diff --git a/AstroEQ-Firmware/AstroEQ5.ino b/AstroEQ-Firmware/AstroEQ5.ino
deleted file mode 100644
index 819445c9d28e96d1d69b57ca667dc1d24bc8deda..0000000000000000000000000000000000000000
--- a/AstroEQ-Firmware/AstroEQ5.ino
+++ /dev/null
@@ -1,934 +0,0 @@
-/*
- Code written by Thomas Carpenter 2012
-
- With thanks Chris over at the EQMOD Yahoo group for explaining the Skywatcher protocol
-
-
- Equatorial mount tracking system for integration with EQMOD using the Skywatcher/Syntia
- communication protocol.
-
- Works with EQ5, HEQ5, and EQ6 mounts (Not EQ3-2, they have a different gear ratio)
-
- Current Verison: 5.4
-*/
-
-//Only works with ATmega162, and Arduino Mega boards (1280 and 2560)
-#if defined(__AVR_ATmega162__) || defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
-//Just in case it was defined somewhere else, we cant be having that.
-#ifdef USEHIGHSPEEDMODE
-#undef USEHIGHSPEEDMODE
-#endif
-
-#include "synta.h" //Synta Communications Protocol.
-
-
-//The system needs to be configured to suit your mount.
-//Either use the instructions below and calculate the values yourself,
-//or use the "Initialisation Variable Calculator.xlsx" file.
-//
-// The line to configure the mount follows these instructions!
-//
-//
-// Format:
-//
-//Synta synta( e [1281], a, b, g [16], s, scalar); //same ratio for each axis
-//Synta synta( e [1281], a RA, a DEC, b RA, b DEC, g [16], s RA, s DEC, scalar); //different ratio for each axis
-//
-// e = version number (this doesnt need chaning)
-//
-// a = number of steps per complete axis revolution.
-// aVal = 64 * motor steps per revolution * ratio
-// where ratio is the gear ratio from motor to axis. E.g. for an HEQ5 mount, this is 705
-// and motor steps is how many steps per one revolution of the motor. E.g. a 1.8degree stepper has 200 steps/revolution
-//
-// b = sidereal rate. This again depends on number of microsteps per step.
-// bVal = 620 * aVal / 86164.0905 (round UP to nearest integer)
-//
-// g = high speed multiplyer. This is the EQMOD recommended default. In highspeed mode, the step rate will be 16 times larger.
-//
-// s = steps per worm revolution
-// 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 such that: aVal/scalar < 10000000 (ten million). The max allowed is 15. If a number larger than this is required, let me know and I will see what can be done.
-//
-//
-// Examples:
-//
-// mount specifics can be found here: http://tech.groups.yahoo.com/group/EQMOD/database?method=reportRows&tbl=5
-//
-// Summary of mounts (Untested):
-//
-// HEQ5 Pro/Syntrek/SynscanUpgrade:
-// aVal = 9024000
-// bVal = 64933
-// sVal = 66845
-// scalar = 1
-//
-// EQ6 Pro/Syntrek/SynscanUpgrade:
-// aVal = 9024000
-// bVal = 64933
-// sVal = 50133
-// scalar = 1
-//
-// EQ5 Synscan/SynscanUpgrade:
-// aVal = 9011200
-// bVal = 64841
-// sVal = 31289
-// scalar = 1
-//
-// EQ4/5 Mount upgraded with the Dual motor kit (non Goto) -- This is the only one I have tested, the others are theoretical
-// aVal = 26542080
-// bVal = 190985
-// sVal = 184320
-// scalar = 10
-//
-// EQ3-2 Mount upgraded with the Dual motor kit (non Goto)
-// aVal1 = 23961600
-// aVal2 = 11980800
-// bVal1 = 172417
-// bVal2 = 86209
-// sVal1 = 184320
-// sVal2 = 184320
-// scalar = 10 //scales aVal and sVal with no error
-//
-// Other mounts:
-// aVal = 64 * motor steps per revolution * ratio
-// bVal = 620 * aVal / 86164.0905 (round UP to nearest whole number)
-// sVal = aVal / Worm Gear Teeth (round to nearest whole number)
-// scalar = depends on aVal, see notes below
-//
-//Create an instance of the mount
-//If aVal is roughly greater than 10000000 (ten million), the number needs to be scaled down by some factor
-//to make it smaller than that limit. In my case I have chosen 10 as it nicely scales the
-
-
-//-------------------------------------------------------------
-//INITIALISATION CODE -----------------------------------------
-//-------------------------------------------------------------
-
-//This is the initialistation code. If using the excel file, replace this line with what it gives.
-
-//Example for same ratio per axis
-//Synta synta(1281, 9011200, 64841, 16, 31289, 1);
-//Example for different ratio per axis (see excel file).
-//Synta synta(1281, 23961600, 11980800, 172417, 86209, 184320, 184320, 16, 10);
-Synta synta(1281, 1664000, 832000, 11974, 5987, 12800, 12800, 16, 1);
-
-
-//-------------------------------------------------------------
-//USER CONFIGURATION ------------------------------------------
-//-------------------------------------------------------------
-
-//This is for HARDWARE versions prior to 4.0. This includes all versions using Arduino Mega board.
-//#define LEGACY_MODE 1
-
-//These allow you to configure the speed at which the mount moves when executing goto commands. (Lower is faster)
-//It can be calculated from the value given for speed how fast the mount will move:
-//seconds per revolution = speed * aVal / bVal
-//Or in terms of how many times the sidereal rate it will move
-//ratio = 620 / speed
-//
-//When changing the speed, change the number below, ensuring to suffix it with the letter 'L'
-#define NORMALGGOTOSPEED 320L //This is defined as Speed with the letter 'L' appended
-#define FASTGOTOSPEED 176L
-//Normally, 'fast' should be the fastest you want the mount to move, and 'normal' should be around half that.
-
-//This needs to be uncommented for those using the Pololu A4983 Driver board. Otherwise DRV8824 will be assumed.
-//#define POLOLU_A498x 1
-
-//Define the two axes (change 0 to 1 if R.A. and Dec. motors are swapped - i.e. RA moves instead of DEC and vice versa)
-#define RA 0
-#define DC (1 - RA) //dont change this one. If RA=0, then DEC=(1-0)=1. If RA=1, then DEC=(1-1)=0
-
-//If motors turn in the wrong direction - i.e. a West slew moves East, and a North slew moves South, uncomment the line for the motors to be reversed:
-//#define REVERSEDIRECTION_RA 1
-//#define REVERSEDIRECTION_DEC 1
-
-//Uncomment the following #define to use a Beta function which increases motor torque when moving at highspeed by switching from 16th ustep to half stepping.
-//Note, this is very much a Beta, and requires mode pins M2 and M0 of the DRV8824 chips to be connected to the arduino.
-//It seems to work, but it isn't fully tested, so is turned off by default.
-
-//#define USEHIGHSPEEDMODE 1
-
-
-
-//-------------------------------------------------------------
-//DO NOT EDIT ANYTHING BELOW THIS LINE-------------------------
-//-------------------------------------------------------------
-
-//#define DEBUG 1
-
-unsigned long gotoPosn[2] = {0,0}; //where to slew to
-unsigned int timerOVF[2][64]; //Clock section of each of the 64 microsteps
-unsigned long timerCountRate;
-unsigned long maxTimerOVF; //Minimum allowable clock count
-
-#define PULSEWIDTH16 64
-#define PULSEWIDTH2 8
-#define PULSEWIDTH_25 1
-
-#ifdef USEHIGHSPEEDMODE
-#define PULSEWIDTH16F 8
-#define PULSEWIDTH2F 1
-#define PULSEWIDTH_25F 1
-#endif
-
-#ifdef REVERSEDIRECTION_DEC
-#define DEC_REVERSE HIGH
-#define DEC_FORWARD LOW
-#else
-#define DEC_REVERSE LOW
-#define DEC_FORWARD HIGH
-#endif
-#ifdef REVERSEDIRECTION_RA
-#define RA_REVERSE HIGH
-#define RA_FORWARD LOW
-#else
-#define RA_REVERSE LOW
-#define RA_FORWARD HIGH
-#endif
-
-#if (RA == 0)
-#define ENCODE_DIRECTION_INIT() {{RA_REVERSE,RA_FORWARD},{DEC_REVERSE,DEC_FORWARD}}
-#else
-#define ENCODE_DIRECTION_INIT() {{DEC_REVERSE,DEC_FORWARD},{RA_REVERSE,RA_FORWARD}}
-#endif
-
-#if defined(__AVR_ATmega162__)
-
-//Pins
-const char statusPin = 13;
-const char resetPin[2] = {15,14};
-const char errorPin[2] = {2,6};
-const char dirPin[2] = {3,7};
-const char enablePin[2] = {4,8};
-const char stepPin[2] = {5,30};
-const char oldStepPin1 = 9; //Note this has changed due to a mistake I had made originally. The original will be set as an input so hardware can be corrected by shorting with new pin
-#ifdef LEGACY_MODE
-const char modePins[2][2] = {{16,17},{19,18}};
-#else
-const char modePins[2][3] = {{6,16,17},{10,19,18}};
-#endif
-//Used for direct port register write. Also determines which hardware
-//#define STEP1PORT PORTD
-//#define _STEP1_HIGH 0b00010000
-//#define _STEP1_LOW 0b11101111
-//#define STEP2PORT PORTE
-//#define _STEP2_HIGH 0b00000100
-//#define _STEP2_LOW 0b11111011
-
-boolean highSpeed[2] = {false,false}; //whether number of microsteps is dropped to 8 due to high speed (to increase Torque)
-
-#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
-#ifndef LEGACY_MODE
-#define LEGACY_MODE 1
-#endif
-//Pins
-const char statusPin = 13;
-const char resetPin[2] = {A1,A0};
-const char errorPin[2] = {2,6};
-const char dirPin[2] = {3,7};
-const char enablePin[2] = {4,8};
-const char stepPin[2] = {5,12};
-const char oldStepPin1 = 9; //Note this has changed due to a mistake I had made originally. The original will be set as an input so hardware can be corrected by shorting with new pin
-//Used for direct port register write. Also determines which hardware
-//#define STEP1PORT PORTE
-//#define _STEP1_HIGH 0b00001000
-//#define _STEP1_LOW 0b11110111
-//#define STEP2PORT PORTB
-//#define _STEP2_HIGH 0b01000000
-//#define _STEP2_LOW 0b10111111
-
-#ifdef USEHIGHSPEEDMODE
-const char modePins[2][2] = {{16,17},{19,18}}; // {RA{Mode0,Mode2}, DEC{Mode0,Mode2}} Modepins, Mode1=leave unconnected.
-boolean highSpeed[2] = {false,false}; //whether number of microsteps is dropped to 8 due to high speed (to increase Torque) -
- //This is only available on Atmega162 as not included with original hardware.
- //If you want to use it, uncomment the line: '#define USEHIGHSPEEDMODE 1'
- //and connect the mode pins of the DRV8824PWP chips to the pins shown
-#endif
-
-#endif
-const boolean encodeDirection[2][2] = ENCODE_DIRECTION_INIT();
-byte distributionWidth[2] = {64,64};
-
-volatile byte* _STEP1_PORT;
-byte _STEP1_HIGH;
-byte _STEP1_LOW;
-#define STEP1PORT *_STEP1_PORT
-volatile byte* _STEP2_PORT;
-byte _STEP2_HIGH;
-byte _STEP2_LOW;
-#define STEP2PORT *_STEP2_PORT
-
-//In order to support both the DRV8824 and A4983 carrier boards from Pololu, the mode positions had to be changed and thus this is different:
-#ifdef LEGACY_MODE
-
-#ifdef POLOLU_A498x
-#define MODE0STATE16 HIGH
-#define MODE0STATE2 LOW
-#else
-#define MODE0STATE16 LOW
-#define MODE0STATE2 HIGH
-#endif
-#define MODE2STATE16 HIGH
-#define MODE2STATE2 LOW
-
-#else
-
-#ifdef POLOLU_A498x
-#define MODE0STATE16 HIGH
-#define MODE0STATE2 HIGH
-#define MODE1STATE16 HIGH
-#define MODE1STATE2 LOW
-#define MODE2STATE16 HIGH
-#define MODE2STATE2 LOW
-#else
-#define MODE0STATE16 LOW
-#define MODE0STATE2 HIGH
-#define MODE1STATE16 LOW
-#define MODE1STATE2 LOW
-#define MODE2STATE16 HIGH
-#define MODE2STATE2 LOW
-#endif
-
-#endif
-
-
-void setup()
-{
- unsigned char STEP1 = digitalPinToPort(stepPin[0]);
- unsigned char STEP2 = digitalPinToPort(stepPin[1]);
- _STEP1_PORT = portOutputRegister(STEP1);
- _STEP2_PORT = portOutputRegister(STEP2);
- _STEP1_HIGH = digitalPinToBitMask(stepPin[0]);
- _STEP2_HIGH = digitalPinToBitMask(stepPin[1]);
- _STEP1_LOW = ~_STEP1_HIGH;
- _STEP2_LOW = ~_STEP2_HIGH;
-
-#ifdef DEBUG
- Serial1.begin(115200);
-#endif
-
- pinMode(oldStepPin1,INPUT); //Set to input for ease of hardware change
- digitalWrite(oldStepPin1,LOW); //disable internal pullup
- pinMode(statusPin,OUTPUT);
- for(byte i = 0;i < 2;i++){ //for each motor...
- pinMode(errorPin[i],INPUT); //enable the Error pin
- pinMode(enablePin[i],OUTPUT); //enable the Enable pin
- digitalWrite(enablePin[i],HIGH); //IC disabled
- pinMode(stepPin[i],OUTPUT); //enable the step pin
- digitalWrite(stepPin[i],LOW); //default is low
- pinMode(dirPin[i],OUTPUT); //enable the direction pin
- digitalWrite(dirPin[i],LOW); //default is low
-#ifdef LEGACY_MODE
-#if defined(__AVR_ATmega162__) || defined(USEHIGHSPEEDMODE)
- pinMode(modePins[i][0],OUTPUT); //enable the mode pins
- pinMode(modePins[i][1],OUTPUT); //enable the mode pins
- digitalWrite(modePins[i][0],MODE0STATE16); //default is low
- digitalWrite(modePins[i][1],MODE2STATE16); //default is high
-#endif
-#else
-#if defined(__AVR_ATmega162__)
- pinMode(modePins[i][0],OUTPUT); //enable the mode pins
- pinMode(modePins[i][1],OUTPUT); //enable the mode pins
- pinMode(modePins[i][2],OUTPUT); //enable the mode pins
- digitalWrite(modePins[i][0],MODE0STATE16); //default is low
- digitalWrite(modePins[i][1],MODE1STATE16); //default is high
- digitalWrite(modePins[i][2],MODE2STATE16); //default is high
-#endif
-#endif
- pinMode(resetPin[i],OUTPUT); //enable the reset pin
- digitalWrite(resetPin[i],LOW); //active low reset
- delay(1); //allow ic to reset
- digitalWrite(resetPin[i],HIGH); //complete reset
- }
-
- // start Serial port:
- Serial.begin(9600); //SyncScan runs at 9600Baud, use a serial port of your choice
- while(Serial.available()){
- Serial.read(); //Clear the buffer
- }
-
- configureTimer(); //setup the motor pulse timers.
-}
-
-void loop(){
- static unsigned long lastMillis = millis();
- static boolean isLedOn = false;
- char decodedPacket[11]; //temporary store for completed command ready to be processed
- if (Serial.available()) { //is there a byte in buffer
- digitalWrite(statusPin,HIGH); //Turn on the LED to indicate activity.
- char recievedChar = Serial.read(); //get the next character in buffer
-#ifdef DEBUG
- Serial1.write(recievedChar);
-#endif
- char decoded = synta.recieveCommand(decodedPacket,recievedChar); //once full command packet recieved, decodedPacket returns either error packet, or valid packet
- if (decoded == 1){ //Valid Packet
- decodeCommand(synta.command(),decodedPacket); //decode the valid packet
- } else if (decoded == -1){ //Error
- Serial.print(decodedPacket); //send the error packet (recieveCommand() already generated the error packet, so just need to send it)
-#ifdef DEBUG
- Serial1.print(" ->Res:");
- Serial1.println(decodedPacket);
-#endif
- } //otherwise command not yet fully recieved, so wait for next byte
- lastMillis = millis();
- isLedOn = true;
- }
- if (isLedOn && (millis() > lastMillis + 20)){
- isLedOn = false;
- digitalWrite(statusPin,LOW); //Turn LED back off after a short delay.
- }
-}
-
-void decodeCommand(char command, char* packetIn){ //each command is axis specific. The axis being modified can be retrieved by calling synta.axis()
- char response[11]; //generated response string
- unsigned long responseData; //data for response
-
- switch(command){
- case 'e': //readonly, return the eVal (version number)
- responseData = synta.cmd.eVal(synta.axis()); //response to the e command is stored in the eVal function for that axis.
- break;
- case 'a': //readonly, return the aVal (steps per axis)
- responseData = synta.cmd.aVal(synta.axis()); //response to the a command is stored in the aVal function for that axis.
- responseData /= synta.scalar();
- break;
- case 'b': //readonly, return the bVal (sidereal rate)
- responseData = synta.cmd.bVal(synta.axis()); //response to the b command is stored in the bVal function for that axis.
- responseData /= synta.scalar();
- if (synta.cmd.bVal(synta.axis()) % synta.scalar()){
- responseData++; //round up
- }
- break;
- case 'g': //readonly, return the gVal (high speed multiplier)
- responseData = synta.cmd.gVal(synta.axis()); //response to the g command is stored in the gVal function for that axis.
- break;
- case 's': //readonly, return the sVal (steps per worm rotation)
- responseData = synta.cmd.sVal(synta.axis()); //response to the s command is stored in the sVal function for that axis.
- responseData /= synta.scalar();
- break;
- case 'f': //readonly, return the fVal (axis status)
- responseData = synta.cmd.fVal(synta.axis()); //response to the f command is stored in the fVal function for that axis.
- break;
- case 'j': //readonly, return the jVal (current position)
- responseData = synta.cmd.jVal(synta.axis()); //response to the j command is stored in the jVal function for that axis.
- break;
- case 'K': //stop the motor, return empty response
-
-
- motorStop(synta.axis()); //No specific response, just stop the motor (Feel free to customise motorStop function to suit your needs
-
-
- responseData = 0;
- break;
- case 'G': //set mode and direction, return empty response
- synta.cmd.GVal(synta.axis(), (packetIn[0] - '0')); //Store the current mode for the axis
- synta.cmd.dir(synta.axis(), (packetIn[1] - '0')); //Store the current direction for that axis
- responseData = 0;
- break;
- case 'H': //set goto position, return empty response (this sets the number of steps to move from cuurent position if in goto mode)
- synta.cmd.HVal(synta.axis(), synta.hexToLong(packetIn)); //set the goto position container (convert string to long first)
- responseData = 0;
- break;
- case 'I': //set slew speed, return empty response (this sets the speed to move at if in slew mode)
- responseData = synta.hexToLong(packetIn);
- if (responseData > 650L){
- responseData = 650; //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(synta.axis()); //Used to convert speed into the number of 0.5usecs per step. Result is stored in TimerOVF
-
-
- responseData = 0;
- break;
- case 'E': //set the current position, return empty response
- synta.cmd.jVal(synta.axis(), synta.hexToLong(packetIn)); //set the current position (used to sync to what EQMOD thinks is the current position at startup
- responseData = 0;
- break;
- case 'F': //Enable the motor driver, return empty response
-
-
- motorEnable(); //This enables the motors - gives the motor driver board power
-
-
- responseData = 0;
- break;
- default: //Return empty response (deals with commands that don't do anything before the response sent (i.e 'J'), or do nothing at all (e.g. 'M', 'L') )
- responseData = 0;
- break;
- }
-
- synta.assembleResponse(response, command, responseData); //generate correct response (this is required as is)
- Serial.print(response); //send response to the serial port
-#ifdef DEBUG
- Serial1.print(" ->Res:");
- Serial1.println(response);
-#endif
-
- if(command == 'J'){ //J tells
- if(synta.cmd.GVal(synta.axis()) & 1){
-
- //This is the funtion that enables a slew type move.
