V1.8.12 - Updates

- Temporary fix for compile error from 1.8.11
- add different MS modes for DEC slewing/guiding
- add UART "noisefeedback" to config
- hardcoded guidemultipliers for 28by
- stop tracking during a slew with NEMAs to prevent inaccurate slews

Author: OpenAstroTech

.gitignore

@@ -368,3 +368,7 @@ test
 bin/
 Software/Arduino code/HW_724_TEST
 Software/Arduino code/sketch_jun08a
+
+# gh-pages stuff
+.jekyll-cache
+_site

Software/Arduino code/OpenAstroTracker/Configuration.hpp

@@ -18,7 +18,7 @@
   =======================================================================================================================================
 */
 
-String version = "V1.8.11";
+String version = "V1.8.12";
 
 ///////////////////////////////////////////////////////////////////////////
 // Also use Configuration_adv for further adjustments!
@@ -59,7 +59,7 @@ float RACircumference = 1131.0;
   int DECacceleration = 400;    // High speeds tend to make these cheap steppers unprecice
 #elif DEC_STEPPER_TYPE == STEP_NEMA17
   float DECStepsPerRevolution = 400;   // 28BYJ-48 = 4096  |  NEMA 0.9° = 400  |  NEMA 1.8° = 200
-  int DECspeed = 1500;           // You can change the speed and acceleration of the steppers here.
+  int DECspeed = 1300;           // You can change the speed and acceleration of the steppers here.
   int DECacceleration = 6000;   
 #else
   #error New DEC Stepper type? Define steps per stepper pulley revolution here...

Software/Arduino code/OpenAstroTracker/Configuration_adv.hpp

@@ -32,8 +32,8 @@
 // Driver selection 
 #define ULN2003_DRIVER     0
 #define GENERIC_DRIVER     1
-#define TMC2009_STANDALONE 2
-#define TMC2009_UART       3
+#define TMC2209_STANDALONE 2
+#define TMC2209_UART       3
 
 // GENERIC drivers include A4988 and any Bipolar STEP/DIR based drivers
 #define RA_DRIVER_TYPE  ULN2003_DRIVER
@@ -47,15 +47,28 @@
 #define TRACKING_MICROSTEPPING 64  // Set the MS mode for tracking only. Slew MS is set by SET_MICROSTEPPING above
 
 #define RA_RMSCURRENT 1200       // RMS current in mA. Warning: Peak current will be 1.414 times higher!! Do not exceed your steppers max current!
-#define RA_STALL_VALUE 100
-//#define RA_SPEED_MULTIPLIER 20 // This value is multiplied with the SLEW microstepping value to get the necessary speed
+#define RA_STALL_VALUE 100       // adjust this value if the RA autohoming sequence often false triggers, or triggers too late
 
-#define DEC_MICROSTEPPING 32
-#define DEC_STALL_VALUE 10
+#define DEC_SLEW_MICROSTEPPING  16  // The microstep mode used for slewing DEC
+#define DEC_GUIDE_MICROSTEPPING 64  // The microstep mode used for Guiding DEC only
+#define DEC_STALL_VALUE 10    // adjust this value if the RA autohoming sequence often false triggers, or triggers too late
 #define DEC_RMSCURRENT 1000   // RMS current in mA. Warning: Peak current will be 1.414 times higher!! Do not exceed your steppers max current!
 #define DEC_HOLDCURRENT 20    // [0, ... , 31] x/32 of the run current when standing still. 0=1/32... 31=32/32
 #define USE_AUTOHOME 0        // Autohome with TMC2209 stall detection:  ON = 1  |  OFF = 0   
 //                  ^^^ leave at 0 for now, doesnt work properly yet
+#define RA_AUDIO_FEEDBACK  0 // If one of these are set to 1, the respective driver will shut off the stealthchop mode, resulting in a audible whine
+#define DEC_AUDIO_FEEDBACK 0 // of the stepper coils. Use this to verify that UART is working properly. 
+//
+//
+//
+////////////////////////////
+//
+// GUIDE SETTINGS
+// This is the multiplier of the normal trackingspeed that a pulse will have 
+// NEMA steppers only! Doesnt affect 28BY
+// standard value: RA 2.0;  DEC 1.0
+#define RA_PULSE_MULTIPLIER 1.5
+#define DEC_PULSE_MULTIPLIER 1.0
 //
 //
 ////////////////////////////
@@ -73,21 +86,8 @@
 #define NORTHERN_HEMISPHERE 1
 //
 //
-////////////////////////////
 //
-// GUIDE SETTINGS
-// This is the multiplier of the normal trackingspeed that a pulse will have 
-// standard value: RA 2.2;  DEC 1.2
-#if RA_STEPPER_TYPE == STEP_28BYJ48
-#define RA_PULSE_MULTIPLIER 2.0
-#define DEC_PULSE_MULTIPLIER 1.0
-#else
-#define RA_PULSE_MULTIPLIER 1.5
-#define DEC_PULSE_MULTIPLIER 1.2
-#endif
-
-
-
+//
 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 //                  ////////
 // LCD SETTINGS     ////////

