Merge pull request #23 from nexdome/release/3.2.0

Release 3.2.0

Author: NameOfTheDragon

Deploy-Firmware.ps1

@@ -26,10 +26,8 @@ else {
     Remove-Item "$DeployDirectory\ReadMe.pdf" -ErrorAction Ignore
 }
 
-Copy-Item ".\TA.NexDome.Rotator\Release\TA.NexDome.Rotator.hex" -Destination "$DeployDirectory\" -Force
-Copy-Item ".\TA.NexDome.Shutter\Release\TA.NexDome.Shutter.hex" -Destination "$DeployDirectory\" -Force
-Copy-Item ".\XBeeFactoryReset\Release\XBeeFactoryReset.hex" -Destination "$DeployDirectory\" -Force
-Copy-Item ".\ReadMe.pdf" -Destination "$DeployDirectory\" -Force
+Copy-Item ".\TA.NexDome.Rotator\Release\TA.NexDome.Rotator.hex" -Destination "$DeployDirectory\Rotator-$semver.hex" -Force
+Copy-Item ".\TA.NexDome.Shutter\Release\TA.NexDome.Shutter.hex" -Destination "$DeployDirectory\Shutter-$semver.hex" -Force
 
 Write-Host "Deploy complete. Now build the ASCOM driver solution."
 

ReadMe.md

@@ -138,6 +138,7 @@ DW  | R       | ddddd     | :DWR#      | @DWR,300   | Write Dead-zone in steps [
 FR  | RS      | none      | :FRstring# | @FRR       | Reads the semantic version (SemVer) string of the firmware.
 GA  | R       | ddd       | :GAR#      | @GAR,180   | Goto Azimuth (param: integer degrees)
 GH  | R       | none      | :GHR#      | @GHR       | Rotates clockwise until the home sensor is detected and synchronizes the azimuth to the home position.
+GS  | R       | ddddd     | :GSR#      | @GSR,1000  | Goto whole step position (0 <=param <= @RRR)
 HR  | R       | none      | :HRRddddd# | @HRR       | Home position Read (steps clockwise from true north)
 HW  | R       | ddddd     | :HWR#      | @HWR,1000  | Home position Write (seps clockwise from true north)
 PR  | RS      | none      | :PRt-dddd# | @PRR       | Position Read - get current step position in whole steps (signed integer)

TA.NexDome.Rotator/CommandProcessor.cpp

@@ -105,6 +105,7 @@ Response CommandProcessor::HandleCommand(Command& command) const
 		if (command.Verb == "FR") return HandleFR(command); // Read firmware version
 		if (command.Verb == "GA") return HandleGA(command); // Goto Azimuth (rotator only)
 		if (command.Verb == "GH") return HandleGH(command); // Goto Home Sensor (rotator only)
+		if (command.Verb == "GS") return HandleGS(command); // Goto step position (rotator only)
 		if (command.Verb == "HR") return HandleHR(command); // Home position Read (rotator only)
 		if (command.Verb == "HW") return HandleHW(command); // Home position Write (rotator only)
 		if (command.Verb == "SW") return HandleSW(command); // Stop motor (emergency stop)
@@ -134,19 +135,30 @@ Response CommandProcessor::HandleAR(Command& command) const
 	}
 
 
+void CommandProcessor::rotateToMicrostepPosition(const int32_t target) const {
+const auto currentPosition = rotator.getCurrentPosition();
+const auto delta = target - currentPosition;
+const auto direction = sgn(delta);
+if (abs(delta) >= settings.deadZone)
+	{
+	HomeSensor::cancelHoming();
+	sendDirection(direction);
+	rotator.moveToPosition(target);
+	}
+}
+
 Response CommandProcessor::HandleGA(Command& command) const
 	{
 	const auto microstepsPerDegree = settings.home.microstepsPerRotation / 360.0;
 	const auto target = targetStepPosition(command.StepPosition * microstepsPerDegree);
-	const auto currentPosition = rotator.getCurrentPosition();
-	const auto delta = target - currentPosition;
-	const auto direction = sgn(delta);
-	if (abs(delta) >= settings.deadZone)
-		{
-		HomeSensor::cancelHoming();
-		sendDirection(direction);
-		rotator.moveToPosition(target);
-		}
+	rotateToMicrostepPosition(target);
+	return Response::FromSuccessfulCommand(command);
+	}
+
+Response CommandProcessor::HandleGS(Command& command) const
+	{
+	const auto target = targetStepPosition(stepsToMicrosteps(command.StepPosition));
+	rotateToMicrostepPosition(target);
 	return Response::FromSuccessfulCommand(command);
 	}
 