- slewMode(); //Slew type
-
-
- } else {
-
- //This is the function for goto mode. You may need to customise it for a different motor driver
- gotoMode(); //Goto Mode
-
-
- }
- }
-}
-
-
-
-//Calculates the rate based on the recieved I value
-void calculateRate(byte motor){
-
- //seconds per step = IVal / BVal; for lowspeed move
- //or seconds per step = IVal / (BVal * gVal); for highspeed move
- //
- //whether to use highspeed move or not is determined by the GVal;
- //
- //clocks per step = timerCountRate * seconds per step
-
- unsigned long rate;
- unsigned long remainder;
- float floatRemainder;
- unsigned long divisor = synta.cmd.bVal(motor);
- if((synta.cmd.GVal(motor) == 2)||(synta.cmd.GVal(motor) == 1)){ //Normal Speed
-#if defined(USEHIGHSPEEDMODE)
- //check if at very high speed
- if (synta.cmd.IVal(motor) < 30){
- highSpeed[motor] = true;
- distributionWidth[motor] = 8; //There are 8 times fewer steps over which to distribute extra clock cycles
- } else {
- highSpeed[motor] = false;
- distributionWidth[motor] = 64;
- }
-#endif
- } else if ((synta.cmd.GVal(motor) == 0)||(synta.cmd.GVal(motor) == 3)){ //High Speed
- divisor *= synta.cmd.gVal(motor);
-#if defined(USEHIGHSPEEDMODE)
- //check if at very high speed
- if (synta.cmd.IVal(motor) < (30 * synta.cmd.gVal(motor))){
- highSpeed[motor] = true;
- distributionWidth[motor] = 8; //There are 8 times fewer steps over which to distribute extra clock cycles
- } else {
- highSpeed[motor] = false;
- distributionWidth[motor] = 64;
- }
-#endif
- }
- rate = timerCountRate * synta.cmd.IVal(motor);
- //When dividing a very large number by a much smaller on, float accuracy is abismal. So firstly we use integer math to split the division into quotient and remainder
- remainder = rate % divisor; //Calculate the remainder
- rate /= divisor; //Calculate the quotient
- //Then convert the remainder into a decimal number (division of a small number by a larger one, improving accuracy)
- floatRemainder = (float)remainder/(float)divisor; //Convert the remainder to a decimal.
-
- 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.
- floatRemainder *= 10;
-
- //If there is now any integer part of the remainder after the multiplication by 10, it needs to be added back on to the rate and removed from the remainder.
- remainder = (unsigned long)floatRemainder; //first work out how much to be added
- //Then add it to the rate, and remove it from the decimal remainder
- rate += remainder;
- floatRemainder -= (float)remainder;
-
- //Multiply the remainder by distributionWidth to work out an approximate number of extra clocks needed per full step (each step is 'distributionWidth' microsteps)
- floatRemainder *= (float)distributionWidth[motor];
- //This many extra microseconds are needed:
- remainder = (unsigned long)floatRemainder;
-
- //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 > 64997UL){
- rate = 64997UL;
- } else if (rate < 36UL) {
- rate = 36L;
- }
- for (int i = 0; i < distributionWidth[motor]; i++){
- timerOVF[motor][i] = rate - 1; //Subtract 1 as timer is 0 indexed.
- }
-
- //evenly distribute the required number of extra clocks over the full step.
- for (int i = 0; i < remainder; i++){
- float distn = i;
- distn *= (float)distributionWidth[motor];
- distn /= (float)remainder;
- byte index = (byte)ceil(distn);
- timerOVF[motor][index] += 1;
- }
-}
-
-void motorEnable(){
- digitalWrite(enablePin[synta.axis()],LOW);
- synta.cmd.FVal(synta.axis(),1);
-}
-
-void slewMode(){
- motorStart(synta.axis(), 30/synta.scalar()); //Begin PWM
-}
-
-void gotoMode(){
- if (synta.cmd.HVal(synta.axis()) < (140/synta.scalar())){
- if (synta.cmd.HVal(synta.axis()) < 2){
- synta.cmd.HVal(synta.axis(),2);
- }
- //To short of a goto to use the timers, so do it manually
- accellerate( (synta.cmd.HVal(synta.axis()) / 2) * synta.scalar(), synta.axis());
- decellerate( (synta.cmd.HVal(synta.axis()) / 2) * synta.scalar(), synta.axis());
-
- synta.cmd.jVal(synta.axis(), (synta.cmd.jVal(synta.axis()) + (synta.cmd.stepDir(synta.axis()) * synta.cmd.HVal(synta.axis())) ) );
- } else {
- gotoPosn[synta.axis()] = synta.cmd.jVal(synta.axis()) + (synta.cmd.stepDir(synta.axis()) * synta.cmd.HVal(synta.axis())); //current position + distance to travel
-
- if (synta.cmd.HVal(synta.axis()) < (200/synta.scalar())){
- synta.cmd.IVal(synta.axis(), NORMALGGOTOSPEED);
- calculateRate(synta.axis());
- motorStart(synta.axis(),20/synta.scalar()); //Begin PWM
- } else {
- synta.cmd.IVal(synta.axis(), FASTGOTOSPEED); //Higher speed goto
- calculateRate(synta.axis());
- motorStart(synta.axis(),60/synta.scalar()); //Begin PWM
- }
- synta.cmd.gotoEn(synta.axis(),1);
- }
-}
-
-void motorStart(byte motor, byte steps){
- digitalWrite(dirPin[motor],encodeDirection[motor][synta.cmd.dir(motor)]); //set the direction
- synta.cmd.stopped(motor, 0);
- accellerate(steps * synta.scalar(),motor); //accellerate to calculated rate in given number of steps steps
- synta.cmd.jVal(motor, (synta.cmd.jVal(motor) + (synta.cmd.stepDir(motor) * steps) ) ); //update position to account for accelleration
- if(motor){
- ICR1 = timerOVF[motor][0];
- TCNT1 = 0;
- TCCR1A |= (1<<COM1B1); //Set port operation to fast PWM
-#if defined(__AVR_ATmega162__)
- TIMSK |= (1<<TOIE1); //Enable timer interrupt
-#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
- TIMSK1 |= (1<<TOIE1); //Enable timer interrupt
-#endif
- } else {
- ICR3 = timerOVF[motor][0];
- TCNT3 = 0;
- TCCR3A |= (1<<COM3A1); //Set port operation to fast PWM
-#if defined(__AVR_ATmega162__)
- ETIMSK |= (1<<TOIE3); //Enable timer interrupt
-#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
- TIMSK3 |= (1<<TOIE3); //Enable timer interrupt
-#endif
- }
-}
-
-void motorStop(byte motor){
- motorStop(motor, 60/synta.scalar()); //Default number of steps. Replaces function prototype from Version < 5.0
-}
-
-void motorStop(byte motor, byte steps){
- if (!synta.cmd.stopped(motor)){
- if(motor){
- TCCR1A &= ~(1<<COM1B1); //Set port operation to Normal
-#if defined(__AVR_ATmega162__)
- TIMSK &= ~(1<<TOIE1); //Disable timer interrupt
-#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
- TIMSK1 &= ~(1<<TOIE1); //Disable timer interrupt
-#endif
- } else {
- TCCR3A &= ~(1<<COM3A1); //Set port operation to Normal
-#if defined(__AVR_ATmega162__)
- ETIMSK &= ~(1<<TOIE3); //Disable timer interrupt
-#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
- TIMSK3 &= ~(1<<TOIE3); //Disable timer interrupt
-#endif
- }
- //Only decellerate if not already stopped - for some reason EQMOD stops both axis when slewing, even if one isn't currently moving?
- if (synta.cmd.gotoEn(motor)){
- synta.cmd.gotoEn(motor,0); //Cancel goto mode
- }
- decellerate(steps * synta.scalar(),motor);
- synta.cmd.jVal(motor, (synta.cmd.jVal(motor) + (synta.cmd.stepDir(motor) * steps) ) );
- synta.cmd.stopped(motor,1); //mark as stopped
- }
-}
-
-void decellerate(byte decellerateSteps, byte motor){
-#if defined(USEHIGHSPEEDMODE)
- if(highSpeed[motor]){
- //Disable Highspeed mode
- highSpeed[motor] = false;
-#ifdef LEGACY_MODE
- digitalWrite(modePins[motor][0],MODE0STATE16);
- digitalWrite(modePins[motor][1],MODE2STATE16);
-#else
- digitalWrite(modePins[motor][0],MODE0STATE16); //default is low
- digitalWrite(modePins[motor][1],MODE1STATE16); //default is high
- digitalWrite(modePins[motor][2],MODE2STATE16); //default is high
-#endif
- if(motor){
- if (synta.cmd.bVal(synta.axis()) < 20000){
- OCR1B = PULSEWIDTH_25; //Width of step pulse (equates to ~4uS. DRV8824PWP specifies absolute minimum as ~2uS)
- //Set prescaler to F_CPU/64
- TCCR1B &= ~(1<<CS12); //0xx
- TCCR1B |= ((1<<CS11) | (1<<CS10));//x11
- } else if (synta.cmd.bVal(synta.axis()) < 160000){
- OCR1B = PULSEWIDTH2; //Width of step pulse (equates to ~4uS. DRV8824PWP specifies absolute minimum as ~2uS)
- //Set prescaler to F_CPU/8
- TCCR1B &= ~((1<<CS12) | (1<<CS10)); //0x0
- TCCR1B |= (1<<CS11);//x1x
- } else {
- OCR1B = PULSEWIDTH16; //Width of step pulse (equates to ~4uS. DRV8824PWP specifies absolute minimum as ~2uS)
- //Set prescaler to F_CPU/1
- TCCR1B &= ~((1<<CS12) | (1<<CS11));//00x
- TCCR1B |= (1<<CS10);//xx1
- }
- } else {
- if (synta.cmd.bVal(synta.axis()) < 20000){
- OCR3A = PULSEWIDTH_25; //Width of step pulse (equates to ~4uS. DRV8824PWP specifies absolute minimum as ~2uS)
- //Set prescaler to F_CPU/64
- TCCR3B &= ~(1<<CS32); //0xx
- TCCR3B |= ((1<<CS31) | (1<<CS30));//x11
- } else if (synta.cmd.bVal(synta.axis()) < 160000){
- OCR3A = PULSEWIDTH2; //Width of step pulse (equates to ~4uS. DRV8824PWP specifies absolute minimum as ~2uS)
- //Set prescaler to F_CPU/8
- TCCR3B &= ~((1<<CS32) | (1<<CS30)); //0x0
- TCCR3B |= (1<<CS31);//x1x
- } else {
- OCR3A = PULSEWIDTH16; //Width of step pulse (equates to ~4uS. DRV8824PWP specifies absolute minimum as ~2uS)
- //Set prescaler to F_CPU/1
- TCCR3B &= ~((1<<CS32) | (1<<CS31));//00x
- TCCR3B |= (1<<CS30);//xx1
- }
- }
- }
-#endif
- //x steps to slow down to maxTimerOVF
- speedCurve(timerOVF[motor][0], 1, decellerateSteps, motor);
- //Now at minimum speed, so safe to stop.
-}
-
-void accellerate(byte accellerateSteps, byte motor){
- //x steps to speed up to timerOVF[synta.axis()]
- speedCurve(maxTimerOVF, -1, accellerateSteps, motor);
- //Now at speed, so check highspeed mode and then return. Timers will be used from now on.
-#if defined(USEHIGHSPEEDMODE)
- if(highSpeed[motor]){
- //Enable Highspeed mode
-#ifdef LEGACY_MODE
- digitalWrite(modePins[motor][0],MODE0STATE2);
- digitalWrite(modePins[motor][1],MODE2STATE2);
-#else
- digitalWrite(modePins[motor][0],MODE0STATE2); //default is low
- digitalWrite(modePins[motor][1],MODE1STATE2); //default is high
- digitalWrite(modePins[motor][2],MODE2STATE2); //default is high
-#endif
- if(motor){
- if (synta.cmd.bVal(synta.axis()) < 20000){
- OCR1B = PULSEWIDTH_25F; //Width of step pulse (equates to ~32uS. DRV8824PWP specifies absolute minimum as ~2uS)
- //Set prescaler to F_CPU/256
- TCCR1B |= (1<<CS12); //1xx
- TCCR1B &= ~((1<<CS11) | (1<<CS10));//x00
- } else if (synta.cmd.bVal(synta.axis()) < 160000){
- OCR1B = PULSEWIDTH2F; //Width of step pulse (equates to ~4uS. DRV8824PWP specifies absolute minimum as ~2uS)
- //Set prescaler to F_CPU/64
- TCCR1B &= ~(1<<CS12); //0xx
- TCCR1B |= ((1<<CS11) | (1<<CS10));//x11
- } else {
- OCR1B = PULSEWIDTH16F; //Width of step pulse (equates to ~4uS. DRV8824PWP specifies absolute minimum as ~2uS)
- //Set prescaler to F_CPU/8
- TCCR1B &= ~((1<<CS12) | (1<<CS10)); //0x0
- TCCR1B |= (1<<CS11);//x1x
- }
- } else {
- if (synta.cmd.bVal(synta.axis()) < 20000){
- OCR1B = PULSEWIDTH_25F; //Width of step pulse (equates to ~32uS. DRV8824PWP specifies absolute minimum as ~2uS)
- //Set prescaler to F_CPU/256
- TCCR3B |= (1<<CS32); //1xx
- TCCR3B &= ~((1<<CS31) | (1<<CS30));//x00
- } else if (synta.cmd.bVal(synta.axis()) < 160000){
- OCR3A = PULSEWIDTH2F; //Width of step pulse (equates to ~4uS. DRV8824PWP specifies absolute minimum as ~2uS)
- //Set prescaler to F_CPU/64
- TCCR3B &= ~(1<<CS32); //0xx
- TCCR3B |= ((1<<CS31) | (1<<CS30));//x11
- } else {
- OCR3A = PULSEWIDTH16F; //Width of step pulse (equates to ~4uS. DRV8824PWP specifies absolute minimum as ~2uS)
- //Set prescaler to F_CPU/8
- TCCR3B &= ~((1<<CS32) | (1<<CS30)); //0x0
- TCCR3B |= (1<<CS31);//x1x
- }
- }
- }
-#endif
-}
-
-void speedCurve(unsigned long currentSpeed, char dir, byte steps, byte motor){ //dir = -1 or +1. - means accellerate
- unsigned long speedPerStep = (maxTimerOVF - timerOVF[motor][0]); //maxTimerOVF is always largest
- speedPerStep /= steps;
- 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 delay of 0.
- }
- unsigned int microDelay;
- if (synta.cmd.bVal(motor) < 160000){
- microDelay = currentSpeed >> 1; //number of uS to wait for speed (rate is in 1/2ths of a microsecond)
- } else {
- microDelay = currentSpeed >> 4; //number of uS to wait for speed (rate is in 1/16ths of a microsecond)
- }
- for(int i = 0;i < steps;i++){
- delayMicroseconds(microDelay);
- if(motor){ //Step
- writeSTEP2(HIGH);
- delayMicroseconds(5);
- writeSTEP2(LOW);
- } else {
- writeSTEP1(HIGH);
- delayMicroseconds(5);
- writeSTEP1(LOW);
- }
- microDelay += (dir * speedPerStep);
- }
-}
-
-//Timer Interrupt-----------------------------------------------------------------------------
-void configureTimer(){
-#if defined(__AVR_ATmega162__)
- TIMSK &= ~(1<<TOIE1); //disable timer so it can be configured
- ETIMSK &= ~(1<<TOIE3); //disable timer so it can be configured
- //Disable compare interrupt (only interested in overflow)
- TIMSK &= ~((1<<OCIE1A) | (1<<OCIE1B));
- ETIMSK &= ~((1<<OCIE3A) | (1<<OCIE3B));
-#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
- TIMSK1 &= ~(1<<TOIE1); //disable timer so it can be configured
- TIMSK3 &= ~(1<<TOIE3); //disable timer so it can be configured
- //Disable compare interrupt (only interested in overflow)
- TIMSK1 &= ~((1<<OCIE1A) | (1<<OCIE1B) | (1<<OCIE1C));
- TIMSK3 &= ~((1<<OCIE3A) | (1<<OCIE3B) | (1<<OCIE3C));
-#endif
- //set to fast PWM mode (1110)
- TCCR1A |= ((1<<WGM11));
- TCCR1A &= ~((1<<WGM10));
- TCCR1B |= ((1<<WGM13) | (1<<WGM12));
- TCCR3A |= ((1<<WGM31));
- TCCR3A &= ~((1<<WGM30));
- TCCR3B |= ((1<<WGM33) | (1<<WGM32));
- if (synta.cmd.bVal(synta.axis()) < 20000){
- timerCountRate = 25000;
- //Set prescaler to F_CPU/64
- TCCR1B &= ~(1<<CS12); //0xx
- TCCR1B |= ((1<<CS11) | (1<<CS10));//x11
- TCCR3B &= ~(1<<CS32); //0x0
- TCCR3B |= ((1<<CS31) | (1<<CS30));//x11
- OCR1B = PULSEWIDTH_25; //Width of step pulse (equates to ~4uS. DRV8824PWP specifies absolute minimum as ~2uS)
- OCR3A = PULSEWIDTH_25;
- } else if (synta.cmd.bVal(synta.axis()) < 160000){
- timerCountRate = 200000;
- //Set prescaler to F_CPU/8
- TCCR1B &= ~((1<<CS12) | (1<<CS10)); //0x0
- TCCR1B |= (1<<CS11);//x1x
- TCCR3B &= ~((1<<CS32) | (1<<CS30)); //0x0
- TCCR3B |= (1<<CS31);//x1x
- OCR1B = PULSEWIDTH2; //Width of step pulse (equates to ~4uS. DRV8824PWP specifies absolute minimum as ~2uS)
- OCR3A = PULSEWIDTH2;
- } else {
- timerCountRate = 1600000;
- //Set prescaler to F_CPU/1
- TCCR1B &= ~((1<<CS12) | (1<<CS11));//00x
- TCCR1B |= (1<<CS10);//xx1
- TCCR3B &= ~((1<<CS32) | (1<<CS31));//00x
- TCCR3B |= (1<<CS30);//xx1
- OCR1B = PULSEWIDTH16; //Width of step pulse (equates to ~4uS. DRV8824PWP specifies absolute minimum as ~2uS)
- OCR3A = PULSEWIDTH16;
- }
- unsigned long rate = timerCountRate * 650L; //min rate of just under the sidereal rate
- rate /= synta.cmd.bVal(synta.axis());
- maxTimerOVF = 10 * rate; //corrects for timer count rate being set to 1/10th of the required to prevent numbers getting too big for an unsigned long.
-}
-
-/*Timer Interrupt Vector*/
-ISR(TIMER3_OVF_vect) {
- static byte timeSegment = 0;
- ICR3 = timerOVF[RA][timeSegment++]; //move to next pwm period
- if (timeSegment == distributionWidth[RA]){
- timeSegment = 0;
- }
- motorStep(RA);
-}
-
-/*Timer Interrupt Vector*/
-ISR(TIMER1_OVF_vect) {
- static byte timeSegment = 0;
- ICR1 = timerOVF[DC][timeSegment++]; //move to next pwm period
- if (timeSegment == distributionWidth[DC]){
- timeSegment = 0;
- }
- motorStep(DC);
-}
-
-void motorStep(byte motor){
- static char divider[2] = {0};
-
- divider[motor] += synta.cmd.stepDir(motor);
- if(synta.cmd.stepDir(motor) < 0){
- if (divider[motor] < 0){
- divider[motor] = synta.scalar() - 1;
- checkIfDone(motor);
- }
- } else {
- if (divider[motor] >= synta.scalar()){
- divider[motor] = 0;
- checkIfDone(motor);
- }
- }
-}
-
-void checkIfDone(byte motor){
-#if defined(USEHIGHSPEEDMODE)
- if(highSpeed[motor]){
- synta.cmd.jVal(motor, (synta.cmd.jVal(motor) + (8 * synta.cmd.stepDir(motor))));
- } else {
-#else
- if(1){ //Always do the next line. Here to account for the extra close brace
- //} -> this one is supposed to be commented out! (keeps the IDE happy)
-#endif
- synta.cmd.jVal(motor, (synta.cmd.jVal(motor) + synta.cmd.stepDir(motor)));
- }
- if(synta.cmd.gotoEn(motor)){
- long stepsLeft = gotoPosn[motor] - synta.cmd.jVal(motor);
- stepsLeft *= synta.cmd.stepDir(motor);
- if(stepsLeft <= (120/synta.scalar())){
- motorStop(motor, stepsLeft); //will decellerate the rest of the way.
- }
- }
-}
-
-void writeSTEP1(boolean bitValue){
- if (bitValue){
- STEP1PORT |= _STEP1_HIGH;
- } else {
- STEP1PORT &= _STEP1_LOW;
- }
-}
-
-void writeSTEP2(boolean bitValue){
- if (bitValue){
- STEP2PORT |= _STEP2_HIGH;
- } else {
- STEP2PORT &= _STEP2_LOW;
- }
-}
-//-------------------------------------------------------------------------------------------
-#else
-#error Unsupported Part! Please use an Arduino Mega, or ATMega162
-#endif
-
diff --git a/AstroEQ-Firmware/AstroEQ6.ino b/AstroEQ-Firmware/AstroEQ6.ino
new file mode 100644
index 0000000000000000000000000000000000000000..3b81c3ddeae8b276bb60f8b0b0e2423c866ef6b7
--- /dev/null
+++ b/AstroEQ-Firmware/AstroEQ6.ino
@@ -0,0 +1,839 @@
+/*
+ Code written by Thomas Carpenter 2012
+
+ With thanks Chris over at the EQMOD Yahoo group for explaining the Skywatcher protocol
+
+
+ Equatorial mount tracking system for integration with EQMOD using the Skywatcher/Syntia
+ communication protocol.