Software/Arduino code/OpenAstroTracker/MeadeCommandProcessor.cpp

@@ -656,13 +656,15 @@ String MeadeCommandProcessor::handleMeadeMovement(String inCmd) {
   else if (inCmd[0] == 'A') {
     // Move Azimuth or Altitude by given arcminutes
     // :MAZ+32.1# or :MAL-32.1#
+    #if AZIMUTH_ALTITUDE_MOTORS == 1
     float arcMinute = inCmd.substring(2).toFloat();
     if (inCmd[1] == 'Z'){
-      _mount->moveBy(AZIMUTH_STEPS, arcMinute);
+      _mount->moveBy (AZIMUTH_STEPS, arcMinute);
     }
     else if (inCmd[1] == 'L'){
-      _mount->moveBy(ALTITUDE_STEPS, arcMinute);
+      //_mount->moveBy(ALTITUDE_STEPS, arcMinute);
     }
+    #endif
     return "";
   }
   else if (inCmd[0] == 'e') {

Software/Arduino code/OpenAstroTracker/Mount.cpp

@@ -5,6 +5,7 @@
 #include "Utility.hpp"
 #include "EPROMStore.hpp"
 #include "Sidereal.cpp"
+#include "Configuration_pins.hpp"
 
 //mountstatus
 #define STATUS_PARKED              0B0000000000000000
@@ -77,7 +78,7 @@ Mount::Mount(int stepsPerRADegree, int stepsPerDECDegree, LcdMenu* lcdMenu) {
   _stepsPerRADegree = stepsPerRADegree;
   #endif
   #if DEC_DRIVER_TYPE != ULN2003_DRIVER
-  _stepsPerDECDegree = stepsPerDECDegree * DEC_MICROSTEPPING;
+  _stepsPerDECDegree = stepsPerDECDegree * DEC_SLEW_MICROSTEPPING;
   #else
   _stepsPerDECDegree = stepsPerDECDegree;
   #endif
@@ -445,17 +446,19 @@ void Mount::configureDECStepper(byte stepMode, byte pin1, byte pin2, int maxSpee
 // configureRAdriver
 // TMC2209 UART only
 /////////////////////////////////
-#if RA_DRIVER_TYPE == TMC2009_UART
+#if RA_DRIVER_TYPE == TMC2209_UART
 void Mount::configureRAdriver(HardwareSerial *serial, float rsense, byte driveraddress, int rmscurrent, int stallvalue)
 {
   _driverRA = new TMC2209Stepper(serial, rsense, driveraddress);
   _driverRA->begin();
-  //_driverRA->en_spreadCycle(1);
+  #if RA_AUDIO_FEEDBACK == 1
+  _driverRA->en_spreadCycle(1);
+  #endif
   _driverRA->toff(4);
   _driverRA->blank_time(24);
   _driverRA->rms_current(rmscurrent);
   _driverRA->microsteps(TRACKING_MICROSTEPPING);
-  _driverRA->fclktrim(20);
+  _driverRA->fclktrim(4);
   _driverRA->TCOOLTHRS(0xFFFFF);  //xFFFFF);
   _driverRA->ihold(1); // its save to assume that the only time RA stands still is during parking and the current can be limited to a minimum
   //_driverRA->semin(2);
@@ -472,15 +475,17 @@ void Mount::configureRAdriver(HardwareSerial *serial, float rsense, byte drivera
 // configureDECdriver
 // TMC2209 UART only
 /////////////////////////////////
-#if DEC_DRIVER_TYPE == TMC2009_UART
+#if DEC_DRIVER_TYPE == TMC2209_UART
 void Mount::configureDECdriver(HardwareSerial *serial, float rsense, byte driveraddress, int rmscurrent, int stallvalue)
 {
   _driverDEC = new TMC2209Stepper(serial, rsense, driveraddress);
   _driverDEC->begin();
   _driverDEC->blank_time(24);
-  //_driverDEC->en_spreadCycle(1);
+  #if DEC_AUDIO_FEEDBACK == 1
+  _driverDEC->en_spreadCycle(1);
+  #endif
   _driverDEC->rms_current(rmscurrent);
-  _driverDEC->microsteps(DEC_MICROSTEPPING);
+  _driverDEC->microsteps(DEC_SLEW_MICROSTEPPING);
   _driverDEC->TCOOLTHRS(0xFFFFF);
   _driverDEC->semin(5);
   _driverDEC->semax(2);
@@ -512,7 +517,7 @@ void Mount::setSpeedCalibration(float val, bool saveToStorage) {
 
