V1.6.19 - Updates

- Moved Firmware configuration information to Globals.h since Arduino IDE does not include .ino files when compiling C++ files.
- Default firmware configuration is to include everything except Serial (and HEAT, cause that's broken).
- Removed a bunch of commented out debugging code.
- Made the LCD now constantly display RA and DEC when in Serial control mode (SELECT still exits).
- All Meade commands now return a 0 or 1 to indicate failure or success.
- Removed the logging string collection from Serial because we are so memory constrained already, that logging is a luxury we can't afford.

Author: ClutchplateDude

Software/Arduino code/OpenAstroTracker/Globals.h

@@ -1,10 +1,55 @@
 #ifndef _GLOBALS_H_
 #define _GLOBALS_H_
 
+#include <Arduino.h>
+
 // Set to 1 if you are in the northern hemisphere.
 #define NORTHERN_HEMISPHERE 1
 
 // Time in ms between LCD screen updates during slewing operations
 #define DISPLAY_UPDATE_TIME 200
 
+// Make some variables in the sketch files available to the C++ code.
+extern bool inSerialControl;
+
+// Comment this out to save some code space
+// #define DEBUG_MODE
+
+// Uncomment to run a key diagnostic. No tracker functions are on at all.
+// #define LCD_BUTTON_TEST
+
+////////////////////////////////////////////////////////////////
+//
+// FEATURE SUPPORT SECTION
+//
+// Since the Arduino Uno has very little memory (32KB code, 2KB data) all features
+// stretch the Uno a little too far. So in order to save memory we allow you to enable 
+// and disable features to help manage memory usage.
+// If you run the tracker with an Arduino Mega, you can uncomment all the features.
+//
+// If you would like to drive your OAT mount with only the LCD Shield, 
+// you should comment out SUPPORT_SERIAL_CONTROL
+//
+// If you feel comfortable with configuring the OAT at startup manually, you should comment 
+// out SUPPORT_GUIDED_STARTUP (maybe after you've used it for a while you know what to do).
+//
+// The POI menu can take a little data memory and you may not need it. If not, you can comment
+// out SUPPORT_POINTS_OF_INTEREST
+//
+////////////////////////////////////////////////////////////////
+
+// Uncomment this to support the heating menu
+// NOTE: Heating is currently not supported!
+// #define SUPPORT_HEATING
+
+// Uncomment to support Guided Startup 
+#define SUPPORT_GUIDED_STARTUP
+
+// Uncomment to support POI menu. Since memory is running low, this can be disabled in lieu of serial support.
+#define SUPPORT_POINTS_OF_INTEREST
+
+// Uncomment to support Serial MEADE support
+// #define SUPPORT_SERIAL_CONTROL
+
+
 #endif

Software/Arduino code/OpenAstroTracker/LcdMenu.cpp

@@ -87,8 +87,6 @@ void LcdMenu::setNextActive() {
 // It also places the selector arrows around the active one.
 // It then sends the string to the LCD, keeping the selector arrows centered in the same place.
 void LcdMenu::updateDisplay() {
-  //Serial.println("UD+");
-  //Serial.flush();
   _lcd.setCursor(0, 0);
   String menuString = "";
   byte offsetToActive = 0;
@@ -107,39 +105,24 @@ void LcdMenu::updateDisplay() {
     offset += strlen(scratchBuffer);
   }
 
-  //Serial.println("UUD1: [" + menuString + "]");
-  //Serial.flush();
-
   // Determine where to place the active menu item. (empty space around longest item divided by two).
   int margin = (_columns - (_longestDisplay)) / 2;
   int offsetIntoString = offsetToActive - margin;
 
-  //Serial.println("UD1: " + String(margin) + " " + String(offsetToActive ) + " " + String(offsetIntoString ));;
-  //Serial.flush();
-
   // Pad the front if we don't have enough to offset the string to the arrow locations (happens on first item(s))
   while (offsetIntoString < 0) {
     _lcd.print(" ");
     offsetIntoString++;
   }
 
-  //Serial.println("UD2a: " + String(margin) + " " + String(offsetToActive ) + " " + String(offsetIntoString ));;
-  //Serial.println("UD2b: [" + menuString + "]");
-  //Serial.flush();
-
   // Display the actual menu string
   String displayString = menuString.substring(offsetIntoString, offsetIntoString + _columns);
-  //Serial.println("UD3: [" + displayString + "]");
-  //Serial.flush();
 
   // Pad the end with spaces so the display is cleared when getting to the last item(s).
   while (displayString.length() < _columns) {
     displayString += " ";
   }
 
-  //Serial.println("UD4: [" + displayString + "]");
-  //Serial.flush();
-
   printMenu(displayString);
 
   // Pad the end with spaces so the display is cleared when getting to the last item(s).