+
+ Works with EQ5, HEQ5, and EQ6 mounts (Not EQ3-2, they have a different gear ratio)
+
+ Current Verison: 6
+*/
+
+//Only works with ATmega162, and Arduino Mega boards (1280 and 2560)
+#if defined(__AVR_ATmega162__) || defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+
+#include "synta.h" //Synta Communications Protocol.
+#include "PinMappings.h" //Read Pin Mappings
+#include "EEPROMReader.h" //Read config file
+#include "EEPROMAddresses.h" //Config file addresses
+
+
+//-------------------------------------------------------------
+//DO NOT EDIT ANYTHING BELOW THIS LINE-------------------------
+//-------------------------------------------------------------
+
+Synta synta = Synta::getInstance(1281); //create a mount instance, specify version!
+
+#define RA 0 //Right Ascension is AstroEQ axis 0 (Synta axis '1')
+#define DC 1 //Declination is AstroEQ axis 1 (Synta axis '2')
+
+//#define DEBUG 1
+unsigned int normalGotoSpeed[2];
+unsigned int gotoFactor;
+unsigned int minSpeed[2];
+
+unsigned long gotoPosn[2] = {0UL,0UL}; //where to slew to
+
+#define timerCountRate 8000000
+
+#define NormalDistnWidth 32
+#define HighspeedDistnWidth 4
+unsigned int timerOVF[2][max(HighspeedDistnWidth,NormalDistnWidth)];
+boolean highSpeed[2] = {false,false};
+byte distributionWidth[2] = {NormalDistnWidth,NormalDistnWidth};
+#define distributionSegment(m) (m ? GPIOR1 : GPIOR0)
+#define decelerationSteps(m) (m ? DDRC : PORTC)
+#define currentMotorSpeed(m) (m ? OCR3A : OCR3B)
+#define interruptCount(m) (m ? OCR1A : OCR1B)
+#define interruptOVFCount(m) (m ? ICR3 : ICR1)
+#define interruptControlRegister(m) (m ? TIMSK3 : TIMSK1)
+#define interruptControlBitMask(m) (m ? _BV(ICIE3) : _BV(ICIE1))
+#define timerCountRegister(m) (m ? TCNT3 : TCNT1)
+#define timerPrescalarRegister(m) (m ? TCCR3B : TCCR1B)
+
+//Pins
+const byte statusPin = statusPin_Define;
+const byte resetPin[2] = {resetPin_0_Define,resetPin_1_Define};
+const byte errorPin[2] = {errorPin_0_Define,errorPin_1_Define};
+const byte dirPin[2] = {dirPin_0_Define,dirPin_1_Define};
+const byte enablePin[2] = {enablePin_0_Define,enablePin_1_Define};
+const byte stepPin[2] = {stepPin_0_Define,stepPin_1_Define};
+
+#ifdef LEGACY_MODE
+const byte modePins[2][2] = {{modePins0_0_Define,modePins2_0_Define},{modePins0_1_Define,modePins2_1_Define}};
+#else
+const byte modePins[2][3] = {{modePins0_0_Define,modePins1_0_Define,modePins2_0_Define},{modePins0_1_Define,modePins1_1_Define,modePins2_1_Define}};
+#endif
+
+
+byte encodeDirection[2];
+
+#define _STEP0_HIGH _BV(digitalPinToBit(stepPin[RA]))
+#define _STEP0_LOW (~_STEP0_HIGH)
+#define STEP0PORT *digitalPinToPortReg(stepPin[RA])
+#define _STEP1_HIGH _BV(digitalPinToBit(stepPin[DC]))
+#define _STEP1_LOW (~_STEP1_HIGH)
+#define STEP1PORT *digitalPinToPortReg(stepPin[DC])
+#define stepPort(m) (m ? STEP1PORT : STEP0PORT)
+#define stepHigh(m) (m ? _STEP1_HIGH : _STEP0_HIGH)
+#define stepLow(m) (m ? _STEP1_LOW : _STEP0_LOW)
+
+#ifdef LEGACY_MODE
+byte modeState[2][2] = {{HIGH,HIGH},{LOW,LOW}};
+#define MODE0 0
+#define MODE2 1
+#define STATE16 0
+#define STATE2 1
+
+#else
+byte modeState[2][3] = {{HIGH,HIGH,HIGH},{HIGH,LOW,LOW}};
+#define MODE0 0
+#define MODE1 1
+#define MODE2 2
+#define STATE16 0
+#define STATE2 1
+
+#endif
+
+boolean checkEEPROM(){
+ char temp[9] = {0};
+ EEPROM.readString(temp,8,AstroEQID_Address);
+ return !(strncmp(temp,"AstroEQ",8));
+}
+
+void systemInitialiser(){
+ encodeDirection[RA] = EEPROM.readByte(RAReverse_Address); //reverse the right ascension if 1
+ encodeDirection[DC] = EEPROM.readByte(DECReverse_Address); //reverse the declination if 1
+
+
+#ifdef LEGACY_MODE
+ modeState[STATE16][MODE0] = !EEPROM.readByte(Driver_Address);
+ modeState[STATE2][MODE0] = !modeState[STATE16][MODE0];
+#else
+ modeState[STATE16][MODE0] = !EEPROM.readByte(Driver_Address);
+ modeState[STATE16][MODE1] = modeState[STATE16][MODE0];
+#endif
+
+ gotoFactor = EEPROM.readInt(NormalGoto_Address);
+ normalGotoSpeed[RA] = synta.cmd.stepIncrement[RA] * gotoFactor + 1;
+ normalGotoSpeed[DC] = synta.cmd.stepIncrement[DC] * gotoFactor + 1;
+
+ minSpeed[RA] = synta.cmd.siderealIVal[RA] + ((unsigned int)synta.cmd.stepIncrement[RA] << 2);
+ minSpeed[DC] = synta.cmd.siderealIVal[DC] + ((unsigned int)synta.cmd.stepIncrement[DC] << 2);
+
+#ifdef DEBUG
+ Serial1.println();
+ Serial1.println(minSpeed[RA]);
+ Serial1.println(minSpeed[DC]);
+ Serial1.println();
+ Serial1.println(normalGotoSpeed[RA]);
+ Serial1.println(normalGotoSpeed[DC]);
+ Serial1.println();
+ Serial1.println(synta.cmd.stepIncrement[RA]);
+ Serial1.println(synta.cmd.stepIncrement[DC]);
+ Serial1.println();
+#endif
+ if(!checkEEPROM()){
+ while(1); //prevent AstroEQ startup if EEPROM is blank.
+ }
+}
+
+void setup()
+{
+#ifdef DEBUG
+ Serial1.begin(115200);
+#endif
+ systemInitialiser();
+
+#if defined(__AVR_ATmega162__)
+ //Timer 2 registers are being used as general purpose data storage for high efficency interrupt routines. So timer must be fully disabled.
+ TCCR2 = 0;
+ ASSR=0;
+#endif
+
+ pinMode(statusPin,OUTPUT);
+ for(byte i = 0;i < 2;i++){ //for each motor...
+ pinMode(errorPin[i],INPUT); //enable the Error pin
+ pinMode(enablePin[i],OUTPUT); //enable the Enable pin
+ digitalWrite(enablePin[i],HIGH); //IC disabled
+ pinMode(stepPin[i],OUTPUT); //enable the step pin
+ digitalWrite(stepPin[i],LOW); //default is low
+ pinMode(dirPin[i],OUTPUT); //enable the direction pin
+ digitalWrite(dirPin[i],LOW); //default is low
+#ifdef LEGACY_MODE
+ pinMode(modePins[i][0],OUTPUT); //enable the mode pins
+ pinMode(modePins[i][1],OUTPUT); //enable the mode pins
+ for( byte j = 0; j < 2; j++){
+ digitalWrite(modePins[i][j],modeState[0][j]);
+ }
+#else
+ pinMode(modePins[i][0],OUTPUT); //enable the mode pins
+ pinMode(modePins[i][1],OUTPUT); //enable the mode pins
+ pinMode(modePins[i][2],OUTPUT); //enable the mode pins
+ for( byte j = 0; j < 3; j++){
+ digitalWrite(modePins[i][j],modeState[0][j]);
+ }
+#endif
+ pinMode(resetPin[i],OUTPUT); //enable the reset pin
+ digitalWrite(resetPin[i],LOW); //active low reset
+ delay(1); //allow ic to reset
+ digitalWrite(resetPin[i],HIGH); //complete reset
+ }
+
+ // start Serial port:
+ Serial.begin(9600); //SyncScan runs at 9600Baud, use a serial port of your choice
+ while(Serial.available()){
+ Serial.read(); //Clear the buffer
+ }
+
+
+ configureTimer(); //setup the motor pulse timers.
+}
+
+void loop(){
+ static unsigned long lastMillis = millis();
+ static boolean isLedOn = false;
+ char decodedPacket[11]; //temporary store for completed command ready to be processed
+ if (Serial.available()) { //is there a byte in buffer
+ digitalWrite(statusPin,HIGH); //Turn on the LED to indicate activity.
+ char recievedChar = Serial.read(); //get the next character in buffer
+#ifdef DEBUG
+ Serial1.write(recievedChar);
+#endif
+ char decoded = synta.recieveCommand(decodedPacket,recievedChar); //once full command packet recieved, decodedPacket returns either error packet, or valid packet
+ if (decoded == 1){ //Valid Packet
+ decodeCommand(synta.command(),decodedPacket); //decode the valid packet
+ } else if (decoded == -1){ //Error
+ Serial.print(decodedPacket); //send the error packet (recieveCommand() already generated the error packet, so just need to send it)
+#ifdef DEBUG
+ Serial1.print(F(" ->Res:"));
+ Serial1.println(decodedPacket);
+#endif
+ } //otherwise command not yet fully recieved, so wait for next byte
+ lastMillis = millis();
+ isLedOn = true;
+ }
+ if (isLedOn && (millis() > lastMillis + 20)){
+ isLedOn = false;
+ digitalWrite(statusPin,LOW); //Turn LED back off after a short delay.
+ }
+#ifdef DEBUG
+ if (Serial1.available()) { //is there a byte in buffer
+ Serial1.println();
+ Serial1.println(currentMotorSpeed(RA));
+ Serial1.println(currentMotorSpeed(DC));
+ Serial1.println(interruptOVFCount(RA));
+ Serial1.println(interruptOVFCount(DC));
+ Serial1.println();
+ Serial1.read();
+ }
+#endif
+}
+
+void decodeCommand(char command, char* packetIn){ //each command is axis specific. The axis being modified can be retrieved by calling synta.axis()
+ char response[11]; //generated response string
+ unsigned long responseData = 0; //data for response
+ byte axis = synta.axis();
+ unsigned int correction;
+ //byte scalar = synta.scalar[axis]+1;
+ switch(command){
+ case 'e': //readonly, return the eVal (version number)
+ responseData = synta.cmd.eVal[axis]; //response to the e command is stored in the eVal function for that axis.
+ break;
+ case 'a': //readonly, return the aVal (steps per axis)
+ responseData = synta.cmd.aVal[axis]; //response to the a command is stored in the aVal function for that axis.
+ break;
+ case 'b': //readonly, return the bVal (sidereal step rate)
+ responseData = synta.cmd.bVal[axis]; //response to the b command is stored in the bVal function for that axis.
+ correction = (synta.cmd.siderealIVal[axis] << 1);
+ responseData = (responseData * (correction+1))/correction; //account for rounding inside Skywatcher DLL.
+ break;
+ case 'g': //readonly, return the gVal (high speed multiplier)
+ responseData = synta.cmd.gVal[axis]; //response to the g command is stored in the gVal function for that axis.
+ break;
+ case 's': //readonly, return the sVal (steps per worm rotation)
+ responseData = synta.cmd.sVal[axis]; //response to the s command is stored in the sVal function for that axis.
+ break;
+ case 'f': //readonly, return the fVal (axis status)
+ responseData = synta.cmd.fVal(axis); //response to the f command is stored in the fVal function for that axis.
+ break;
+ case 'j': //readonly, return the jVal (current position)
+ responseData = synta.cmd.jVal[axis]; //response to the j command is stored in the jVal function for that axis.
+ break;
+ case 'K': //stop the motor, return empty response
+ motorStop(axis,0); //normal ISR based decelleration trigger.
+ break;
+ case 'L':
+ motorStop(axis,1); //emergency axis stop.
+ motorDisable(axis); //shutdown driver power.
+ break;
+ case 'G': //set mode and direction, return empty response
+ if (packetIn[0] == '0'){
+ packetIn[0] = '2'; //don't allow a high torque goto. But do allow a high torque slew.
+ }
+ synta.cmd.setGVal(axis, (packetIn[0] - '0')); //Store the current mode for the axis
+ synta.cmd.setDir(axis, (packetIn[1] - '0')); //Store the current direction for that axis
+ break;
+ case 'H': //set goto position, return empty response (this sets the number of steps to move from cuurent position if in goto mode)
+ synta.cmd.setHVal(axis, synta.hexToLong(packetIn)); //set the goto position container (convert string to long first)
+ break;
+ case 'I': //set slew speed, return empty response (this sets the speed to move at if in slew mode)
+ responseData = synta.hexToLong(packetIn);
+ if (responseData > minSpeed[axis]){
+ responseData = minSpeed[axis]; //minimum speed
+ }
+ synta.cmd.setIVal(axis, responseData); //set the speed container (convert string to long first)
+
+ //This will be different if you use a different motor code
+ calculateRate(axis); //Used to convert speed into the number of 0.5usecs per step. Result is stored in TimerOVF
+
+
+ responseData = 0;
+ break;
+ case 'E': //set the current position, return empty response
+ synta.cmd.setjVal(axis, synta.hexToLong(packetIn)); //set the current position (used to sync to what EQMOD thinks is the current position at startup
+ break;
+ case 'F': //Enable the motor driver, return empty response
+ motorEnable(axis); //This enables the motors - gives the motor driver board power
+ break;
+ default: //Return empty response (deals with commands that don't do anything before the response sent (i.e 'J'), or do nothing at all (e.g. 'M', 'L') )
+ break;
+ }
+
+ synta.assembleResponse(response, command, responseData); //generate correct response (this is required as is)
+ Serial.print(response); //send response to the serial port
+#ifdef DEBUG
+ Serial1.print(F(" ->Res:"));
+ Serial1.println(response);
+#endif
+
+ if(command == 'J'){ //J tells
+ if(synta.cmd.GVal[axis] & 1){
+
+ //This is the funtion that enables a slew type move.
+ slewMode(axis); //Slew type
+
+
+ } else {
+
+ //This is the function for goto mode. You may need to customise it for a different motor driver
+ gotoMode(axis); //Goto Mode
+
+
+ }
+ }
+}
+
+
+
+//Calculates the rate based on the recieved I value
+void calculateRate(byte motor){
+
+ unsigned long rate;
+ unsigned long remainder;
+ float floatRemainder;
+ unsigned long divisor = synta.cmd.bVal[motor];
+ byte GVal = synta.cmd.GVal[motor];
+ if((GVal == 2)||(GVal == 1)){ //Normal Speed
+ highSpeed[motor] = false;
+ distributionWidth[motor] = NormalDistnWidth;
+ } else { //High Speed
+ highSpeed[motor] = true;
+ distributionWidth[motor] = HighspeedDistnWidth; //There are 8 times fewer steps over which to distribute extra clock cycles
+ }
+
+ //When dividing a very large number by a much smaller on, float accuracy is abismal. So firstly we use integer math to split the division into quotient and remainder
+ rate = timerCountRate / divisor; //Calculate the quotient
+ remainder = timerCountRate % divisor; //Calculate the remainder
+
+ //Then convert the remainder into a decimal number (division of a small number by a larger one, improving accuracy)
+ floatRemainder = (float)remainder/(float)divisor; //Convert the remainder to a decimal.
+
+ //Multiply the remainder by distributionWidth to work out an approximate number of extra clocks needed per full step (each step is 'distributionWidth' microsteps)
+ floatRemainder *= (float)distributionWidth[motor];
+ //This many extra cycles are needed:
+ remainder = (unsigned long)round(floatRemainder);
+
+ //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 > 65535UL){
+ rate = 65535UL;
+ } else if (rate < 128UL) {
+ rate = 128UL;
+ }
+#if defined(__AVR_ATmega162__)
+ rate--;
+#endif
+
+ for (byte i = 0; i < distributionWidth[motor]; i++){
+#if defined(__AVR_ATmega162__)
+ timerOVF[motor][i] = rate; //Subtract 1 as timer is 0 indexed.
+#else
+ timerOVF[motor][i] = rate; //Hmm, for some reason this one doesn't need 1 subtracting???
+#endif
+ }
+
+ //evenly distribute the required number of extra clocks over the full step.
+ for (unsigned long i = 0; i < remainder; i++){
+ float distn = i;
+ distn *= (float)distributionWidth[motor];
+ distn /= (float)remainder;
+ byte index = (byte)ceil(distn);
+ timerOVF[motor][index] += 1;
+ }
+
+#ifdef DEBUG
+ Serial1.println();
+ Serial1.println(rate);
+ Serial1.println();
+#endif
+
+ distributionWidth[motor]--; //decrement to get its bitmask. (distnWidth is always a power of 2)
+}
+
+void motorEnable(byte axis){
+ digitalWrite(enablePin[axis],LOW);
+ synta.cmd.setFVal(axis,1);
+}
+
+void motorDisable(byte axis){
+ digitalWrite(enablePin[axis],LOW);
+ synta.cmd.setFVal(axis,0);
+}
+
+void slewMode(byte axis){
+ motorStart(axis,1/*decellerateStepsFactor[axis]*/); //Begin PWM
+}
+
+void gotoMode(byte axis){
+ if (synta.cmd.HVal[axis] < 2){
+ synta.cmd.setHVal(axis,2);
+ }
+ unsigned long HVal = synta.cmd.HVal[axis];
+ unsigned long halfHVal = HVal >> 1;
+ unsigned int gotoSpeed = normalGotoSpeed[axis];
+ byte decelerationLength;
+ if (halfHVal < 80) {
+ decelerationLength = (byte)halfHVal;
+ if (gotoFactor < 4) {
+ gotoSpeed += synta.cmd.stepIncrement[axis];
+ }
+ if (gotoFactor < 8) {
+ gotoSpeed += synta.cmd.stepIncrement[axis]; //for short goto's when goto speed is very high, use a slower target speed.
