V1.12.6 - Southern Hemisphere fixes (#217)

- Fixed all known issues related to running in the southern hemisphere. - Added support for DIR inversion to interrupt stepper library. - Hemisphere no longer needs to be defined in config, firmware determines it automatically from the given Latitude, switching at the equator. - Fixed the logic in Sync call to account for both hemispheres. - Fixed some logic that stopped tracking when setting home position. - Fixed a bug that caused the firmware to fail to recognize the end of very short slews. - Added Meade Extension command to query remaining tracking time - Added Meade Extension command to query the hemisphere that is set.
OpenAstroTech · Jan 11, 2023 · 38586ce · 38586ce
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diff --git a/Changelog.md b/Changelog.md
@@ -1,3 +1,16 @@
+**V1.12.6 - Updates**
+- Fixed all known issues related to running in the southern hemisphere.
+- Added support for DIR inversion to interrupt stepper library.
+- Hemisphere no longer needs to be defined in config, firmware determines it automatically from the given Latitude, switching at the equator.
+- Fixed the logic in Sync call to account for both hemispheres.
+- Fixed some logic that stopped tracking when setting home position.
+- Fixed a bug that caused the firmware to fail to recognize the end of very short slews.
+- Added Meade Extension command to query remaining tracking time
+- Added Meade Extension command to query the hemisphere that is set.
+
+**V1.12.5 - Updates**
+- Bound interrupt stepper library to version 0.0.1.
+
 **V1.12.4 - Updates**
 - Fixed a bug that incorrectly stopped the RA motor after issuing a DEC move.
 

diff --git a/Configuration.hpp b/Configuration.hpp
@@ -47,7 +47,7 @@
     #error You have to specify the board
 #endif
 
-// Set to 1 for the northern hemisphere, 0 otherwise
+// Default to northern hemisphere
 #ifndef NORTHERN_HEMISPHERE
     #define NORTHERN_HEMISPHERE 1
 #endif

diff --git a/Version.h b/Version.h
@@ -3,4 +3,4 @@
 // Also, numbers are interpreted as simple numbers.                        _   __   _
 // So 1.8 is actually 1.08, meaning that 1.12 is a later version than 1.8.  \_(..)_/
 
-#define VERSION "V1.12.4"
+#define VERSION "V1.12.6"
diff --git a/platformio.ini b/platformio.ini
@@ -92,7 +92,7 @@ debug_build_flags =
 lib_deps = 
 	${common.lib_deps}
 	jdolinay/avr-debugger @ 1.2
-	https://github.com/andre-stefanov/avr-interrupt-stepper
+	https://github.com/andre-stefanov/avr-interrupt-stepper@0.0.2
 
 [env:mksgenlv21]
 extends = env:ramps

diff --git a/src/Declination.cpp b/src/Declination.cpp
@@ -1,4 +1,5 @@
-#include "../Configuration.hpp"  // For NORTHERN_HEMISPHERE only
+#include "./inc/Globals.hpp"
+#include "../Configuration.hpp"
 #include "Utility.hpp"
 #include "Declination.hpp"
 
@@ -11,13 +12,13 @@
 // Parses the RA or DEC from a string that has an optional sign, a two digit degree, a seperator, a two digit minute, a seperator and a two digit second.
 // For example:   -45*32:11 or 23:44:22
 
-// In the northern hemisphere, 0 is north pole, 180 and -180 is south pole
+// In the NORTHERN hemisphere, 0 is north pole, 180 and -180 is south pole
 //------------------ S---------------------------------------- N ---------------------------------- S
 // Celestial       -90    -60    -30      0      30    60     90    60    30    0    -30   -60    -90
 //                                    Celestial = 90 - abs(Declination)
 // Declination    -180    -150   -120    -90    -60   -30     0     30    60    90   120   150    180
 
-// In the southern hemisphere, 0 is south pole, 180 and -180 is north pole
+// In the SOUTHERN hemisphere, 0 is south pole, 180 and -180 is north pole
 //------------------ N---------------------------------------- S ---------------------------------- N
 // Celestial        90     60     30      0     -30   -60     -90    -60    -30    0    30   60    90
 //                                    Celestial = -90 + abs(Declination)
@@ -87,7 +88,9 @@ const char *Declination::ToString() const
 
     *p++ = ' ';
     *p++ = '(';
-    strcpy(p, String(NORTHERN_HEMISPHERE ? 90 - fabsf(getTotalHours()) : -90 + fabsf(getTotalHours()), 4).c_str());
+    strcpy(p, String(inNorthernHemisphere ? 90 - fabsf(getTotalHours()) : -90 + fabsf(getTotalHours()), 4).c_str());
+    strcat(p, ", ");
+    strcat(p, String(getTotalHours(), 4).c_str());
     strcat(p, ")");
 
     return achBufDeg;
@@ -96,32 +99,33 @@ const char *Declination::ToString() const
 Declination Declination::ParseFromMeade(String const &s)
 {
     Declination result;
-    LOG(DEBUG_GENERAL, "[DECLINATION]: Declination.Parse(%s)", s.c_str());
+    LOG(DEBUG_MEADE, "[DECLINATION]: Declination.Parse(%s) for %s Hemi", s.c_str(), inNorthernHemisphere ? "N" : "S");
 
