diff --git a/AstroEQ/AstroEQ.ino b/AstroEQ/AstroEQ.ino
index a5d71b5474103896a7d72d0b6a2fc8705eb50829..ca8b8d65b067f3bf8897c3acd6823908d9c9b0e2 100644
--- a/AstroEQ/AstroEQ.ino
+++ b/AstroEQ/AstroEQ.ino
@@ -9,7 +9,7 @@
Works with EQ5, HEQ5, and EQ6 mounts (Not EQ3-2, they have a different gear ratio)
- Current Verison: 3.6
+ Current Verison: 4.0
*/
#include "synta.h"
@@ -32,6 +32,9 @@
// sVal = aVal / Worm Gear Teeth
// where worm gear teeth is how many teeth on the main worm gear. E.g. for an HEQ5 this is 135
//
+// scalar = reduces the number reported to EQMOD, whilst not affecting mount behavior.
+// This is required if aVal is roughly greater than 10000000 (ten million). Numbers larger than this will overflow calculation limits and result in weird behaviour.
+//
// mount specifics can be found here: http://tech.groups.yahoo.com/group/EQMOD/database?method=reportRows&tbl=5
//
// Summary of mounts (Untested):
@@ -85,6 +88,8 @@ Synta synta(1281,26542080,190985,16,184320,10);
unsigned long gotoPosn[2] = {0,0}; //where to slew to
unsigned int timerOVF[2];
+unsigned long timerCountRate;
+unsigned long minTimerOVF;
//Pins
const char resetPin[2] = {A1,A0};
@@ -242,7 +247,7 @@ void decodeCommand(char command, char* packetIn){ //each command is axis specifi
case 'K': //stop the motor, return empty response
- motorStop(0); //No specific response, just stop the motor (Feel free to customise motorStop function to suit your needs
+ motorStop(synta.axis()); //No specific response, just stop the motor (Feel free to customise motorStop function to suit your needs
responseData = 0;
@@ -257,7 +262,11 @@ void decodeCommand(char command, char* packetIn){ //each command is axis specifi
responseData = 0;
break;
case 'I': //set slew speed, return empty response (this sets the speed to move at if in slew mode)
- synta.cmd.IVal(synta.axis(), synta.hexToLong(packetIn)); //set the speed container (convert string to long first)
+ responseData = synta.hexToLong(packetIn);
+ if (responseData > 650L){
+ responseData = 650L; //minimum speed to prevent timer overrun
+ }
+ synta.cmd.IVal(synta.axis(), responseData); //set the speed container (convert string to long first)
//This will be different if you use a different motor code
calculateRate(); //Used to convert speed into the number of 0.5usecs per step. Result is stored in TimerOVF
@@ -312,22 +321,18 @@ void calculateRate(){
//
//whether to use highspeed move or not is determined by the GVal;
//
- //clocks per step = 16000000 * seconds per step
+ //clocks per step = timerCountRate * seconds per step
unsigned long rate;
- unsigned long clockRate = 1600000L; //1/10th the actual clock to prevent numbers getting too big for an unsigned long
if((synta.cmd.GVal(synta.axis()) == 2)||(synta.cmd.GVal(synta.axis()) == 1)){ //Normal Speed
- rate = clockRate * synta.cmd.IVal(synta.axis());
+ rate = timerCountRate * synta.cmd.IVal(synta.axis());
rate /= synta.cmd.bVal(synta.axis());
} else if ((synta.cmd.GVal(synta.axis()) == 0)||(synta.cmd.GVal(synta.axis()) == 3)){ //High Speed
- rate = clockRate * synta.cmd.IVal(synta.axis());
+ rate = timerCountRate * synta.cmd.IVal(synta.axis());
rate /= synta.cmd.bVal(synta.axis());
rate /= synta.cmd.gVal(synta.axis());
}
- char check[100] = {0};
- sprintf(check,"%ld,%ld,%ld,%ld\n",clockRate,synta.cmd.IVal(synta.axis()),synta.cmd.bVal(synta.axis()),rate);
- Serial1.print(check);
- rate *= 10; //corrects for clock rate being set to 1/10th of the required to prevent numbers getting too big for an unsigned long.
+ rate *= 10; //corrects for timer count rate being set to 1/10th of the required to prevent numbers getting too big for an unsigned long.
