V1.13.20 - Updates

CLAUDE.md

@@ -0,0 +1,101 @@
+# CLAUDE.md
+
+This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.
+
+## Project Overview
+
+OpenAstroTracker-Firmware is embedded C++ firmware for the OpenAstroTracker automated astronomy mount. It supports multiple hardware platforms (AVR ATmega2560 and ESP32) with various stepper motor drivers, display types, and accessories.
+
+## Build System
+
+PlatformIO is the build system. The project uses the Arduino framework.
+
+### Common Commands
+
+```shell
+# Build for a specific board environment
+pio run -e ramps
+pio run -e esp32
+pio run -e mksgenlv21
+pio run -e mksgenlv2
+pio run -e mksgenlv1
+pio run -e oaeboardv1
+
+# Upload firmware
+pio run -e ramps -t upload
+
+# Run unit tests (native platform)
+pio test -e native
+
+# Run matrix build (tests many configuration combinations across boards)
+python matrix_build.py -b ramps     # single board
+python matrix_build.py              # all boards
+
+# Format code (clang-format v12 required, enforced by CI)
+bash -c 'shopt -s nullglob globstar;GLOBIGNORE=./src/libs/TimerInterrupt/*; for i in ./{.,src/**,unit_tests,boards/**}/*.{c,cpp,h,hpp}; do clang-format -i $i; done'
+
+# Debug (ATmega2560 only, uses avr-stub)
+pio run -e ramps -t clean && piodebuggdb -e ramps
+
+# Generate Meade command Wiki docs
+python scripts/MeadeCommandParser.py
+```
+
+### Build Notes
+
+- `-Werror` is enabled: all warnings are errors
+- Uses ETL (Embedded Template Library) in non-STL mode (`-D ETL_NO_STL`), not the C++ standard library
+- Optimization: `-O2` (production), `-Og` (debug)
+- Monitor baud rate: 19200
+- `src/libs/TimerInterrupt/` is excluded from formatting checks
+- CI runs on every PR: build all boards, clang-format check, unit tests
+
+## Architecture
+
+### Configuration Hierarchy (evaluated in this order)
+
+1. **`Configuration_local.hpp`** - User hardware config (not tracked by git). Generate at https://config.openastrotech.com/
+2. **`Configuration_local_<board>.hpp`** - Board-specific local config variant
+3. **`Configuration.hpp`** - Default values for anything not set in local config
+4. **`Configuration_adv.hpp`** - Advanced settings (motor steps, speed, microstepping, TMC driver params)
+5. **`Constants.hpp`** - System constants (board IDs, feature flag values). **Do not modify for user configuration.**
+
+### Core Modules
+
+- **`Mount` (src/Mount.hpp/cpp)** - Central controller. Manages stepper motors (RA, DEC, AZ, ALT, Focus), coordinate calculations, slewing, tracking, parking, and guiding. This is by far the largest module (~150KB source).
+- **`MeadeCommandProcessor` (src/MeadeCommandProcessor.hpp/cpp)** - Serial command interface implementing the Meade LX200 protocol. Handles all external communication.
+- **`EPROMStore` (src/EPROMStore.hpp/cpp)** - Platform-agnostic non-volatile storage abstraction (coordinates, calibration, motor config). Uses magic markers `0xCE`/`0xCF` for validation.
+- **`b_setup.hpp`** - Arduino `setup()` implementation and hardware initialization.
+- **`a_inits.hpp`** - Global variable initialization.
+
+### Entry Point
+
+`OpenAstroTracker-Firmware.ino` is the Arduino sketch entry point. It delegates to `src/a_inits.hpp` (globals) and `src/b_setup.hpp` (setup/loop).
+
+### Stepper Control
+
+Two modes depending on platform:
+
+- **AVR (NEW_STEPPER_LIB)**: Interrupt-driven via Timer 3 (RA) and Timer 4 (DEC) at 2 kHz. Uses `InterruptAccelStepper` library. Configured via `StepperConfiguration.hpp`.
+- **ESP32**: FreeRTOS task on Core 0 at 1 kHz (`stepperControlTask`). Core 1 runs `loop()` for serial/UI.
+
+Both call `Mount::interruptLoop()` for step generation.
+
+### Board Pin Definitions
+
+Board-specific pin mappings live in `boards/<board_name>/pins_<board>.h`. Each board has its own directory.
+
+### Display & UI
+
+Optional LCD menu system (`LcdMenu`, `LcdButtons`) supporting multiple display types: direct LCD keypad, I2C LCD (MCP23008/MCP23017), and I2C SSD1306 OLED with joystick. An optional separate 128x64 info display shows real-time status.
+
+## Key Conventions
+
+- Primary branch: `develop`
+- PRs must pass CI (build all boards + clang-format + unit tests)
+- PR comments are resolved by OAT developers, not PR authors
+- clang-format v12 is the enforced formatter (column limit: 140, Allman-style braces, 4-space indent, no tabs)
+- Pointer alignment: right (`int *ptr`)
+- Supported driver types: `DRIVER_TYPE_A4988_GENERIC`, `DRIVER_TYPE_TMC2209_STANDALONE`, `DRIVER_TYPE_TMC2209_UART`
+- Supported stepper types: `STEPPER_TYPE_NONE`, `STEPPER_TYPE_ENABLED`
+- Debug logging uses bit-flag levels (INFO, SERIAL, WIFI, MOUNT, MEADE, STEPPERS, EEPROM, GYRO, GPS, FOCUS, etc.)