     // Use the DayTime code to parse it...
     DayTime dt = DayTime::ParseFromMeade(s);
+    LOG(DEBUG_MEADE, "[DECLINATION]: Declination DayTime is %l secs", dt.getTotalSeconds());
 
     // ...and then correct for hemisphere
-    result.totalSeconds = NORTHERN_HEMISPHERE ? (arcSecondsPerHemisphere / 2) - dt.getTotalSeconds()
-                                              : -(arcSecondsPerHemisphere / 2) + dt.getTotalSeconds();
-    LOG(DEBUG_GENERAL, "[DECLINATION]: Declination.Parse(%s) -> %s (%l)", s.c_str(), result.ToString(), result.totalSeconds);
+    result.totalSeconds = inNorthernHemisphere ? (arcSecondsPerHemisphere / 2) - labs(dt.getTotalSeconds())
+                                               : -(arcSecondsPerHemisphere / 2) + labs(dt.getTotalSeconds());
+    LOG(DEBUG_MEADE, "[DECLINATION]: Adjust for hemisphere. %s -> %s (%l secs)", s.c_str(), result.ToString(), result.totalSeconds);
     return result;
 }
 
 Declination Declination::FromSeconds(long seconds)
 {
     const auto secondsFloat                 = static_cast<float>(seconds);
     const auto arcSecondsPerHemisphereFloat = static_cast<float>(arcSecondsPerHemisphere);
-#if NORTHERN_HEMISPHERE == 1
-    return Declination(((arcSecondsPerHemisphereFloat / 2.0f) - secondsFloat) / 3600.0f);
-#else
-    return Declination(((-arcSecondsPerHemisphereFloat / 2.0f) + secondsFloat) / 3600.0f);
-#endif
+    if (inNorthernHemisphere)
+    {
+        return Declination(((arcSecondsPerHemisphereFloat / 2.0f) - secondsFloat) / 3600.0f);
+    }
+    return Declination(((arcSecondsPerHemisphereFloat / 2.0f) + secondsFloat) / 3600.0f);
 }
 
 const char *Declination::formatString(char *targetBuffer, const char *format, long *) const
 {
     long secs
-        = NORTHERN_HEMISPHERE ? (arcSecondsPerHemisphere / 2) - labs(totalSeconds) : -(arcSecondsPerHemisphere / 2) + labs(totalSeconds);
+        = inNorthernHemisphere ? (arcSecondsPerHemisphere / 2) - labs(totalSeconds) : -(arcSecondsPerHemisphere / 2) + labs(totalSeconds);
     return DayTime::formatString(targetBuffer, format, &secs);
 }
diff --git a/src/InterruptAccelStepper.h b/src/InterruptAccelStepper.h
@@ -136,7 +136,7 @@ template <typename STEPPER> class InterruptAccelStepper
 
     void setPinsInverted(bool directionInvert = false, bool stepInvert = false, bool enableInvert = false)
     {
-        // STUB
+        STEPPER::setInverted(directionInvert);
     }
 
     bool isRunning()

diff --git a/src/Latitude.cpp b/src/Latitude.cpp
@@ -35,11 +35,11 @@ Latitude Latitude::ParseFromMeade(String const &s)
 {
     Latitude result(0.0);
 
-    LOG(DEBUG_GENERAL, "[LATITUDE]: Latitude.Parse(%s)", s.c_str());
+    LOG(DEBUG_MEADE, "[LATITUDE]: Latitude.Parse(%s)", s.c_str());
     // Use the DayTime code to parse it.
     DayTime dt          = DayTime::ParseFromMeade(s);
     result.totalSeconds = dt.getTotalSeconds();
     result.checkHours();
-    LOG(DEBUG_GENERAL, "[LATITUDE]: Latitude.Parse(%s) -> %s", s.c_str(), result.ToString());
+    LOG(DEBUG_MEADE, "[LATITUDE]: Latitude.Parse(%s) -> %s", s.c_str(), result.ToString());
     return result;
 }
diff --git a/src/Longitude.cpp b/src/Longitude.cpp
@@ -35,7 +35,7 @@ void Longitude::checkHours()
 Longitude Longitude::ParseFromMeade(String const &s)
 {
     Longitude result(0.0);
-    LOG(DEBUG_GENERAL, "[LONGITUDE]: Parse(%s)", s.c_str());
+    LOG(DEBUG_MEADE, "[LONGITUDE]: Parse(%s)", s.c_str());
 