TA.NexDome.Rotator/CommandProcessor.h

@@ -39,6 +39,8 @@ class CommandProcessor
 	Response HandleAW(Command& command) const; // AW - Acceleration ramp time write
 	Response HandleFR(Command& command) const; // Firmware version read
 	Response HandleGA(Command& command) const; // GA - GoTo Azimuth (in degrees).
+	void rotateToMicrostepPosition(int32_t target) const;
+	Response HandleGS(Command& command) const; // GS - GoTo Step Position
 	Response HandleGH(Command& command) const; // Go to home sensor
 	Response HandleHR(Command& command) const; // Read Home position (steps clockwise from true north)
 	Response HandleHW(Command& command) const; // Write home position (steps clockwise from true north)

TA.NexDome.Shutter/LimitSwitch.cpp

@@ -1,13 +1,14 @@
-// 
-// 
-// 
+//
+//
+//
 
 #include <ArduinoSTL.h>
 #include "LimitSwitch.h"
 #include "NexDome.h"
 
 
 MicrosteppingMotor* LimitSwitch::motor;
+volatile bool LimitSwitch::closeTriggered; // static and volatile because accessed in ISR
 
 LimitSwitch::LimitSwitch(MicrosteppingMotor* stepper, uint8_t openLimit, uint8_t closeLimit)
 	: openLimitPin(openLimit), closedLimitPin(closeLimit)
@@ -27,8 +28,11 @@ bool LimitSwitch::isClosed() const
 
 void LimitSwitch::onCloseLimitReached()
 	{
+	if (closeTriggered)
+		return;
 	if (motor->getCurrentVelocity() < 0)
 		{
+		closeTriggered = true;
 		motor->SetCurrentPosition(SHUTTER_LIMIT_STOPPING_DISTANCE);
 		motor->moveToPosition(0);
 		}
@@ -45,10 +49,16 @@ void LimitSwitch::onOpenLimitReached()
 		}
 	}
 
-void LimitSwitch::init()
+void LimitSwitch::onMotorStopped()
+	{
+	closeTriggered = false;
+	}
+
+void LimitSwitch::init() const
 	{
 	pinMode(openLimitPin, INPUT_PULLUP);
 	pinMode(closedLimitPin, INPUT_PULLUP);
+	closeTriggered = false;
 	attachInterrupt(digitalPinToInterrupt(openLimitPin), onOpenLimitReached, FALLING);
 	attachInterrupt(digitalPinToInterrupt(closedLimitPin), onCloseLimitReached, FALLING);
 	}

TA.NexDome.Shutter/LimitSwitch.h

@@ -12,19 +12,22 @@
 #include <AdvancedStepper.h>
 
 class LimitSwitch
-{
-public:
-	LimitSwitch(MicrosteppingMotor* stepper, uint8_t openLimit, uint8_t closeLimit);
-	bool isOpen() const;
-	bool isClosed() const;
-	void init();
-private:
-	uint8_t openLimitPin;
-	uint8_t closedLimitPin;
-	static MicrosteppingMotor * motor;
-	static void onOpenLimitReached();
-	static void onCloseLimitReached();
-};
+	{
+	public:
+		LimitSwitch(MicrosteppingMotor* stepper, uint8_t openLimit, uint8_t closeLimit);
+		bool isOpen() const;
+		bool isClosed() const;
+		void init() const;
+		void onMotorStopped();
+
+	private:
+		uint8_t openLimitPin;
+		uint8_t closedLimitPin;
+		static volatile bool closeTriggered;
+		static MicrosteppingMotor* motor;
+		static void onOpenLimitReached();
+		static void onCloseLimitReached();
+	};
 
 #endif
 

TA.NexDome.Shutter/TA.NexDome.Shutter.ino

@@ -182,5 +182,6 @@ void loop()
 // Handle the motor stop event from the stepper driver.
 void onMotorStopped()
 	{
+	limitSwitches.onMotorStopped();
 	commandProcessor.sendStatus();
 	}