Software/Arduino code/OpenAstroTracker/LcdMenu.hpp

@@ -3,6 +3,7 @@
 
 #include <Arduino.h>
 #include <LiquidCrystal.h>
+#include "Globals.h"
 
 // A single menu item (like RA, HEAT, POL, etc.)
 // The ID is just a number, it has no relevance for the order of the items

Software/Arduino code/OpenAstroTracker/Mount.cpp

@@ -234,8 +234,8 @@ void Mount::syncRA(int hour, int minute, int second) {
   newHA.addTime(deltaRA);
   setHA(newHA);
 
-  float targetRA,targetDEC;
-  calculateRAandDECSteppers(targetRA,targetDEC);
+  float targetRA, targetDEC;
+  calculateRAandDECSteppers(targetRA, targetDEC);
   _stepperRA->setCurrentPosition(targetRA);
 }
 
@@ -246,11 +246,10 @@ void Mount::syncRA(int hour, int minute, int second) {
 /////////////////////////////////
 // Set the current DEC position to be the given degrees (which are 0 .. -180 for Northern Hemisphere)
 void Mount::syncDEC(int degree, int minute, int second) {
-  Serial.println("SyncDEC: " + String(degree) + ":" + String(minute) + ":" + String(second));
   _currentDEC = DegreeTime(degree, minute, second);
   _targetDEC = _currentDEC;
-  float targetRA,targetDEC;
-  calculateRAandDECSteppers(targetRA,targetDEC);
+  float targetRA, targetDEC;
+  calculateRAandDECSteppers(targetRA, targetDEC);
   _stepperDEC->setCurrentPosition(targetDEC);
 }
 
@@ -262,13 +261,12 @@ void Mount::syncDEC(int degree, int minute, int second) {
 // Calculates movement parameters and program steppers to move
 // there. Must call loop() frequently to actually move.
 void Mount::startSlewingToTarget() {
-  //Serial.println("StSlew2Trgt!");
   // Calculate new RA stepper target (and DEC)
   _currentDECStepperPosition = _stepperDEC->currentPosition();
   _currentRAStepperPosition = _stepperRA->currentPosition();
-  float targetRA,targetDEC;
-  calculateRAandDECSteppers(targetRA,targetDEC);
-  moveSteppersTo(targetRA,targetDEC);
+  float targetRA, targetDEC;
+  calculateRAandDECSteppers(targetRA, targetDEC);
+  moveSteppersTo(targetRA, targetDEC);
 
   _mountStatus |= STATUS_SLEWING | STATUS_SLEWING_TO_TARGET;
   _totalDECMove = 1.0f * _stepperDEC->distanceToGo();
@@ -394,7 +392,6 @@ bool Mount::isParked() {
 // Starts manual slewing in one of eight directions or tracking
 /////////////////////////////////
 void Mount::startSlewing(int direction) {
-  //Serial.println("StrtSlew: > " + String(direction) + " " + mountStatusString());
   if (direction & TRACKING) {
     _stepperTRK->setSpeed(_trackingSpeed);
 
@@ -419,7 +416,6 @@ void Mount::startSlewing(int direction) {
       _mountStatus |= STATUS_SLEWING;
     }
   }
-  //Serial.println("StrtSlew: < " + mountStatusString());
 }
 
 /////////////////////////////////
@@ -429,24 +425,18 @@ void Mount::startSlewing(int direction) {
 // Stop manual slewing in one of two directions or Tracking. NS is the same. EW is the same
 /////////////////////////////////
 void Mount::stopSlewing(int direction) {
-  //Serial.println("StopSlw: > " + String(direction) + " " + mountStatusString());
   if (direction & TRACKING) {
-    //Serial.println("StpSlw: TRK OFF");
     // Turn off tracking
     _mountStatus &= ~STATUS_TRACKING;
     _stepperTRK->stop();
   }
 
   if ((direction & (NORTH | SOUTH)) != 0)  {
     _stepperDEC->stop();
-    //Serial.println("StpSlw: DEC OFF");
   }
   if ((direction & (WEST | EAST)) != 0)  {
     _stepperRA->stop();
-    //Serial.println("StpSlw: RA OFF");
   }
-
-  //Serial.println("StpSlw: < " + mountStatusString());
 }
 
 /////////////////////////////////
@@ -537,7 +527,6 @@ void Mount::loop() {
       _currentDEC = _targetDEC;
     }
 