   // The tracker simply needs to rotate at 15degrees/hour, adjusted for sidereal
   // time (i.e. the 15degrees is per 23h56m04s. 86164s/86400 = 0.99726852. 3590/3600 is the same ratio) So we only go 15 x 0.99726852 in an hour.
-  #if RA_DRIVER_TYPE == TMC2009_UART
+  #if RA_DRIVER_TYPE == TMC2209_UART
   _trackingSpeed = _trackingSpeedCalibration * ((_stepsPerRADegree / SET_MICROSTEPPING) * TRACKING_MICROSTEPPING) * siderealDegreesInHour / 3600.0f;
   #else
   _trackingSpeed = _trackingSpeedCalibration * _stepsPerRADegree * siderealDegreesInHour / 3600.0f;
@@ -916,7 +921,7 @@ void Mount::startSlewingToTarget() {
   }
 
   // set Slew microsteps for TMC2209 UART // hier
-  #if RA_DRIVER_TYPE == TMC2009_UART
+  #if RA_DRIVER_TYPE == TMC2209_UART
   _driverRA->microsteps(SET_MICROSTEPPING);
   //_driverRA->en_spreadCycle(1);  //only used as audiofeedback for quick debug
   #endif
@@ -935,6 +940,9 @@ void Mount::startSlewingToTarget() {
   _mountStatus |= STATUS_SLEWING | STATUS_SLEWING_TO_TARGET;
   _totalDECMove = 1.0f * _stepperDEC->distanceToGo();
   _totalRAMove = 1.0f * _stepperRA->distanceToGo();
+  #if RA_STEPPER_TYPE == STEP_NEMA17  // tracking while slewing causes audible lagging
+  stopSlewing(TRACKING);
+  #endif																					  
 }
 
 /////////////////////////////////
@@ -985,32 +993,55 @@ void Mount::guidePulse(byte direction, int duration) {
 
   switch (direction) {
     case NORTH:
+    #if DEC_DRIVER_TYPE == TMC2209_UART
+    _driverDEC->microsteps(DEC_GUIDE_MICROSTEPPING);
+    #endif
     _stepperDEC->setAcceleration(2500);
+    #if DEC_STEPPER_TYPE == STEP_28BYJ48
+    _stepperDEC->setMaxSpeed(decTrackingSpeed * (1.0 + 0.2));
+    _stepperDEC->setSpeed(decTrackingSpeed * 1.0);
+    #else // NEMA
     _stepperDEC->setMaxSpeed(decTrackingSpeed * (DEC_PULSE_MULTIPLIER + 0.2));
     _stepperDEC->setSpeed(decTrackingSpeed * DEC_PULSE_MULTIPLIER);
+    #endif
     _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_DEC;
     break;
 
