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openastrotech
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Merge branch 'develop' into NEMA-steppers
2 parents 31c473b + 99bfe2f commit 4926ee1

13 files changed

Lines changed: 686 additions & 327 deletions

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‎Software/Arduino code/OpenAstroTracker/MeadeCommandProcessor.cpp‎

Lines changed: 138 additions & 44 deletions
Original file line numberDiff line numberDiff line change
@@ -44,23 +44,23 @@
4444
//
4545
// :Gd#
4646
// Get Target Declination
47-
// Where s is + or -, DD is degrees, MM is minutes, SS is seconds.
4847
// Returns: sDD*MM'SS
48+
// Where s is + or -, DD is degrees, MM is minutes, SS is seconds.
4949
//
5050
// :GD#
5151
// Get Current Declination
52-
// Where s is + or -, DD is degrees, MM is minutes, SS is seconds.
5352
// Returns: sDD*MM'SS
53+
// Where s is + or -, DD is degrees, MM is minutes, SS is seconds.
5454
//
5555
// :Gr#
5656
// Get Target Right Ascension
57-
// Where HH is hour, MM is minutes, SS is seconds.
5857
// Returns: HH:MM:SS
58+
// Where HH is hour, MM is minutes, SS is seconds.
5959
//
6060
// :GR#
6161
// Get Current Right Ascension
62-
// Where HH is hour, MM is minutes, SS is seconds.
6362
// Returns: HH:MM:SS
63+
// Where HH is hour, MM is minutes, SS is seconds.
6464
//
6565
// -- GET Extensions --
6666
// :GIS#
@@ -93,7 +93,16 @@
9393
// | Third character is TRK slewing state ('T' is Tracking, '-' is stopped).
9494
// +----------------------------------------------- [0] The mount status. One of 'Idle', 'Parked', 'Parking', 'Guiding', 'SlewToTarget', 'FreeSlew', 'ManualSlew', 'Tracking'
9595
//
96-
//
96+
// : Gt#
97+
// Get Site Latitude
98+
// Returns: sDD*MM
99+
// Where s is + or - and DD is the latitude in degrees and MM the minutes.
100+
//
101+
// : Gg#
102+
// Get Site Latitude
103+
// Returns: DDD*MM
104+
// Where DDD is the longitude in degrees and MM the minutes. Negative (W) longitudes have had 360 added to them.
105+
//
97106
//------------------------------------------------------------------
98107
// SET FAMILY
99108
//
@@ -109,13 +118,51 @@
109118
// Where HH is hours, MM is minutes, SS is seconds.
110119
// Returns: 1 if successfully set, otherwise 0
111120
//
121+
// :StsDD*MM#
122+
// Set Site Latitude
123+
// This sets the latitude of the location of the mount.
124+
// Where s is the sign ('+' or '-'), DD is the degree (90 or less), MM is minutes.
125+
// Returns: 1 if successfully set, otherwise 0
126+
//
127+
// :SgDDD*MM#
128+
// Set Site Longitude
129+
// This sets the longitude of the location of the mount.
130+
// Where DDD the nmber of degrees (0 to 360), MM is minutes. W Latitudes get 360 added to them. So W122 (or -122) would be 238.
131+
// Returns: 1 if successfully set, otherwise 0
132+
//
133+
// :SGsHH#
134+
// Set Site UTC Offset
135+
// This sets the offset of the timezone in which the mount is in hours from UTC.
136+
// Where s is the sign and HH is the number of hours.
137+
// CURRENTLY IGNORED.
138+
// Returns: 1
139+
//
140+
// :SLHH:MM:SS#
141+
// Set Site Local Time
142+
// This sets the local time of the timezone in which the mount is located.
143+
// Where HH is hours, MM is minutes and SS is seconds.
144+
// CURRENTLY IGNORED.
145+
// Returns: 1
146+
//
147+
// :SCMM/DD/YY#
148+
// Set Site Date
149+
// This sets the date
150+
// Where HHMM is the month, DD is teh day and YY is the year since 2000.
151+
// CURRENTLY IGNORED.
152+
// Returns: 1Updating Planetary Data
153+
//
112154
// -- SET Extensions --
113155
// :SHHH:MM#
114156
// Set Hour Time (HA)
115157
// This sets the scopes HA.
116158
// Where HH is hours, MM is minutes.
117159
// Returns: 1 if successfully set, otherwise 0
118160
//
161+
// :SHP#
162+
// Set Home Point
163+
// This sets the current orientation of the scope as its home point.
164+
// Returns: 1
165+
//
119166
// :SHLHH:MM#
120167
// Set LST Time
121168
// This sets the scopes LST (and HA).
@@ -129,6 +176,14 @@
129176
// Returns: 1 if successfully set, otherwise 0
130177
//
131178
//------------------------------------------------------------------
179+
// RATE CONTROL FAMILY
180+
//
181+
// :Rs#
182+
// Set Slew rate
183+
// Where s is one of 'S', 'M', 'C', or 'G' in order of decreasing speed
184+
// CURRENTLY IGNORED
185+
// Returns: nothing
186+
//------------------------------------------------------------------
132187
// MOVEMENT FAMILY
133188
//
134189
// :MS#
@@ -140,7 +195,7 @@
140195
//
141196
// :MGdnnnn#
142197
// Run a Guide pulse
143-
// This runs the motors for a short period of time.
198+
// This runs the motors at increased speed for a short period of time.
144199
// Where d is one of 'N', 'E', 'W', or 'S' and nnnn is the duration in ms.
145200
// Returns: 1
146201
//
@@ -157,6 +212,12 @@
157212
// Returns: nothing
158213
//
159214
//------------------------------------------------------------------
215+
// SYNC FAMILY
216+
//
217+
// :CM#
218+
// Synchronizes the mount to the current target RA and DEC values.
219+
//
220+
//------------------------------------------------------------------
160221
// HOME FAMILY
161222
//
162223
// :hP#
@@ -347,17 +408,35 @@ String MeadeCommandProcessor::handleMeadeGetInfo(String inCmd) {
347408
case 'X': return _mount->getStatusString() + "#";
348409

