Merge pull request #47 from OpenAstroTech/developautopa

Merge of Developautopa to main Develop branch

Author: ClutchplateDude

Software/Arduino code/OpenAstroTracker/Configuration.hpp

@@ -18,7 +18,7 @@
   =======================================================================================================================================
 */
 
-String version = "V1.8.03";
+String version = "V1.8.04";
 
 ///////////////////////////////////////////////////////////////////////////
 // Also use Configuration_adv for further adjustments!

Software/Arduino code/OpenAstroTracker/Configuration_adv.hpp

@@ -109,6 +109,32 @@
 #define LCD_BUTTON_TEST 0
 
 
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//                                     ///
+// HARDWARE EXTENSIONS SUPPORT SECTION ///
+//                                     ///
+//////////////////////////////////////////
+//
+// Set this to 1 if the mount has motorized Azimuth and Altitude adjustment. Set pins in configuration_pins.hpp
+#define AZIMUTH_ALTITUDE_MOTORS  0
+
+#define AZIMUTH_MAX_SPEED 500
+#define AZIMUTH_MAX_ACCEL 400
+#define AZIMUTH_ARC_SECONDS_PER_STEP (3.99985f)
+#define AZIMUTH_STEPS_PER_ARC_MINUTE (60.0f/AZIMUTH_ARC_SECONDS_PER_STEP)
+
+#define ALTITUDE_MAX_SPEED 500
+#define ALTITUDE_MAX_ACCEL 400
+#define ALTITUDE_ARC_SECONDS_PER_STEP (0.61761f)
+#define ALTITUDE_STEPS_PER_ARC_MINUTE (60.0f/ALTITUDE_ARC_SECONDS_PER_STEP)
+
+//
+// Set this to 1 if you are using a NEO6m GPS module for HA/LST and location automatic determination.
+// 
+#define USE_GPS 0
+// If supported, download the library https://github.com/mikalhart/TinyGPSPlus/releases and extract it to C:\Users\*you*\Documents\Arduino\libraries
+
+
 
 #if HEADLESS_CLIENT == 0 // <-- Ignore this line
 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -150,10 +176,6 @@
 // Set this to 1 to support Serial Meade LX200 protocol support
   #define SUPPORT_SERIAL_CONTROL       1
 
-// Set this to 1 if you are using a NEO6m GPS module
-// Download this library https://github.com/mikalhart/TinyGPSPlus/releases and extract it to C:\Users\*you*\Documents\Arduino\libraries
-  #define USE_GPS                      0
-
 #endif  // HEADLESS_CLIENT <-- Ignore this    
 
 

Software/Arduino code/OpenAstroTracker/Configuration_pins.hpp

@@ -36,10 +36,24 @@
     #define DEC_SERIAL_PORT Serial3  // HardwareSerial port, wire to TX2 for write-only
     #define DEC_DRIVER_ADDRESS 0b01  // Set by MS1/MS2 (MS1 HIGH, MS2 LOW)
     #define DEC_DIAG_PIN 41          // only needed for autohome function
+    
+    #if AZIMUTH_ALTITUDE_MOTORS == 1
+        // Azimuth and Altitude pins
+        #define AZ_IN1_PIN 38
+        #define AZ_IN2_PIN 40
+        #define AZ_IN3_PIN 42
+        #define AZ_IN4_PIN 44
+        #define ALT_IN1_PIN 46
+        #define ALT_IN2_PIN 48
+        #define ALT_IN3_PIN 50
+        #define ALT_IN4_PIN 52
+    #endif
     //---------------
-    // MISC PINS
-    #define GPS_SERIAL_PORT Serial1
-    #define GPS_BAUD_RATE 9600
+    // MISC PINS amd SETTINGS
+    #if USE_GPS == 1
+        #define GPS_SERIAL_PORT Serial1
+        #define GPS_BAUD_RATE 9600
+    #endif
 #endif //mega
 
 ////////////////////////////////////////////////////////////////////
@@ -62,6 +76,17 @@
   #define DEC_IN3_PIN  5   
   #define DEC_IN4_PIN  18  
 
+#if AZIMUTH_ALTITUDE_MOTORS == 1
+  #define AZ_IN1_PIN 38
+  #define AZ_IN2_PIN 40
+  #define AZ_IN3_PIN 42
+  #define AZ_IN4_PIN 44
+  #define ALT_IN1_PIN 46
+  #define ALT_IN2_PIN 48
+  #define ALT_IN3_PIN 50
+  #define ALT_IN4_PIN 52
+#endif 
+
 // ST4 Input Pins - TODO.
     /*#define st4North      SD0 
     #define st4South      SD1
@@ -90,6 +115,9 @@
   #define DEC_IN3_PIN 16
   #define DEC_IN4_PIN 15
 
