V1.8.53 - Updates

- Enforced DEC limits on slew movements. There is currently no indication that limiting has occurred.
- Added display of DEC limits to INFO screen.
- Changed some logging output.

Author: ClutchplateDude

Software/Arduino code/OpenAstroTracker/Version.h

@@ -1 +1 @@
-#define VERSION "V1.8.52"
+#define VERSION "V1.8.53"

Software/Arduino code/OpenAstroTracker/src/Mount.cpp

@@ -919,7 +919,7 @@ const DayTime Mount::HA() const {
   DayTime ha = _LST;
   // LOGV2(DEBUG_MOUNT_VERBOSE, F("Mount: LST: %s"), _LST.ToString());
   ha.subtractTime(DayTime(POLARIS_RA_HOUR, POLARIS_RA_MINUTE, POLARIS_RA_SECOND));
-  LOGV2(DEBUG_MOUNT, F("Mount: GetHA: LST-Polaris is HA %s"), ha.ToString());
+  // LOGV2(DEBUG_MOUNT, F("Mount: GetHA: LST-Polaris is HA %s"), ha.ToString());
   return ha;
 }
 
@@ -1757,20 +1757,42 @@ void Mount::startSlewing(int direction) {
           _driverRA->microsteps(SET_MICROSTEPPING);
         #endif
       #endif
-      LOGV1(DEBUG_STEPPERS, F("STEP-startSlewing: call moveTo() on stepper"));
+
       if (direction & NORTH) {
-        _stepperDEC->moveTo(sign * 300000);
+        long targetLocation = sign * 300000;
+        if (_decUpperLimit != 0) {
+          targetLocation = _decUpperLimit;
+          LOGV3(DEBUG_STEPPERS, F("STEP-startSlewing(N): DEC has upper limit of %l. targetMoveTo is now %l"), _decUpperLimit, targetLocation);
+        }
+        else {
+          LOGV2(DEBUG_STEPPERS, F("STEP-startSlewing(N): initial targetMoveTo is %l"), targetLocation);
+        }
+      
+        _stepperDEC->moveTo(targetLocation);
         _mountStatus |= STATUS_SLEWING;
       }
+
       if (direction & SOUTH) {
-        _stepperDEC->moveTo(-sign * 300000);
+        long targetLocation = -sign * 300000;
+        if (_decLowerLimit != 0) {
+          targetLocation = _decLowerLimit;
+          LOGV3(DEBUG_STEPPERS, F("STEP-startSlewing(S): DEC has lower limit of %l. targetMoveTo is now %l"), _decLowerLimit, targetLocation);
+        }
+        else {
+          LOGV2(DEBUG_STEPPERS, F("STEP-startSlewing(S): initial targetMoveTo is %l"), targetLocation);
+        }
+
+        _stepperDEC->moveTo(targetLocation);
         _mountStatus |= STATUS_SLEWING;
       }
+
       if (direction & EAST) {
+          LOGV2(DEBUG_STEPPERS, F("STEP-startSlewing(E): initial targetMoveTo is %l"), -sign * 300000);
         _stepperRA->moveTo(-sign * 300000);
         _mountStatus |= STATUS_SLEWING;
       }
       if (direction & WEST) {
+          LOGV2(DEBUG_STEPPERS, F("STEP-startSlewing(W): initial targetMoveTo is %l"), sign * 300000);
         _stepperRA->moveTo(sign * 300000);
         _mountStatus |= STATUS_SLEWING;
       }
@@ -1907,7 +1929,8 @@ void Mount::loop() {
   interruptLoop();
   #endif
 