//Now truncate to an unsigned int with a sensible max value (the int is to avoid register issues with the 16 bit timer)
if(rate < 539){ //We do 65535 - result as timer counts up from this number to 65536 then interrupts
timerOVF[synta.axis()] = 64997L;
@@ -340,11 +345,7 @@ void calculateRate(){
void slewMode(){
digitalWrite(dirPin[synta.axis()],synta.cmd.dir(synta.axis())); //set the direction
- if(timerOVF[synta.axis()] < 38000L){
- accellerate(64); //accellerate to calculated rate in 64 steps
- } else {
- accellerate(32); //accellerate to calculated rate in 32 steps (faster to avoid missing serial messages)
- }
+ accellerate(32,synta.axis()); //accellerate to calculated rate in 32 steps
if(synta.axis()){
TCNT4 = timerOVF[synta.axis()];
TIMSK4 |= (1<<TOIE4); //Enable timer interrupt
@@ -357,34 +358,21 @@ void slewMode(){
void gotoMode(){
digitalWrite(dirPin[synta.axis()],synta.cmd.dir(synta.axis())); //set the direction
- synta.cmd.IVal(synta.axis(), 176L);
- calculateRate();
unsigned int temp = 0;
- byte accellerateSteps;
- if (synta.cmd.HVal(synta.axis()) < 32){
- synta.cmd.HVal(synta.axis(), 32); //This will cause a small error on VERY TINY Goto's though in reality should never be an issue.
+ if (synta.cmd.HVal(synta.axis()) < (40/synta.scalar())){
+ synta.cmd.HVal(synta.axis(), (40/synta.scalar())); //This will cause a small error on VERY TINY Goto's though in reality should never be an issue.
}
- if (synta.cmd.HVal(synta.axis()) < 64){
- synta.cmd.HVal(synta.axis(),(synta.cmd.HVal(synta.axis()) - 16));
- accellerateSteps = 16;
- } else if(synta.cmd.HVal(synta.axis()) < 96){
- synta.cmd.HVal(synta.axis(),(synta.cmd.HVal(synta.axis()) - 32));
- accellerateSteps = 32;
- } else if(synta.cmd.HVal(synta.axis()) < 128){
- synta.cmd.HVal(synta.axis(),(synta.cmd.HVal(synta.axis()) - 48));
- accellerateSteps = 48;
+ gotoPosn[synta.axis()] = synta.cmd.jVal(synta.axis()) + (synta.cmd.stepDir(synta.axis()) * synta.cmd.HVal(synta.axis())); //current position
+
+ if (synta.cmd.HVal(synta.axis()) < (100/synta.scalar())){
+ synta.cmd.IVal(synta.axis(), 320L);
+ calculateRate();
+ accellerate(20,synta.axis()); //accellerate to calculated rate in 20 steps
} else {
- synta.cmd.HVal(synta.axis(),(synta.cmd.HVal(synta.axis()) - 64));
- accellerateSteps = 64;
+ synta.cmd.IVal(synta.axis(), 176L); //Higher speed slew
+ calculateRate();
+ accellerate(64,synta.axis()); //accellerate to calculated rate in 64 steps
}
- gotoPosn[synta.axis()] = synta.cmd.jVal(synta.axis()) + (synta.cmd.stepDir(synta.axis()) * synta.cmd.HVal(synta.axis())); //current position
- /*if(synta.cmd.HVal(synta.axis()) < 124){ //there are 496 steps of decelleration, so we need to find the correct part of the decelleration curve
- //find point in decelleration curve (timerOVF[synta.axis()] -= 76; for each step)
- temp = 124 - synta.cmd.HVal(synta.axis()); //number of decelleration steps into the curve
- temp *= 304;
- timerOVF[synta.axis()] -= temp;
- }*/
- accellerate(accellerateSteps); //accellerate to calculated rate in 64 steps
synta.cmd.gotoEn(synta.axis(),1);
if(synta.axis()){
TCNT4 = timerOVF[synta.axis()];
@@ -396,37 +384,19 @@ void gotoMode(){
synta.cmd.stopped(synta.axis(),0);
}
-void motorStop(boolean caller){
- if(synta.axis()){ //switch off correct axis
- TIMSK4 &= ~(1<<TOIE4); //disable timer
- } else {
- TIMSK3 &= ~(1<<TOIE3); //disable timer
- }
- synta.cmd.gotoEn(synta.axis(),0); //Cancel goto mode
- synta.cmd.stopped(synta.axis(),1); //mark as stopped
- /*
- if(!synta.cmd.stopped(synta.axis())){ //only has an effect if not already stopped
- if(!caller && !synta.cmd.gotoEn(synta.axis())){ //If not in goto mode, then decellerate
- synta.cmd.HVal(synta.axis(), (64997 - timerOVF[synta.axis()])); //work out where in decelleration curve we are to know how many steps to run
- synta.cmd.HVal(synta.axis(), (synta.cmd.HVal(synta.axis()) / 76)); //19 0.5us's per step
- synta.cmd.HVal(synta.axis(), (496 - synta.cmd.HVal(synta.axis()))); //find steps
- gotoPosn[synta.axis()] = synta.cmd.jVal(synta.axis()) + (synta.cmd.stepDir(synta.axis()) * synta.cmd.HVal(synta.axis())); //current position
- synta.cmd.gotoEn(synta.axis(),1); //Enter short goto mode stint
- } else if (caller){ //otherwise, if decelleration complete, stop.
