microsteps relative to home).
-// If it is not present then the default value of 0 steps.
-int32_t EEPROMStore::getRAParkingPos()
-{
-    int32_t raParkingPos(0);  // microsteps (slew)
-
-    // Note that flags doesn't verify that _both_ RA & DEC parking have been written - these should always be stored as a pair
-    if (isPresentExtended(PARKING_POS_MARKER_FLAG))
-    {
-        raParkingPos = readInt32(RA_PARKING_POS_ADDR);
-        LOG(DEBUG_EEPROM, "[EEPROM]: RA Parking position read as %l", raParkingPos);
-    }
-    else
-    {
-        LOG(DEBUG_EEPROM, "[EEPROM]: No stored value for Parking position");
-    }
-
-    return raParkingPos;  // microsteps (slew)
-}
-
-// Store the configured RA Parking Pos (slew microsteps relative to home).
-void EEPROMStore::storeRAParkingPos(int32_t raParkingPos)
-{
-    LOG(DEBUG_EEPROM, "[EEPROM]: Updating RA Parking Pos to %l", raParkingPos);
-
-    // Note that flags doesn't verify that _both_ RA & DEC parking have been written - these should always be stored as a pair
-    updateInt32(RA_PARKING_POS_ADDR, raParkingPos);
-    updateFlagsExtended(PARKING_POS_MARKER_FLAG);
-    commit();  // Complete the transaction
-}
-
-// Return the stored DEC Parking Pos (slew microsteps relative to home).
-// If it is not present then the default value of 0 steps.
-int32_t EEPROMStore::getDECParkingPos()
-{
-    int32_t decParkingPos(0);  // microsteps (slew)
-
-    // Note that flags doesn't verify that _both_ RA & DEC parking have been written - these should always be stored as a pair
-    if (isPresentExtended(PARKING_POS_MARKER_FLAG))
-    {
-        decParkingPos = readInt32(DEC_PARKING_POS_ADDR);
-        LOG(DEBUG_EEPROM, "[EEPROM]: DEC Parking position read as %l", decParkingPos);
-    }
-    else
-    {
-        LOG(DEBUG_EEPROM, "[EEPROM]: No stored value for Parking position");
-    }
-
-    return decParkingPos;  // microsteps (slew)
-}
-
-// Store the configured DEC Parking Pos (slew microsteps relative to home).
-void EEPROMStore::storeDECParkingPos(int32_t decParkingPos)
-{
-    LOG(DEBUG_EEPROM, "[EEPROM]: Updating DEC Parking Pos to %l", decParkingPos);
-
-    // Note that flags doesn't verify that _both_ RA & DEC parking have been written - these should always be stored as a pair
-    updateInt32(DEC_PARKING_POS_ADDR, decParkingPos);
-    updateFlagsExtended(PARKING_POS_MARKER_FLAG);
-    commit();  // Complete the transaction
-}
-
 // Return the stored DEC Lower Limit (slew microsteps relative to home).
 // If it is not present then the default value of 0 steps (limits are disabled).
 float EEPROMStore::getDECLowerLimit()

src/EPROMStore.hpp

@@ -47,12 +47,6 @@ class EEPROMStore
     static float getRollCalibrationAngle();
     static void storeRollCalibrationAngle(float rollCalibrationAngle);
 
-    static int32_t getRAParkingPos();
-    static void storeRAParkingPos(int32_t raParkingPos);
-
-    static int32_t getDECParkingPos();
-    static void storeDECParkingPos(int32_t decParkingPos);
-
     static float getDECLowerLimit();
     static void storeDECLowerLimit(float decLowerLimit);
 
@@ -65,6 +59,9 @@ class EEPROMStore
     static int32_t getDECHomingOffset();
     static void storeDECHomingOffset(int32_t decHomingOffset);
 
+    static int16_t getLastFlashedVersion();
+    static void storeLastFlashedVersion(int16_t lastVersion);
+
   private:
     /////////////////////////////////
     //
@@ -88,11 +85,15 @@ 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
     //                                                        ^^^^ ^^^^ ^^^^ ^^^^
-    //                                                                       ||||
+    //                                                                  |||| ||||
+    //                   Last flashed version (56-57) ------------------+||| ||||
+    //                       DEC Homing Offet (52-55) -------------------+|| ||||
+    //      DEC Steps/deg, normalized to 256MS (48-51) -------------------+| ||||
+    //       RA Steps/deg, normalized to 256MS (44-47) --------------------+ ||||
     //                        RA Homing Offet (40-43) -----------------------+|||
     //                                UTC Offset (39) ------------------------+||
     //     DEC lower (31-34) and upper (35-38) limits -------------------------+|
-    //     RA (23-26) and DEC (27-30) Parking offsets --------------------------+
+    //     RA (23-26) and DEC (27-30) Parking offsets --------------------------+   ( ==== Obsolete V1.13.0 and beyond ==== )
     //
     /////////////////////////////////
 
@@ -125,6 +126,7 @@ class EEPROMStore
         RA_NORM_STEPS_MARKER_FLAG  = 0x0010,
         DEC_NORM_STEPS_MARKER_FLAG = 0x0020,
         DEC_HOMING_MARKER_FLAG     = 0x0040,
+        LAST_FLASHED_MARKER_FLAG   = 0x0080,
     };
 
     // These are the offsets to each item stored in the EEPROM
@@ -187,6 +189,8 @@ class EEPROMStore
         _DEC_HOMING_OFFSET_ADDR_1,
         _DEC_HOMING_OFFSET_ADDR_2,
         _DEC_HOMING_OFFSET_ADDR_3,  // Int32
+        LAST_FLASHED_VERSION = 56,
+        _LAST_FLASHED_VERSION_1,
         STORE_SIZE = 64
     };
 

src/InterruptAccelStepper.h

@@ -8,10 +8,12 @@
 #include <stdint.h>
 #include <math.h>
 
-#define SIGN(x) ((x >= 0) ? 1 : -1)
+#ifdef NEW_STEPPER_LIB
 
-// minimal stepping frequency (steps/s) based on cpu frequency, timer counter overflow and max amount of overflows
-#define MIN_STEPS_PER_SEC (static_cast<float>(F_CPU) / (static_cast<long>(UINT16_MAX) * static_cast<long>(UINT8_MAX)))
+    #define SIGN(x) ((x >= 0) ? 1 : -1)
+
+    // minimal stepping frequency (steps/s) based on cpu frequency, timer counter overflow and max amount of overflows
+    #define MIN_STEPS_PER_SEC (static_cast<float>(F_CPU) / (static_cast<long>(UINT16_MAX) * static_cast<long>(UINT8_MAX)))
 
 template <typename STEPPER> class InterruptAccelStepper
 {
@@ -144,5 +146,6 @@ template <typename STEPPER> class InterruptAccelStepper
         return STEPPER::isRunning();
     }
 };
+#endif
 
 #endif  //AVR_INTERRUPT_STEPPER_INTERRUPTACCELSTEPPER_H

src/InterruptCallback.cpp

@@ -0,0 +1,51 @@
+#include "../Configuration.hpp"
+#include "Utility.hpp"
+#include "InterruptCallback.hpp"
+
+//////////////////////////////////////
+// This is an hardware-independent abstraction layer over
+// whatever timer is used for the hardware being run
+//////////////////////////////////////
+
+#ifndef NEW_STEPPER_LIB
+
+    #if defined ESP32
+    // We don't support ESP32 boards in interrupt mode
+    #elif defined __AVR_ATmega2560__  // Arduino Mega
+        #define USE_TIMER_1 true
+        #define USE_TIMER_2 true
+        #define USE_TIMER_3 false
+        #define USE_TIMER_4 false
+        #define USE_TIMER_5 false
+PUSH_NO_WARNINGS
+        #include "libs/TimerInterrupt/TimerInterrupt.h"
+POP_NO_WARNINGS
+    #else
+        #error Unrecognized board selected. Either implement interrupt code or define the board here.
+    #endif
+
+    #if defined(ESP32)
+
+    #elif defined __AVR_ATmega2560__
+
+bool InterruptCallback::setInterval(float intervalMs, interrupt_callback_p callback, void *payload)
+{
+    // We have requested to use Timer2 (see above)
+    ITimer2.init();
+
+    // This timer supports the callback with payload
+    return ITimer2.attachInterruptInterval<void *>(intervalMs, callback, payload, 0UL);
+}
+
+void InterruptCallback::stop()
+{
+    ITimer2.stopTimer();
+}
+
+void InterruptCallback::start()
+{
+    ITimer2.restartTimer();
+}
+
+    #endif
+#endif