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Merge branch 'develop' of https://github.com/OpenAstroTech/OpenAstroT…
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…racker-Firmware into develop
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@ClutchplateDude
ClutchplateDude committed Dec 26, 2022
2 parents 55b684a + fe334e7 commit f384c2d
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Showing 5 changed files with 69 additions and 47 deletions.
3 changes: 3 additions & 0 deletions Changelog.md
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@@ -1,3 +1,6 @@
**V1.12.4 - Updates**
- Fixed a bug that incorrectly stopped the RA motor after issuing a DEC move.

**V1.12.3 - Updates**
- Fixed a bug that incorrectly calculated minimum stepper frequency. This caused Tracking to never run.

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2 changes: 1 addition & 1 deletion Version.h
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Expand Up @@ -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 "V1.12.3"
#define VERSION "V1.12.4"
108 changes: 63 additions & 45 deletions src/Mount.cpp
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Expand Up @@ -1317,7 +1317,7 @@ void Mount::startSlewingToTarget()
}

_mountStatus |= STATUS_SLEWING | STATUS_SLEWING_TO_TARGET;
moveSteppersTo(targetRAPosition, targetDECPosition); // u-steps (in slew mode)
moveSteppersTo(targetRAPosition, targetDECPosition, RA_AND_DEC_STEPS); // u-steps (in slew mode)
_totalDECMove = 1.0f * _stepperDEC->distanceToGo();
_totalRAMove = 1.0f * _stepperRA->distanceToGo();
LOG(DEBUG_MOUNT, "[MOUNT]: RA Dist: %l, DEC Dist: %l", _stepperRA->distanceToGo(), _stepperDEC->distanceToGo());
Expand Down Expand Up @@ -1383,7 +1383,7 @@ void Mount::startSlewingToHome()
}

_mountStatus |= STATUS_SLEWING | STATUS_SLEWING_TO_TARGET;
moveSteppersTo(targetRAPosition, targetDECPosition); // u-steps (in slew mode)
moveSteppersTo(targetRAPosition, targetDECPosition, RA_AND_DEC_STEPS); // u-steps (in slew mode)
_totalDECMove = static_cast<float>(_stepperDEC->distanceToGo());
_totalRAMove = static_cast<float>(_stepperRA->distanceToGo());
LOG(DEBUG_MOUNT, "[MOUNT]: RA Dist: %l, DEC Dist: %l", _stepperRA->distanceToGo(), _stepperDEC->distanceToGo());
Expand Down Expand Up @@ -3229,45 +3229,51 @@ void Mount::calculateRAandDECSteppers(long &targetRASteps, long &targetDECSteps,
// moveSteppersTo
//
/////////////////////////////////
void Mount::moveSteppersTo(float targetRASteps, float targetDECSteps)
void Mount::moveSteppersTo(float targetRASteps, float targetDECSteps, StepperAxis direction)
{ // Units are u-steps (in slew mode)
// Show time: tell the steppers where to go!
_correctForBacklash = false;
LOG(DEBUG_STEPPERS, "[STEPPERS]: MoveSteppersTo: RA From: %l To: %f", _stepperRA->currentPosition(), targetRASteps);
LOG(DEBUG_STEPPERS, "[STEPPERS]: MoveSteppersTo: DEC From: %l To: %f", _stepperDEC->currentPosition(), targetDECSteps);

if ((_backlashCorrectionSteps != 0) && ((_stepperRA->currentPosition() - targetRASteps) > 0))
if ((direction == RA_AND_DEC_STEPS) || (direction == RA_STEPS))
{
LOG(DEBUG_STEPPERS, "[STEPPERS]: MoveSteppersTo: Needs backlash correction of %d!", _backlashCorrectionSteps);
targetRASteps -= _backlashCorrectionSteps;
_correctForBacklash = true;
}

_stepperRA->moveTo(targetRASteps);

if (_decUpperLimit != 0)
{
#if DEBUG_LEVEL > 0
if (targetDECSteps > (float) _decUpperLimit)
if ((_backlashCorrectionSteps != 0) && ((_stepperRA->currentPosition() - targetRASteps) > 0))
{
LOG(DEBUG_STEPPERS, "[STEPPERS]: MoveSteppersTo: DEC Upper Limit enforced. To: %l", _decUpperLimit);
LOG(DEBUG_STEPPERS, "[STEPPERS]: MoveSteppersTo: Needs backlash correction of %d!", _backlashCorrectionSteps);
targetRASteps -= _backlashCorrectionSteps;
_correctForBacklash = true;
}
#endif
targetDECSteps = min(targetDECSteps, (float) _decUpperLimit);

_stepperRA->moveTo(targetRASteps);
}

if (_decLowerLimit != 0)
if ((direction == RA_AND_DEC_STEPS) || (direction == DEC_STEPS))
{
#if DEBUG_LEVEL > 0
if (targetDECSteps < (float) _decLowerLimit)
if (_decUpperLimit != 0)
{
LOG(DEBUG_STEPPERS, "[STEPPERS]: MoveSteppersTo: DEC Lower Limit enforced. To: %l", _decLowerLimit);
#if DEBUG_LEVEL > 0
if (targetDECSteps > (float) _decUpperLimit)
{
LOG(DEBUG_STEPPERS, "[STEPPERS]: MoveSteppersTo: DEC Upper Limit enforced. To: %l", _decUpperLimit);
}
#endif
targetDECSteps = min(targetDECSteps, (float) _decUpperLimit);
}

if (_decLowerLimit != 0)
{
#if DEBUG_LEVEL > 0
if (targetDECSteps < (float) _decLowerLimit)
{
LOG(DEBUG_STEPPERS, "[STEPPERS]: MoveSteppersTo: DEC Lower Limit enforced. To: %l", _decLowerLimit);
}
#endif
targetDECSteps = max(targetDECSteps, (float) _decLowerLimit);
}
targetDECSteps = max(targetDECSteps, (float) _decLowerLimit);
}

_stepperDEC->moveTo(targetDECSteps);
_stepperDEC->moveTo(targetDECSteps);
}
}

/////////////////////////////////
Expand All @@ -3278,12 +3284,14 @@ void Mount::moveSteppersTo(float targetRASteps, float targetDECSteps)
void Mount::moveStepperBy(StepperAxis direction, long steps)
{
LOG(DEBUG_STEPPERS, "[STEPPERS]: moveStepperBy: %l", steps);

switch (direction)
{
case RA_AND_DEC_STEPS:
LOG(DEBUG_STEPPERS, "[STEPPERS]: moveStepperBy: MoveStepperBy does not support multiple axes.");
break;

case RA_STEPS:
moveSteppersTo(_stepperRA->targetPosition() + steps, _stepperDEC->targetPosition());
_mountStatus |= STATUS_SLEWING | STATUS_SLEWING_TO_TARGET;
_totalRAMove = 1.0f * _stepperRA->distanceToGo();
if (steps != 0)
{
// Only stop tracking if we're actually going to slew somewhere else, otherwise the
Expand All @@ -3301,43 +3309,53 @@ void Mount::moveStepperBy(StepperAxis direction, long steps)
LOG(DEBUG_STEPPERS, "[STEPPERS]: moveStepperBy: Switching RA driver to microsteps(%d)", RA_SLEW_MICROSTEPPING);
_driverRA->microsteps(RA_SLEW_MICROSTEPPING == 1 ? 0 : RA_SLEW_MICROSTEPPING);
#endif
moveSteppersTo(_stepperRA->currentPosition() + steps, _stepperDEC->currentPosition());
moveSteppersTo(_stepperRA->currentPosition() + steps, 0, direction);
_mountStatus |= STATUS_SLEWING | STATUS_SLEWING_TO_TARGET;
_totalRAMove = 1.0f * _stepperRA->distanceToGo();
break;

case DEC_STEPS:
moveSteppersTo(_stepperRA->currentPosition(), _stepperDEC->currentPosition() + steps);
_mountStatus |= STATUS_SLEWING | STATUS_SLEWING_TO_TARGET;
_totalDECMove = 1.0f * _stepperDEC->distanceToGo();
{
moveSteppersTo(0, _stepperDEC->currentPosition() + steps, direction);
_mountStatus |= STATUS_SLEWING | STATUS_SLEWING_TO_TARGET;
_totalDECMove = 1.0f * _stepperDEC->distanceToGo();

#if DEC_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
// Since normal state for DEC is guide microstepping, switch to slew microstepping here.
LOG(DEBUG_STEPPERS, "[STEPPERS]: moveStepperBy: Switching DEC driver to microsteps(%d)", DEC_SLEW_MICROSTEPPING);
_driverDEC->microsteps(DEC_SLEW_MICROSTEPPING == 1 ? 0 : DEC_SLEW_MICROSTEPPING);
// Since normal state for DEC is guide microstepping, switch to slew microstepping here.
LOG(DEBUG_STEPPERS, "[STEPPERS]: moveStepperBy: Switching DEC driver to microsteps(%d)", DEC_SLEW_MICROSTEPPING);
_driverDEC->microsteps(DEC_SLEW_MICROSTEPPING == 1 ? 0 : DEC_SLEW_MICROSTEPPING);
#endif

}
break;

case FOCUS_STEPS:
{
#if FOCUS_STEPPER_TYPE != STEPPER_TYPE_NONE
focusMoveBy(steps);
focusMoveBy(steps);
#endif
}
break;

case AZIMUTH_STEPS:
{
#if AZ_STEPPER_TYPE != STEPPER_TYPE_NONE
enableAzAltMotors();
LOG(DEBUG_STEPPERS,
"[STEPPERS]: moveStepperBy: AZ from %l to %l",
_stepperAZ->currentPosition(),
_stepperAZ->currentPosition() + steps);
_stepperAZ->moveTo(_stepperAZ->currentPosition() + steps);
enableAzAltMotors();
LOG(DEBUG_STEPPERS,
"[STEPPERS]: moveStepperBy: AZ from %l to %l",
_stepperAZ->currentPosition(),
_stepperAZ->currentPosition() + steps);
_stepperAZ->moveTo(_stepperAZ->currentPosition() + steps);
#endif
}
break;

case ALTITUDE_STEPS:
{
#if ALT_STEPPER_TYPE != STEPPER_TYPE_NONE
enableAzAltMotors();
_stepperALT->moveTo(_stepperALT->currentPosition() + steps);
enableAzAltMotors();
_stepperALT->moveTo(_stepperALT->currentPosition() + steps);
#endif
}
break;
}
}
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2 changes: 1 addition & 1 deletion src/Mount.hpp
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Expand Up @@ -473,7 +473,7 @@ class Mount

void calculateRAandDECSteppers(long &targetRASteps, long &targetDECSteps, long pSolutions[6] = nullptr) const;
void displayStepperPosition();
void moveSteppersTo(float targetRA, float targetDEC);
void moveSteppersTo(float targetRA, float targetDEC, StepperAxis direction);

void autoCalcHa();

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1 change: 1 addition & 0 deletions src/Types.hpp
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Expand Up @@ -5,6 +5,7 @@ enum StepperAxis
{
RA_STEPS,
DEC_STEPS,
RA_AND_DEC_STEPS,
AZIMUTH_STEPS,
ALTITUDE_STEPS,
FOCUS_STEPS
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