-    //Serial.println("Loop: RA " + String(raStillRunning) + String(decStillRunning) );
     displayStepperPositionThrottled();
   }
   else {
@@ -553,7 +542,9 @@ void Mount::loop() {
 
       // Make sure we do one last update when the steppers have stopped.
       displayStepperPosition();
-      _lcdMenu->updateDisplay();
+      if (!inSerialControl) {
+        _lcdMenu->updateDisplay();
+      }
     }
   }
 
@@ -580,7 +571,6 @@ void Mount::setHome() {
 /////////////////////////////////
 void Mount::setTargetToHome() {
   float trackedSeconds = _stepperTRK->currentPosition() / _trackingSpeed; // steps/steps/s
-  // Serial.println("Pos: " + String(stepperTRK->currentPosition()) + " Secs:" + String(trackedSeconds , 3));
 
   // In order for RA coordinates to work correctly, we need to
   // offset HATime by elapsed time since last HA set and also
@@ -685,16 +675,17 @@ void Mount::moveSteppersTo(float targetRA, float targetDEC) {
 /////////////////////////////////
 void Mount::displayStepperPosition() {
   String disp ;
+
   if ((abs(_totalDECMove) > 0.001) && (abs(_totalRAMove) > 0.001)) {
     float decDist = 100.0 - 100.0 * _stepperDEC->distanceToGo() / _totalDECMove;
     float raDist = 100.0 - 100.0 * _stepperRA->distanceToGo() / _totalRAMove;
 
-    sprintf(scratchBuffer, "D %s %d%%", DECString(LCD_STRING | CURRENT_STRING).c_str(), (int)decDist);
-    _lcdMenu->setCursor(0, 1);
-    _lcdMenu->printMenu(String(scratchBuffer));
     sprintf(scratchBuffer, "R %s %d%%", RAString(LCD_STRING | CURRENT_STRING).c_str(), (int)raDist);
     _lcdMenu->setCursor(0, 0);
     _lcdMenu->printMenu(String(scratchBuffer));
+    sprintf(scratchBuffer, "D %s %d%%", DECString(LCD_STRING | CURRENT_STRING).c_str(), (int)decDist);
+    _lcdMenu->setCursor(0, 1);
+    _lcdMenu->printMenu(String(scratchBuffer));
     return;
   }
   else if (abs(_totalDECMove) > 0.001) {
@@ -707,13 +698,35 @@ void Mount::displayStepperPosition() {
     float raDist = 100.0 - 100.0 * _stepperRA->distanceToGo() / _totalRAMove;
     sprintf(scratchBuffer, "R %s %d%%", RAString(LCD_STRING | CURRENT_STRING).c_str(), (int)raDist);
     disp = disp + String(scratchBuffer);
-    _lcdMenu->setCursor(0, 1);
+    _lcdMenu->setCursor(0, inSerialControl ? 0 : 1);
     _lcdMenu->printMenu(String(scratchBuffer));
   }
   else {
-    disp = "R:" + String(_stepperRA->currentPosition()) + " D:" + String(_stepperDEC->currentPosition()) ;
+#ifdef SUPPORT_SERIAL_CONTROL
+    if (inSerialControl) {
+      sprintf(scratchBuffer, " RA:  %s", RAString(LCD_STRING | CURRENT_STRING).c_str());
+      _lcdMenu->setCursor(0, 0);
+      _lcdMenu->printMenu(scratchBuffer);
+      sprintf(scratchBuffer, "DEC: %s", DECString(LCD_STRING | CURRENT_STRING).c_str());
+      _lcdMenu->setCursor(0, 1);
+      _lcdMenu->printMenu(scratchBuffer);
+    }
+    else {
+      disp = "R:" + String(_stepperRA->currentPosition());
+      _lcdMenu->setCursor(0, 1);
+      _lcdMenu->printMenu(disp);
+      disp = "D:" + String(_stepperDEC->currentPosition()) ;
+      _lcdMenu->setCursor(8, 1);
+      _lcdMenu->printMenu(disp);
+    }
+#else
+    disp = "R:" + String(_stepperRA->currentPosition());
     _lcdMenu->setCursor(0, 1);
     _lcdMenu->printMenu(disp);
+    disp = "D:" + String(_stepperDEC->currentPosition()) ;
+    _lcdMenu->setCursor(8, 1);
+    _lcdMenu->printMenu(disp);
+#endif
   }
 }
 
