V1.7.14 - Updates

- Fixed a bug in Polar Alignment (this never actually worked correctly)
- Fixed a bug in the Sync function of the mount
- Added backlight adjustment, but it does not work (crashes the board), so it is commented out. Might revisit later.

Author: ClutchplateDude

Software/Arduino code/OpenAstroTracker/LcdMenu.cpp

@@ -1,3 +1,4 @@
+#include <EEPROM.h>
 #include "Utility.hpp"
 #include "LcdMenu.hpp"
 
@@ -17,7 +18,12 @@ LcdMenu::LcdMenu(byte cols, byte rows, int maxItems) : _lcd(8, 9, 4, 5, 6, 7) {
   _activeCol = -1;
   _lastDisplay[0] = "";
   _lastDisplay[1] = "";
-  _menuItems = new MenuItem * [maxItems];
+  _menuItems = new MenuItem * [maxItems];  
+
+  _brightness = EEPROM.read(11);
+  LOGV2(DEBUG_INFO, "LCD: Brightness from EEPROM is %d", _brightness);
+  // pinMode(10, OUTPUT);
+  // analogWrite(10, _brightness);
 
   // Create special characters for degrees and arrows
   _lcd.createChar(_degrees, DegreesBitmap);
@@ -71,6 +77,26 @@ void LcdMenu::clear() {
   _lcd.clear();
 }
 
+// Set the brightness of the backlight
+void LcdMenu::setBacklightBrightness(int level, bool persist) {
+  _brightness = level;
+
+  LOGV2(DEBUG_INFO, "LCD: Writing %d as brightness", _brightness  );
+
+  // analogWrite(10, _brightness);
+
+  LOGV2(DEBUG_INFO, "LCD: Wrote %d as brightness", _brightness  );
+  if (persist) {
+    LOGV2(DEBUG_INFO, "LCD: Saving %d as brightness", (_brightness & 0x00FF));
+    EEPROMupdate(11, (byte)(_brightness & 0x00FF));
+  }
+}
+
+// Get the current brightness
+int LcdMenu::getBacklightBrightness() {
+  return _brightness;
+}
+
 // Go to the next menu item from currently active one
 void LcdMenu::setNextActive() {
 
@@ -282,3 +308,50 @@ void LcdMenu::printMenu(String line) {}
 void LcdMenu::printChar(char ch) {}
 
 #endif
+
+/*
+class SubMenu {
+	
+  display() { }
+  onUp() { } 
+  onDown() { } 
+
+	}
+}
+
+class Menu {
+	List<SubMenu> subMenu
+	int activeSubIndex=0
+	UseContinuousKeys(UP|DOWN|LEFT|RIGHT)
+
+	virtual OnUp() { previousSubmenu }
+	virtual OnDown() { nextSubmenu }
+	virtual OnRight() { nextmenu }	
+	virtual OnLeft() { nextItemInSubmenu }
+	virtual OnSelect() { confirm }
+	
+	displayMenu() { }
+	
+	run(){
+		if (any continuous keys)
+		{
+			if 
+		}
+	}
+}
+
+class MenuSystem {
+	List<Menu> menus;
+	
+	run() {
+		if (!activeMenu->run())
+		{
+			activeMenu++
+		}
+	}
+}
+
+Menu RA ;
+RA.fnDisplay = [] { _lcdMenu.goto(0,1); _lcdMenu.printMenu(_mount.targetRA()); }
+RA.fnUp() = [] { }
+*/

Software/Arduino code/OpenAstroTracker/LcdMenu.hpp

@@ -50,6 +50,10 @@ class LcdMenu {
   // Pass thru utility function
   void setCursor(byte col, byte row);
 
+  // Set and get the brightness of the backlight
+  void setBacklightBrightness(int level, bool persist = true);
+  int getBacklightBrightness();
+
   // Pass thru utility function
   void clear();
 
@@ -79,6 +83,7 @@ class LcdMenu {
   byte _activeRow;        // The row that the LCD cursor is on
   byte _activeCol;        // The column that the LCD cursor is on
   String _lastDisplay[2]; // The last string that was displayed on each row
+  int _brightness;
 
   byte _degrees = 1;
   byte _minutes = 2;