+  #if AZIMUTH_ALTITUDE_MOTORS == 1
+    #error Azimuth / Altitude motors not currently configured/supported in ESP32
+  #endif
   #if USE_GPS == 1
     #error GPS module not currently configured/supported in ESP32
   #endif

Software/Arduino code/OpenAstroTracker/MeadeCommandProcessor.cpp

@@ -85,20 +85,25 @@
 // :GX#
 //      Get Mount Status
 //      Returns: string reflecting the mounts' status. The string is a comma-delimited list of statuses:
-//               Idle,--T,11219,0,927,071906,+900000,#
-//                 |   |    |   |  |     |      |    
-//                 |   |    |   |  |     |      |    
-//                 |   |    |   |  |     |      |    
-//                 |   |    |   |  |     |      +------------------ [6] The current DEC position
-//                 |   |    |   |  |     +------------------------- [5] The current RA position
-//                 |   |    |   |  +------------------------------- [4] The Tracking stepper position
-//                 |   |    |   +---------------------------------- [3] The DEC stepper position
-//                 |   |    +-------------------------------------- [2] The RA stepper position
-//                 |   +------------------------------------------- [1] The motion state. 
-//                 |                                                    First character is RA slewing state ('R' is East, 'r' is West, '-' is stopped). 
-//                 |                                                    Second character is DEC slewing state ('d' is North, 'D' is South, '-' is stopped). 
-//                 |                                                    Third character is TRK slewing state ('T' is Tracking, '-' is stopped). 
-//                 +----------------------------------------------- [0] The mount status. One of 'Idle', 'Parked', 'Parking', 'Guiding', 'SlewToTarget', 'FreeSlew', 'ManualSlew', 'Tracking'
+//               Idle,--T--,11219,0,927,071906,+900000,#
+//                 |    |     |   |  |     |      |    
+//                 |    |     |   |  |     |      |    
+//                 |    |     |   |  |     |      |    
+//                 |    |     |   |  |     |      +------------------ [6] The current DEC position
+//                 |    |     |   |  |     +------------------------- [5] The current RA position
+//                 |    |     |   |  +------------------------------- [4] The Tracking stepper position
+//                 |    |     |   +---------------------------------- [3] The DEC stepper position
+//                 |    |     +-------------------------------------- [2] The RA stepper position
+//                 |    +-------------------------------------------- [1] The motion state. 
+//                 |                                                      First character is RA slewing state ('R' is East, 'r' is West, '-' is stopped). 
+//                 |                                                      Second character is DEC slewing state ('d' is North, 'D' is South, '-' is stopped). 
+//                 |                                                      Third character is TRK slewing state ('T' is Tracking, '-' is stopped). 
+//                 |                                                      * Fourth character is AZ slewing state ('Z' and 'z' is adjusting, '-' is stopped). 
+//                 |                                                      * Fifth character is ALT slewing state ('A' and 'a' is adjusting, '-' is stopped). 
+//                 +------------------------------------------------- [0] The mount status. One of 'Idle', 'Parked', 'Parking', 'Guiding', 'SlewToTarget', 'FreeSlew', 'ManualSlew', 'Tracking', 'Homing'
+//
+//       * Az and Alt are optional. The string may only be 3 characters long
+//
 //
 // : Gt#
 //      Get Site Latitude
@@ -217,6 +222,18 @@
 //      Where c is one of 'n', 'e', 'w', or 's'. 
 //      Returns: nothing
 //
+// :MAZn.nn#
+//      Move Azimuth 
+//      If the scope supports automated azimuth operation, move azimuth by n.nn arcminutes
+//      Where n.nn is a signed floating point number representing the number of arcminutes to move the mount left or right.
+//      Returns: nothing
+//
+// :MALn.nn#
+//      Move Altitude
+//      If the scope supports automated altitude operation, move altitude by n.nn arcminutes
+//      Where n.nn is a signed floating point number representing the number of arcminutes to raise or lower the mount.
+//      Returns: nothing
+//
 //------------------------------------------------------------------
 // SYNC FAMILY
 //
@@ -636,6 +653,18 @@ String MeadeCommandProcessor::handleMeadeMovement(String inCmd) {
       return "1";
     }
   }
+  else if (inCmd[0] == 'A') {
+    // Move Azimuth or Altitude by given arcminutes
+    // :MAZ+32.1# or :MAL-32.1#
+    float arcMinute = inCmd.substring(2).toFloat();
+    if (inCmd[1] == 'Z'){
+      _mount->moveBy(AZIMUTH_STEPS, arcMinute);
+    }
+    else if (inCmd[1] == 'L'){
+      _mount->moveBy(ALTITUDE_STEPS, arcMinute);
+    }
+    return "";
+  }
   else if (inCmd[0] == 'e') {
     _mount->startSlewing(EAST);
     return "";