     // Use the DayTime code to parse it.
     DayTime dt = DayTime::ParseFromMeade(s);
@@ -52,7 +52,7 @@ Longitude Longitude::ParseFromMeade(String const &s)
     }
     result.checkHours();
 
-    LOG(DEBUG_GENERAL, "[LONGITUDE]: Parse(%s) -> %s = %ls", s.c_str(), result.ToString(), result.getTotalSeconds());
+    LOG(DEBUG_MEADE, "[LONGITUDE]: Parse(%s) -> %s = %ls", s.c_str(), result.ToString(), result.getTotalSeconds());
     return result;
 }
 

diff --git a/src/MeadeCommandProcessor.cpp b/src/MeadeCommandProcessor.cpp
@@ -772,6 +772,14 @@ bool gpsAqcuisitionComplete(int &indicator);  // defined in c72_menuHA_GPS.hpp
 //      Returns:
 //        "float#"
 //
+// :XGST#
+//      Description:
+//        Get Remaining Safe Time
+//      Information:
+//        Get the number of hours before the RA ring reaches its end.
+//      Returns:
+//        "float#"
+//
 // :XGT#
 //      Description:
 //        Get Tracking speed
@@ -796,6 +804,15 @@ bool gpsAqcuisitionComplete(int &indicator);  // defined in c72_menuHA_GPS.hpp
 //      Returns:
 //        "n#" - the number of steps from the center of the hall sensor trigger range to the home position.
 //
+// :XGHS#
+//      Description:
+//        Get Hemisphere
+//      Information:
+//        Get the hemisphere that the OAT currently assumes it is operating in. This is set via setting Latitude (see ":St" command)
+//      Returns:
+//        "N#" - for northern hemisphere
+//        "S#" - for southern hemisphere
+//
 // :XGM#
 //      Description:
 //        Get Mount configuration settings
@@ -1346,7 +1363,7 @@ String MeadeCommandProcessor::handleMeadeSetInfo(String inCmd)
         }
         else if (inCmd[1] == 'P')
         {
-            // Set home point
+            // Set home point :SHP#
             _mount->setHome(false);
         }
         else
@@ -1685,9 +1702,16 @@ String MeadeCommandProcessor::handleMeadeExtraCommands(String inCmd)
                 return String(_mount->getStepsPerDegree(DEC_STEPS), 1) + "#";
             }
         }
-        else if (inCmd[1] == 'S')  // :XGS#
+        else if (inCmd[1] == 'S')
         {
-            return String(_mount->getSpeedCalibration(), 5) + "#";
+            if (inCmd.length() == 2)  // :XGS#
+            {
+                return String(_mount->getSpeedCalibration(), 5) + "#";
+            }
+            else if ((inCmd.length() == 3) && (inCmd[2] == 'T'))  // :XGST#
+            {
+                return String(_mount->checkRALimit(), 7) + "#";
+            }
         }
         else if (inCmd[1] == 'T')  // :XGT#
         {
@@ -1726,9 +1750,16 @@ String MeadeCommandProcessor::handleMeadeExtraCommands(String inCmd)
         }
         else if (inCmd[1] == 'H')  // :XGH#
         {
-            if (inCmd.length() > 2 && inCmd[2] == 'R')  // :XGHR#
+            if (inCmd.length() > 2)
             {
-                return String(_mount->getHomingOffset(StepperAxis::RA_STEPS)) + "#";
+                if (inCmd[2] == 'R')  // :XGHR#
+                {
+                    return String(_mount->getHomingOffset(StepperAxis::RA_STEPS)) + "#";
+                }
+                else if (inCmd[2] == 'S')  // :XGHS#
+                {
+                    return String(inNorthernHemisphere ? "N#" : "S#");
+                }
             }
             else if (inCmd.length() > 2 && inCmd[2] == 'D')  // :XGHD#
             {
@@ -1840,12 +1871,14 @@ String MeadeCommandProcessor::handleMeadeExtraCommands(String inCmd)
         {
             _mount->setBacklashCorrection(inCmd.substring(2).toInt());
         }
-
         else if (inCmd[1] == 'H')  // :XSH
         {
-            if (inCmd.length() > 2 && inCmd[2] == 'R')  // :XSHR
+            if (inCmd.length() > 2)
             {
-                _mount->setHomingOffset(StepperAxis::RA_STEPS, inCmd.substring(3).toInt());
+                if (inCmd[2] == 'R')  // :XSHR
+                {
+                    _mount->setHomingOffset(StepperAxis::RA_STEPS, inCmd.substring(3).toInt());
+                }
             }
             else if (inCmd.length() > 2 && inCmd[2] == 'D')  // :XSHD
             {