349410
case 'I':
350-
String retVal = "";
351-
if (cmdTwo == 'S') {
352-
retVal = _mount->isSlewingRAorDEC() ? "1" : "0";
353-
}
354-
else if (cmdTwo == 'T') {
355-
retVal = _mount->isSlewingTRK() ? "1" : "0";
356-
}
357-
else if (cmdTwo == 'G') {
358-
retVal = _mount->isGuiding() ? "1" : "0";
411+
{
412+
String retVal = "";
413+
if (cmdTwo == 'S') {
414+
retVal = _mount->isSlewingRAorDEC() ? "1" : "0";
415+
}
416+
else if (cmdTwo == 'T') {
417+
retVal = _mount->isSlewingTRK() ? "1" : "0";
418+
}
419+
else if (cmdTwo == 'G') {
420+
retVal = _mount->isGuiding() ? "1" : "0";
421+
}
422+
return retVal + "#";
423+
}
424+
case 't': {
425+
auto lat = DegreeTime(_mount->latitude());
426+
char achBuffer[20];
427+
sprintf(achBuffer, "%c%02d*%02d#", lat.getTotalDegrees() >= 0 ? '+' : '-', int(fabs(lat.getDegrees())), lat.getMinutes());
428+
return String(achBuffer);
429+
}
430+
case 'g': {
431+
float lon = _mount->longitude();
432+
if (lon < 0) {
433+
lon += 360;
434+
}
435+
int lonMin = (lon - (int)lon) * 60;
436+
char achBuffer[20];
437+
sprintf(achBuffer, "%03d*%02d#", (int)lon, lonMin);
438+
return String(achBuffer);
359439
}
360-
return retVal + "#";
361440
}
362441

363442
return "0#";
@@ -423,7 +502,7 @@ String MeadeCommandProcessor::handleMeadeSetInfo(String inCmd) {
423502

424503
DayTime lst(hLST, minLST, secLST);
425504
#ifdef DEBUG_MODE
426-
logv("MeadeSetInfo: Received LST: %d:%d:%d", hLST,minLST,secLST);
505+
logv("MeadeSetInfo: Received LST: %d:%d:%d", hLST, minLST, secLST);
427506
#endif
428507
_mount->setLST(lst);
429508
}
@@ -445,26 +524,41 @@ String MeadeCommandProcessor::handleMeadeSetInfo(String inCmd) {
445524
return "1";
446525
}
447526
else if ((inCmd[0] == 'Y') && inCmd.length() == 19) {
448-
// Sync RA, DEC - current position is teh given coordinate
527+
// Sync RA, DEC - current position is the given coordinate
449528
// 0123456789012345678
450529
// :SY+84*03:02.18:34:12
451530
int sgn = inCmd[1] == '+' ? 1 : -1;
452531
if ((inCmd[4] == '*') && (inCmd[7] == ':') && (inCmd[10] == '.') && (inCmd[13] == ':') && (inCmd[16] == ':')) {
453532
int deg = inCmd.substring(2, 4).toInt();
454-
_mount->syncPosition(inCmd.substring(11, 13).toInt(), inCmd.substring(14, 16).toInt(), inCmd.substring(17, 19).toInt(),sgn * deg + (NORTHERN_HEMISPHERE ? -90 : 90), inCmd.substring(5, 7).toInt(), inCmd.substring(8, 10).toInt());
533+
_mount->syncPosition(inCmd.substring(11, 13).toInt(), inCmd.substring(14, 16).toInt(), inCmd.substring(17, 19).toInt(), sgn * deg + (NORTHERN_HEMISPHERE ? -90 : 90), inCmd.substring(5, 7).toInt(), inCmd.substring(8, 10).toInt());
455534
return "1";
456535
}
457-
else {
458-
return "0";
459-
}
536+
return "0";
460537
}
461-
else if ((inCmd[0] == 't')) // longitude: :St+30*29#
538+
else if ((inCmd[0] == 't')) // latitude: :St+30*29#
462539
{
463-
return "1";
540+
float sgn = inCmd[1] == '+' ? 1.0f : -1.0f;
541+
if (inCmd[4] == '*') {
542+
int deg = inCmd.substring(2, 4).toInt();
543+
int minute = inCmd.substring(5, 7).toInt();
544+
_mount->setLatitude(sgn * (1.0f * deg + (minute / 60.0f)));
545+
return "1";
546+
}
547+
return "0";
464548
}
465-
else if (inCmd[0] == 'g') // latitude :Sg097*34#
549+
else if (inCmd[0] == 'g') // longitude :Sg097*34#
466550
{
467-
return "1";
551+
if (inCmd[4] == '*') {
552+
int deg = inCmd.substring(1, 4).toInt();
553+
int minute = inCmd.substring(5, 7).toInt();
554+
float lon = 1.0f * deg + (1.0f * minute / 60.0f);
555+
if (lon > 180) {
556+
lon -= 360;
557+
}
558+
_mount->setLongitude(lon);
559+
return "1";
560+
}
561+
return "0";
468562
}
469563
else if (inCmd[0] == 'G') // utc offset :SG+05#
470564
{
@@ -660,25 +754,25 @@ String MeadeCommandProcessor::handleMeadeQuit(String inCmd) {
660754

661755
switch (inCmd[0]) {
662756
case 'a':
663-
_mount->stopSlewing(ALL_DIRECTIONS);
757+
_mount->stopSlewing(ALL_DIRECTIONS);
664758
break;
665759
case 'e':
666-
_mount->stopSlewing(EAST);
667-
break;
668-
case 'w':
669-
_mount->stopSlewing(WEST);
670-
break;
671-
case 'n':
672-
_mount->stopSlewing(NORTH);
673-
break;
674-
case 's':
675-
_mount->stopSlewing(SOUTH);
676-
break;
677-
case 'q':
678-
inSerialControl = false;
679-
_lcdMenu->setCursor(0, 0);
680-
_lcdMenu->updateDisplay();
681-
break;
760+
_mount->stopSlewing(EAST);
761+
break;
762+
case 'w':
763+
_mount->stopSlewing(WEST);
764+
break;
765+
case 'n':
766+
_mount->stopSlewing(NORTH);
767+
break;
768+
case 's':
769+
_mount->stopSlewing(SOUTH);
770+
break;
771+
case 'q':
772+
inSerialControl = false;
773+
_lcdMenu->setCursor(0, 0);
774+
_lcdMenu->updateDisplay();
775+
break;
682776
}
683777

684778
return "";
@@ -694,8 +788,8 @@ String MeadeCommandProcessor::handleMeadeSetSlewRate(String inCmd) {
694788
case 'C': // Center - 2nd Slowest
695789
case 'G': // Guide - Slowest
696790
default:
697-
return "";
698791
}
792+
return "";
699793
}
700794

701795
String MeadeCommandProcessor::processCommand(String inCmd) {

‎Software/Arduino code/OpenAstroTracker/Mount.cpp‎

Lines changed: 42 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -196,14 +196,22 @@ void Mount::writePersistentData(int which, int val)
196196
#if RA_Stepper_TYPE == 0 // 28BYJ
197197
void Mount::configureRAStepper(byte stepMode, byte pin1, byte pin2, byte pin3, byte pin4, int maxSpeed, int maxAcceleration)
198198
{
199+
#ifdef NORTHERN_HEMISPHERE
199200
_stepperRA = new AccelStepper(stepMode, pin1, pin2, pin3, pin4);
201+
#else
202+
_stepperRA = new AccelStepper(stepMode, pin4, pin3, pin2, pin1);
203+
#endif
200204
_stepperRA->setMaxSpeed(maxSpeed);
201205
_stepperRA->setAcceleration(maxAcceleration);
202206
_maxRASpeed = maxSpeed;
203207
_maxRAAcceleration = maxAcceleration;
204208

205209
// Use another AccelStepper to run the RA motor as well. This instance tracks earths rotation.
210+
#ifdef NORTHERN_HEMISPHERE
206211
_stepperTRK = new AccelStepper(HALFSTEP, pin1, pin2, pin3, pin4);
212+
#else
213+
_stepperTRK = new AccelStepper(HALFSTEP, pin4, pin3, pin2, pin1);
214+
#endif
207215
_stepperTRK->setMaxSpeed(10);
208216
_stepperTRK->setAcceleration(2500);
209217
}
@@ -395,6 +403,40 @@ void Mount::setLST(const DayTime& lst) {
395403
#endif
396404
}
397405

406+
/////////////////////////////////
407+
//
408+
// setLatitude
409+
//
410+
/////////////////////////////////
411+
void Mount::setLatitude(float lat) {
412+
_latitude = lat;
413+
}
414+
/////////////////////////////////
415+
//
416+
// setLongitude
417+
//
418+
/////////////////////////////////
419+
void Mount::setLongitude(float lon) {
420+
_longitude = lon;
421+
}
422+
423+
/////////////////////////////////
424+
//
425+
// latitude
426+
//
427+
/////////////////////////////////
428+
const float Mount::latitude() const {
429+
return _latitude ;
430+
}
431+
/////////////////////////////////
432+
//
433+
// longitude
434+
//
435+
/////////////////////////////////
436+
const float Mount::longitude() const {
437+
return _longitude;
438+
}
439+
398440
/////////////////////////////////
399441
//
400442
// targetRA

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