Merge pull request #85 from OpenAstroTech/seperate-dec-guider

V1.9.03 - Updates

Author: ClutchplateDude

Changelog.md

@@ -1,3 +1,10 @@
+**V1.9.03 - Updates**
+- Removed connection test check and made it standard.
+- Switched motors to normal mode (better perf), but allowed silent mode through XX_UART_STEALTH_MODE defines.
+- Made DEC driver be in Guide microstep mode unless slewing.
+- Added command to Meade protocol to calculate stepper positions for stellar coordinates.
+- Fixed an overflow bug in the CAL LCD menu for RA/DEC steps (esoteric mounts).
+
 **V1.9.00 - Updates**
 - Fixes RMS current setting for TMC2209 UART to be more accurate and consistent
 - Disables i_scale_analog (aka "USE_VREF") by default so that results are more consistent between users. rms_current will no longer depend on Vref, unless specifically configured by the user.

ConfigurationValidation.hpp

@@ -48,13 +48,21 @@
     // Serial bus address must be specified for TMC2209 in UART mode
     #error RA driver address for DRIVER_TYPE_TMC2209_UART not specified.
   #endif
+  #if (RA_UART_STEALTH_MODE != 0) && (RA_UART_STEALTH_MODE != 1)
+    // Stealth mode must be zero or 1
+    #error RA stealth mode must be 0 (off) or 1 (on)
+  #endif
 #endif
 
 #if (DEC_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART)
   #ifndef DEC_DRIVER_ADDRESS
     // Serial bus address must be specified for TMC2209 in UART mode
     #error DEC driver address for DRIVER_TYPE_TMC2209_UART not specified.
   #endif
+  #if (DEC_UART_STEALTH_MODE != 0) && (DEC_UART_STEALTH_MODE != 1)
+    // Stealth mode must be zero or 1
+    #error DEC stealth mode must be 0 (off) or 1 (on)
+  #endif
 #endif
 
 #if (AZIMUTH_ALTITUDE_MOTORS == 0)

Configuration_adv.hpp

@@ -97,6 +97,9 @@
   #ifndef RA_TRACKING_MICROSTEPPING 
     #define RA_TRACKING_MICROSTEPPING 8     // The fine microstep mode for tracking RA axis
   #endif
+  #ifndef RA_UART_STEALTH_MODE
+    #define RA_UART_STEALTH_MODE   0
+  #endif
 #elif (RA_DRIVER_TYPE == DRIVER_TYPE_A4988_GENERIC) || (RA_DRIVER_TYPE == DRIVER_TYPE_TMC2209_STANDALONE)
   #define RA_SLEW_MICROSTEPPING 8         // Microstep mode set by MS pin strapping. Use the same microstep mode for both slewing & tracking   
   #define RA_TRACKING_MICROSTEPPING RA_SLEW_MICROSTEPPING   
@@ -114,6 +117,9 @@
   #ifndef DEC_GUIDE_MICROSTEPPING 
     #define DEC_GUIDE_MICROSTEPPING 16  // The fine microstep mode used for guiding DEC only
   #endif
+  #ifndef DEC_UART_STEALTH_MODE
+    #define DEC_UART_STEALTH_MODE   0
+  #endif
 #elif (DEC_DRIVER_TYPE == DRIVER_TYPE_A4988_GENERIC) || (DEC_DRIVER_TYPE == DRIVER_TYPE_TMC2209_STANDALONE)
   #define DEC_SLEW_MICROSTEPPING  16  // Only UART drivers support dynamic switching. Use the same microstep mode for both slewing & guiding
   #define DEC_GUIDE_MICROSTEPPING DEC_SLEW_MICROSTEPPING
@@ -155,7 +161,7 @@
   #endif
   #ifndef UART_CONNECTION_TEST_TX
     #define UART_CONNECTION_TEST_TX 0
-  #endif
+  #endif  
 #endif
 
 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

Version.h

@@ -2,4 +2,4 @@
 // So 1.8.99 is ok, but 1.8.234 is not. Neither is 1.123.22
 // 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 "V1.9.00"
+#define VERSION "V1.9.03"

src/MeadeCommandProcessor.cpp

@@ -396,6 +396,15 @@ bool gpsAqcuisitionComplete(int &indicator); // defined in c72_menuHA_GPS.hpp
 //      Get the number of steps the RA stepper motor needs to overshoot and backtrack when slewing east.
 //      Returns: integer#
 //
+// :XGCn.nn*m.mm#
+//      Get stepper motor positions for target
+//      Get the positions of stepper motors when pointed at the given coordinates.
+//      Where n.nn is the RA coordinate (0.0 - 23.999)
+//            m.mm is the DEC coordinate (-90.00 - +90.00)
+//      Returns: ralong,declong#
+//      Where ralong is the stepper position of the RA stepper
+//            declong is the stepper position of the DEC stepper
+//
 // :XGR#
 //      Get RA steps
 //      Get the number of steps the RA stepper motor needs to take to rotate RA by one degree
@@ -1055,10 +1064,25 @@ String MeadeCommandProcessor::handleMeadeExtraCommands(String inCmd)
     {
       return String(_mount->getBacklashCorrection()) + "#";
     }
-    else if (inCmd[1] == 'M') 
+    else if (inCmd[1] == 'C') // :XGCn.nn*m.mm#
+    {
+      String coords = inCmd.substring(2);
+      int star = coords.indexOf('*');
+      if (star > 0)
+      {
+        long raPos, decPos;
+        float raCoord = coords.substring(0, star).toFloat();
+        float decCoord = coords.substring(star + 1).toFloat();
+        _mount->calculateStepperPositions(raCoord, decCoord, raPos, decPos);
+        char scratchBuffer[20];
+        sprintf(scratchBuffer, "%ld|%ld#", raPos, decPos);
+        return String(scratchBuffer);
+      }
+    }
+    else if (inCmd[1] == 'M')
     {
       if ((inCmd.length() > 2) && (inCmd[2] == 'S')) // :XGMS#
-      { 
+      {
         return _mount->getStepperInfo() + "#";
       }
       return _mount->getMountHardwareInfo() + "#"; // :XGM#