2021.10.12.01

FEATURE_STEPPER_MOTOR: Added several options to change maximum frequency supported.  (Not tested on hardware yet.)
          OPTION_STEPPER_MOTOR_MAX_2_KHZ (enabled by default)
          OPTION_STEPPER_MOTOR_MAX_5_KHZ
          OPTION_STEPPER_MOTOR_MAX_10_KHZ
          OPTION_STEPPER_MOTOR_MAX_20_KHZ

k3ng_rotator_controller/k3ng_rotator_controller.ino

@@ -1009,6 +1009,13 @@
         DEVELOPMENT_TIMELIB - Have TimeLib integrated with all time-related functionality, including FEATURE_CLOCK, FEATURE_GPS, FEATURE_MOON_TRACKING, FEATURE_SUN_TRACKING, FEATURE_RTC_DS1307, FEATURE_RTC_PCF8583
         Place a define for DEVELOPMENT_TIMELIB in your rotator_features file to test
 
+      2021.10.12.01
+        FEATURE_STEPPER_MOTOR: Added several options to change maximum frequency supported.  (Not tested on hardware yet.)
+          OPTION_STEPPER_MOTOR_MAX_2_KHZ (enabled by default)
+          OPTION_STEPPER_MOTOR_MAX_5_KHZ
+          OPTION_STEPPER_MOTOR_MAX_10_KHZ
+          OPTION_STEPPER_MOTOR_MAX_20_KHZ
+
     All library files should be placed in directories likes \sketchbook\libraries\library1\ , \sketchbook\libraries\library2\ , etc.
     Anything rotator_*.* should be in the ino directory!
 
@@ -1022,7 +1029,7 @@
 
   */
 
-#define CODE_VERSION "2021.10.08.01"
+#define CODE_VERSION "2021.10.12.01"
 
 
 #include <avr/pgmspace.h>
@@ -1499,6 +1506,25 @@ struct config_t {
     volatile unsigned int el_stepper_freq_count = 0;
   #endif //FEATURE_ELEVATION_CONTROL
   volatile unsigned long service_stepper_motor_pulse_pins_count = 0;
+
+  #if defined(OPTION_STEPPER_MOTOR_MAX_20_KHZ)
+    #define STEPPER_MOTOR_INTERRUPT_US 25 // 25 us = 40 khz
+    #define STEPPER_MOTOR_MAX_FREQ 20000
+  #else
+    #if defined(OPTION_STEPPER_MOTOR_MAX_10_KHZ)
+      #define STEPPER_MOTOR_INTERRUPT_US 50 // 50 us = 20 khz
+      #define STEPPER_MOTOR_MAX_FREQ 10000
+    #else
+      #if defined(OPTION_STEPPER_MOTOR_MAX_5_KHZ)
+        #define STEPPER_MOTOR_INTERRUPT_US 100 // 100 us = 10 khz
+        #define STEPPER_MOTOR_MAX_FREQ 5000
+      #else // OPTION_STEPPER_MOTOR_MAX_2_KHZ
+        #define STEPPER_MOTOR_INTERRUPT_US 250 // 250 us = 4 khz
+        #define STEPPER_MOTOR_MAX_FREQ 2000
+      #endif  
+    #endif   
+  #endif
+
 #endif //FEATURE_STEPPER_MOTOR
 
 #ifdef FEATURE_AZIMUTH_CORRECTION
@@ -4608,7 +4634,7 @@ void request_transient_message(char* message,byte vSS_number,unsigned int messag
     #if defined(FEATURE_SUN_TRACKING)
       temp = temp | NEXTION_API_SYSTEM_CAPABILITIES_SUN;  //256
     #endif
-    #if defined(FEATURE_RTC_DS1307) || defined(FEATURE_RTC_PCF8583)
+    #if defined(FEATURE_RTC_DS1307) || defined(FEATURE_RTC_PCF8583) || defined(FEATURE_RTC_TEENSY)
       temp = temp | NEXTION_API_SYSTEM_CAPABILITIES_RTC;  //512
     #endif    
     #if defined(FEATURE_SATELLITE_TRACKING)
@@ -10338,10 +10364,10 @@ void initialize_interrupts(){
 