+ }
+ } else {
+ decelerationLength = 80;
+ }
+ //byte decelerationLength = (byte)min(halfHVal,80);
+#ifdef DEBUG
+ Serial1.println();
+ Serial1.println(decelerationLength);
+ Serial1.println(synta.cmd.jVal[axis]);
+#endif
+ gotoPosn[axis] = synta.cmd.jVal[axis] + (synta.cmd.stepDir[axis] * (synta.cmd.HVal[axis] - (unsigned long)decelerationLength)); //current position + relative change - decelleration region
+
+#ifdef DEBUG
+ Serial1.println(gotoPosn[axis]);
+ Serial1.println();
+#endif
+ synta.cmd.setIVal(axis, gotoSpeed);
+ calculateRate(axis);
+ motorStart(axis,decelerationLength/*decellerateStepsFactor[axis]*/); //Begin PWM
+ synta.cmd.setGotoEn(axis,1);
+ //}
+}
+/*
+void normalTorqueTimerEnable(byte motor) {
+// if(motor){
+// TCCR1B &= ~((1<<CS12) | (1<<CS11));//00x
+// TCCR1B |= (1<<CS10);//xx1
+// } else {
+// TCCR3B &= ~((1<<CS32) | (1<<CS31));//00x
+// TCCR3B |= (1<<CS30);//xx1
+// }
+ //set normal speed mode
+ synta.cmd.setStepLength(motor, 1);
+#ifdef LEGACY_MODE
+ for( byte j = 0; j < 2; j++){
+ digitalWrite(modePins[motor][j],modeState[0][j]);
+ }
+#else
+ for( byte j = 0; j < 3; j++){
+ digitalWrite(modePins[motor][j],modeState[0][j]);
+ }
+#endif
+}*/
+
+void timerEnable(byte motor, byte mode) {
+ if (mode){
+ //FCPU/8
+ timerPrescalarRegister(motor) &= ~((1<<CSn2) | (1<<CSn0)); //0x0
+ timerPrescalarRegister(motor) |= (1<<CSn1);//x1x
+ } else {
+ //FCPU/1
+ timerPrescalarRegister(motor) &= ~((1<<CSn2) | (1<<CSn1));//00x
+ timerPrescalarRegister(motor) |= (1<<CSn0);//xx1
+ }
+ synta.cmd.setStepLength(motor, (mode ? synta.cmd.gVal[motor] : 1));
+#ifdef LEGACY_MODE
+ for( byte j = 0; j < 2; j++){
+ digitalWrite(modePins[motor][j],modeState[mode][j]);
+ }
+#else
+ for( byte j = 0; j < 3; j++){
+ digitalWrite(modePins[motor][j],modeState[mode][j]);
+ }
+#endif
+// if(motor){
+// TCCR1B &= ~((1<<CS12) | (1<<CS10)); //0x0
+// TCCR1B |= (1<<CS11);//x1x
+// } else {
+// TCCR3B &= ~((1<<CS32) | (1<<CS30)); //0x0
+// TCCR3B |= (1<<CS31);//x1x
+// }
+ //Enable Highspeed mode
+// synta.cmd.setStepLength(motor, synta.cmd.gVal[motor]);
+//#ifdef LEGACY_MODE
+// for( byte j = 0; j < 2; j++){
+// digitalWrite(modePins[motor][j],modeState[1][j]);
+// }
+//#else
+// for( byte j = 0; j < 3; j++){
+// digitalWrite(modePins[motor][j],modeState[1][j]);
+// }
+//#endif
+}
+
+inline void timerDisable(byte motor) {
+ interruptControlRegister(motor) &= ~interruptControlBitMask(motor); //Disable timer interrupt
+ timerPrescalarRegister(motor) &= ~((1<<CSn2) | (1<<CSn1) | (1<<CSn0));//00x
+}
+
+void motorStart(byte motor, byte gotoDeceleration){
+ digitalWrite(dirPin[motor],encodeDirection[motor]^synta.cmd.dir[motor]); //set the direction
+ synta.cmd.setStopped(motor, 0);
+
+#ifdef DEBUG
+ Serial1.println();
+ Serial1.println(synta.cmd.IVal[motor]);
+ Serial1.println();
+#endif
+
+// if(!highSpeed[motor]){ //Normal Speed
+// normalTorqueTimerEnable(motor);
+// } else {
+// highTorqueTimerEnable(motor);
+// }
+
+ interruptCount(motor) = 1;
+ currentMotorSpeed(motor) = minSpeed[motor];
+ distributionSegment(motor) = 0;
+ decelerationSteps(motor) = -gotoDeceleration;
+ timerCountRegister(motor) = 0;
+ interruptControlRegister(motor) |= interruptControlBitMask(motor);
+ interruptOVFCount(motor) = timerOVF[motor][0];
+ timerEnable(motor,highSpeed[motor]);
+// if(motor == DC){
+// ICR1 = timerOVF[motor][0];
+// interruptCount(DC) = 1;//synta.cmd.IVal[motor];
+// currentMotorSpeed(DC) = 640;//synta.cmd.IVal[motor];
+// TCNT1 = 0;
+// distributionSegment(DC) = 0;
+// decelerationSteps(DC) = -gotoDeceleration; //inform goto of how many decelleration steps to use (ignored if slew)
+// TCCR1A |= (1<<COM1B1); //Set port operation to fast PWM
+//#if defined(__AVR_ATmega162__)
+// TIMSK |= (1<<TICIE1); //Enable timer interrupt
+//#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+// TIMSK1 |= (1<<ICIE1); //Enable timer interrupt
+//#endif
+// } else {
+// ICR3 = timerOVF[motor][0];
+// OCR1B = 1;//synta.cmd.IVal[motor];
+// OCR3B = 640;//synta.cmd.IVal[motor];
+// TCNT3 = 0;
+// distributionSegment(RA) = 0;
+// PORTC = -gotoDeceleration; //inform goto of how many decelleration steps to use (ignored if slew)
+// TCCR3A |= (1<<COM3A1); //Set port operation to fast PWM
+//#if defined(__AVR_ATmega162__)
+// ETIMSK |= (1<<TICIE3); //Enable timer interrupt
+//#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+// TIMSK3 |= (1<<ICIE3); //Enable timer interrupt
+//#endif
+// }
+}
+
+void motorStop(byte motor, byte emergency){
+ if (emergency) {
+ //trigger instant shutdown of the motor in an emergency.
+ //interruptControlRegister(motor) &= ~interruptControlBitMask(motor);
+// if(motor){
+//#if defined(__AVR_ATmega162__)
+// TIMSK &= ~(1<<TICIE1); //Disable timer interrupt
+//#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+// TIMSK1 &= ~(1<<ICIE1); //Disable timer interrupt
+//#endif
+// } else {
+//#if defined(__AVR_ATmega162__)
+// ETIMSK &= ~(1<<TICIE3); //Disable timer interrupt
+//#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+// TIMSK3 &= ~(1<<ICIE3); //Disable timer interrupt
+//#endif
+// }
+ synta.cmd.setGotoEn(motor,0); //Not in goto mode.
+ synta.cmd.setStopped(motor,1); //mark as stopped
+ timerDisable(motor);
+
+ } else if (!synta.cmd.stopped[motor]){ //Only stop if not already stopped - for some reason EQMOD stops both axis when slewing, even if one isn't currently moving?
+ //trigger ISR based decelleration
+ synta.cmd.IVal[motor] = minSpeed[motor] + synta.cmd.stepIncrement[motor];
+ }
+}
+
+//Timer Interrupt-----------------------------------------------------------------------------
+void configureTimer(){
+ interruptControlRegister(DC) = 0; //disable all timer interrupts.
+#if defined(__AVR_ATmega162__)
+ interruptControlRegister(RA) &= 0b00000011; //for 162, the lower 2 bits of the declination register control another timer, so leave them alone.
+#else
+ interruptControlRegister(RA) = 0;
+#endif
+//#if defined(__AVR_ATmega162__)
+// TIMSK &= ~(1<<TOIE1); //disable timer so it can be configured
+// ETIMSK &= ~(1<<TOIE3); //disable timer so it can be configured
+// TIMSK &= ~((1<<OCIE1A) | (1<<OCIE1B));
+// ETIMSK &= ~((1<<OCIE3A) | (1<<OCIE3B));
+//#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+// TIMSK1 &= ~(1<<TOIE1); //disable timer so it can be configured
+// TIMSK3 &= ~(1<<TOIE3); //disable timer so it can be configured
+// TIMSK1 &= ~((1<<OCIE1A) | (1<<OCIE1B) | (1<<OCIE1C));
+// TIMSK3 &= ~((1<<OCIE3A) | (1<<OCIE3B) | (1<<OCIE3C));
+//#endif
+ //set to ctc mode (0100)
+ TCCR1A = 0;//~((1<<WGM11) | (1<<WGM10));
+ TCCR1B = ((1<<WGM12) | (1<<WGM13));
+ TCCR3A = 0;//~((1<<WGM31) | (1<<WGM30));
+ TCCR3B = ((1<<WGM32) | (1<<WGM33));
+}
+
+
+
+/*Timer Interrupt Vector*/
+ISR(TIMER3_CAPT_vect) {
+ byte timeSegment = distributionSegment(DC);
+ byte index = (distributionWidth[DC] << 1) & timeSegment;
+ interruptOVFCount(DC) = *(int*)((byte*)timerOVF[DC] + index); //move to next pwm period
+ distributionSegment(DC) = timeSegment + 1;
+
+ unsigned int count = interruptCount(DC)-1; //OCR1B is used as it is an unused register which affords us quick access.
+ if (count == 0) {
+ register byte port asm("r18") = stepPort(DC);
+ register unsigned int startVal asm("r24") = currentMotorSpeed(DC);
+ //byte port = STEP0PORT;
+ //unsigned int startVal = currentMotorSpeed(DC);
+ interruptCount(DC) = startVal; //start val is used for specifying how many interrupts between steps. This tends to IVal after acceleration
+ if (port & stepHigh(DC)){
+ stepPort(DC) = port & stepLow(DC);
+ unsigned long jVal = synta.cmd.jVal[DC];
+ jVal = jVal + synta.cmd.stepDir[DC];
+ synta.cmd.jVal[DC] = jVal;
+ if(synta.cmd.gotoEn[DC]){
+ if (gotoPosn[DC] == jVal){ //reached the decelleration marker. Note that this line loads gotoPosn[] into r24:r27
+ //will decellerate the rest of the way. So first move gotoPosn[] to end point.
+ if (decelerationSteps(DC) & _BV(7)) {
+ /*
+ unsigned long gotoPos = gotoPosn[DC];
+ if (synta.cmd.stepDir[DC] < 0){
+ gotoPosn[DC] = gotoPos + decelerationSteps(DC);
+ } else {
+ gotoPosn[DC] = gotoPos - decelerationSteps(DC);
+ }
+ */
+ //--- This is a heavily optimised version of the code commented out just above ------------
+ //During compare of jVal and gotoPosn[], gotoPosn[] was loaded into r24 to r27
+ register char stepDir asm("r19") = synta.cmd.stepDir[DC];
+ asm volatile(
+ "in %A0, %2 \n\t"
+ "cp %1, __zero_reg__ \n\t"
+ "brlt .+4 \n\t"
+ "neg %A0 \n\t"
+ "eor %B0, %B0 \n\t"
+ "mov %C0, %B0 \n\t"
+ "mov %D0, %B0 \n\t"
+ "add %A0, r24 \n\t" //add previously loaded gotoPosn[] registers to new gotoPosn[] registers.
+ "adc %B0, r25 \n\t"
+ "adc %C0, r26 \n\t"
+ "adc %D0, r27 \n\t"
+ : "=a" (gotoPosn[DC]) //goto selects r18:r21. This adds sts commands for all 4 bytes
+ : "r" (stepDir),"I" (_SFR_IO_ADDR(decelerationSteps(DC))) //stepDir is in r19 to match second byte of goto.
+ :
+ );
+ //-----------------------------------------------------------------------------------------
+ decelerationSteps(DC) = 0; //say we are stopping
+ synta.cmd.IVal[DC] = minSpeed[DC]; //decellerate to min speed. This is possible in at most 80 steps.
+ } else {
+ goto stopMotorISR3;
+ }
+ }
+ }
+ if (currentMotorSpeed(DC) > minSpeed[DC]) {
+stopMotorISR3:
+ synta.cmd.gotoEn[DC] = 0; //Not in goto mode.
+ synta.cmd.stopped[DC] = 1; //mark as stopped
+ timerDisable(DC);
+ }
+ } else {
+ stepPort(DC) = port | stepHigh(DC);
+ register unsigned int iVal asm("r20") = synta.cmd.IVal[DC];
+ //unsigned int iVal = synta.cmd.IVal[RA];
+ register byte increment asm("r0") = synta.cmd.stepIncrement[DC];
+ asm volatile(
+ "movw r18, %0 \n\t"
+ "sub %A0, %2 \n\t"
+ "sbc %B0, __zero_reg__ \n\t"
+ "cp %A0, %A1 \n\t"
+ "cpc %B0, %B1 \n\t"
+ "brge 1f \n\t" //branch if iVal <= (startVal-increment)
+ "movw %0, r18 \n\t"
+ "add %A0, %2 \n\t"
+ "adc %B0, __zero_reg__ \n\t"
+ "cp %A1, %A0 \n\t"
+ "cpc %B1, %B0 \n\t"
+ "brge 1f \n\t" //branch if (startVal+increment) <= iVal
+ "movw %0, %1 \n\t" //copy iVal to startVal
+ "1: \n\t"
+ : "=&w" (startVal) //startVal is in r24:25
+ : "a" (iVal), "t" (increment) //iVal is in r20:21
+ :
+ );
+ currentMotorSpeed(DC) = startVal; //store startVal
+ /*
+ if (startVal - increment >= iVal) { // if (iVal <= startVal-increment)
+ startVal = startVal - increment;
+ } else if (startVal + increment <= iVal){
+ startVal = startVal + increment;
+ } else {
+ startVal = iVal;
+ }
+ currentMotorSpeed(DC) = startVal;
+ */
+ }
+ } else {
+ interruptCount(DC) = count;
+ }
+}
+
+/*Timer Interrupt Vector*/
+ISR(TIMER1_CAPT_vect) {
+ byte timeSegment = distributionSegment(RA);
+ byte index = (distributionWidth[RA] << 1) & timeSegment;
+
+#if defined(__AVR_ATmega162__)
+ asm("nop"); //ICR1 is two clocks faster to write to than ICR3, so account for that
+ asm("nop");
+#endif
+ interruptOVFCount(RA) = *(int*)((byte*)timerOVF[RA] + index); //move to next pwm period
+ distributionSegment(RA) = timeSegment + 1;
+
+ unsigned int count = interruptCount(RA)-1;
+ if (count == 0) {
+ register byte port asm("r18") = stepPort(RA);
+ register unsigned int startVal asm("r24") = currentMotorSpeed(RA);
+ //byte port = STEP1PORT;
+ //unsigned int startVal = currentMotorSpeed(RA);
+ interruptCount(RA) = startVal; //start val is used for specifying how many interrupts between steps. This tends to IVal after acceleration
+ if (port & stepHigh(RA)){
+ stepPort(RA) = port & stepLow(RA);
+ unsigned long jVal = synta.cmd.jVal[RA];
+ jVal = jVal + synta.cmd.stepDir[RA];
+ synta.cmd.jVal[RA] = jVal;
+ if(synta.cmd.gotoEn[RA]){
+ if (jVal == gotoPosn[RA]){ //reached the decelleration marker
+ //will decellerate the rest of the way. So first move gotoPosn[] to end point.
+ if (decelerationSteps(RA) & _BV(7)) {
+ /*
+ unsigned long gotoPos = gotoPosn[RA];
+ if (synta.cmd.stepDir[RA] < 0){
+ gotoPosn[RA] = gotoPos + decelerationSteps(RA);
+ } else {
+ gotoPosn[RA] = gotoPos - decelerationSteps(RA);
+ }
+ */
+ //--- This is a heavily optimised version of the code commented out just above ------------
+ register char temp asm("r19") = synta.cmd.stepDir[RA];
+ asm volatile(
+ "in %A0, %2 \n\t"
+ "cp %1, __zero_reg__ \n\t"
+ "brlt .+4 \n\t"
+ "neg %A0 \n\t"
+ "eor %B0, %B0 \n\t"
+ "mov %C0, %B0 \n\t"
+ "mov %D0, %B0 \n\t"
+ "add %A0, r24 \n\t"
+ "adc %B0, r25 \n\t"
+ "adc %C0, r26 \n\t"
+ "adc %D0, r27 \n\t"
+ : "=a" (gotoPosn[RA]) //goto selects r18:r21. This adds sts commands for all 4 bytes
+ : "r" (temp),"I" (_SFR_IO_ADDR(decelerationSteps(RA))) //temp is in r19 to match second byte of goto.
+ :
+ );
+ decelerationSteps(RA) = 0; //say we are stopping
+ synta.cmd.IVal[RA] = minSpeed[RA]; //decellerate to min speed. This is possible in at most 80 steps.
+ } else {
+ goto stopMotorISR1;
+ }
+ }
+ }
+ if (currentMotorSpeed(RA) > minSpeed[RA]) {
+stopMotorISR1:
+ //interruptControlRegister(RA) &= ~interruptControlBitMask(RA);
+ synta.cmd.gotoEn[RA] = 0; //Not in goto mode.
+ synta.cmd.stopped[RA] = 1; //mark as stopped
+ timerDisable(RA);
+ }
+ } else {
+ stepPort(RA) = port | stepHigh(RA);
+ register unsigned int iVal asm("r20") = synta.cmd.IVal[RA];
+ //unsigned int iVal = synta.cmd.IVal[RA];
+ register byte increment asm("r0") = synta.cmd.stepIncrement[RA];
+ asm volatile(
+ "movw r18, %0 \n\t"
+ "sub %A0, %2 \n\t"
+ "sbc %B0, __zero_reg__ \n\t"
+ "cp %A0, %A1 \n\t"
+ "cpc %B0, %B1 \n\t"
+ "brge 1f \n\t" //branch if iVal <= (startVal-increment)
+ "movw %0, r18 \n\t"
+ "add %A0, %2 \n\t"
+ "adc %B0, __zero_reg__ \n\t"
+ "cp %A1, %A0 \n\t"
+ "cpc %B1, %B0 \n\t"
+ "brge 1f \n\t" //branch if (startVal+increment) <= iVal
+ "movw %0, %1 \n\t" //copy iVal to startVal
+ "1: \n\t"
+ : "=&w" (startVal) //startVal is in r24:25
+ : "a" (iVal), "t" (increment) //iVal is in r20:21
+ :
+ );
+ currentMotorSpeed(RA) = startVal; //store startVal
+ /*
+ if (startVal - increment >= iVal) { // if (iVal <= startVal-increment)
+ startVal = startVal - increment;
+ } else if (startVal + increment <= iVal){
+ startVal = startVal + increment;
+ } else {
+ startVal = iVal;
+ }
+ currentMotorSpeed(RA) = startVal;
+ */
+ }
+ } else {
+ interruptCount(RA) = count;
+ }
+}
+
+#else
+#error Unsupported Part! Please use an Arduino Mega, or ATMega162
+#endif
+
diff --git a/AstroEQ-Firmware/EEPROMAddresses.h b/AstroEQ-Firmware/EEPROMAddresses.h
new file mode 100644
index 0000000000000000000000000000000000000000..dccbeb835a2277a9e2bcd8fba247119eb1dcf5e1
--- /dev/null
+++ b/AstroEQ-Firmware/EEPROMAddresses.h
@@ -0,0 +1,16 @@
+
+#define EEPROMStart_Address ( 0 )
+#define AstroEQID_Address (EEPROMStart_Address + 0 )
+//#define AstroEQVer_Address (EEPROMStart_Address + 8 )
+#define RAReverse_Address (EEPROMStart_Address + 9 )
+#define DECReverse_Address (EEPROMStart_Address + 10)
+#define Driver_Address (EEPROMStart_Address + 11)
+#define NormalGoto_Address (EEPROMStart_Address + 12) //and 13
+#define aVal1_Address (EEPROMStart_Address + 14) //steps/axis
+#define aVal2_Address (EEPROMStart_Address + 18) //steps/axis
+#define bVal1_Address (EEPROMStart_Address + 22) //sidereal rate
+#define bVal2_Address (EEPROMStart_Address + 26) //sidereal rate
+#define sVal1_Address (EEPROMStart_Address + 30) //steps/worm rotation
+#define sVal2_Address (EEPROMStart_Address + 34) //steps/worm rotation
+#define IVal1_Address (EEPROMStart_Address + 38) //steps/worm rotation
+#define IVal2_Address (EEPROMStart_Address + 40) //steps/worm rotation
diff --git a/AstroEQ-Firmware/EEPROMReader.cpp b/AstroEQ-Firmware/EEPROMReader.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..9e5fb8315181c01505317e59b8742123a30a5341
--- /dev/null
+++ b/AstroEQ-Firmware/EEPROMReader.cpp
@@ -0,0 +1,58 @@
+
+#include <avr/eeprom.h>
+#include "Arduino.h"
+#include "EEPROMReader.h"
+
+uint8_t EEPROMReader::readByte(byte address)
+{
+ return eeprom_read_byte((unsigned char *) address);
+}
+
+uint16_t EEPROMReader::readInt(byte address)
+{
+ TwoBytes fetcher;
+ fetcher.array[0] = readByte(address);
+ fetcher.array[1] = readByte(address+1);
+ return fetcher.integer;
+}
+uint32_t EEPROMReader::readLong(byte address)
+{
+ FourBytes fetcher;
+ fetcher.array[0] = readInt(address);
+ fetcher.array[1] = readInt(address+2);
+ return fetcher.integer;
+}
+
+void EEPROMReader::readString(char* string, byte len, byte address)
+{
+ for(byte i = 0; i < len; i++) {
+ string[i] = readByte(address++);
+ }
+}
+
+void EEPROMReader::writeByte(uint8_t val, byte address)
+{
+ return eeprom_write_byte((unsigned char *) address, val);
+}
+
+void EEPROMReader::writeInt(uint16_t val, byte address)
+{
+ TwoBytes storer = {val};
+ writeByte(storer.array[0], address);
+ writeByte(storer.array[1], address+1);
+}
+void EEPROMReader::writeLong(uint32_t val, byte address)
+{
+ FourBytes storer = {val};
+ writeInt(storer.array[0], address);
+ writeInt(storer.array[1], address+2);
+}
+void EEPROMReader::writeString(const char* string, byte len, byte address)
+{
+ for(byte i = 0; i < len; i++) {
+ writeByte(string[i], address+i);
+ }
+}
+
+EEPROMReader EEPROM;
+
diff --git a/AstroEQ-Firmware/EEPROMReader.h b/AstroEQ-Firmware/EEPROMReader.h
new file mode 100644
index 0000000000000000000000000000000000000000..4d64c7febff794b6820360aa05001f86707111a7
--- /dev/null
+++ b/AstroEQ-Firmware/EEPROMReader.h
@@ -0,0 +1,33 @@
+#ifndef EEPROM_h
+#define EEPROM_h
+
+#include "Arduino.h"
+#include <inttypes.h>
+
+typedef union {
+ uint16_t integer;
+ uint8_t array[2];
+} TwoBytes;
+
+typedef union {
+ uint32_t integer;
+ uint16_t array[2];
+ uint8_t bytes[4];
+} FourBytes;
+
+class EEPROMReader
+{
+ public:
+ uint8_t readByte(byte);
+ uint16_t readInt(byte);
+ uint32_t readLong(byte);
+ void readString(char* string, byte len, byte address);
+ void writeByte(uint8_t,byte);
+ void writeInt(uint16_t,byte);
+ void writeLong(uint32_t,byte);
+ void writeString(const char* string, byte len, byte address);
+};
+
+extern EEPROMReader EEPROM;
+
+#endif
diff --git a/AstroEQ-Firmware/Open me first/Initialisation Variable Calculator.xlsx b/AstroEQ-Firmware/Open me first/Initialisation Variable Calculator.xlsx
deleted file mode 100644
index dfa249e90d2ff8b6799b0d42bda504a305cb15c4..0000000000000000000000000000000000000000
Binary files a/AstroEQ-Firmware/Open me first/Initialisation Variable Calculator.xlsx and /dev/null differ
diff --git a/AstroEQ-Firmware/Open me first/README FIRST.txt b/AstroEQ-Firmware/Open me first/README FIRST.txt
deleted file mode 100644
index 4edaa9ba0477dd3628e973a31df06c832fd0869d..0000000000000000000000000000000000000000
--- a/AstroEQ-Firmware/Open me first/README FIRST.txt
+++ /dev/null
@@ -1,36 +0,0 @@
-There are 5 steps to setup AstroEQ for the first time.