Software/Arduino code/OpenAstroTracker/Mount.cpp

@@ -332,6 +332,24 @@ void Mount::configureDECStepper(byte stepMode, byte pin1, byte pin2, byte pin3,
 }
 #endif
 
+#if AZIMUTH_ALTITUDE_MOTORS == 1
+void Mount::configureAzStepper(byte stepMode, byte pin1, byte pin2, byte pin3, byte pin4, int maxSpeed, int maxAcceleration)
+{
+  _stepperAZ = new AccelStepper(HALFSTEP, pin1, pin2, pin3, pin4);
+  _stepperAZ->setSpeed(0);
+  _stepperAZ->setMaxSpeed(maxSpeed);
+  _stepperAZ->setAcceleration(maxAcceleration);
+}
+
+void Mount::configureAltStepper(byte stepMode, byte pin1, byte pin2, byte pin3, byte pin4, int maxSpeed, int maxAcceleration)
+{
+  _stepperALT = new AccelStepper(FULLSTEP, pin1, pin2, pin3, pin4);
+  _stepperALT->setSpeed(0);
+  _stepperALT->setMaxSpeed(maxSpeed);
+  _stepperALT->setAcceleration(maxAcceleration);
+}
+#endif
+
 #if DEC_STEPPER_TYPE == STEP_NEMA17
 void Mount::configureDECStepper(byte stepMode, byte pin1, byte pin2, int maxSpeed, int maxAcceleration)
 {
@@ -525,6 +543,18 @@ String Mount::getMountHardwareInfo()
   ret += String(DecPulleyTeeth)+"|";
   ret += String(DECStepsPerRevolution)+",";
 
+  #if USE_GPS == 1
+    ret += "GPS,";
+  #else
+    ret += "NO_GPS,";
+  #endif
+
+  #if AZIMUTH_ALTITUDE_MOTORS == 1
+    ret += "AUTO_AZ_ALT,";
+  #else
+    ret += "NO_AZ_ALT,";
+  #endif
+
   return ret;
 }
 
@@ -975,6 +1005,25 @@ void Mount::goHome()
   _slewingToHome = true;
 }
 
+/////////////////////////////////
+//
+// moveBy
+//
+/////////////////////////////////
+void Mount::moveBy(int direction, float arcMinutes)
+{
+  #if AZIMUTH_ALTITUDE_MOTORS == 1
+    if (direction == AZIMUTH_STEPS){
+      int stepsToMove = 2.0f * arcMinutes * AZIMUTH_STEPS_PER_ARC_MINUTE;
+      _stepperAZ->move(stepsToMove);
+    }
+    else if (direction == ALTITUDE_STEPS){
+      int stepsToMove = arcMinutes * ALTITUDE_STEPS_PER_ARC_MINUTE;
+      _stepperALT->move(stepsToMove);
+    }
+  #endif
+}
+
 /////////////////////////////////
 //
 // mountStatus
@@ -1040,6 +1089,9 @@ String Mount::getStatusString() {
   else if (isGuiding()) {
     status = "Guiding,";
   }
+  else if (isFindingHome()) {
+    status = "Homing,";
+  }
   else if (slewStatus() & SLEW_MASK_ANY) {
     if (_mountStatus & STATUS_SLEWING_TO_TARGET) {
       status = "SlewToTarget,";
@@ -1058,12 +1110,16 @@ String Mount::getStatusString() {
     status = "Idle,";
   }
 
-  String disp = "---,";
+  String disp = "-----,";
   if (_mountStatus & STATUS_SLEWING) {
     byte slew = slewStatus();
     if (slew & SLEWING_RA) disp[0] = _stepperRA->speed() < 0 ? 'R' : 'r';
     if (slew & SLEWING_DEC) disp[1] = _stepperDEC->speed() < 0 ? 'D' : 'd';
     if (slew & SLEWING_TRACKING) disp[2] = 'T';
+    #if AZIMUTH_ALTITUDE_MOTORS == 1
+    if (_stepperAZ->isRunning()) disp[3] = _stepperAZ->speed() < 0 ? 'Z' : 'z';
+    if (_stepperALT->isRunning()) disp[4] = _stepperALT->speed() < 0 ? 'A' : 'a';
+    #endif
   }
   else if (isSlewingTRK()) {
     disp[2] = 'T';
@@ -1343,6 +1399,12 @@ void Mount::interruptLoop()
       _stepperRA->run();
     }
   }
+
+  #if AZIMUTH_ALTITUDE_MOTORS == 1
+  _stepperAZ->run();
+  _stepperALT->run();
+  #endif
+
 }
 