Software/Arduino code/OpenAstroTracker/Mount.cpp

@@ -569,8 +569,13 @@ const DegreeTime Mount::currentDEC() const {
 // to be at the calculated positions (that they would be if we were slewing there).
 void Mount::syncPosition(int raHour, int raMinute, int raSecond, int decDegree, int decMinute, int decSecond)
 {
+  _targetRA.set(raHour,raMinute,raSecond);
+  _targetDEC.set(decDegree,decMinute,decSecond);
+
   float targetRA, targetDEC;
+  LOGV7(DEBUG_MOUNT, "Mount: Sync Position to RA: %d:%d:%d and DEC: %d*%d:%d", raHour, raMinute, raSecond, decDegree, decMinute, decSecond);
   calculateRAandDECSteppers(targetRA, targetDEC);
+  LOGV3(DEBUG_MOUNT, "Mount: Sync Stepper Position is RA: %d and DEC: %d", targetRA, targetDEC);
   _stepperRA->setCurrentPosition(targetRA);
   _stepperDEC->setCurrentPosition(targetDEC);
 }

Software/Arduino code/OpenAstroTracker/OpenAstroTracker.hpp

@@ -18,7 +18,7 @@
 
 #include "Globals.hpp"
 
-String version = "V1.7.13";
+String version = "V1.7.14";
 
 ///////////////////////////////////////////////////////////////////////////
 // Please see the Globals.h file for configuration of the firmware.

Software/Arduino code/OpenAstroTracker/Utility.hpp

@@ -20,7 +20,8 @@
 #define LOGV4(level,a,b,c,d) logv((level),(a),(b),(c),(d))
 #define LOGV5(level,a,b,c,d,e) logv((level),(a),(b),(c),(d),(e))
 #define LOGV6(level,a,b,c,d,e,f) logv((level),(a),(b),(c),(d),(e),(f))
-#define LOGV7(level,a,b,c,d,e),f,g logv((level),(a),(b),(c),(d),(e),(f),(g))
+#define LOGV7(level,a,b,c,d,e,f,g) logv((level),(a),(b),(c),(d),(e),(f),(g))
+#define LOGV8(level,a,b,c,d,e,f,g,h) logv((level),(a),(b),(c),(d),(e),(f),(g),(h))
 
 // Realtime timer class using microseconds to time stuff
 class RealTime {

Software/Arduino code/OpenAstroTracker/b_setup.hpp

@@ -164,7 +164,8 @@ void finishSetup()
   #endif
 
   // The mount uses EEPROM storage locations 0-10 that it reads during construction
-
+  // The LCD uses EEPROM storage location 11
+  
   // Read other persisted values and set in mount
   DayTime haTime = DayTime(EEPROM.read(1), EEPROM.read(2), 0);
 

Software/Arduino code/OpenAstroTracker/c722_menuPOI.hpp

@@ -15,7 +15,7 @@ struct PointOfInterest {
 PointOfInterest pointOfInterest[] = {
   //    Name (15chars)    RA (hms)     DEC (dms)
   //  012345678901234
-  { ">Polaris"        ,  PolarisRAHour, PolarisRAMinute, PolarisRASecond,  89, 21,  2 },
+  { ">Polaris"        ,  PolarisRAHour, PolarisRAMinute, PolarisRASecond,  89, 21,  6 },
   { ">Big Dipper"     , 12, 16, 26,   56, 55,  7 },
   { ">M31 Andromeda"  ,  0, 43, 52,   41, 22, 53 },
   { ">M42 Orion Nbula",  5, 36, 18,   -5, 22, 44 },

Software/Arduino code/OpenAstroTracker/c76_menuCAL.hpp

@@ -1,4 +1,5 @@
 #pragma once
+#include "Globals.hpp"
 
 #if HEADLESS_CLIENT == 0
 
@@ -12,15 +13,14 @@
 #define HIGHLIGHT_RA_STEPS 4
 #define HIGHLIGHT_DEC_STEPS 5
 #define HIGHLIGHT_BACKLASH_STEPS 6
+// #define HIGHLIGHT_BACKLIGHT 7
 #define HIGHLIGHT_LAST 6
 
 // Polar calibration goes through these three states:
-//  11- moving to RA of Polaris and then waiting on confirmation that Polaris is centered
-//  12- moving to DEC beyond Polaris and waiting on confirmation that Polaris is centered
+//  11- moving to RA and DEC beyond Polaris and waiting on confirmation that Polaris is centered
 //  13- moving back to home position
-#define POLAR_CALIBRATION_WAIT 11
-#define POLAR_CALIBRATION_GO  12
-#define POLAR_CALIBRATION_WAIT_HOME  13
+#define POLAR_CALIBRATION_WAIT_CENTER_POLARIS 11
+#define POLAR_CALIBRATION_WAIT_HOME  12
 