     case SOUTH:
+    #if DEC_DRIVER_TYPE == TMC2209_UART
+    _driverDEC->microsteps(DEC_GUIDE_MICROSTEPPING);
+    #endif
     _stepperDEC->setAcceleration(2500);
+    #if DEC_STEPPER_TYPE == STEP_28BYJ48
+    _stepperDEC->setMaxSpeed(decTrackingSpeed * (1.0 + 0.2));
+    _stepperDEC->setSpeed(-decTrackingSpeed * 1.0);
+    #else // NEMA
     _stepperDEC->setMaxSpeed(decTrackingSpeed * (DEC_PULSE_MULTIPLIER + 0.2));
     _stepperDEC->setSpeed(-decTrackingSpeed * DEC_PULSE_MULTIPLIER);
+    #endif
     _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_DEC;
     break;
 
     case WEST:
+    
+    #if RA_STEPPER_TYPE == STEP_28BYJ48
+    _stepperTRK->setMaxSpeed(raTrackingSpeed * 2.2 );
+    _stepperTRK->setSpeed(raTrackingSpeed * 2.0);
+    #else  // NEMA
     _stepperTRK->setMaxSpeed(raTrackingSpeed * (RA_PULSE_MULTIPLIER + 0.2 ));
     _stepperTRK->setSpeed(raTrackingSpeed * RA_PULSE_MULTIPLIER);
+    #endif
     _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_RA;
     break;
 
     case EAST:
-    _stepperTRK->setMaxSpeed(raTrackingSpeed * (RA_PULSE_MULTIPLIER + 0.2));
     #if RA_STEPPER_TYPE == STEP_28BYJ48
+      _stepperTRK->setMaxSpeed(raTrackingSpeed * 2.2 );
       _stepperTRK->setSpeed(0);
-    #else
+    #else // NEMA
       // Not sure why we don't stop tracking with NEMAs as is customary.....
-      _stepperTRK->setSpeed(0.6 * raTrackingSpeed);
+      _stepperTRK->setMaxSpeed(raTrackingSpeed * (RA_PULSE_MULTIPLIER + 0.2));
+      _stepperTRK->setSpeed(raTrackingSpeed * (RA_PULSE_MULTIPLIER - 1));
     #endif
     _mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_RA;
     break;
@@ -1432,7 +1463,7 @@ void Mount::startSlewing(int direction) {
 
       // Set move rate to last commanded slew rate
       setSlewRate(_moveRate);
-      #if RA_DRIVER_TYPE == TMC2009_UART
+      #if RA_DRIVER_TYPE == TMC2209_UART
       _driverRA->microsteps(SET_MICROSTEPPING);
       //_driverRA->en_spreadCycle(1);  //only used as audiofeedback for quick debug
       //hier
@@ -1579,13 +1610,6 @@ void Mount::loop() {
   unsigned long now = millis();
   bool raStillRunning = false;
   bool decStillRunning = false;
-
-  /*static uint32_t last_time = 0;
-  uint32_t ms = millis();
-  if ((ms - last_time) > 100) { //run every 0.1s
-    last_time = ms;*/
-  //Serial.println(_driverRA->mres());
-  //}
 
   // Since some of the boards cannot process timer interrupts at the required 
   // speed (or at all), we'll just stick to deterministic calls here.
@@ -1600,13 +1624,13 @@ void Mount::loop() {
   }
   #endif
 
-  #if RA_DRIVER_TYPE == TMC2009_UART && DEC_DRIVER_TYPE == TMC2009_UART && USE_AUTOHOME == 1
+  #if RA_DRIVER_TYPE == TMC2209_UART && DEC_DRIVER_TYPE == TMC2209_UART && USE_AUTOHOME == 1
   if (isFindingHome()) {
     if (digitalRead(DEC_DIAG_PIN) == HIGH) {
       finishFindingHomeDEC();
       return;
     }
-    if (digitalRead(RA_DIAG_PIN) == 52) {
+    if (digitalRead(RA_DIAG_PIN) == HIGH) {
       finishFindingHomeRA();
       return;
     }    
@@ -1617,6 +1641,9 @@ void Mount::loop() {
   if (isGuiding()) {
     if (millis() > _guideEndTime) {
       stopGuiding();
+	  #if DEC_DRIVER_TYPE == TMC2209_UART
+      _driverDEC->microsteps(DEC_SLEW_MICROSTEPPING);
+    #endif					
     }
     return;
   }
@@ -1655,8 +1682,9 @@ void Mount::loop() {
 