-
-(1) There is a folder named 'hardware'.
----> This needs to be copied into the arduino install dirctory. When asked, merge folders with existing ones, replacing files.
----> This will add support to the arduino IDE for AstroEQ.
-[NOTE: If you plan to use the old Arduino Mega hardware, you can skip step (1)]
-
-(2) In the 'Driver' folder is contained a .inf Windows compatible driver for the AstroEQ USB-Serial port.
----> When you connect AstroEQ, Windows will try to install the board automatically.
----> If Windows Update fails to find a driver, use the Add Hardware... wizard and specify to look in this folder.
----> If you have a Mac or use Linux it should install automatically, but I haven't tested this (I don't have a Mac or Linux)
-[NOTE: If you plan to use the old Arduino Mega hardware, you can skip step (2)]
-
-(3) The "Initialisation Variable Calculator" file will allow you to enter specifics about your mount.
----> It will generate a line of text: Synta synta(...stuff here...);
----> This is the initialisation call for your mount. More about this in step 4.
-
-(4) In the AstroEQ5 folder, open AstroEQ5.ino with the Arduino IDE.
----> There is some introductary text which you can read if you want to understand more.
----> If not, move to the end of the text and find the line "Synta synta(1281, 26542080, 190985, 16, 184320, 10);" - Approx. line 101
----> Replace this line with the one generated in step (3).
-
-(5) Finally you need to download the program. In arduino IDE do the following:
----> (a) Select 'Tools->Board->AstroEQ w/ Atmega162' if you have the new hardware, or 'Tools->Board->Arduino Mega' for the old hardware.
-[NOTE: If you use the old hardware there are two versions of an Arduino Mega: 1280 or 2560. Select the one you have]
----> (b) Select 'Tools->Serial Port->//your port//'
----> (c) Select Upload (File->Upload, or the second round button)
-
-You should now be up and running. Setup EQMOD and connect. If all goes well AstroEQ is now setup and it will be just plug and play from now on.
-
-If you have any problems, open an issue on the github repository and I will do my best to help.
-
-
-
-As a sidenote, If you purchased either a kit, or the IC pack from me, the Atmega162 will come with its bootloader and USB-Serial IC will come ready programmed.
-If you buy these IC's yourself, you will need a PIC programmer to burn the .hex file in the Driver folder to the USB-Serial IC, and Atmel programmer to burn the bootloader to the Atmega162 (Tools->Burn Bootloader in Arduino IDE).
\ No newline at end of file
diff --git a/AstroEQ-Firmware/Open me first/hardware/arduino/boards.txt b/AstroEQ-Firmware/Open me first/hardware/arduino/boards.txt
deleted file mode 100644
index 98a8611a15cadd3f72225c71234680789c33f27c..0000000000000000000000000000000000000000
--- a/AstroEQ-Firmware/Open me first/hardware/arduino/boards.txt
+++ /dev/null
@@ -1,497 +0,0 @@
-##############################################################
-
-uno.name=Arduino Uno
-uno.upload.protocol=arduino
-uno.upload.maximum_size=32256
-uno.upload.speed=115200
-uno.bootloader.low_fuses=0xff
-uno.bootloader.high_fuses=0xde
-uno.bootloader.extended_fuses=0x05
-uno.bootloader.path=optiboot
-uno.bootloader.file=optiboot_atmega328.hex
-uno.bootloader.unlock_bits=0x3F
-uno.bootloader.lock_bits=0x0F
-uno.build.mcu=atmega328p
-uno.build.f_cpu=16000000L
-uno.build.core=arduino
-uno.build.variant=standard
-
-##############################################################
-
-atmega328.name=Arduino Duemilanove w/ ATmega328
-
-atmega328.upload.protocol=arduino
-atmega328.upload.maximum_size=30720
-atmega328.upload.speed=57600
-
-atmega328.bootloader.low_fuses=0xFF
-atmega328.bootloader.high_fuses=0xDA
-atmega328.bootloader.extended_fuses=0x05
-atmega328.bootloader.path=atmega
-atmega328.bootloader.file=ATmegaBOOT_168_atmega328.hex
-atmega328.bootloader.unlock_bits=0x3F
-atmega328.bootloader.lock_bits=0x0F
-
-atmega328.build.mcu=atmega328p
-atmega328.build.f_cpu=16000000L
-atmega328.build.core=arduino
-atmega328.build.variant=standard
-
-##############################################################
-
-diecimila.name=Arduino Diecimila or Duemilanove w/ ATmega168
-
-diecimila.upload.protocol=arduino
-diecimila.upload.maximum_size=14336
-diecimila.upload.speed=19200
-
-diecimila.bootloader.low_fuses=0xff
-diecimila.bootloader.high_fuses=0xdd
-diecimila.bootloader.extended_fuses=0x00
-diecimila.bootloader.path=atmega
-diecimila.bootloader.file=ATmegaBOOT_168_diecimila.hex
-diecimila.bootloader.unlock_bits=0x3F
-diecimila.bootloader.lock_bits=0x0F
-
-diecimila.build.mcu=atmega168
-diecimila.build.f_cpu=16000000L
-diecimila.build.core=arduino
-diecimila.build.variant=standard
-
-##############################################################
-
-nano328.name=Arduino Nano w/ ATmega328
-
-nano328.upload.protocol=arduino
-nano328.upload.maximum_size=30720
-nano328.upload.speed=57600
-
-nano328.bootloader.low_fuses=0xFF
-nano328.bootloader.high_fuses=0xDA
-nano328.bootloader.extended_fuses=0x05
-nano328.bootloader.path=atmega
-nano328.bootloader.file=ATmegaBOOT_168_atmega328.hex
-nano328.bootloader.unlock_bits=0x3F
-nano328.bootloader.lock_bits=0x0F
-
-nano328.build.mcu=atmega328p
-nano328.build.f_cpu=16000000L
-nano328.build.core=arduino
-nano328.build.variant=eightanaloginputs
-
-##############################################################
-
-nano.name=Arduino Nano w/ ATmega168
-
-nano.upload.protocol=arduino
-nano.upload.maximum_size=14336
-nano.upload.speed=19200
-
-nano.bootloader.low_fuses=0xff
-nano.bootloader.high_fuses=0xdd
-nano.bootloader.extended_fuses=0x00
-nano.bootloader.path=atmega
-nano.bootloader.file=ATmegaBOOT_168_diecimila.hex
-nano.bootloader.unlock_bits=0x3F
-nano.bootloader.lock_bits=0x0F
-
-nano.build.mcu=atmega168
-nano.build.f_cpu=16000000L
-nano.build.core=arduino
-nano.build.variant=eightanaloginputs
-
-##############################################################
-
-mega2560.name=Arduino Mega 2560 or Mega ADK
-
-mega2560.upload.protocol=stk500v2
-mega2560.upload.maximum_size=258048
-mega2560.upload.speed=115200
-
-mega2560.bootloader.low_fuses=0xFF
-mega2560.bootloader.high_fuses=0xD8
-mega2560.bootloader.extended_fuses=0xFD
-mega2560.bootloader.path=stk500v2
-mega2560.bootloader.file=stk500boot_v2_mega2560.hex
-mega2560.bootloader.unlock_bits=0x3F
-mega2560.bootloader.lock_bits=0x0F
-
-mega2560.build.mcu=atmega2560
-mega2560.build.f_cpu=16000000L
-mega2560.build.core=arduino
-mega2560.build.variant=mega
-
-##############################################################
-
-mega.name=Arduino Mega (ATmega1280)
-
-mega.upload.protocol=arduino
-mega.upload.maximum_size=126976
-mega.upload.speed=57600
-
-mega.bootloader.low_fuses=0xFF
-mega.bootloader.high_fuses=0xDA
-mega.bootloader.extended_fuses=0xF5
-mega.bootloader.path=atmega
-mega.bootloader.file=ATmegaBOOT_168_atmega1280.hex
-mega.bootloader.unlock_bits=0x3F
-mega.bootloader.lock_bits=0x0F
-
-mega.build.mcu=atmega1280
-mega.build.f_cpu=16000000L
-mega.build.core=arduino
-mega.build.variant=mega
-
-##############################################################
-
-#leonardo.name=Arduino Leonardo
-#leonardo.upload.protocol=arduino
-#leonardo.upload.maximum_size=28672
-#leonardo.upload.speed=1200
-#leonardo.bootloader.low_fuses=0xde
-#leonardo.bootloader.high_fuses=0xd8
-#leonardo.bootloader.extended_fuses=0xcb
-#leonardo.bootloader.path=diskloader
-#leonardo.bootloader.file=DiskLoader-Leonardo.hex
-#leonardo.bootloader.unlock_bits=0x3F
-#leonardo.bootloader.lock_bits=0x2F
-#leonardo.build.mcu=atmega32u4
-#leonardo.build.f_cpu=16000000L
-#leonardo.build.core=arduino
-#leonardo.build.variant=leonardo
-
-##############################################################
-
-#micro.name=Arduino Micro
-#micro.upload.protocol=arduino
-#micro.upload.maximum_size=30720
-#micro.upload.speed=1200
-#micro.bootloader.low_fuses=0xde
-#micro.bootloader.high_fuses=0xda
-#micro.bootloader.extended_fuses=0xcb
-#micro.bootloader.path=diskloader
-#micro.bootloader.file=DiskLoader-Micro.hex
-#micro.bootloader.unlock_bits=0x3F
-#micro.bootloader.lock_bits=0x2F
-#micro.build.mcu=atmega32u4
-#micro.build.f_cpu=16000000L
-#micro.build.core=arduino
-#micro.build.variant=micro
-
-##############################################################
-
-mini328.name=Arduino Mini w/ ATmega328
-
-mini328.upload.protocol=stk500
-mini328.upload.maximum_size=28672
-mini328.upload.speed=115200
-
-mini328.bootloader.low_fuses=0xff
-mini328.bootloader.high_fuses=0xd8
-mini328.bootloader.extended_fuses=0x05
-mini328.bootloader.path=optiboot
-mini328.bootloader.file=optiboot_atmega328-Mini.hex
-mini328.bootloader.unlock_bits=0x3F
-mini328.bootloader.lock_bits=0x0F
-
-mini328.build.mcu=atmega328p
-mini328.build.f_cpu=16000000L
-mini328.build.core=arduino
-mini328.build.variant=eightanaloginputs
-
-##############################################################
-
-mini.name=Arduino Mini w/ ATmega168
-
-mini.upload.protocol=arduino
-mini.upload.maximum_size=14336
-mini.upload.speed=19200
-
-mini.bootloader.low_fuses=0xff
-mini.bootloader.high_fuses=0xdd
-mini.bootloader.extended_fuses=0x00
-mini.bootloader.path=atmega
-mini.bootloader.file=ATmegaBOOT_168_ng.hex
-mini.bootloader.unlock_bits=0x3F
-mini.bootloader.lock_bits=0x0F
-
-mini.build.mcu=atmega168
-mini.build.f_cpu=16000000L
-mini.build.core=arduino
-mini.build.variant=eightanaloginputs
-
-##############################################################
-
-ethernet.name=Arduino Ethernet
-
-ethernet.upload.protocol=arduino
-ethernet.upload.maximum_size=32256
-ethernet.upload.speed=115200
-
-ethernet.bootloader.low_fuses=0xff
-ethernet.bootloader.high_fuses=0xde
-ethernet.bootloader.extended_fuses=0x05
-ethernet.bootloader.path=optiboot
-ethernet.bootloader.file=optiboot_atmega328.hex
-ethernet.bootloader.unlock_bits=0x3F
-ethernet.bootloader.lock_bits=0x0F
-
-ethernet.build.variant=standard
-ethernet.build.mcu=atmega328p
-ethernet.build.f_cpu=16000000L
-ethernet.build.core=arduino
-
-##############################################################
-
-fio.name=Arduino Fio
-
-fio.upload.protocol=arduino
-fio.upload.maximum_size=30720
-fio.upload.speed=57600
-
-fio.bootloader.low_fuses=0xFF
-fio.bootloader.high_fuses=0xDA
-fio.bootloader.extended_fuses=0x05
-fio.bootloader.path=arduino:atmega
-fio.bootloader.file=ATmegaBOOT_168_atmega328_pro_8MHz.hex
-fio.bootloader.unlock_bits=0x3F
-fio.bootloader.lock_bits=0x0F
-
-fio.build.mcu=atmega328p
-fio.build.f_cpu=8000000L
-fio.build.core=arduino
-fio.build.variant=eightanaloginputs
-
-##############################################################
-
-bt328.name=Arduino BT w/ ATmega328
-
-bt328.upload.protocol=arduino
-bt328.upload.maximum_size=28672
-bt328.upload.speed=19200
-bt328.upload.disable_flushing=true
-
-bt328.bootloader.low_fuses=0xff
-bt328.bootloader.high_fuses=0xd8
-bt328.bootloader.extended_fuses=0x05
-bt328.bootloader.path=bt
-bt328.bootloader.file=ATmegaBOOT_168_atmega328_bt.hex
-bt328.bootloader.unlock_bits=0x3F
-bt328.bootloader.lock_bits=0x0F
-
-bt328.build.mcu=atmega328p
-bt328.build.f_cpu=16000000L
-bt328.build.core=arduino
-bt328.build.variant=eightanaloginputs
-
-##############################################################
-
-bt.name=Arduino BT w/ ATmega168
-
-bt.upload.protocol=arduino
-bt.upload.maximum_size=14336
-bt.upload.speed=19200
-bt.upload.disable_flushing=true
-
-bt.bootloader.low_fuses=0xff
-bt.bootloader.high_fuses=0xdd
-bt.bootloader.extended_fuses=0x00
-bt.bootloader.path=bt
-bt.bootloader.file=ATmegaBOOT_168.hex
-bt.bootloader.unlock_bits=0x3F
-bt.bootloader.lock_bits=0x0F
-
-bt.build.mcu=atmega168
-bt.build.f_cpu=16000000L
-bt.build.core=arduino
-bt.build.variant=eightanaloginputs
-
-##############################################################
-
-lilypad328.name=LilyPad Arduino w/ ATmega328
-
-lilypad328.upload.protocol=arduino
-lilypad328.upload.maximum_size=30720
-lilypad328.upload.speed=57600
-
-lilypad328.bootloader.low_fuses=0xFF
-lilypad328.bootloader.high_fuses=0xDA
-lilypad328.bootloader.extended_fuses=0x05
-lilypad328.bootloader.path=atmega
-lilypad328.bootloader.file=ATmegaBOOT_168_atmega328_pro_8MHz.hex
-lilypad328.bootloader.unlock_bits=0x3F
-lilypad328.bootloader.lock_bits=0x0F
-
-lilypad328.build.mcu=atmega328p
-lilypad328.build.f_cpu=8000000L
-lilypad328.build.core=arduino
-lilypad328.build.variant=standard
-
-##############################################################
-
-lilypad.name=LilyPad Arduino w/ ATmega168
-
-lilypad.upload.protocol=arduino
-lilypad.upload.maximum_size=14336
-lilypad.upload.speed=19200
-
-lilypad.bootloader.low_fuses=0xe2
-lilypad.bootloader.high_fuses=0xdd
-lilypad.bootloader.extended_fuses=0x00
-lilypad.bootloader.path=lilypad
-lilypad.bootloader.file=LilyPadBOOT_168.hex
-lilypad.bootloader.unlock_bits=0x3F
-lilypad.bootloader.lock_bits=0x0F
-
-lilypad.build.mcu=atmega168
-lilypad.build.f_cpu=8000000L
-lilypad.build.core=arduino
-lilypad.build.variant=standard
-
-##############################################################
-
-pro5v328.name=Arduino Pro or Pro Mini (5V, 16 MHz) w/ ATmega328
-
-pro5v328.upload.protocol=arduino
-pro5v328.upload.maximum_size=30720
-pro5v328.upload.speed=57600
-
-pro5v328.bootloader.low_fuses=0xFF
-pro5v328.bootloader.high_fuses=0xDA
-pro5v328.bootloader.extended_fuses=0x05
-pro5v328.bootloader.path=atmega
-pro5v328.bootloader.file=ATmegaBOOT_168_atmega328.hex
-pro5v328.bootloader.unlock_bits=0x3F
-pro5v328.bootloader.lock_bits=0x0F
-
-pro5v328.build.mcu=atmega328p
-pro5v328.build.f_cpu=16000000L
-pro5v328.build.core=arduino
-pro5v328.build.variant=standard
-
-##############################################################
-
-pro5v.name=Arduino Pro or Pro Mini (5V, 16 MHz) w/ ATmega168
-
-pro5v.upload.protocol=arduino
-pro5v.upload.maximum_size=14336
-pro5v.upload.speed=19200
-
-pro5v.bootloader.low_fuses=0xff
-pro5v.bootloader.high_fuses=0xdd
-pro5v.bootloader.extended_fuses=0x00
-pro5v.bootloader.path=atmega
-pro5v.bootloader.file=ATmegaBOOT_168_diecimila.hex
-pro5v.bootloader.unlock_bits=0x3F
-pro5v.bootloader.lock_bits=0x0F
-
-pro5v.build.mcu=atmega168
-pro5v.build.f_cpu=16000000L
-pro5v.build.core=arduino
-pro5v.build.variant=standard
-
-##############################################################
-
-pro328.name=Arduino Pro or Pro Mini (3.3V, 8 MHz) w/ ATmega328
-
-pro328.upload.protocol=arduino
-pro328.upload.maximum_size=30720
-pro328.upload.speed=57600
-
-pro328.bootloader.low_fuses=0xFF
-pro328.bootloader.high_fuses=0xDA
-pro328.bootloader.extended_fuses=0x05
-pro328.bootloader.path=atmega
-pro328.bootloader.file=ATmegaBOOT_168_atmega328_pro_8MHz.hex
-pro328.bootloader.unlock_bits=0x3F
-pro328.bootloader.lock_bits=0x0F
-
-pro328.build.mcu=atmega328p
-pro328.build.f_cpu=8000000L
-pro328.build.core=arduino
-pro328.build.variant=standard
-
-##############################################################
-
-pro.name=Arduino Pro or Pro Mini (3.3V, 8 MHz) w/ ATmega168
-
-pro.upload.protocol=arduino
-pro.upload.maximum_size=14336
-pro.upload.speed=19200
-
-pro.bootloader.low_fuses=0xc6
-pro.bootloader.high_fuses=0xdd
-pro.bootloader.extended_fuses=0x00
-pro.bootloader.path=atmega
-pro.bootloader.file=ATmegaBOOT_168_pro_8MHz.hex
-pro.bootloader.unlock_bits=0x3F
-pro.bootloader.lock_bits=0x0F
-
-pro.build.mcu=atmega168
-pro.build.f_cpu=8000000L
-pro.build.core=arduino
-pro.build.variant=standard
-
-##############################################################
-
-atmega168.name=Arduino NG or older w/ ATmega168
-
-atmega168.upload.protocol=arduino
-atmega168.upload.maximum_size=14336
-atmega168.upload.speed=19200
-
-atmega168.bootloader.low_fuses=0xff
-atmega168.bootloader.high_fuses=0xdd
-atmega168.bootloader.extended_fuses=0x00
-atmega168.bootloader.path=atmega
-atmega168.bootloader.file=ATmegaBOOT_168_ng.hex
-atmega168.bootloader.unlock_bits=0x3F
-atmega168.bootloader.lock_bits=0x0F
-
-atmega168.build.mcu=atmega168
-atmega168.build.f_cpu=16000000L
-atmega168.build.core=arduino
-atmega168.build.variant=standard
-
-##############################################################
-
-atmega8.name=Arduino NG or older w/ ATmega8
-
-atmega8.upload.protocol=arduino
-atmega8.upload.maximum_size=7168
-atmega8.upload.speed=19200
-
-atmega8.bootloader.low_fuses=0xdf
-atmega8.bootloader.high_fuses=0xca
-atmega8.bootloader.path=atmega8
-atmega8.bootloader.file=ATmegaBOOT.hex
-atmega8.bootloader.unlock_bits=0x3F
-atmega8.bootloader.lock_bits=0x0F
-
-atmega8.build.mcu=atmega8
-atmega8.build.f_cpu=16000000L
-atmega8.build.core=arduino
-atmega8.build.variant=standard
-
-##############################################################
-
-atmega162.name=AstroEQ w/ ATmega162
-
-atmega162.upload.protocol=arduino
-atmega162.upload.maximum_size=14336
-atmega162.upload.speed=57600
-
-atmega162.bootloader.low_fuses=0xFF
-atmega162.bootloader.high_fuses=0xD8
-atmega162.bootloader.extended_fuses=0xFB
-atmega162.bootloader.path=optiboot
-atmega162.bootloader.file=optiboot_atmega162.hex
-atmega162.bootloader.unlock_bits=0x3F
-atmega162.bootloader.lock_bits=0x0F
-
-atmega162.build.mcu=atmega162
-atmega162.build.f_cpu=16000000L
-atmega162.build.core=arduino
-atmega162.build.variant=AstroEQ
-
-##############################################################
\ No newline at end of file
diff --git a/AstroEQ-Firmware/Open me first/hardware/arduino/bootloaders/optiboot/optiboot_atmega162.hex b/AstroEQ-Firmware/Open me first/hardware/arduino/bootloaders/optiboot/optiboot_atmega162.hex
deleted file mode 100644
index 9c2d7e1d356bdb6011d4ae033a07d24aa48e4aa5..0000000000000000000000000000000000000000
Binary files a/AstroEQ-Firmware/Open me first/hardware/arduino/bootloaders/optiboot/optiboot_atmega162.hex and /dev/null differ
diff --git a/AstroEQ-Firmware/Open me first/hardware/arduino/variants/AstroEQ/pins_arduino.h b/AstroEQ-Firmware/Open me first/hardware/arduino/variants/AstroEQ/pins_arduino.h
deleted file mode 100644
index a8994b2ba8b073373c45fb913969a0ca09b69a28..0000000000000000000000000000000000000000
--- a/AstroEQ-Firmware/Open me first/hardware/arduino/variants/AstroEQ/pins_arduino.h
+++ /dev/null
@@ -1,234 +0,0 @@
-/*
- pins_arduino.h - Pin definition functions for Arduino
- Part of Arduino - http://www.arduino.cc/
-
- Copyright (c) 2007 David A. Mellis
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of the GNU Lesser General Public
- License as published by the Free Software Foundation; either
- version 2.1 of the License, or (at your option) any later version.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- Lesser General Public License for more details.
-
- You should have received a copy of the GNU Lesser General
- Public License along with this library; if not, write to the
- Free Software Foundation, Inc., 59 Temple Place, Suite 330,
- Boston, MA 02111-1307 USA
-
- $Id: wiring.h 249 2007-02-03 16:52:51Z mellis $
-*/
-
-#ifndef Pins_Arduino_h
-#define Pins_Arduino_h
-
-#include <avr/pgmspace.h>
-
-#define NUM_DIGITAL_PINS 35
-#define NUM_ANALOG_INPUTS 0
-#define analogInputToDigitalPin(p) (-1)
-
-#define digitalPinHasPWM(p) ((p) == 5 || (p) == 6 || (p) == 8 || (p) == 9 || (p) == 10 || (p) == 30)
-
-const static uint8_t SS = 10;
-const static uint8_t MOSI = 11;
-const static uint8_t MISO = 12;
-const static uint8_t SCK = 13;
-
-const static uint8_t LED_BUILTIN = 13;
-
-#define digitalPinToPCICR(p) ( (((p) >= 14) && ((p) <= 17)) || \
- (((p) >= 20) && ((p) <= 27)) || \
- (((p) >= 31) && ((p) <= 34)) ? (&PCICR) : ((uint8_t *)0) )
-
-#define digitalPinToPCICRbit(p) ( (((p) >= 20) && ((p) <= 27)) ? 0 : 1 )
-
-#define digitalPinToPCMSK(p) ( (((p) >= 20) && ((p) <= 27)) ? (&PCMSK0) : \
- (((p) >= 14) && ((p) <= 17)) || \
- (((p) >= 31) && ((p) <= 34)) ? (&PCMSK1) : ((uint8_t *)0) )
-
-#define digitalPinToPCMSKbit(p) ( (((p) >= 20) && ((p) <= 27)) ? ((p) - 20) : \
- (((p) >= 14) && ((p) <= 17)) ? ((p) - 14) : ((p) - 27) )
-
-#ifdef ARDUINO_MAIN
-
-// On the Arduino board, digital pins are also used
-// for the analog output (software PWM).
-
-// ATMEL ATMEGA162 / ARDUINO
-//
-// +-\/-+
-// PWM(0) (D 8) PB0 1| |40 VCC
-// PWM(2) (D 9) PB1 2| |39 PA0 (D14)
-// (D19) PB2 3| |38 PA1 (D15)
-// (D18) PB3 4| |37 PA2 (D16)
-// PWM(3B) (D10) PB4 5| |36 PA3 (D17)
-// (D11) PB5 6| |35 PA4 (D31)
-// (D12) PB6 7| |34 PA5 (D32)
-// (D13) PB7 8| |33 PA6 (D33)
-// RST 9| |32 PA7 (D34)
-// (D 0) PD0 10| |31 PE0 (D28)
-// (D 1) PD1 11| |30 PE1 (D29)
-// (D 2) PD2 12| |29 PE2 (D30) PWM(1B)
-// (D 3) PD3 13| |28 PC7 (D27)
-// PWM(3A) (D 5) PD4 14| |27 PC6 (D26)
-// PWM(1A) (D 6) PD5 15| |26 PC5 (D25)
-// (D 4) PD6 16| |25 PC4 (D24)
-// (D 7) PD7 17| |24 PC3 (D23)
-// XT2 18| |23 PC2 (D22)
-// XT1 19| |22 PC1 (D21)
-// GND 20| |21 PC0 (D20)
-// +----+
-//
-
-
-// these arrays map port names (e.g. port B) to the
-// appropriate addresses for various functions (e.g. reading
-// and writing)
-const uint16_t PROGMEM port_to_mode_PGM[] = {
- NOT_A_PORT,
- (uint16_t) &DDRA,
- (uint16_t) &DDRB,
- (uint16_t) &DDRC,
- (uint16_t) &DDRD,
- (uint16_t) &DDRE,
-};
-
-const uint16_t PROGMEM port_to_output_PGM[] = {
- NOT_A_PORT,
- (uint16_t) &PORTA,
- (uint16_t) &PORTB,
- (uint16_t) &PORTC,
- (uint16_t) &PORTD,
- (uint16_t) &PORTE,
-};
-
-const uint16_t PROGMEM port_to_input_PGM[] = {
- NOT_A_PORT,
- (uint16_t) &PINA,
- (uint16_t) &PINB,
- (uint16_t) &PINC,
- (uint16_t) &PIND,
- (uint16_t) &PINE,
-};
-
-const uint8_t PROGMEM digital_pin_to_port_PGM[] = {
- PD, /* 0 */
- PD,
- PD,
- PD,
- PD,
- PD,
- PD,
- PD,
- PB, /* 8 */
- PB,
- PB,
- PB,
- PB,
- PB,
- PA, /* 14 */
- PA,
- PA,
- PA,
- PB, /* 18 */
- PB,
- PC, /* 20 */
- PC,
- PC,
- PC,
- PC,
- PC,
- PC,
- PC,
- PE, /* 28 */
- PE,
- PE,
- PA, /* 31 */
- PA,
- PA,
- PA,
-};
-
-const uint8_t PROGMEM digital_pin_to_bit_mask_PGM[] = {
- _BV(0), /* 0, port D */
- _BV(1),
- _BV(2),
- _BV(3),
- _BV(6),
- _BV(4),
- _BV(5),
- _BV(7),
- _BV(0), /* 8, port B */
- _BV(1),
- _BV(4),
- _BV(5),
- _BV(6),
- _BV(7),
- _BV(0), /* 14, port A */
- _BV(1),
- _BV(2),
- _BV(3),
- _BV(3), /* 18, port B */
- _BV(2),
- _BV(0), /* 20, port C */
- _BV(1),
- _BV(2),
- _BV(3),
- _BV(4),
- _BV(5),
- _BV(6),
- _BV(7),
- _BV(0), /* 28, port E */
- _BV(1),
- _BV(2),
- _BV(4), /* 31, port A */
- _BV(5),
- _BV(6),
- _BV(7),
-};
-
-const uint8_t PROGMEM digital_pin_to_timer_PGM[] = {
- NOT_ON_TIMER, /* 0 - port D */
- NOT_ON_TIMER,
- NOT_ON_TIMER,
- NOT_ON_TIMER,
- NOT_ON_TIMER,
- TIMER3A,
- TIMER1A,
- NOT_ON_TIMER,
- TIMER0A, /* 8 - port B */
- TIMER2A,
- TIMER3B,
- NOT_ON_TIMER,
- NOT_ON_TIMER,
- NOT_ON_TIMER,
- NOT_ON_TIMER,/* 14, port A */
- NOT_ON_TIMER,
- NOT_ON_TIMER,
- NOT_ON_TIMER,
- NOT_ON_TIMER, /* 18, port B */
- NOT_ON_TIMER,
- NOT_ON_TIMER, /* 20, port C */
- NOT_ON_TIMER,
- NOT_ON_TIMER,
- NOT_ON_TIMER,
- NOT_ON_TIMER,
- NOT_ON_TIMER,
- NOT_ON_TIMER,
- NOT_ON_TIMER,
- NOT_ON_TIMER, /* 28, port E */
- NOT_ON_TIMER,
- TIMER1B,
- NOT_ON_TIMER, /* 31, port A */
- NOT_ON_TIMER,
- NOT_ON_TIMER,
- NOT_ON_TIMER,
-};
-
-#endif
-
-#endif
\ No newline at end of file
diff --git a/AstroEQ-Firmware/Open me first/hardware/tools/avr/avr/include/avr/iom162.h b/AstroEQ-Firmware/Open me first/hardware/tools/avr/avr/include/avr/iom162.h
deleted file mode 100644
index 0a95150c8228c6f9871b0318dc68c8c624c22f96..0000000000000000000000000000000000000000
--- a/AstroEQ-Firmware/Open me first/hardware/tools/avr/avr/include/avr/iom162.h
+++ /dev/null
@@ -1,951 +0,0 @@
-/* Copyright (c) 2002, Nils Kristian Strom <nilsst@omegav.ntnu.no>
- All rights reserved.
-
- Redistribution and use in source and binary forms, with or without
- modification, are permitted provided that the following conditions are met:
-
- * Redistributions of source code must retain the above copyright
- notice, this list of conditions and the following disclaimer.
-
- * Redistributions in binary form must reproduce the above copyright
- notice, this list of conditions and the following disclaimer in
- the documentation and/or other materials provided with the
- distribution.
-
- * Neither the name of the copyright holders nor the names of
- contributors may be used to endorse or promote products derived
- from this software without specific prior written permission.
-
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
- LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- POSSIBILITY OF SUCH DAMAGE. */
-
-/* $Id: iom162.h,v 1.13.2.5 2008/10/17 23:27:47 arcanum Exp $ */
-
-/* iom162.h - definitions for ATmega162 */
-
-#ifndef _AVR_IOM162_H_
-#define _AVR_IOM162_H_ 1
-
-/* This file should only be included from <avr/io.h>, never directly. */
-
-#ifndef _AVR_IO_H_
-# error "Include <avr/io.h> instead of this file."
-#endif
-
-#ifndef _AVR_IOXXX_H_
-# define _AVR_IOXXX_H_ "iom162.h"
-#else
-# error "Attempt to include more than one <avr/ioXXX.h> file."
-#endif
-
-/* Memory mapped I/O registers */
-
-/* Timer/Counter3 Control Register A */
-#define TCCR3A _SFR_MEM8(0x8B)
-
-/* Timer/Counter3 Control Register B */
-#define TCCR3B _SFR_MEM8(0x8A)
-
-/* Timer/Counter3 - Counter Register */
-#define TCNT3H _SFR_MEM8(0x89)
-#define TCNT3L _SFR_MEM8(0x88)
-#define TCNT3 _SFR_MEM16(0x88)
-
-/* Timer/Counter3 - Output Compare Register A */
-#define OCR3AH _SFR_MEM8(0x87)
-#define OCR3AL _SFR_MEM8(0x86)
-#define OCR3A _SFR_MEM16(0x86)
-
-/* Timer/Counter3 - Output Compare Register B */
-#define OCR3BH _SFR_MEM8(0x85)
-#define OCR3BL _SFR_MEM8(0x84)
-#define OCR3B _SFR_MEM16(0x84)
-
-/* Timer/Counter3 - Input Capture Register */
-#define ICR3H _SFR_MEM8(0x81)
-#define ICR3L _SFR_MEM8(0x80)
-#define ICR3 _SFR_MEM16(0x80)
-
-/* Extended Timer/Counter Interrupt Mask */
-#define ETIMSK _SFR_MEM8(0x7D)
-
-/* Extended Timer/Counter Interrupt Flag Register */
-#define ETIFR _SFR_MEM8(0x7C)
-
-/* Pin Change Mask Register 1 */
-#define PCMSK1 _SFR_MEM8(0x6C)
-
-/* Pin Change Mask Register 0 */
-#define PCMSK0 _SFR_MEM8(0x6B)
-
-/* Clock PRescale */
-#define CLKPR _SFR_MEM8(0x61)
-
-
-/* Standard I/O registers */
-
-/* 0x3F SREG */
-/* 0x3D..0x3E SP */
-#define UBRR1H _SFR_IO8(0x3C) /* USART 1 Baud Rate Register High Byte, Shared with UCSR1C */
-#define UCSR1C _SFR_IO8(0x3C) /* USART 1 Control and Status Register, Shared with UBRR1H */
-#define GICR _SFR_IO8(0x3B) /* General Interrupt Control Register */
-#define GIFR _SFR_IO8(0x3A) /* General Interrupt Flag Register */
-#define TIMSK _SFR_IO8(0x39) /* Timer Interrupt Mask */
-#define TIFR _SFR_IO8(0x38) /* Timer Interrupt Flag Register */
-#define SPMCR _SFR_IO8(0x37) /* Store Program Memory Control Register */
-#define EMCUCR _SFR_IO8(0x36) /* Extended MCU Control Register */
-#define MCUCR _SFR_IO8(0x35) /* MCU Control Register */
-#define MCUCSR _SFR_IO8(0x34) /* MCU Control and Status Register */
-#define TCCR0 _SFR_IO8(0x33) /* Timer/Counter 0 Control Register */
-#define TCNT0 _SFR_IO8(0x32) /* TImer/Counter 0 */
-#define OCR0 _SFR_IO8(0x31) /* Output Compare Register 0 */
-#define SFIOR _SFR_IO8(0x30) /* Special Function I/O Register */
-#define TCCR1A _SFR_IO8(0x2F) /* Timer/Counter 1 Control Register A */
-#define TCCR1B _SFR_IO8(0x2E) /* Timer/Counter 1 Control Register A */
-#define TCNT1H _SFR_IO8(0x2D) /* Timer/Counter 1 High Byte */
-#define TCNT1L _SFR_IO8(0x2C) /* Timer/Counter 1 Low Byte */
-#define TCNT1 _SFR_IO16(0x2C) /* Timer/Counter 1 */
-#define OCR1AH _SFR_IO8(0x2B) /* Timer/Counter 1 Output Compare Register A High Byte */
-#define OCR1AL _SFR_IO8(0x2A) /* Timer/Counter 1 Output Compare Register A Low Byte */
-#define OCR1A _SFR_IO16(0x2A) /* Timer/Counter 1 Output Compare Register A */
-#define OCR1BH _SFR_IO8(0x29) /* Timer/Counter 1 Output Compare Register B High Byte */
-#define OCR1BL _SFR_IO8(0x28) /* Timer/Counter 1 Output Compare Register B Low Byte */
-#define OCR1B _SFR_IO16(0x28) /* Timer/Counter 1 Output Compare Register B */
-#define TCCR2 _SFR_IO8(0x27) /* Timer/Counter 2 Control Register */
-#define ASSR _SFR_IO8(0x26) /* Asynchronous Status Register */
-#define ICR1H _SFR_IO8(0x25) /* Input Capture Register 1 High Byte */
-#define ICR1L _SFR_IO8(0x24) /* Input Capture Register 1 Low Byte */
-#define ICR1 _SFR_IO16(0x24) /* Input Capture Register 1 */
-#define TCNT2 _SFR_IO8(0x23) /* Timer/Counter 2 */
-#define OCR2 _SFR_IO8(0x22) /* Timer/Counter 2 Output Compare Register */
-#define WDTCR _SFR_IO8(0x21) /* Watchdow Timer Control Register */
-#define UBRR0H _SFR_IO8(0x20) /* USART 0 Baud-Rate Register High Byte, Shared with UCSR0C */
-#define UCSR0C _SFR_IO8(0x20) /* USART 0 Control and Status Register C, Shared with UBRR0H */
-#define EEARH _SFR_IO8(0x1F) /* EEPROM Address Register High Byte */
-#define EEARL _SFR_IO8(0x1E) /* EEPROM Address Register Low Byte */
-#define EEAR _SFR_IO16(0x1E) /* EEPROM Address Register */
-#define EEDR _SFR_IO8(0x1D) /* EEPROM Data Register */
-#define EECR _SFR_IO8(0x1C) /* EEPROM Control Register */
-#define PORTA _SFR_IO8(0x1B) /* Port A */
-#define DDRA _SFR_IO8(0x1A) /* Port A Data Direction Register */
-#define PINA _SFR_IO8(0x19) /* Port A Pin Register */
-#define PORTB _SFR_IO8(0x18) /* Port B */
-#define DDRB _SFR_IO8(0x17) /* Port B Data Direction Register */
-#define PINB _SFR_IO8(0x16) /* Port B Pin Register */
-#define PORTC _SFR_IO8(0x15) /* Port C */
-#define DDRC _SFR_IO8(0x14) /* Port C Data Direction Register */
-#define PINC _SFR_IO8(0x13) /* Port C Pin Register */
-#define PORTD _SFR_IO8(0x12) /* Port D */
-#define DDRD _SFR_IO8(0x11) /* Port D Data Direction Register */
-#define PIND _SFR_IO8(0x10) /* Port D Pin Register */
-#define SPDR _SFR_IO8(0x0F) /* SPI Data Register */
-#define SPSR _SFR_IO8(0x0E) /* SPI Status Register */
-#define SPCR _SFR_IO8(0x0D) /* SPI Control Register */
-#define UDR0 _SFR_IO8(0x0C) /* USART 0 Data Register */
-#define UCSR0A _SFR_IO8(0x0B) /* USART 0 Control and Status Register A */
-#define UCSR0B _SFR_IO8(0x0A) /* USART 0 Control and Status Register B */
-#define UBRR0L _SFR_IO8(0x09) /* USART 0 Baud-Rate Register Low Byte */
-#define ACSR _SFR_IO8(0x08) /* Analog Comparator Status Register */
-#define PORTE _SFR_IO8(0x07) /* Port E */
-#define DDRE _SFR_IO8(0x06) /* Port E Data Direction Register */
-#define PINE _SFR_IO8(0x05) /* Port E Pin Register */
-#define OSCCAL _SFR_IO8(0x04) /* Oscillator Calibration, Shared with OCDR */
-#define OCDR _SFR_IO8(0x04) /* On-Chip Debug Register, Shared with OSCCAL */
-#define UDR1 _SFR_IO8(0x03) /* USART 1 Data Register */
-#define UCSR1A _SFR_IO8(0x02) /* USART 1 Control and Status Register A */
-#define UCSR1B _SFR_IO8(0x01) /* USART 1 Control and Status Register B */
-#define UBRR1L _SFR_IO8(0x00) /* USART 0 Baud Rate Register High Byte */
-
-
-/* Interrupt vectors (byte addresses) */
-
-/* External Interrupt Request 0 */
-#define INT0_vect _VECTOR(1)
-#define SIG_INTERRUPT0 _VECTOR(1)
-
-/* External Interrupt Request 1 */
-#define INT1_vect _VECTOR(2)
-#define SIG_INTERRUPT1 _VECTOR(2)
-
-/* External Interrupt Request 2 */
-#define INT2_vect _VECTOR(3)
-#define SIG_INTERRUPT2 _VECTOR(3)
-
-/* Pin Change Interrupt Request 0 */
-#define PCINT0_vect _VECTOR(4)
-#define SIG_PIN_CHANGE0 _VECTOR(4)
-
-/* Pin Change Interrupt Request 1 */
-#define PCINT1_vect _VECTOR(5)
-#define SIG_PIN_CHANGE1 _VECTOR(5)
-
-/* Timer/Counter3 Capture Event */
-#define TIMER3_CAPT_vect _VECTOR(6)
-#define SIG_INPUT_CAPTURE3 _VECTOR(6)
-
-/* Timer/Counter3 Compare Match A */
-#define TIMER3_COMPA_vect _VECTOR(7)
-#define SIG_OUTPUT_COMPARE3A _VECTOR(7)
-
-/* Timer/Counter3 Compare Match B */
-#define TIMER3_COMPB_vect _VECTOR(8)
-#define SIG_OUTPUT_COMPARE3B _VECTOR(8)
-
-/* Timer/Counter3 Overflow */
-#define TIMER3_OVF_vect _VECTOR(9)
-#define SIG_OVERFLOW3 _VECTOR(9)
-
-/* Timer/Counter2 Compare Match */
-#define TIMER2_COMP_vect _VECTOR(10)
-#define SIG_OUTPUT_COMPARE2 _VECTOR(10)
-
-/* Timer/Counter2 Overflow */
-#define TIMER2_OVF_vect _VECTOR(11)
-#define SIG_OVERFLOW2 _VECTOR(11)
-
-/* Timer/Counter1 Capture Event */
-#define TIMER1_CAPT_vect _VECTOR(12)
-#define SIG_INPUT_CAPTURE1 _VECTOR(12)
-
-/* Timer/Counter1 Compare Match A */
-#define TIMER1_COMPA_vect _VECTOR(13)
-#define SIG_OUTPUT_COMPARE1A _VECTOR(13)
-
-/* Timer/Counter Compare Match B */
-#define TIMER1_COMPB_vect _VECTOR(14)
-#define SIG_OUTPUT_COMPARE1B _VECTOR(14)
-
-/* Timer/Counter1 Overflow */
-#define TIMER1_OVF_vect _VECTOR(15)
-#define SIG_OVERFLOW1 _VECTOR(15)
-
-/* Timer/Counter0 Compare Match */
-#define TIMER0_COMP_vect _VECTOR(16)
-#define SIG_OUTPUT_COMPARE0 _VECTOR(16)
-
-/* Timer/Counter0 Overflow */
-#define TIMER0_OVF_vect _VECTOR(17)
-#define SIG_OVERFLOW0 _VECTOR(17)
-
-/* SPI Serial Transfer Complete */
-#define SPI_STC_vect _VECTOR(18)
-#define SIG_SPI _VECTOR(18)
-
-/* USART0, Rx Complete */
-#define USART0_RX_vect _VECTOR(19)
-#define SIG_USART0_RECV _VECTOR(19)
-
-/* USART1, Rx Complete */
-#define USART1_RX_vect _VECTOR(20)
-#define SIG_USART1_RECV _VECTOR(20)
-
-/* USART0 Data register Empty */
-#define USART0_UDRE_vect _VECTOR(21)
-#define SIG_USART0_DATA _VECTOR(21)
-
-/* USART1, Data register Empty */
-#define USART1_UDRE_vect _VECTOR(22)
-#define SIG_USART1_DATA _VECTOR(22)
-
-/* USART0, Tx Complete */
-#define USART0_TX_vect _VECTOR(23)
-#define SIG_USART0_TRANS _VECTOR(23)
-
-/* USART1, Tx Complete */
-#define USART1_TX_vect _VECTOR(24)
-#define SIG_USART1_TRANS _VECTOR(24)
-
-/* EEPROM Ready */
-#define EE_RDY_vect _VECTOR(25)
-#define SIG_EEPROM_READY _VECTOR(25)
-
-/* Analog Comparator */
-#define ANA_COMP_vect _VECTOR(26)
-#define SIG_COMPARATOR _VECTOR(26)
-
-/* Store Program Memory Read */
-#define SPM_RDY_vect _VECTOR(27)
-#define SIG_SPM_READY _VECTOR(27)
-
-#define _VECTORS_SIZE 112 /* = (num vec+1) * 4 */
-
-
-
-
-
-/* TCCR3B bit definitions, memory mapped I/O */
-
-#define ICNC3 7
-#define ICES3 6
-#define WGM33 4
-#define WGM32 3
-#define CS32 2
-#define CS31 1
-#define CS30 0
-
-
-
-/* TCCR3A bit definitions, memory mapped I/O */
-
-#define COM3A1 7
-#define COM3A0 6
-#define COM3B1 5
-#define COM3B0 4
-#define FOC3A 3
-#define FOC3B 2
-#define WGM31 1
-#define WGM30 0
-
-
-
-/* ETIMSK bit definitions, memory mapped I/O */
-
-#define TICIE3 5
-#define OCIE3A 4
-#define OCIE3B 3
-#define TOIE3 2
-
-
-
-/* ETIFR bit definitions, memory mapped I/O */
-
-#define ICF3 5
-#define OCF3A 4
-#define OCF3B 3
-#define TOV3 2
-
-
-
-/* PCMSK1 bit definitions, memory mapped I/O */
-#define PCINT15 7
-#define PCINT14 6
-#define PCINT13 5
-#define PCINT12 4
-#define PCINT11 3
-#define PCINT10 2
-#define PCINT9 1
-#define PCINT8 0
-
-
-
-/* PCMSK0 bit definitions, memory mapped I/O */
-
-#define PCINT7 7
-#define PCINT6 6
-#define PCINT5 5
-#define PCINT4 4
-#define PCINT3 3
-#define PCINT2 2
-#define PCINT1 1
-#define PCINT0 0
-
-
-
-/* CLKPR bit definitions, memory mapped I/O */
-
-#define CLKPCE 7
-#define CLKPS3 3
-#define CLKPS2 2
-#define CLKPS1 1
-#define CLKPS0 0
-
-
-
-/* SPH bit definitions */
-
-#define SP15 15
-#define SP14 14
-#define SP13 13
-#define SP12 12
-#define SP11 11
-#define SP10 10
-#define SP9 9
-#define SP8 8
-
-
-
-/* SPL bit definitions */
-
-#define SP7 7
-#define SP6 6
-#define SP5 5
-#define SP4 4
-#define SP3 3
-#define SP2 2
-#define SP1 1
-#define SP0 0
-
-
-
-/* UBRR1H bit definitions */
-
-#define URSEL1 7
-#define UBRR111 3
-#define UBRR110 2
-#define UBRR19 1
-#define UBRR18 0
-
-
-
-/* UCSR1C bit definitions */
-
-#define URSEL1 7
-#define UMSEL1 6
-#define UPM11 5
-#define UPM10 4
-#define USBS1 3
-#define UCSZ11 2
-#define UCSZ10 1
-#define UCPOL1 0
-
-
-
-/* GICR bit definitions */
-
-#define INT1 7
-#define INT0 6
-#define INT2 5
-#define PCIE1 4
-#define PCIE0 3
-#define IVSEL 1
-#define IVCE 0
-
-
-
-/* GIFR bit definitions */
-
-#define INTF1 7
-#define INTF0 6
-#define INTF2 5
-#define PCIF1 4
-#define PCIF0 3
-
-
-
-/* TIMSK bit definitions */
-
-#define TOIE1 7
-#define OCIE1A 6
-#define OCIE1B 5
-#define OCIE2 4
-#define TICIE1 3
-#define TOIE2 2
-#define TOIE0 1
-#define OCIE0 0
-
-
-
-/* TIFR bit definitions */
-
-#define TOV1 7
-#define OCF1A 6
-#define OCF1B 5
-#define OCF2 4
-#define ICF1 3
-#define TOV2 2
-#define TOV0 1
-#define OCF0 0
-
-
-
-/* SPMCR bit definitions */
-
-#define SPMIE 7
-#define RWWSB 6
-#define RWWSRE 4
-#define BLBSET 3
-#define PGWRT 2
-#define PGERS 1
-#define SPMEN 0
-
-
-
-/* EMCUCR bit definitions */
-
-#define SM0 7
-#define SRL2 6
-#define SRL1 5
-#define SRL0 4
-#define SRW01 3
-#define SRW00 2
-#define SRW11 1
-#define ISC2 0
-
-
-
-/* MCUCR bit definitions */
-
-#define SRE 7
-#define SRW10 6
-#define SE 5
-#define SM1 4
-#define ISC11 3
-#define ISC10 2
-#define ISC01 1
-#define ISC00 0
-
-
-
-/* MCUCSR bit definitions */
-
-#define JTD 7
-#define SM2 5
-#define JTRF 4
-#define WDRF 3
-#define BORF 2
-#define EXTRF 1
-#define PORF 0
-
-
-
-/* TCCR0 bit definitions */
-
-#define FOC0 7
-#define WGM00 6
-#define COM01 5
-#define COM00 4
-#define WGM01 3
-#define CS02 2
-#define CS01 1
-#define CS00 0
-
-
-
-/* SFIOR bit definitions */
-
-#define TSM 7
-#define XMBK 6
-#define XMM2 5
-#define XMM1 4
-#define XMM0 3
-#define PUD 2
-#define PSR2 1
-#define PSR310 0
-
-
-
-/* TCCR1A bit definitions */
-
-#define COM1A1 7
-#define COM1A0 6
-#define COM1B1 5
-#define COM1B0 4
-#define FOC1A 3
-#define FOC1B 2
-#define WGM11 1
-#define WGM10 0
-
-
-
-
-/* TCCR1B bit definitions */
-
-#define ICNC1 7 /* Input Capture Noise Canceler */
-#define ICES1 6 /* Input Capture Edge Select */
-#define WGM13 4 /* Waveform Generation Mode 3 */
-#define WGM12 3 /* Waveform Generation Mode 2 */
-#define CS12 2 /* Clock Select 2 */
-#define CS11 1 /* Clock Select 1 */
-#define CS10 0 /* Clock Select 0 */
-
-
-
-/* TCCR2 bit definitions */
-
-#define FOC2 7
-#define WGM20 6
-#define COM21 5
-#define COM20 4
-#define WGM21 3
-#define CS22 2
-#define CS21 1
-#define CS20 0
-
-
-
-/* ASSR bit definitions */
-
-#define AS2 3
-#define TCON2UB 2
-#define OCR2UB 1
-#define TCR2UB 0
-
-
-
-/* WDTCR bit definitions */
-
-#define WDCE 4
-#define WDE 3
-#define WDP2 2
-#define WDP1 1
-#define WDP0 0
-
-
-
-/* UBRR0H bif definitions */
-
-#define URSEL0 7
-#define UBRR011 3
-#define UBRR010 2
-#define UBRR09 1
-#define UBRR08 0
-
-
-
-/* UCSR0C bit definitions */
-
-#define URSEL0 7
-#define UMSEL0 6
-#define UPM01 5
-#define UPM00 4
-#define USBS0 3
-#define UCSZ01 2
-#define UCSZ00 1
-#define UCPOL0 0
-
-
-
-/* EEARH bit definitions */
-
-#define EEAR8 0
-
-
-
-/* EECR bit definitions */
-
-#define EERIE 3
-#define EEMWE 2
-#define EEWE 1
-#define EERE 0
-
-
-
-/* PORTA bit definitions */
-
-#define PA7 7
-#define PA6 6
-#define PA5 5
-#define PA4 4
-#define PA3 3
-#define PA2 2
-#define PA1 1
-#define PA0 0
-
-
-
-/* DDRA bit definitions */
-
-#define DDA7 7
-#define DDA6 6
-#define DDA5 5
-#define DDA4 4
-#define DDA3 3
-#define DDA2 2
-#define DDA1 1
-#define DDA0 0
-
-
-
-/* PINA bit definitions */
-
-#define PINA7 7
-#define PINA6 6
-#define PINA5 5
-#define PINA4 4
-#define PINA3 3
-#define PINA2 2
-#define PINA1 1
-#define PINA0 0
-
-
-/* PORTB bit definitions */
-
-#define PB7 7
-#define PB6 6
-#define PB5 5
-#define PB4 4
-#define PB3 3
-#define PB2 2
-#define PB1 1
-#define PB0 0
-
-
-
-/* DDRB bit definitions */
-
-#define DDB7 7
-#define DDB6 6
-#define DDB5 5
-#define DDB4 4
-#define DDB3 3
-#define DDB2 2
-#define DDB1 1
-#define DDB0 0
-
-
-
-/* PINB bit definitions */
-
-#define PINB7 7
-#define PINB6 6
-#define PINB5 5
-#define PINB4 4
-#define PINB3 3
-#define PINB2 2
-#define PINB1 1
-#define PINB0 0
-
-
-
-/* PORTC bit definitions */
-
-#define PC7 7
-#define PC6 6
-#define PC5 5
-#define PC4 4
-#define PC3 3
-#define PC2 2
-#define PC1 1
-#define PC0 0
-
-
-
-/* DDRC bit definitions */
-
-#define DDC7 7
-#define DDC6 6
-#define DDC5 5
-#define DDC4 4
-#define DDC3 3
-#define DDC2 2
-#define DDC1 1
-#define DDC0 0
-
-
-
-/* PINC bit definitions */
-
-#define PINC7 7
-#define PINC6 6
-#define PINC5 5
-#define PINC4 4
-#define PINC3 3
-#define PINC2 2
-#define PINC1 1
-#define PINC0 0
-
-
-
-/* PORTD bit definitions */
-
-#define PD7 7
-#define PD6 6
-#define PD5 5
-#define PD4 4
-#define PD3 3
-#define PD2 2
-#define PD1 1
-#define PD0 0
-
-
-
-/* DDRD bit definitions */
-
-#define DDD7 7
-#define DDD6 6
-#define DDD5 5
-#define DDD4 4
-#define DDD3 3
-#define DDD2 2
-#define DDD1 1
-#define DDD0 0
-
-
-
-/* PIND bit definitions */
-
-#define PIND7 7
-#define PIND6 6
-#define PIND5 5
-#define PIND4 4
-#define PIND3 3
-#define PIND2 2
-#define PIND1 1
-#define PIND0 0
-
-
-
-/* SPSR bit definitions */
-
-#define SPIF 7
-#define WCOL 6
-#define SPI2X 0
-
-
-
-/* SPCR bit definitions */
-
-#define SPIE 7
-#define SPE 6
-#define DORD 5
-#define MSTR 4
-#define CPOL 3
-#define CPHA 2
-#define SPR1 1
-#define SPR0 0
-
-
-
-/* UCSR0A bit definitions */
-
-#define RXC0 7
-#define TXC0 6
-#define UDRE0 5
-#define FE0 4
-#define DOR0 3
-#define UPE0 2
-#define U2X0 1
-#define MPCM0 0
-
-
-
-/* UCSR0B bit definitions */
-
-#define RXCIE0 7
-#define TXCIE0 6
-#define UDRIE0 5
-#define RXEN0 4
-#define TXEN0 3
-#define UCSZ02 2
-#define RXB80 1
-#define TXB80 0
-
-
-
-/* ACSR bit definitions */
-
-#define ACD 7
-#define ACBG 6
-#define ACO 5
-#define ACI 4
-#define ACIE 3
-#define ACIC 2
-#define ACIS1 1
-#define ACIS0 0
-
-
-
-/* PORTE bit definitions */
-
-#define PE2 2
-#define PE1 1
-#define PE0 0
-
-
-
-/* DDRE bit definitions */
-
-#define DDE2 2
-#define DDE1 1
-#define DDE0 0
-
-
-
-/* PINE bit definitions */
-
-#define PINE2 2
-#define PINE1 1
-#define PINE0 0
-
-
-
-/* UCSR1A bit definitions */
-
-#define RXC1 7
-#define TXC1 6
-#define UDRE1 5
-#define FE1 4
-#define DOR1 3
-#define UPE1 2
-#define U2X1 1
-#define MPCM1 0
-
-
-
-/* UCSR1B bit definitions */
-
-#define RXCIE1 7
-#define TXCIE1 6
-#define UDRIE1 5
-#define RXEN1 4
-#define TXEN1 3
-#define UCSZ12 2
-#define RXB81 1
-#define TXB81 0
-
-
-/* Constants */
-#define SPM_PAGESIZE 128
-#define RAMEND 0x4FF
-#define XRAMEND 0xFFFF
-#define E2END 0x1FF
-#define E2PAGESIZE 4
-#define FLASHEND 0x3FFF
-
-
-/* Fuses */
-
-#define FUSE_MEMORY_SIZE 3
-
-/* Low Fuse Byte */
-#define FUSE_CKSEL0 (unsigned char)~_BV(0)
-#define FUSE_CKSEL1 (unsigned char)~_BV(1)
-#define FUSE_CKSEL2 (unsigned char)~_BV(2)
-#define FUSE_CKSEL3 (unsigned char)~_BV(3)
-#define FUSE_SUT0 (unsigned char)~_BV(4)
-#define FUSE_SUT1 (unsigned char)~_BV(5)
-#define FUSE_CKOUT (unsigned char)~_BV(6)
-#define FUSE_CKDIV8 (unsigned char)~_BV(7)
-#define LFUSE_DEFAULT (FUSE_CKSEL0 & FUSE_CKSEL2 & FUSE_CKSEL3 & FUSE_SUT0 & FUSE_CKDIV8)
-
-/* High Fuse Byte */
-#define FUSE_BOOTRST (unsigned char)~_BV(0)
-#define FUSE_BOOTSZ0 (unsigned char)~_BV(1)
-#define FUSE_BOOTSZ1 (unsigned char)~_BV(2)
-#define FUSE_EESAVE (unsigned char)~_BV(3)
-#define FUSE_WDTON (unsigned char)~_BV(4)
-#define FUSE_SPIEN (unsigned char)~_BV(5)
-#define FUSE_JTAGEN (unsigned char)~_BV(6)
-#define FUSE_OCDEN (unsigned char)~_BV(7)
-#define HFUSE_DEFAULT (FUSE_BOOTSZ0 & FUSE_BOOTSZ1 & FUSE_SPIEN & FUSE_JTAGEN)
-
-/* Extended Fuse Byte */
-#define FUSE_BODLEVEL0 (unsigned char)~_BV(1)
-#define FUSE_BODLEVEL1 (unsigned char)~_BV(2)
-#define FUSE_BODLEVEL2 (unsigned char)~_BV(3)
-#define FUSE_M161C (unsigned char)~_BV(4)
-#define EFUSE_DEFAULT (0xFF)
-
-
-/* Lock Bits */
-#define __LOCK_BITS_EXIST
-#define __BOOT_LOCK_BITS_0_EXIST
-#define __BOOT_LOCK_BITS_1_EXIST
-
-
-/* Signature */
-#define SIGNATURE_0 0x1E
-#define SIGNATURE_1 0x94
-#define SIGNATURE_2 0x04
-
-
-#endif /* _AVR_IOM162_H_ */
diff --git a/AstroEQ-Firmware/PinMappings.h b/AstroEQ-Firmware/PinMappings.h
new file mode 100644
index 0000000000000000000000000000000000000000..d3f61beffe79693f0bcc206349689b667224f8b4
--- /dev/null
+++ b/AstroEQ-Firmware/PinMappings.h
@@ -0,0 +1,163 @@
+
+#if defined(__AVR_ATmega162__)
+
+//This is for HARDWARE versions prior to 4.0. This includes all versions using Arduino Mega board.
+//#define LEGACY_MODE 1
+
+//----- User Configurable Pin Definitions for ATMega162 Variants -----
+//Warning: D20 to D27 inclusive are NOT allowed
+#define statusPin_Define 13
+
+#define resetPin_0_Define 15
+#define resetPin_1_Define 14
+
+#define errorPin_0_Define 2
+#define errorPin_1_Define 6
+
+#define dirPin_0_Define 3
+#define dirPin_1_Define 7
+
+#define enablePin_0_Define 4
+#define enablePin_1_Define 8
+
+#define stepPin_0_Define 5
+#define stepPin_1_Define 30
+
+#ifdef LEGACY_MODE
+#define modePins0_0_Define 16
+#define modePins2_0_Define 17
+#define modePins0_1_Define 19
+#define modePins2_1_Define 18
+#else
+#define modePins0_0_Define 6
+#define modePins1_0_Define 17
+#define modePins2_0_Define 16
+#define modePins0_1_Define 10
+#define modePins1_1_Define 18
+#define modePins2_1_Define 19
+#endif
+
+
+#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+
+//---- User Configurable Pin Definitions for ATMegaXXX0 Variants -----
+//Warning: D30 to D37 inclusive are NOT allowed
+#define statusPin_Define 13
+
+#define resetPin_0_Define A1
+#define resetPin_1_Define A0
+
+#define errorPin_0_Define 2
+#define errorPin_1_Define 6
+
+#define dirPin_0_Define 3
+#define dirPin_1_Define 7
+
+#define enablePin_0_Define 4
+#define enablePin_1_Define 8
+
+#define stepPin_0_Define 5
+#define stepPin_1_Define 12
+
+#define modePins0_0_Define 16
+#define modePins2_0_Define 17
+#define modePins0_1_Define 19
+#define modePins2_1_Define 18
+
+
+
+#endif
+
+
+
+
+
+
+
+
+// Do not modify anything below this line! ---------------------------------------
+
+
+#if (CS10 != CS30) || (CS11 != CS31) || (CS12 != CS32)
+#error incorrect assumption about prescale bits being equal between timer 1 and 3.