@@ -760,32 +773,19 @@ String Mount::DECString(byte type, byte active) {
 /////////////////////////////////
 // Return a string of DEC in the given format. For LCDSTRING, active determines where the cursor is
 String Mount::RAString(byte type, byte active) {
-  //Serial.println("RA1: T" + String(type) + " A" + String(active));
   DayTime ra;
-  //Serial.println("RA2:" + ra.ToString());
   if ((type & TARGET_STRING) == TARGET_STRING) {
-    //Serial.println("RA3");
     ra = DayTime(_targetRA);
-    //Serial.println("RA3A:" + ra.ToString());
   } else {
     ra = DayTime(currentRA());
   }
 
-  //Serial.println("RA4:" + ra.ToString());
   DayTime raDisplay(ra);
-  //Serial.println("RA5:" + raDisplay.ToString());
-
-  //Serial.println("RA6:" + _HACorrection.ToString());
   raDisplay.addTime(_HACorrection);
-  //Serial.println("RA6A:" + raDisplay.ToString());
 
   sprintf(scratchBuffer, formatStringsRA[type & FORMAT_STRING_MASK], raDisplay.getHours(), raDisplay.getMinutes() , raDisplay.getSeconds());
-  //Serial.println("RA8:" + String(scratchBuffer));
   if ((type & FORMAT_STRING_MASK) == LCDMENU_STRING) {
-    //Serial.println("RA9");
     scratchBuffer[active * 4] = '>';
-    //Serial.println("RA9A:" + String(scratchBuffer));
   }
-  //Serial.println("RAQ");
   return String (scratchBuffer);
 }

Software/Arduino code/OpenAstroTracker/OpenAstroTracker.ino

@@ -1,7 +1,7 @@
 /*
   =======================================================================================================================================
 
-    Version 1.6.18
+    Version 1.6.19
 
     1. Connect your Arduino, under tools choose "Arduino Uno", set the right Port and set "Arduino ISP" as the Programmer.
     2. Hit upload (Ctrl-U)
@@ -14,7 +14,13 @@
 
   =======================================================================================================================================
 */
-String version = "V1.6.18";
+#include "Globals.h"
+
+String version = "V1.6.19";
+
+///////////////////////////////////////////////////////////////////////////
+// Please see the Globals.h file for configuration of the firmware.
+///////////////////////////////////////////////////////////////////////////
 
 // See NORTHERN_HEMISPHERE in Globals.h if you not in the northern hemisphere
 
@@ -68,43 +74,3 @@ int PolarisRASecond = 25;
 // This changes slightly over weeks, so adjust every couple of months.
 // This value is from 27.Nov.19, I suggest next adjustment in mid 2020
 // The same could be done for the DEC coordinates but they dont change significantly for the next 5 years
-
-// Comment this out to save some code space
-// #define DEBUG_MODE
-
-// Uncomment to run a key diagnostic. No tracker functions are on at all.
-// #define LCD_BUTTON_TEST
-
-////////////////////////////////////////////////////////////////
-//
-// FEATURE SUPPORT SECTION
-//
-// Since the Arduino Uno has very little memory (32KB code, 2KB data) all features
-// stretch the Uno a little too far. So in order to save memory we allow you to enable 
-// and disable features to help manage memory usage.
-// If you run the tracker with an Arduino Mega, you can uncomment all the features.
-//
-// If you would like to drive your OAT mount with only the LCD Shield, 
-// you should comment out SUPPORT_SERIAL_CONTROL
-//
-// If you feel comfortable with configuring the OAT at startup manually, you should comment 
-// out SUPPORT_GUIDED_STARTUP (maybe after you've used it for a while you know what to do).
-//
-// The POI menu can take a little data memory and you may not need it. If not, you can comment
-// out SUPPORT_POINTS_OF_INTEREST
-//
-////////////////////////////////////////////////////////////////
-
-
-// Uncomment this to support the heating menu
-// NOTE: Heating is currently not supported!
-// #define SUPPORT_HEATING
-
-// Uncomment to support Guided Startup 
-#define SUPPORT_GUIDED_STARTUP
-
-// Uncomment to support Serial MEADE support
-// #define SUPPORT_SERIAL_CONTROL
-
-// Uncomment to support POI menu. Since memory is running low, this can be disabled in lieu of serial support.
-#define SUPPORT_POINTS_OF_INTEREST

Software/Arduino code/OpenAstroTracker/Utility.h

@@ -2,6 +2,7 @@
 #define UTILITY_H_
 
 #include <Arduino.h>
+#include "Globals.h"
 
 // LCD shield buttons
 #define btnRIGHT  0
@@ -70,8 +71,6 @@ class LcdButtons {
           _newKey = _currentKey ;
         }
       }
-
-      //Serial.println("KBD: CK-" + String(_currentKey) + " LK-" + String(_lastKey) + " NK-" + String(_newKey) + " LNK-" + String(_lastNewKey));
     }
 
   private: