Merge pull request #36 from OpenAstroTech/NEMA-steppers

Merge the NEMA stepper support branch into develop

Author: ClutchplateDude

Software/Arduino code/OpenAstroTracker v1.4.5.rar

@@ -12,6 +12,10 @@ void EEPROMupdate(int loc, byte val);
 // Time in ms between LCD screen updates during slewing operations
 #define DISPLAY_UPDATE_TIME 200
 
+// Stepper selection ///////////
+#define RA_Stepper_TYPE  0     // 28BYJ-48 = 0   |   NEMA = 1
+#define DEC_Stepper_TYPE  0    // 28BYJ-48 = 0   |   NEMA = 1
+
 // Make some variables in the sketch files available to the C++ code.
 extern bool inSerialControl;
 extern String version;

Software/Arduino code/OpenAstroTracker/Globals.h

@@ -67,7 +67,11 @@ Mount::Mount(int stepsPerRADegree, int stepsPerDECDegree, LcdMenu* lcdMenu) {
   _stepperWasRunning = false;
   _totalDECMove = 0;
   _totalRAMove = 0;
+#if RA_Stepper_TYPE == 0
   _backlashCorrectionSteps = 16;
+#else
+  _backlashCorrectionSteps = 0;
+#endif
   _correctForBacklash = false;
   _slewingToHome = false;
   readPersistentData();
@@ -188,6 +192,7 @@ void Mount::writePersistentData(int which, int val)
 // configureRAStepper
 //
 /////////////////////////////////
+#if RA_Stepper_TYPE == 0    // 28BYJ
 void Mount::configureRAStepper(byte stepMode, byte pin1, byte pin2, byte pin3, byte pin4, int maxSpeed, int maxAcceleration)
 {
 #if NORTHERN_HEMISPHERE
@@ -209,12 +214,30 @@ void Mount::configureRAStepper(byte stepMode, byte pin1, byte pin2, byte pin3, b
   _stepperTRK->setMaxSpeed(10);
   _stepperTRK->setAcceleration(2500);
 }
+#endif
+
+#if RA_Stepper_TYPE == 1    //NEMA
+void Mount::configureRAStepper(byte stepMode, byte pin1, byte pin2, int maxSpeed, int maxAcceleration)
+{
+  _stepperRA = new AccelStepper(stepMode, pin1, pin2);
+  _stepperRA->setMaxSpeed(maxSpeed);
+  _stepperRA->setAcceleration(maxAcceleration);
+  _maxRASpeed = maxSpeed;
+  _maxRAAcceleration = maxAcceleration;
+
+  // Use another AccelStepper to run the RA motor as well. This instance tracks earths rotation.
+  _stepperTRK = new AccelStepper(DRIVER, pin1, pin2);
+  _stepperTRK->setMaxSpeed(10);
+  _stepperTRK->setAcceleration(2500);
+}
+#endif
 
 /////////////////////////////////
 //
 // configureDECStepper
 //
 /////////////////////////////////
+#if DEC_Stepper_TYPE == 0   // 28BYJ
 void Mount::configureDECStepper(byte stepMode, byte pin1, byte pin2, byte pin3, byte pin4, int maxSpeed, int maxAcceleration)
 {
 #if NORTHERN_HEMISPHERE
@@ -227,7 +250,18 @@ void Mount::configureDECStepper(byte stepMode, byte pin1, byte pin2, byte pin3,
   _maxDECSpeed = maxSpeed;
   _maxDECAcceleration = maxAcceleration;
 }
+#endif
 
+#if DEC_Stepper_TYPE == 1   // NEMA
+void Mount::configureDECStepper(byte stepMode, byte pin1, byte pin2, int maxSpeed, int maxAcceleration)
+{
+  _stepperDEC = new AccelStepper(stepMode, pin2, pin1);
+  _stepperDEC->setMaxSpeed(maxSpeed);
+  _stepperDEC->setAcceleration(maxAcceleration);
+  _maxDECSpeed = maxSpeed;
+  _maxDECAcceleration = maxAcceleration;
+}
+#endif
 /////////////////////////////////
 //
 // getSpeedCalibration
@@ -1300,7 +1334,11 @@ void Mount::calculateRAandDECSteppers(float& targetRA, float& targetDEC) {
   float stepsPerSiderealHour = _stepsPerRADegree * siderealDegreesInHour;
 
   // Where do we want to move RA to?
+#if RA_Stepper_TYPE == 0  
   float moveRA = hourPos * stepsPerSiderealHour / 2;
+#else
+  float moveRA = hourPos * stepsPerSiderealHour;
+#endif
 
   // Where do we want to move DEC to?
   // the variable targetDEC 0deg for the celestial pole (90deg), and goes negative only.
@@ -1312,7 +1350,11 @@ void Mount::calculateRAandDECSteppers(float& targetRA, float& targetDEC) {
 #endif
 
   // We can move 6 hours in either direction. Outside of that we need to flip directions.
+#if RA_Stepper_TYPE == 0
   float RALimit = (6.0f * stepsPerSiderealHour / 2);
+#else
+  float RALimit = (6.0f * stepsPerSiderealHour);
+#endif
 
   // If we reach the limit in the positive direction ...
   if (moveRA > RALimit) {
@@ -1322,7 +1364,11 @@ void Mount::calculateRAandDECSteppers(float& targetRA, float& targetDEC) {
 
     // ... turn both RA and DEC axis around
     float oldRA = moveRA;
+#if RA_Stepper_TYPE == 0
     moveRA -= long(12.0f * stepsPerSiderealHour / 2);
+#else
+    moveRA -= long(12.0f * stepsPerSiderealHour);
+#endif
     moveDEC = -moveDEC;
 #ifdef DEBUG_MODE
     logv("Mount::CalcSteppersIn: Adjusted Target Step pos RA: %f, DEC: %f", moveRA, moveDEC);
@@ -1335,7 +1381,11 @@ void Mount::calculateRAandDECSteppers(float& targetRA, float& targetDEC) {
 #endif
     // ... turn both RA and DEC axis around
     float oldRA = moveRA;
+#if RA_Stepper_TYPE == 0
     moveRA += long(12.0f * stepsPerSiderealHour / 2);
+#else
+    moveRA += long(12.0f * stepsPerSiderealHour);
+#endif
     moveDEC = -moveDEC;
 #ifdef DEBUG_MODE
     logv("Mount::CalcSteppersPost: Adjusted Target. Moved RA, inverted DEC");

Software/Arduino code/OpenAstroTracker/Mount.cpp

@@ -26,6 +26,7 @@
 
 #define HALFSTEP 8
 #define FULLSTEP 4
+#define DRIVER 1
 
 #define RA_STEPS  1
 #define DEC_STEPS 2
@@ -42,10 +43,20 @@ class Mount {
   Mount(int stepsPerRADegree, int stepsPerDECDegree, LcdMenu* lcdMenu);
 
   // Configure the RA stepper motor. This also sets up the TRK stepper on the same pins.
-  void configureRAStepper(byte stepMode, byte pin1, byte pin2, byte pin3, byte pin4, int maxSpeed, int maxAcceleration);
+#if RA_Stepper_TYPE == 0
+    void configureRAStepper(byte stepMode, byte pin1, byte pin2, byte pin3, byte pin4, int maxSpeed, int maxAcceleration);
+#endif
+#if RA_Stepper_TYPE == 1
+    void configureRAStepper(byte stepMode, byte pin1, byte pin2, int maxSpeed, int maxAcceleration);
+#endif
 
   // Configure the DEC stepper motor.
-  void configureDECStepper(byte stepMode, byte pin1, byte pin2, byte pin3, byte pin4, int maxSpeed, int maxAcceleration);
+#if DEC_Stepper_TYPE == 0
+    void configureDECStepper(byte stepMode, byte pin1, byte pin2, byte pin3, byte pin4, int maxSpeed, int maxAcceleration);
+#endif
+#if DEC_Stepper_TYPE == 1
+    void configureDECStepper(byte stepMode, byte pin1, byte pin2, int maxSpeed, int maxAcceleration);
+#endif
 
   // Get the current RA tracking speed factor
   float getSpeedCalibration();

Software/Arduino code/OpenAstroTracker/Mount.hpp

@@ -24,9 +24,13 @@ String version = "V1.7.01";
 
 // See NORTHERN_HEMISPHERE in Globals.h if you not in the northern hemisphere
 
+
+// RA stepper //////////////////////////////////////////////////////////////////////////////////
+
+
 // This is how many steps your 28BYJ-48 stepper needs for a full rotation. It is almost always 4096.
 // This code drives the steppers in halfstep mode for TRK and DEC, and full step for RA
-float StepsPerRevolution = 4096;
+float RAStepsPerRevolution = 4096;
 
 // The radius of the surface that the belt runs on (in V1 of the ring) was 168.24mm.
 // Belt moves 40mm for one stepper revolution (2mm pitch, 20 teeth).
@@ -43,8 +47,12 @@ float StepsPerRevolution = 4096;
 // V2: 1131
 #define RACircumference 1131
 
-int RAStepsPerDegree = (RACircumference / (RAPulleyTeeth * 2.0) * StepsPerRevolution / 360.0);      // V2 Ring has belt in a groove and belt runs on bearings
+int RAStepsPerDegree = (RACircumference / (RAPulleyTeeth * 2.0) * RAStepsPerRevolution / 360.0);      // V2 Ring has belt in a groove and belt runs on bearings
+
+
+// DEC stepper //////////////////////////////////////////////////////////////////////////////////
 
+float DECStepsPerRevolution = 4096;
 
 // Belt moves 40mm for one stepper revolution (2mm pitch, 20 teeth).
 // DEC wheel is 2 x PI x 90mm circumference which is 565.5mm
@@ -53,7 +61,7 @@ int RAStepsPerDegree = (RACircumference / (RAPulleyTeeth * 2.0) * StepsPerRevolu
 // So there are 160.85 steps/degree (57907/360)
 #define DecPulleyTeeth 20
 
-int DECStepsPerDegree = (565.5 / (DecPulleyTeeth * 2.0) * StepsPerRevolution / 360.0);
+int DECStepsPerDegree = (565.5 / (DecPulleyTeeth * 2.0) * DECStepsPerRevolution / 360.0);
 
 float speed = 1.000;    // Use this value to slightly increase or decrese tracking speed. The values from the "CAL" menu will be added to this.
 

Software/Arduino code/OpenAstroTracker/OpenAstroTracker.ino

@@ -13,6 +13,7 @@
 
 #define HALFSTEP 8
 #define FULLSTEP 4
+#define DRIVER 1
 
 //SoftwareSerial BT(10,11);
 
@@ -88,6 +89,7 @@
 // Arduino Mega
 ///////////////////////////////////////////////////////////////////////////
 #ifdef __AVR_ATmega2560__  // Arduino Mega
+#if RA_Stepper_TYPE == 0  // 28BYJ
 // RA Motor pins
   #ifdef INVERT_RA_DIR
     #define RAmotorPin1  22    // IN1 auf ULN2003 driver 1
@@ -100,8 +102,14 @@
     #define RAmotorPin2  24    // IN3 auf ULN2003 driver 1
     #define RAmotorPin4  22    // IN4 auf ULN2003 driver 1
   #endif
+#endif
+#if RA_Stepper_TYPE == 1  // NEMA
+    #define RAmotorPin1  22
+    #define RAmotorPin2  24
+#endif
 
 // DEC Motor pins
+#if DEC_Stepper_TYPE == 0  // 28BYJ
   #ifdef INVERT_DEC_DIR
     #define DECmotorPin1  36    // IN1 auf ULN2003 driver 2
     #define DECmotorPin3  34    // IN2 auf ULN2003 driver 2
@@ -114,6 +122,13 @@
     #define DECmotorPin4  36    // IN4 auf ULN2003 driver 2
   #endif
 #endif
+#if DEC_Stepper_TYPE == 1  // NEMA
+    #define DECmotorPin1  32
+    #define DECmotorPin2  30
+#endif
+  
+#endif
+
 
 // Menu IDs
 #define RA_Menu 1

Software/Arduino code/OpenAstroTracker/a_inits.ino

@@ -11,6 +11,23 @@ WifiControl wifiControl(&mount, &lcdMenu);
 
 void setup() {
 
+// Microstepping ---------------
+#if RA_Stepper_TYPE == 1   // RA driver startup (for TMC2209)
+  pinMode(41, OUTPUT);
+  //digitalWrite(43, HIGH);  // SPREAD
+  digitalWrite(41, LOW);  // ENABLE
+
+  digitalWrite(42, LOW);  // MS2
+  digitalWrite(40, HIGH);  // MS1
+#endif
+#if DEC_Stepper_TYPE == 1  // DEC driver startup (for TMC2209)
+  pinMode(45, OUTPUT);
+  digitalWrite(45, LOW);  // ENABLE
+
+  digitalWrite(46, LOW);  // MS2
+  digitalWrite(44, HIGH);  // MS1
+#endif
+
   //debug_init();
   //Serial.begin(38400);
   Serial.begin(57600);
@@ -37,8 +54,19 @@ void setup() {
   // Configure the mount
 
   // Set the stepper motor parameters
-  mount.configureRAStepper(FULLSTEP, RAmotorPin1, RAmotorPin2, RAmotorPin3, RAmotorPin4, RAspeed, RAacceleration);
-  mount.configureDECStepper(HALFSTEP, DECmotorPin1, DECmotorPin2, DECmotorPin3, DECmotorPin4, DECspeed, DECacceleration);
+  // Set the stepper motor parameters
+  #if RA_Stepper_TYPE == 0 && DEC_Stepper_TYPE == 0
+    mount.configureRAStepper(FULLSTEP, RAmotorPin1, RAmotorPin2, RAmotorPin3, RAmotorPin4, RAspeed, RAacceleration);
+    mount.configureDECStepper(HALFSTEP, DECmotorPin1, DECmotorPin2, DECmotorPin3, DECmotorPin4, DECspeed, DECacceleration);
+  #endif
+  #if RA_Stepper_TYPE == 1 && DEC_Stepper_TYPE == 0
+    mount.configureRAStepper(DRIVER, RAmotorPin1, RAmotorPin2, RAspeed, RAacceleration);
+    mount.configureDECStepper(HALFSTEP, DECmotorPin1, DECmotorPin2, DECmotorPin3, DECmotorPin4, DECspeed, DECacceleration);
+  #endif
+  #if RA_Stepper_TYPE == 1 && DEC_Stepper_TYPE == 1
+    mount.configureRAStepper(DRIVER, RAmotorPin1, RAmotorPin2, RAspeed, RAacceleration);
+    mount.configureDECStepper(DRIVER, DECmotorPin1, DECmotorPin2, DECspeed, DECacceleration);
+  #endif
 
   // The mount uses EEPROM storage locations 0-10 that it reads during construction