- if(synta.axis()){ //switch off correct axis
- TIMSK4 &= ~(1<<TOIE4); //disable timer
- } else {
- TIMSK3 &= ~(1<<TOIE3); //disable timer
- }
- synta.cmd.gotoEn(synta.axis(),0); //Cancel goto mode
- synta.cmd.stopped(synta.axis(),1); //mark as stopped
- } else if (synta.cmd.gotoEn(synta.axis())){ //otherwise, abort GOTO and decellerate.
- synta.cmd.HVal(synta.axis(), (64997 - timerOVF[synta.axis()])); //work out where in decelleration curve we are to know how many steps to run
- synta.cmd.HVal(synta.axis(), (synta.cmd.HVal(synta.axis()) / 76)); //76 0.5us's per step
- synta.cmd.HVal(synta.axis(), (496 - synta.cmd.HVal(synta.axis()))); //find steps
- gotoPosn[synta.axis()] = synta.cmd.jVal(synta.axis()) + (synta.cmd.stepDir(synta.axis()) * synta.cmd.HVal(synta.axis())); //current position
- }
- }*/
+void motorStop(byte motor){
+ if(motor){ //switch off correct axis
+ TIMSK4 &= ~(1<<TOIE4); //disable timer
+ } else {
+ TIMSK3 &= ~(1<<TOIE3); //disable timer
+ }
+ if (synta.cmd.gotoEn(motor)){
+ synta.cmd.gotoEn(motor,0); //Cancel goto mode
+ decellerate(20,motor); //last 20 steps are decelleration. motorStop() is called 20 steps early to account for this.
+ } else {
+ decellerate(100,motor); //decellerate in 100 steps.
+ }
+ synta.cmd.stopped(motor,1); //mark as stopped
}
void motorEnable(){
@@ -434,22 +404,70 @@ void motorEnable(){
synta.cmd.FVal(synta.axis(),1);
}
-void accellerate(byte accellerateSteps){
+void decellerate(byte decellerateSteps, byte motor){
+ //x steps to slow down to minTimerOVF
+ unsigned long rate = 65535L - timerOVF[motor]; //rate is the number of clocks between steps at maximum speed.
+ unsigned long speedPerStep = (timerOVF[motor] - minTimerOVF);
+ speedPerStep /= decellerateSteps;
+ if (synta.cmd.bVal(motor) < 160000){//convert the number of clock cycles into uS.
+ speedPerStep >>= 1;
+ } else {
+ speedPerStep >>= 4;
+ }
+ if (speedPerStep == 0){
+ speedPerStep = 1; //just in case - prevents rounding from resulting in no accelleration at all.
+ }
+ unsigned int microDelay;
+ if (synta.cmd.bVal(motor) < 160000){
+ microDelay = rate >> 1; //number of uS to wait for current speed (rate is in 1/2ths of a microsecond)
+ } else {
+ microDelay = rate >> 4; //number of uS to wait for current speed (rate is in 1/16ths of a microsecond)
+ }
+ for(int i = 0;i < decellerateSteps;i++){
+ delayMicroseconds(microDelay);
+ if(synta.axis()){ //Step
+ writeSTEP2(HIGH);
+ delayMicroseconds(15);
+ writeSTEP2(LOW);
+ } else {
+ writeSTEP1(HIGH);
+ delayMicroseconds(15);
+ writeSTEP1(LOW);
+ }
+ microDelay += speedPerStep;
+ }
+ //Now at minimum speed, so safe to stop.
+}
+
+void accellerate(byte accellerateSteps, byte motor){
//x steps to speed up to timerOVF[synta.axis()]
- unsigned int speedPerStep = (timerOVF[synta.axis()] - 10036L) / accellerateSteps; //Initial Speed is 10036
- unsigned int microDelay = 27750L; //number of uS to wait for initial speed
+ unsigned long rate = 65535L - minTimerOVF; //rate is the number of clocks between steps at minimum speed.
+ unsigned long speedPerStep = (timerOVF[motor] - minTimerOVF);
+ speedPerStep /= accellerateSteps;
+ if (synta.cmd.bVal(motor) < 160000){//convert the number of clock cycles into uS.
+ speedPerStep >>= 1;
+ } else {
+ speedPerStep >>= 4;
+ }
+ if (speedPerStep == 0){
+ speedPerStep = 1; //just in case - prevents rounding from resulting in no accelleration at all.