         _currentDECStepperPosition = _stepperDEC->currentPosition();
         _currentRAStepperPosition = _stepperRA->currentPosition();
-        #if RA_DRIVER_TYPE == TMC2009_UART
+        #if RA_DRIVER_TYPE == TMC2209_UART
         _driverRA->microsteps(TRACKING_MICROSTEPPING);
+		    startSlewing(TRACKING);					   
         //_driverRA->en_spreadCycle(0); // only for audio feedback for quick debug
         #endif
         if (_correctForBacklash) {
@@ -1746,11 +1774,8 @@ void Mount::setHome(bool clearZeroPos) {
 // Set RA and DEC to the home position
 /////////////////////////////////
 void Mount::setTargetToHome() {
-  #if RA_DRIVER_TYPE != ULN2003_DRIVER
-  float trackedSeconds = (_stepperTRK->currentPosition() / _trackingSpeed) * (SET_MICROSTEPPING / TRACKING_MICROSTEPPING); // steps/steps/s
-  #else
+  
   float trackedSeconds = _stepperTRK->currentPosition() / _trackingSpeed; // steps/steps/s
-  #endif
 
   LOGV2(DEBUG_MOUNT,"Mount::setTargetToHome() called with %fs elapsed tracking", trackedSeconds);
 
@@ -2052,7 +2077,7 @@ String Mount::RAString(byte type, byte active) {
 //
 /////////////////////////////////
 // Automatically home the mount. Only with TMC2209 in UART mode
-#if RA_DRIVER_TYPE == TMC2009_UART && DEC_DRIVER_TYPE == TMC2009_UART && USE_AUTOHOME == 1
+#if RA_DRIVER_TYPE == TMC2209_UART && DEC_DRIVER_TYPE == TMC2209_UART && USE_AUTOHOME == 1
 
 void Mount::startFindingHomeDEC()  {
   _driverDEC->SGTHRS(10);
@@ -2116,7 +2141,7 @@ void Mount::finishFindingHomeRA()
 
 
    startSlewing(TRACKING);
-   setHome();
+   setHome(true);
 
 }
 #endif

Software/Arduino code/OpenAstroTracker/Mount.hpp

@@ -7,7 +7,7 @@
 #include "DayTime.hpp"
 #include "LcdMenu.hpp"
 
-#if RA_DRIVER_TYPE == TMC2009_UART
+#if RA_DRIVER_TYPE == TMC2209_UART
  #include <TMCStepper.h>
  // If you get an error here, download the TMCstepper library from "Tools > Manage Libraries"
 #endif
@@ -81,11 +81,11 @@ class Mount {
 #endif
 
   // Configure the RA Driver (TMC2209 UART only)
-#if RA_DRIVER_TYPE == TMC2009_UART
+#if RA_DRIVER_TYPE == TMC2209_UART
   void configureRAdriver(HardwareSerial *serial, float rsense, byte driveraddress, int rmscurrent, int stallvalue);
 #endif
   // Configure the DEC Driver (TMC2209 UART only)
-#if DEC_DRIVER_TYPE == TMC2009_UART
+#if DEC_DRIVER_TYPE == TMC2209_UART
   void configureDECdriver(HardwareSerial *serial, float rsense, byte driveraddress, int rmscurrent, int stallvalue);
 #endif
 
@@ -193,7 +193,7 @@ class Mount {
   void setHome(bool clearZeroPos);
 
   // Auto Home with TMC2209 UART
-  #if RA_DRIVER_TYPE == TMC2009_UART  
+  #if RA_DRIVER_TYPE == TMC2209_UART  
     void startFindingHomeRA();
     void startFindingHomeDEC();
     void finishFindingHomeRA();
@@ -315,7 +315,7 @@ class Mount {
   AccelStepper* _stepperRA;
   AccelStepper* _stepperDEC;
   AccelStepper* _stepperTRK;
-  #if RA_DRIVER_TYPE == TMC2009_UART
+  #if RA_DRIVER_TYPE == TMC2209_UART
     TMC2209Stepper* _driverRA;
     TMC2209Stepper* _driverDEC;
   #endif