Changelog.md

@@ -1,3 +1,7 @@
+**V1.13.20 - Updates**
+- Code improvement to stability, multithreading, memory usage, user input, etc.
+- Fixed a bug that caused Latitude to overwrite Longitude in the EEPROM code.
+
 **V1.13.19 - Updates**
 - Support inverting and mirroring InfoDisplays.
 

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 "V1.13.19"
+#define VERSION "V1.13.20"

src/DayTime.cpp

@@ -238,11 +238,11 @@ const char *DayTime::ToString() const
         *p++ = '0' + (secs / 10);
     }
 
-    *p++ = '0' + (secs % 10);
-    *p++ = ' ';
-    *p++ = '(';
-    strcpy(p, String(this->getTotalHours(), 5).c_str());
-    strcat(p, ")");
+    *p++             = '0' + (secs % 10);
+    size_t used      = p - achBuf;
+    size_t remaining = sizeof(achBuf) - used;
+    String floatStr  = String(this->getTotalHours(), 5);
+    snprintf(p, remaining, " (%s)", floatStr.c_str());
     return achBuf;
 }
 void DayTime::printTwoDigits(char *achDegs, int num) const

src/Declination.cpp

@@ -84,14 +84,12 @@ const char *Declination::ToString() const
 {
     ToDisplayString('*', ':');
 
-    char *p = achBufDeg + strlen(achBufDeg);
-
-    *p++ = ' ';
-    *p++ = '(';
-    strcpy(p, String(inNorthernHemisphere ? 90 - fabsf(getTotalHours()) : -90 + fabsf(getTotalHours()), 4).c_str());
-    strcat(p, ", ");
-    strcat(p, String(getTotalHours(), 4).c_str());
-    strcat(p, ")");
+    size_t used      = strlen(achBufDeg);
+    size_t remaining = sizeof(achBufDeg) - used;
+    float displayVal = inNorthernHemisphere ? 90 - fabsf(getTotalHours()) : -90 + fabsf(getTotalHours());
+    String valStr    = String(displayVal, 4);
+    String hoursStr  = String(getTotalHours(), 4);
+    snprintf(achBufDeg + used, remaining, " (%s, %s)", valStr.c_str(), hoursStr.c_str());
 
     return achBufDeg;
 }

src/EPROMStore.hpp

@@ -168,7 +168,7 @@ class EEPROMStore
         LATITUDE_ADDR               = 12,
         _LATITUDE_ADDR_1            = 13,  // Int16
         LONGITUDE_ADDR              = 14,
-        _LONGITUDE_ADDR_1           = 13,  // Int16
+        _LONGITUDE_ADDR_1           = 15,  // Int16
         LCD_BRIGHTNESS_ADDR         = 16,  // Uint8
         PITCH_OFFSET_ADDR           = 17,
         _PITCH_OFFSET_ADDR_1        = 18,  // Uint16

src/EndSwitches.hpp

@@ -27,10 +27,10 @@ enum EndSwitchState
 class EndSwitch
 {
   private:
-    EndSwitchState _state;
+    volatile EndSwitchState _state;
     Mount *_pMount;
     StepperAxis _axis;
-    long _posWhenTriggered;
+    volatile long _posWhenTriggered;
     int _activeState;
     int _inactiveState;
     int _dir;

src/Gyro.cpp

@@ -16,6 +16,11 @@ POP_NO_WARNINGS
  * */
 
 bool Gyro::isPresent(false);
+float Gyro::_pitchSamples[WINDOW_SIZE] = {};
+float Gyro::_rollSamples[WINDOW_SIZE]  = {};
+int Gyro::_ringIndex(0);
+int Gyro::_samplesCollected(0);
+unsigned long Gyro::_lastSampleTime(0);
 
 void Gyro::startup()
 /* Starts up the MPU-6050 device.
@@ -54,6 +59,16 @@ void Gyro::startup()
     Wire.write(6);  // 5Hz bandwidth (lowest) for smoothing
     Wire.endTransmission(true);
 
+    // Reset moving average state
+    for (int i = 0; i < WINDOW_SIZE; i++)
+    {
+        _pitchSamples[i] = 0;
+        _rollSamples[i]  = 0;
+    }
+    _ringIndex        = 0;
+    _samplesCollected = 0;
+    _lastSampleTime   = 0;
+
     LOG(DEBUG_INFO, "[GYRO]:: Started");
 }
 
@@ -66,45 +81,69 @@ void Gyro::shutdown()
     // Nothing to do
 }
 
+void Gyro::collectSample()
+/* Reads one accelerometer sample and stores it in the circular buffer.
+*/
+{
+    // Execute 6 byte read from MPU6050_REG_ACCEL_XOUT_H
+    Wire.beginTransmission(MPU6050_I2C_ADDR);
+    Wire.write(MPU6050_REG_ACCEL_XOUT_H);
+    Wire.endTransmission(false);
+    Wire.requestFrom(MPU6050_I2C_ADDR, 6, 1);      // Read 6 registers total, each axis value is stored in 2 registers
+    int16_t AcX = Wire.read() << 8 | Wire.read();  // X-axis value
+    int16_t AcY = Wire.read() << 8 | Wire.read();  // Y-axis value
+    int16_t AcZ = Wire.read() << 8 | Wire.read();  // Z-axis value
+
+    // Calculating the Pitch angle (rotation around Y-axis)
+    _pitchSamples[_ringIndex] = atan2f(-1.0f * AcX, sqrtf((float) AcY * AcY + (float) AcZ * AcZ)) * 180.0f / static_cast<float>(PI);
+    // Calculating the Roll angle (rotation around X-axis)
+    _rollSamples[_ringIndex] = atan2f(-1.0f * AcY, sqrtf((float) AcX * AcX + (float) AcZ * AcZ)) * 180.0f / static_cast<float>(PI);
+
+    _ringIndex = (_ringIndex + 1) % WINDOW_SIZE;
+    if (_samplesCollected < WINDOW_SIZE)
+    {
+        _samplesCollected++;
+    }
+}
+
 angle_t Gyro::getCurrentAngles()
 /* Returns roll & tilt angles from MPU-6050 device in angle_t object in degrees.
-   If MPU-6050 is not found then returns {0,0}.
+   Non-blocking: collects one sample per call if at least SAMPLE_INTERVAL ms
+   have elapsed since the last sample. Returns the moving average over the
+   last WINDOW_SIZE samples.
 */
 {
-    const int windowSize = 16;
-    // Read the accelerometer data
-    struct angle_t result;
-    result.pitchAngle = 0;
-    result.rollAngle  = 0;
+    angle_t result;
+
     if (!isPresent)
-        return result;  // Gyro is not available
+        return result;
+
+    unsigned long now = millis();
+    if (now - _lastSampleTime >= SAMPLE_INTERVAL)
+    {
+        _lastSampleTime = now;
+        collectSample();
+    }
 
-    for (int i = 0; i < windowSize; i++)
+    if (_samplesCollected == 0)
+        return result;
+
+    float pitchSum = 0;
+    float rollSum  = 0;
+    for (int i = 0; i < _samplesCollected; i++)
     {
-        // Execute 6 byte read from MPU6050_REG_WHO_AM_I
-        Wire.beginTransmission(MPU6050_I2C_ADDR);
-        Wire.write(MPU6050_REG_ACCEL_XOUT_H);
-        Wire.endTransmission(false);
-        Wire.requestFrom(MPU6050_I2C_ADDR, 6, 1);      // Read 6 registers total, each axis value is stored in 2 registers
-        int16_t AcX = Wire.read() << 8 | Wire.read();  // X-axis value
-        int16_t AcY = Wire.read() << 8 | Wire.read();  // Y-axis value
-        int16_t AcZ = Wire.read() << 8 | Wire.read();  // Z-axis value
-
-        // Calculating the Pitch angle (rotation around Y-axis)
-        result.pitchAngle += ((atanf(-1 * AcX / sqrtf(powf(AcY, 2) + powf(AcZ, 2))) * 180.0f / static_cast<float>(PI)) * 2.0f) / 2.0f;
-        // Calculating the Roll angle (rotation around X-axis)
-        result.rollAngle += ((atanf(-1 * AcY / sqrtf(powf(AcX, 2) + powf(AcZ, 2))) * 180.0f / static_cast<float>(PI)) * 2.0f) / 2.0f;
-
-        delay(10);  // Decorrelate measurements
+        pitchSum += _pitchSamples[i];
+        rollSum += _rollSamples[i];
     }
+    result.pitchAngle = pitchSum / _samplesCollected;
+    result.rollAngle  = rollSum / _samplesCollected;
 
-    result.pitchAngle /= windowSize;
-    result.rollAngle /= windowSize;
     #if GYRO_AXIS_SWAP == 1
     float temp        = result.pitchAngle;
     result.pitchAngle = result.rollAngle;
     result.rollAngle  = temp;
     #endif
+
     return result;
 }
 

src/Gyro.hpp

@@ -15,6 +15,8 @@ class Gyro
     static float getCurrentTemperature();
 
   private:
+    static void collectSample();
+
     // MPU6050 constants
     enum
     {
@@ -28,6 +30,15 @@ class Gyro
         MPU6050_REG_WHO_AM_I     = 0x75
     };
 
-    static bool isPresent;  // True if gyro correctly detected on startup
+    // Use about 72 bytes of RAM for the moving average buffer
+    static const int WINDOW_SIZE              = 8;  // Number of samples to keep for moving average
+    static const unsigned long SAMPLE_INTERVAL = 5;  // ms between samples
+
+    static bool isPresent;
+    static float _pitchSamples[WINDOW_SIZE];
+    static float _rollSamples[WINDOW_SIZE];
+    static int _ringIndex;
+    static int _samplesCollected;  // Counts up to WINDOW_SIZE, then stays there
+    static unsigned long _lastSampleTime;
 };
 #endif