+#endif
+#define CSn0 CS10
+#define CSn1 CS11
+#define CSn2 CS12
+
+
+
+#if defined(__AVR_ATmega162__)
+
+#define GPIOR0 TCNT2
+#define GPIOR1 OCR2
+#ifndef TIMSK3
+#define TIMSK3 ETIMSK
+#endif
+#ifndef TIMSK1
+#define TIMSK1 TIMSK
+#endif
+#ifndef ICIE3
+#define ICIE3 TICIE3
+#endif
+#ifndef ICIE1
+#define ICIE1 TICIE1
+#endif
+
+#define digitalPinToPortReg(P) \
+((((P) >= 14 && (P) <= 17) || ((P) >= 31 && (P) <= 34)) ? &PORTA : \
+((((P) >= 8 && (P) <= 13) || ((P) >= 18 && (P) <= 19)) ? &PORTB : \
+((((P) >= 20 && (P) <= 27)) ? &PORTC : \
+((((P) <= 7)) ? &PORTD : &PORTE ))))
+
+#define digitalPinToBit(P) \
+(((P) >= 0 && (P) <= 3) ? (P) : \
+(((P) >= 10 && (P) <= 13) ? (P) - 6 : \
+(((P) >= 8 && (P) <= 9) ? (P) - 8 : \
+(((P) >= 18 && (P) <= 19) ? 21 - (P) : \
+(((P) >= 20 && (P) <= 27) ? (P) - 20 : \
+(((P) >= 28 && (P) <= 30) ? (P) - 28 : \
+(((P) >= 31 && (P) <= 34) ? (P) - 27 : \
+(((P) >= 14 && (P) <= 17) ? (P) - 14 : \
+(((P) >= 5 && (P) <= 6) ? (P) - 1 : \
+(((P) == 7) ? 7 : 6 ))))))))))
+
+
+#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+
+#ifndef LEGACY_MODE
+#define LEGACY_MODE 1
+#endif
+
+#define digitalPinToPortReg(P) \
+(((P) >= 22 && (P) <= 29) ? &PORTA : \
+((((P) >= 10 && (P) <= 13) || ((P) >= 50 && (P) <= 53)) ? &PORTB : \
+(((P) >= 30 && (P) <= 37) ? &PORTC : \
+((((P) >= 18 && (P) <= 21) || (P) == 38) ? &PORTD : \
+((((P) >= 0 && (P) <= 3) || (P) == 5) ? &PORTE : \
+(((P) >= 54 && (P) <= 61) ? &PORTF : \
+((((P) >= 39 && (P) <= 41) || (P) == 4) ? &PORTG : \
+((((P) >= 6 && (P) <= 9) || (P) == 16 || (P) == 17) ? &PORTH : \
+(((P) == 14 || (P) == 15) ? &PORTJ : \
+(((P) >= 62 && (P) <= 69) ? &PORTK : &PORTL))))))))))
+
+#define digitalPinToBit(P) \
+(((P) >= 7 && (P) <= 9) ? (P) - 3 : \
+(((P) >= 10 && (P) <= 13) ? (P) - 6 : \
+(((P) >= 22 && (P) <= 29) ? (P) - 22 : \
+(((P) >= 30 && (P) <= 37) ? 37 - (P) : \
+(((P) >= 39 && (P) <= 41) ? 41 - (P) : \
+(((P) >= 42 && (P) <= 49) ? 49 - (P) : \
+(((P) >= 50 && (P) <= 53) ? 53 - (P) : \
+(((P) >= 54 && (P) <= 61) ? (P) - 54 : \
+(((P) >= 62 && (P) <= 69) ? (P) - 62 : \
+(((P) == 0 || (P) == 15 || (P) == 17 || (P) == 21) ? 0 : \
+(((P) == 1 || (P) == 14 || (P) == 16 || (P) == 20) ? 1 : \
+(((P) == 19) ? 2 : \
+(((P) == 5 || (P) == 6 || (P) == 18) ? 3 : \
+(((P) == 2) ? 4 : \
+(((P) == 3 || (P) == 4) ? 5 : 7)))))))))))))))
+
+
+
+#endif
diff --git a/AstroEQ-Firmware/commands.cpp b/AstroEQ-Firmware/commands.cpp
index 9a582d31ecc28e8148d564e5d151539b11a1c050..a78f4651a4e13e336f2e60f11446cae0f7013495 100644
--- a/AstroEQ-Firmware/commands.cpp
+++ b/AstroEQ-Firmware/commands.cpp
@@ -23,36 +23,28 @@
#endif
#include "commands.h"
-void Commands::init(unsigned long eVal,unsigned long aVal1,unsigned long aVal2,unsigned long bVal1,unsigned long bVal2,unsigned long sVal1,unsigned long sVal2,byte gVal){
+void Commands::init(unsigned long _eVal, byte _gVal){
+ aVal[0] = EEPROM.readLong(aVal1_Address); //steps/axis
+ aVal[1] = EEPROM.readLong(aVal2_Address); //steps/axis
+ bVal[0] = EEPROM.readLong(bVal1_Address); //sidereal rate
+ bVal[1] = EEPROM.readLong(bVal2_Address); //sidereal rate
+ sVal[0] = EEPROM.readLong(sVal1_Address); //steps/worm rotation
+ sVal[1] = EEPROM.readLong(sVal2_Address); //steps/worm rotation
+ siderealIVal[0] = EEPROM.readInt(IVal1_Address); //steps/worm rotation
+ siderealIVal[1] = EEPROM.readInt(IVal2_Address); //steps/worm rotation
for(byte i = 0;i < 2;i++){
- _flag[i] = 0x100;
- _jVal[i] = 0x800000; //Current position, 0x800000 is the centre
- _IVal[i] = 0; //Recieved Speed
- _GVal[i] = 0; //Mode recieved from :G command
- _HVal[i] = 0; //Value recieved from :H command
- _eVal[i] = eVal; //version number
- _gVal[i] = gVal; //High speed scalar
- }
- _aVal[0] = aVal1; //steps/axis
- _aVal[1] = aVal2; //steps/axis
- _bVal[0] = bVal1; //sidereal rate
- _bVal[1] = bVal2; //sidereal rate
- _sVal[0] = sVal1; //steps/worm rotation
- _sVal[1] = sVal2; //steps/worm rotation
-}
-
-void Commands::init(unsigned long eVal,unsigned long aVal,unsigned long bVal,byte gVal,unsigned long sVal){
- for(byte i = 0;i < 2;i++){
- _flag[i] = 0x100;
- _jVal[i] = 0x800000; //Current position, 0x800000 is the centre
- _IVal[i] = 0; //Recieved Speed
- _GVal[i] = 0; //Mode recieved from :G command
- _HVal[i] = 0; //Value recieved from :H command
- _eVal[i] = eVal; //version number
- _aVal[i] = aVal; //steps/axis
- _bVal[i] = bVal; //sidereal rate
- _gVal[i] = gVal; //High speed scalar
- _sVal[i] = sVal; //steps/worm rotation
+ dir[i] = 0;
+ stopped[i] = 1;
+ gotoEn[i] = 0;
+ FVal[i] = 0;
+ jVal[i] = 0x800000; //Current position, 0x800000 is the centre
+ IVal[i] = 0; //Recieved Speed
+ GVal[i] = 0; //Mode recieved from :G command
+ HVal[i] = 0; //Value recieved from :H command
+ eVal[i] = _eVal; //version number
+ gVal[i] = _gVal; //High speed scalar
+
+ stepIncrement[i] = map(siderealIVal[i],300,1200,4,16);//((aVal[i] < 5600000UL) ? ((aVal[i] < 2800000UL) ? 16 : 8) : 4);
}
}
@@ -72,7 +64,10 @@ const char Commands::command[numberOfCommands][3] = { {'e', 0, 6},
{'J', 0, 0},
{'P', 1, 0},
{'F', 0, 0},
- {'L', 0, 0} };
+ {'L', 0, 0},
+ {'A', 6, 0},
+ {'B', 6, 0},
+ {'S', 6, 0} };
char Commands::getLength(char cmd, boolean sendRecieve){
for(byte i = 0;i < numberOfCommands;i++){
@@ -87,112 +82,54 @@ char Commands::getLength(char cmd, boolean sendRecieve){
return -1;
}
-unsigned int Commands::fVal(byte target){
- return _flag[target];
-}
-
-char Commands::stepDir(byte target){ //Get Method
- char stepDir = 1 - ((_flag[target] >> 8) & 0x02); //get step direction
- return stepDir;
-}
-
-byte Commands::dir(byte target, char dir){ //Set Method
- if(dir == 1){
- //set direction
- _flag[target] |= (1 << 9); //set bit
- } else if (dir == 0){
- _flag[target] &= ~(1 << 9); //unset bit
- } else {
- dir = (_flag[target] >> 9) & 0x01; //get direction
- }
- return dir;
-}
-
-byte Commands::stopped(byte target, byte stopped){ //Set Method
- if(stopped == 1){
- _flag[target] |= (1 << 8); //set bit
- } else if (stopped == 0){
- _flag[target] &= ~(1 << 8); //unset bit
- } else {
- stopped = (_flag[target] >> 8) & 0x01;
- }
- return stopped;
-}
-
-byte Commands::gotoEn(byte target, byte gotoEn){ //Set Method
- if(gotoEn == 1){
- _flag[target] |= (1 << 4); //set bit
- } else if (gotoEn == 0){
- _flag[target] &= ~(1 << 4); //unset bit
+void Commands::setStepLength(byte target, byte stepLength) {
+ if (stepDir[target] > 0) {
+ stepDir[target] = stepLength;
} else {
- gotoEn = (_flag[target] >> 4) & 0x01;
+ stepDir[target] = -stepLength;
}
- return gotoEn;
}
-byte Commands::FVal(byte target, byte FVal){ //Set Method
- if(FVal == 1){
- _flag[target] |= (1 << 0); //set bit
- } else if (FVal == 0){
- _flag[target] &= ~(1 << 0); //unset bit
- } else {
- FVal = (_flag[target] >> 0) & 0x01;
+void Commands::setDir(byte target, byte _dir){ //Set Method
+ _dir &= 1;
+ //byte sign = _dir ^ target;
+ //if (sign & 1){
+ if(_dir){
+ stepDir[target] = -1; //set step direction
+ } else {//if (dir == 0){}
+ stepDir[target] = 1; //set step direction
}
- return FVal;
+ dir[target] = _dir & 1; //set direction
}
-unsigned long Commands::jVal(byte target, unsigned long jVal){ //Set Method
- if(jVal < 0x01000000){
- _jVal[target] = jVal;
- } else {
- jVal = _jVal[target];
- }
- return jVal;
+void Commands::setStopped(byte target, byte _stopped){ //Set Method
+ stopped[target] = _stopped & 1;
}
-unsigned long Commands::IVal(byte target, unsigned long IVal){ //Set Method
- if(IVal < 0x01000000){
- _IVal[target] = IVal;
- } else {
- IVal = _IVal[target];
- }
- return IVal;
+void Commands::setGotoEn(byte target, byte _gotoEn){ //Set Method
+ gotoEn[target] = _gotoEn & 1;
}
-byte Commands::GVal(byte target, byte GVal){ //Set Method
- if(GVal < 4){
- _GVal[target] = GVal;
- } else {
- GVal = _GVal[target];
- }
- return GVal;
-}
-
-unsigned long Commands::HVal(byte target, unsigned long HVal){ //Set Method
- if(HVal < 0x01000000){
- _HVal[target] = HVal;
- } else {
- HVal = _HVal[target];
- }
- return HVal;
+void Commands::setFVal(byte target, byte _FVal){ //Set Method
+ FVal[target] = _FVal & 1;
}
-unsigned long Commands::eVal(byte target){
- return _eVal[target];
+unsigned int Commands::fVal(byte target){ //_fVal: 00ds000g000f
+ return ((dir[target] << 9)|(stopped[target] << 8)|(gotoEn[target] << 4)|(FVal[target] << 0));
}
-unsigned long Commands::aVal(byte target){
- return _aVal[target];
+void Commands::setjVal(byte target, unsigned long _jVal){ //Set Method
+ jVal[target] = _jVal;
}
-unsigned long Commands::bVal(byte target){
- return _bVal[target];
+void Commands::setIVal(byte target, unsigned int _IVal){ //Set Method
+ IVal[target] = _IVal;
}
-byte Commands::gVal(byte target){
- return _gVal[target];
+void Commands::setHVal(byte target, unsigned long _HVal){ //Set Method
+ HVal[target] = _HVal;
}
-unsigned long Commands::sVal(byte target){
- return _sVal[target];
+void Commands::setGVal(byte target, byte _GVal){ //Set Method
+ GVal[target] = _GVal;
}
diff --git a/AstroEQ-Firmware/commands.h b/AstroEQ-Firmware/commands.h
index 8dc127f857fb66c998ab69d5276f7360354d90ab..c0b9aad912fc0d3942169eddff66f11f07343297 100644
--- a/AstroEQ-Firmware/commands.h
+++ b/AstroEQ-Firmware/commands.h
@@ -14,52 +14,58 @@
//----------------------------------------------------------------------------
#ifndef commands_h
#define commands_h
+
#if ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
- #define numberOfCommands 17
+ #include "EEPROMReader.h"
+ #include "EEPROMAddresses.h"
+ #define numberOfCommands 20
+
class Commands{
public:
- void init(unsigned long eVal,unsigned long aVal1,unsigned long aVal2,unsigned long bVal1,unsigned long bVal2,unsigned long sVal1,unsigned long sVal2,byte gVal);
- void init(unsigned long eVal,unsigned long aVal,unsigned long bVal,byte gVal,unsigned long sVal);
+
+ void init(unsigned long _eVal, byte _gVal);
//Command definitions
static const char command[numberOfCommands][3];
//Methods for accessing class variables
- char stepDir(byte target); //Get Method
- byte dir(byte target, char dir = 2); //Get Method
- byte stopped(byte target, byte stopped = 2); //Get Method
- byte gotoEn(byte target, byte gotoEn = 2); //Get Method
- byte FVal(byte target, byte FVal = 2); //Get Method
- unsigned int fVal(byte target); //return the flag to main program
- unsigned long jVal(byte target, unsigned long jVal = 0x01000000); //Get Method
- unsigned long IVal(byte target, unsigned long IVal = 0x01000000); //Get Method
- byte GVal(byte target, byte GVal = 4); //Get Method
- unsigned long HVal(byte target, unsigned long HVal = 0x01000000); //Get Method
- unsigned long eVal(byte target); //Get Method
- unsigned long aVal(byte target); //Get Method
- unsigned long bVal(byte target); //Get Method
- byte gVal(byte target); //Get Method
- unsigned long sVal(byte target); //Get Method
+ void setStepLength(byte target, byte stepLength); //in highspeed mode, one step is gVal increments of the jVal.
+ void setDir(byte target, byte _dir); //Get Method
+ void setStopped(byte target, byte _stopped); //Get Method
+ void setGotoEn(byte target, byte _gotoEn); //Set Method
+ void setFVal(byte target, byte _FVal); //Get Method
+ void setjVal(byte target, unsigned long _jVal); //set Method
+ void setIVal(byte target, unsigned int _IVal); //set Method
+ void setHVal(byte target, unsigned long _HVal); //set Method
+ void setGVal(byte target, byte _GVal); //Get Method
char getLength(char cmd, boolean sendRecieve);
- private:
//class variables
- unsigned long _jVal[2]; //_jVal: Current position
- unsigned long _IVal[2]; //_IVal: speed to move if in slew mode
- byte _GVal[2]; //_GVal: slew/goto mode
- unsigned long _HVal[2]; //_HVal: steps to move if in goto mode
- unsigned int _flag[2]; //_fVal: 00ds000g000f; d = dir, s = stopped, g = goto, f = energised
- unsigned long _eVal[2]; //_eVal: Version number
- unsigned long _aVal[2]; //_aVal: Steps per axis revolution
- unsigned long _bVal[2]; //_bVal: Sidereal Rate of axis
- byte _gVal[2]; //_gVal: Speed scalar for highspeed slew
- unsigned long _sVal[2]; //_sVal: Steps per worm gear revolution
+ unsigned long jVal[2]; //_jVal: Current position
+ unsigned int IVal[2]; //_IVal: speed to move if in slew mode
+ unsigned int motorSpeed[2]; //speed at which moving. Accelerates to IVal.
+ byte GVal[2]; //_GVal: slew/goto mode
+ unsigned long HVal[2]; //_HVal: steps to move if in goto mode
+ unsigned int fVal(byte target); //_fVal: 00ds000g000f; d = dir, s = stopped, g = goto, f = energised
+ volatile char stepDir[2];
+ byte dir[2];
+ byte FVal[2];
+ byte gotoEn[2];
+ byte stopped[2];
+ unsigned long eVal[2]; //_eVal: Version number
+ unsigned long aVal[2]; //_aVal: Steps per axis revolution
+ unsigned long bVal[2]; //_bVal: Sidereal Rate of axis
+ byte gVal[2]; //_gVal: Speed scalar for highspeed slew
+ unsigned long sVal[2]; //_sVal: Steps per worm gear revolution
+ byte stepIncrement[2];
+ unsigned int siderealIVal[2]; //_IVal: at sidereal rate
+
};
#endif
diff --git a/AstroEQ-Firmware/synta.cpp b/AstroEQ-Firmware/synta.cpp
index 95c3d3be91618be96b4d996956d392c950688228..33b510665be3937a6ac54838ca03b90f5b62bb25 100644
--- a/AstroEQ-Firmware/synta.cpp
+++ b/AstroEQ-Firmware/synta.cpp
@@ -1,22 +1,14 @@
#include "synta.h"
-Synta::Synta(unsigned long eVal,unsigned long aVal,unsigned long bVal,byte gVal,unsigned long sVal,byte scalar){
+void Synta::initialise(unsigned long eVal){
validPacket = 0;
_axis = 0;
commandIndex = 0;
clearBuffer(commandString,sizeof(commandString));
- _scalar = scalar;
- cmd.init(eVal, aVal, bVal, gVal, sVal);
-}
-
-Synta::Synta(unsigned long eVal,unsigned long aVal1,unsigned long aVal2,unsigned long bVal1,unsigned long bVal2,unsigned long sVal1,unsigned long sVal2,byte gVal,byte scalar){
- validPacket = 0;
- _axis = 0;
- commandIndex = 0;
- clearBuffer(commandString,sizeof(commandString));
- _scalar = scalar;
- cmd.init(eVal, aVal1, aVal2, bVal1, bVal2, sVal1, sVal2, gVal);
+ //scalar[0] = EEPROM.readByte(scalar1_Address) - 1;
+ //scalar[1] = EEPROM.readByte(scalar2_Address) - 1;
+ cmd.init(eVal, 8);
}
const char Synta::startInChar = ':';
@@ -157,7 +149,3 @@ byte Synta::axis(byte axis){
}
return _axis;
}
-
-byte Synta::scalar(){
- return _scalar;
-}
diff --git a/AstroEQ-Firmware/synta.h b/AstroEQ-Firmware/synta.h
index 8d12d90c5d30e4f1bdaa96f7feb82fe3e63d9124..d4ff08ad1a670bb00c0c85670e1df805cbbdda7e 100644
--- a/AstroEQ-Firmware/synta.h
+++ b/AstroEQ-Firmware/synta.h
@@ -11,21 +11,36 @@
class Synta{
public:
- Synta(unsigned long eVal,unsigned long aVal,unsigned long bVal,byte gVal,unsigned long sVal,byte scalar);
- Synta(unsigned long eVal,unsigned long aVal1,unsigned long aVal2,unsigned long bVal1,unsigned long bVal2,unsigned long sVal1,unsigned long sVal2,byte gVal,byte scalar);
+
+ static Synta& getInstance(unsigned long version)
+ {
+ static Synta singleton = Synta(version);
+ return singleton;
+ }
+
Commands cmd;
void assembleResponse(char* dataPacket, char commandOrError, unsigned long responseData);
char recieveCommand(char* dataPacket, char character);
byte axis(byte axis = 2); //make target readonly to outside world.
- byte scalar();
char command(); //make current command readonly to outside world.
unsigned long hexToLong(char* hex);
void longToHex(char* hex, unsigned long data);
void intToHex(char* hex, unsigned int data);
void byteToHex(char* hex, byte data);
+
+ //byte scalar[2];
private:
+ Synta(unsigned long version) {
+ initialise(version);
+ };
+ //Synta(Synta const&);
+ void operator=(Synta const&);
+
+ void initialise(unsigned long eVal);
+
+
void clearBuffer(char* buf, byte len);
void success(char* buf, char data[], byte dataLen);
void error(char* buf);
@@ -33,11 +48,10 @@
boolean validPacket;
char commandString[11];
- char commandIndex;
+ byte commandIndex;
byte _axis;
char _command;
- byte _scalar;
static const char startInChar;
static const char startOutChar;
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