 /////////////////////////////////

Software/Arduino code/OpenAstroTracker/Mount.hpp

@@ -36,6 +36,8 @@
 #define DEC_STEPS 2
 #define SPEED_FACTOR_DECIMALS 3
 #define BACKLASH_CORRECTION 4
+#define AZIMUTH_STEPS 5
+#define ALTITUDE_STEPS 6
 
 //////////////////////////////////////////////////////////////////
 //
@@ -62,6 +64,11 @@ class Mount {
     void configureDECStepper(byte stepMode, byte pin1, byte pin2, int maxSpeed, int maxAcceleration);
 #endif
 
+#if AZIMUTH_ALTITUDE_MOTORS == 1
+  void configureAzStepper(byte stepMode, byte pin1, byte pin2, byte pin3, byte pin4, int maxSpeed, int maxAcceleration);
+  void configureAltStepper(byte stepMode, byte pin1, byte pin2, byte pin3, byte pin4, int maxSpeed, int maxAcceleration);
+#endif
+
   // Configure the RA Driver (TMC2209 UART only)
 #if RA_DRIVER_TYPE == TMC2009_UART
   void configureRAdriver(HardwareSerial *serial, float rsense, byte driveraddress, int rmscurrent, int stallvalue);
@@ -201,6 +208,9 @@ class Mount {
   // Set the speed of the given motor
   void setSpeed(int which, float speed);
 
+  // Support for moving the mount in azimuth and altitude (requires extra hardware)
+  void moveBy(int direction, float arcMinutes);
+
   // Set the number of steps to use for backlash correction
   void setBacklashCorrection(int steps);
 
@@ -273,6 +283,10 @@ class Mount {
   #if RA_DRIVER_TYPE == TMC2009_UART
     TMC2209Stepper* _driverRA;
     TMC2209Stepper* _driverDEC;
+  #endif  
+  #if AZIMUTH_ALTITUDE_MOTORS == 1
+    AccelStepper* _stepperAZ;
+    AccelStepper* _stepperALT;
   #endif
 
   unsigned long _guideEndTime;

Software/Arduino code/OpenAstroTracker/a_inits.hpp

@@ -62,6 +62,18 @@
     #define DECmotorPin1  DEC_STEP_PIN
     #define DECmotorPin2  DEC_DIR_PIN
 #endif
+
+#if AZIMUTH_ALTITUDE_MOTORS == 1
+    #define AZmotorPin1  AZ_IN1_PIN    
+    #define AZmotorPin3  AZ_IN2_PIN    
+    #define AZmotorPin2  AZ_IN3_PIN    
+    #define AZmotorPin4  AZ_IN4_PIN    
+
+    #define ALTmotorPin1  ALT_IN1_PIN 
+    #define ALTmotorPin3  ALT_IN2_PIN 
+    #define ALTmotorPin2  ALT_IN3_PIN 
+    #define ALTmotorPin4  ALT_IN4_PIN 
+#endif
 // End Stepper Definitions //////////////
 /////////////////////////////////////////
 

Software/Arduino code/OpenAstroTracker/b_setup.hpp

@@ -217,6 +217,11 @@ void finishSetup()
     mount.configureDECdriver(&DEC_SERIAL_PORT, R_SENSE, DEC_DRIVER_ADDRESS, DEC_RMSCURRENT, DEC_STALL_VALUE);
   #endif
 
+  #if AZIMUTH_ALTITUDE_MOTORS == 1
+    mount.configureAzStepper(HALFSTEP, AZmotorPin1, AZmotorPin2, AZmotorPin3, AZmotorPin4, AZIMUTH_MAX_SPEED, AZIMUTH_MAX_ACCEL);
+    mount.configureAltStepper(FULLSTEP, ALTmotorPin1, ALTmotorPin2, ALTmotorPin3, ALTmotorPin4, ALTITUDE_MAX_SPEED, ALTITUDE_MAX_ACCEL);
+  #endif
+
   // The mount uses EEPROM storage locations 0-10 that it reads during construction
   // The LCD uses EEPROM storage location 11
   mount.readConfiguration();