-  #if DEBUG_LEVEL&DEBUG_MOUNT 
+  #if DEBUG_LEVEL & (DEBUG_MOUNT && DEBUG_VERBOSE)
+  unsigned long now = millis();
   if (now - _lastMountPrint > 2000) {
     Serial.println(getStatusString());
     _lastMountPrint = now;
@@ -1975,7 +1998,7 @@ void Mount::loop() {
       _mountStatus &= ~(STATUS_SLEWING | STATUS_SLEWING_TO_TARGET);
 
       if (_stepperWasRunning) {
-        LOGV1(DEBUG_MOUNT|DEBUG_STEPPERS,F("Mount::Loop: Reached target."));
+        LOGV3(DEBUG_MOUNT|DEBUG_STEPPERS,F("Mount::Loop: Reached target. RA:%l, DEC:%l"), _stepperRA->currentPosition(), _stepperDEC->currentPosition());
         // Mount is at Target!
         // If we we're parking, we just reached home. Clear the flag, reset the motors and stop tracking.
         if (isParking()) {
@@ -2129,6 +2152,16 @@ void Mount::clearDecLimitPosition(bool upper) {
   }
 }
 
+/////////////////////////////////
+//
+// getDecLimitPositions
+//
+/////////////////////////////////
+void Mount::getDecLimitPositions(long & lowerLimit, long & upperLimit) {
+  lowerLimit = _decLowerLimit;
+  upperLimit = _decUpperLimit;
+}
+
 /////////////////////////////////
 //
 // setHome
@@ -2323,6 +2356,16 @@ void Mount::moveSteppersTo(float targetRA, float targetDEC) {
   }
 
   _stepperRA->moveTo(targetRA);
+
+  if (_decUpperLimit != 0) {
+    targetDEC = min(targetDEC, _decUpperLimit);
+    LOGV2(DEBUG_MOUNT,F("Mount::MoveSteppersTo: DEC Upper Limit enforced. To: %f"), targetDEC);
+  }
+  if (_decLowerLimit != 0) {
+    targetDEC = max(targetDEC, _decLowerLimit);
+    LOGV2(DEBUG_MOUNT,F("Mount::MoveSteppersTo: DEC Lower Limit enforced. To: %f"), targetDEC);
+  }
+
   _stepperDEC->moveTo(targetDEC);
 }
 

Software/Arduino code/OpenAstroTracker/src/Mount.hpp

@@ -214,6 +214,9 @@ class Mount {
   // Clear the DEC limit position. If upper is true, clears upper limit, else the lower limit.
   void clearDecLimitPosition(bool upper);
 
+  // Get the DEC limit positions
+  void getDecLimitPositions(long & lowerLimit, long & upperLimit);
+
   // Auto Home with TMC2209 UART
   #if (RA_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART) || (DEC_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART)
     void startFindingHomeRA();

Software/Arduino code/OpenAstroTracker/src/c78_menuINFO.hpp

@@ -4,7 +4,7 @@
 
 #if SUPPORT_INFO_DISPLAY == 1
 byte infoIndex = 0;
-byte maxInfoIndex = 7;
+byte maxInfoIndex = 9;
 byte subIndex = 0;
 unsigned long lastInfoUpdate = 0;
 
@@ -108,12 +108,26 @@ void printStatusSubmenu() {
       break;
 
       case 5: {
+        long lowerLimit, upperLimit;
+        mount.getDecLimitPositions(lowerLimit, upperLimit);
+        lcdMenu.printMenu("DEC Lo: "+String(lowerLimit));
+      }
+      break;
+
+      case 6: {
+        long lowerLimit, upperLimit;
+        mount.getDecLimitPositions(lowerLimit, upperLimit);
+        lcdMenu.printMenu("DEC Up: "+String(upperLimit));
+      }
+      break;
+      
+      case 7: {
         sprintf(scratchBuffer, "MemAvail: %d", freeMemory());
         lcdMenu.printMenu(scratchBuffer);
       }
       break;
 
-      case 6: {
+      case 8: {
         long now = millis();
         long msPerDay = 60L * 60 * 24 * 1000;
         int days = (int)(now / msPerDay);
@@ -124,7 +138,7 @@ void printStatusSubmenu() {
       }
       break;
 
-      case 7: {
+      case 9: {
         lcdMenu.printMenu("Firmw.: " + String(VERSION));
       }
       break;