 // Speed calibration only has one state, allowing you to adjust the speed with UP and DOWN
 #define SPEED_CALIBRATION 14
@@ -41,10 +41,13 @@
 // Backlash calibration only has one state, allowing you to adjust the number of steps with UP and DOWN
 #define BACKLASH_CALIBRATION 19
 
+// Brightness setting only has one state, allowing you to adjust the brightness with UP and DOWN
+// #define BACKLIGHT_CALIBRATION 20
+
 // Start off with Polar Alignment higlighted.
 byte calState = HIGHLIGHT_FIRST;
 
-// SPeed adjustment variable. Added to 1.0 after dividing by 10000 to get final speed
+// Speed adjustment variable. Added to 1.0 after dividing by 10000 to get final speed
 float SpeedCalibration;
 
 // The current delay in ms when changing calibration value. The longer a button is depressed, the smaller this gets.
@@ -59,6 +62,9 @@ byte driftDuration = 0;
 // The number of steps to use for backlash compensation (read from the mount).
 int BacklashSteps = 0;
 
+// The brightness of the backlight of the LCD shield.
+// int Brightness = 255;
+
 bool checkProgressiveUpDown(int* val) {
   bool ret = true;
 
@@ -99,6 +105,9 @@ void gotoNextHighlightState(int dir) {
   else if (calState == HIGHLIGHT_SPEED) {
     SpeedCalibration = (mount.getSpeedCalibration() - 1.0) * 10000.0 + 0.5;
   }
+  // else if (calState == HIGHLIGHT_BACKLIGHT) {
+  //   Brightness = lcdMenu.getBacklightBrightness();
+  // }
 }
 
 bool processCalibrationKeys() {
@@ -141,8 +150,22 @@ bool processCalibrationKeys() {
   else if (calState == BACKLASH_CALIBRATION) {
     checkForKeyChange = checkProgressiveUpDown(&BacklashSteps);
   }
+  // else if (calState == BACKLIGHT_CALIBRATION) {
+  //   checkForKeyChange = checkProgressiveUpDown(&Brightness);
+  //   if (!checkForKeyChange) {
+  //     LOGV2(DEBUG_INFO,"CAL: Brightness changed to %d", Brightness);
+  //     Brightness = clamp(Brightness, 0, 255);
+  //     LOGV2(DEBUG_INFO,"CAL: Brightness clamped to %d", Brightness);
+  //     lcdMenu.setBacklightBrightness(Brightness, false);
+  //     LOGV2(DEBUG_INFO,"CAL: Brightness set %d", (int)lcdMenu.getBacklightBrightness());
+  //   }
+  // }
+  else if (calState == RA_STEP_CALIBRATION) {
+    checkForKeyChange = checkProgressiveUpDown(&RAStepsPerDegree);
+  }
   else if (calState == POLAR_CALIBRATION_WAIT_HOME) {
     if (!mount.isSlewingRAorDEC()) {
+
       lcdMenu.updateDisplay();
       calState = HIGHLIGHT_POLAR;
     }
@@ -179,13 +202,9 @@ bool processCalibrationKeys() {
 
     switch (calState) {
 
-      case POLAR_CALIBRATION_GO: {
+      case POLAR_CALIBRATION_WAIT_HOME: {
         if (key == btnSELECT) {
-          lcdMenu.printMenu("Aligned, homing");
-          mount.delay(600);
-          mount.setTargetToHome();
-          mount.startSlewingToTarget();
-          calState = POLAR_CALIBRATION_WAIT_HOME;
+          calState = HIGHLIGHT_POLAR;
         }
         if (key == btnRIGHT) {
           lcdMenu.setNextActive();
@@ -259,18 +278,36 @@ bool processCalibrationKeys() {
       }
       break;
 
+      // case BACKLIGHT_CALIBRATION:
+      // {
+      //   // UP and DOWN are handled above
+      //   if (key == btnSELECT) {
+      //     LOGV2(DEBUG_GENERAL, "CAL Menu: Set brightness to %d", Brightness);
+      //     lcdMenu.setBacklightBrightness(Brightness);
+      //     lcdMenu.printMenu("Level stored.");
+      //     mount.delay(500);
+      //     calState = HIGHLIGHT_BACKLIGHT;
+      //   }
+      //   else if (key == btnRIGHT) {
+      //     lcdMenu.setNextActive();
+      //     calState = HIGHLIGHT_BACKLIGHT;
+      //   }
+      // }
+      // break;
+
       case HIGHLIGHT_POLAR: {
         if (key == btnDOWN) gotoNextHighlightState(1);
         else if (key == btnUP) gotoNextHighlightState(-1);
         else if (key == btnSELECT) {
-          calState = POLAR_CALIBRATION_WAIT;
+          calState = POLAR_CALIBRATION_WAIT_CENTER_POLARIS;
 