+ }
+ unsigned int microDelay;
+ if (synta.cmd.bVal(motor) < 160000){
+ microDelay = rate >> 1; //number of uS to wait for initial speed (rate is in 1/2ths of a microsecond)
+ } else {
+ microDelay = rate >> 4; //number of uS to wait for initial speed (rate is in 1/16ths of a microsecond)
+ }
for(int i = 0;i < accellerateSteps;i++){
- for(byte j = 0;j < 2;j++){
- delayMicroseconds(microDelay - 2);
- if(synta.axis()){ //Step
- writeSTEP2(HIGH);
- delayMicroseconds(2);
- writeSTEP2(LOW);
- } else {
- writeSTEP1(HIGH);
- delayMicroseconds(2);
- writeSTEP1(LOW);
- }
+ delayMicroseconds(microDelay);
+ if(synta.axis()){ //Step
+ writeSTEP2(HIGH);
+ delayMicroseconds(15);
+ writeSTEP2(LOW);
+ } else {
+ writeSTEP1(HIGH);
+ delayMicroseconds(15);
+ writeSTEP1(LOW);
}
microDelay -= speedPerStep;
}
@@ -468,13 +486,30 @@ void configureTimer(){
//Disable compare interrupt (only interested in overflow)
TIMSK3 &= ~((1<<OCIE3A) | (1<<OCIE3B) | (1<<OCIE3C));
TIMSK4 &= ~((1<<OCIE4A) | (1<<OCIE4B) | (1<<OCIE4C));
- //Set prescaler to F_CPU/1
- TCCR3B &= ~(1<<CS32); //0
- TCCR3B |= (1<<CS30);//1
- TCCR3B &= ~(1<<CS31);//0
- TCCR4B &= ~(1<<CS42); //0
- TCCR4B |= (1<<CS40);//1
- TCCR4B &= ~(1<<CS41);//0
+ if (synta.cmd.bVal(synta.axis()) < 160000){
+ timerCountRate = 200000;
+ //Set prescaler to F_CPU/8
+ TCCR3B &= ~(1<<CS32); //0
+ TCCR3B |= (1<<CS31);//1
+ TCCR3B &= ~(1<<CS30);//0
+ TCCR4B &= ~(1<<CS42); //0
+ TCCR4B |= (1<<CS41);//1
+ TCCR4B &= ~(1<<CS40);//0
+ } else {
+ timerCountRate = 1600000;
+ //Set prescaler to F_CPU/1
+ TCCR3B &= ~(1<<CS32); //0
+ TCCR3B &= ~(1<<CS31);//0
+ TCCR3B |= (1<<CS30);//1
+ TCCR4B &= ~(1<<CS42); //0
+ TCCR4B &= ~(1<<CS41);//0
+ TCCR4B |= (1<<CS40);//1
+ }
+ Serial1.println((unsigned long)timerCountRate);
+ unsigned long rate = timerCountRate * 650L; //min rate of just under the sidereal rate
+ rate /= synta.cmd.bVal(synta.axis());
+ rate *= 10; //corrects for timer count rate being set to 1/10th of the required to prevent numbers getting too big for an unsigned long.
+ minTimerOVF = 65535L - rate;
}
/*Timer Interrupt Vector*/
@@ -508,10 +543,8 @@ void motorStep(byte motor){
if(synta.cmd.gotoEn(motor)){
long stepsLeft = gotoPosn[motor] - synta.cmd.jVal(motor);
stepsLeft *= synta.cmd.stepDir(motor);
- if(stepsLeft <= 0){
- motorStop(1);
- } else if (stepsLeft < 124){
- //timerOVF[motor] -= 304; //decelleration region
+ if(stepsLeft <= (20/synta.scalar())){
+ motorStop(motor); //will decellerate the rest of the way
}
}
}
@@ -523,10 +556,8 @@ void motorStep(byte motor){
if(synta.cmd.gotoEn(motor)){
long stepsLeft = gotoPosn[motor] - synta.cmd.jVal(motor);
stepsLeft *= synta.cmd.stepDir(motor);
- if(stepsLeft <= 0){
- motorStop(1);
- } else if (stepsLeft < 124){
- //timerOVF[motor] -= 304; //decelleration region
+ if(stepsLeft <= (20/synta.scalar())){
+ motorStop(motor);
}
}
}
diff --git a/README b/README
index 92c924fcff2adff08aeb30edeb6688daa59e0d59..292a5cc1df1514652e8e7fddf51e6854922fec74 100644
--- a/README
+++ b/README
@@ -29,5 +29,5 @@ Also if you have problems getting the numbers to work, open an issue thread and
Works with EQ3, EQ5, HEQ5, and EQ6 mounts. Along With custom mounts.
- Current Verison: 3.6
+ Current Verison: 4.0
*/
\ No newline at end of file