           // Move the RA to that of Polaris. Moving to this RA aligns the DEC axis such that
           // it swings along the line between Polaris and the Celestial Pole.
           mount.targetRA() = DayTime(PolarisRAHour, PolarisRAMinute, PolarisRASecond);
 
-          // Now set DEC to move to Home position
-          mount.targetDEC() = DegreeTime(90 - (NORTHERN_HEMISPHERE ? 90 : -90), 0, 0);
+          // Set DEC to move the same distance past Polaris as
+          // it is from the Celestial Pole. That equates to 88deg 42' 11.2".
+          mount.targetDEC() = DegreeTime(88 - (NORTHERN_HEMISPHERE ? 90 : -90), 42, 11);
           mount.startSlewingToTarget();
         }
         else if (key == btnRIGHT) {
@@ -279,14 +316,21 @@ bool processCalibrationKeys() {
       }
                           break;
 
-      case POLAR_CALIBRATION_WAIT: {
+      case POLAR_CALIBRATION_WAIT_CENTER_POLARIS: {
         if (key == btnSELECT) {
-          calState = POLAR_CALIBRATION_GO;
+          calState = POLAR_CALIBRATION_WAIT_HOME;
+          lcdMenu.printMenu("Aligned, homing");
+          mount.delay(750);
 
-          // RA is already set. Now set DEC to move the same distance past Polaris as
-          // it is from the Celestial Pole. That equates to 88deg 42' 6".
-          mount.targetDEC() = DegreeTime(89 - (NORTHERN_HEMISPHERE ? 90 : -90), 21, 3);
+          // Sync the mount to Polaris, since that's where it's pointing
+          DayTime currentRa = mount.currentRA();
+          mount.syncPosition(currentRa.getHours(), currentRa.getMinutes(), currentRa.getSeconds(), 89 - (NORTHERN_HEMISPHERE ? 90 : -90), 21, 6);
+
+          // Go home from here
+          mount.setTargetToHome();
           mount.startSlewingToTarget();
+          lcdMenu.setNextActive();
+          calState = HIGHLIGHT_POLAR;
         }
         else if (key == btnRIGHT) {
           lcdMenu.setNextActive();
@@ -371,6 +415,16 @@ bool processCalibrationKeys() {
         }
       }
                                    break;
+      // case HIGHLIGHT_BACKLIGHT : {
+      //   if (key == btnDOWN) gotoNextHighlightState(1);
+      //   if (key == btnUP) gotoNextHighlightState(-1);
+      //   else if (key == btnSELECT) calState = BACKLIGHT_CALIBRATION;
+      //   else if (key == btnRIGHT) {
+      //     lcdMenu.setNextActive();
+      //     calState = HIGHLIGHT_FIRST;
+      //   }
+      // }
+      // break;
     }
   }
 
@@ -398,7 +452,10 @@ void printCalibrationSubmenu()
   else if (calState == HIGHLIGHT_BACKLASH_STEPS) {
     lcdMenu.printMenu(">Backlash Adjust");
   }
-  else if ((calState == POLAR_CALIBRATION_WAIT_HOME) || (calState == POLAR_CALIBRATION_WAIT) || (calState == POLAR_CALIBRATION_GO)) {
+  // else if (calState == HIGHLIGHT_BACKLIGHT) {
+  //   lcdMenu.printMenu(">LCD Brightness");
+  // }
+  else if (calState == POLAR_CALIBRATION_WAIT_CENTER_POLARIS) {
     if (!mount.isSlewingRAorDEC()) {
       lcdMenu.setCursor(0, 0);
       lcdMenu.printMenu("Centr on Polaris");
@@ -428,6 +485,10 @@ void printCalibrationSubmenu()
     sprintf(scratchBuffer, "Backlash: %d", BacklashSteps);
     lcdMenu.printMenu(scratchBuffer);
   }
+  // else if (calState == BACKLIGHT_CALIBRATION) {
+  //   sprintf(scratchBuffer, "Brightness: %d", Brightness);
+  //   lcdMenu.printMenu(scratchBuffer);
+  // }
 }
 #endif