   #ifdef FEATURE_STEPPER_MOTOR
     #ifdef OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE
-      Timer1.initialize(250);  // 250 us = 4 khz rate
+      Timer1.initialize(STEPPER_MOTOR_INTERRUPT_US);
       Timer1.attachInterrupt(service_stepper_motor_pulse_pins);
     #else
-      Timer5.initialize(250);  // 250 us = 4 khz rate
+      Timer5.initialize(STEPPER_MOTOR_INTERRUPT_US);
       Timer5.attachInterrupt(service_stepper_motor_pulse_pins);  
     #endif
   #endif //FEATURE_STEPPER_MOTOR
@@ -14482,7 +14508,7 @@ void service_gps(){
         if ((millis() - last_rtc_gps_sync_time) >= ((unsigned long)SYNC_RTC_TO_GPS_SECONDS * 1000)) {
           rtc.adjust(DateTime(gps_year, gps_month, gps_day, gps_hours, gps_minutes, gps_seconds));
           #ifdef DEBUG_RTC
-            debug.println(F("service_gps: synced RTC"));
+            debug.println(F("service_gps: synced DS1307 RTC"));
           #endif // DEBUG_RTC
           last_rtc_gps_sync_time = millis();
         }
@@ -14499,13 +14525,31 @@ void service_gps(){
           rtc.second = gps_seconds;
           rtc.set_time();
           #ifdef DEBUG_RTC
-            debug.println("service_gps: synced RTC");
+            debug.println("service_gps: synced PCF8583 RTC");
           #endif // DEBUG_RTC
           last_rtc_gps_sync_time = millis();
         }
       #endif // defined(OPTION_SYNC_RTC_TO_GPS) && defined(FEATURE_RTC_PCF8583)
 
 
+      #if defined(OPTION_SYNC_RTC_TO_GPS) && defined(FEATURE_RTC_TEENSY)
+        static unsigned long last_rtc_gps_sync_time;
+        tmElements_t temp_tm;
+        if ((millis() - last_rtc_gps_sync_time) >= ((unsigned long)SYNC_RTC_TO_GPS_SECONDS * 1000)) {
+          temp_tm.Year = gps_year;
+          temp_tm.Month = gps_month;
+          temp_tm.Day = gps_day;
+          temp_tm.Hour  = gps_hours;
+          temp_tm.Minute = gps_minutes;
+          temp_tm.Second = gps_seconds;
+          Teensy3Clock.set(makeTime(temp_tm));
+          #ifdef DEBUG_RTC
+            debug.println("service_gps: synced Teensy RTC");
+          #endif // DEBUG_RTC
+          last_rtc_gps_sync_time = millis();
+        }
+      #endif // defined(OPTION_SYNC_RTC_TO_GPS) && defined(FEATURE_RTC_TEENSY)
+
       //#if defined(FEATURE_MOON_TRACKING) || defined(FEATURE_SUN_TRACKING) || defined(FEATURE_REMOTE_UNIT_SLAVE) 
         if (SYNC_COORDINATES_WITH_GPS) {
           latitude = float(gps_lat) / 1000000.0;
@@ -14622,6 +14666,10 @@ char * clock_status_string(){
 #ifdef FEATURE_RTC
 void service_rtc(){
 
+  // this service synchronizes the Arduino clock to the RTC periodically, unless GPS is available and has a fix
+
+  // if GPS is available and has a fix, the RTC is refreshed with the GPS time periodically by service_gps() if OPTION_SYNC_RTC_TO_GPS is enabled
+
   #ifdef DEBUG_LOOP
     control_port->println(F("service_rtc()"));
     control_port->flush();
@@ -15026,7 +15074,7 @@ byte process_backslash_command(byte input_buffer[], int input_buffer_index, byte
       } else {
         temp_second = 0;
       }
-      if ( (temp_year > 2019) && (temp_year < 2070) &&
+      if ( (temp_year > 2020) && (temp_year < 2070) &&
            (temp_month > 0) && (temp_month < 13) &&
            (temp_day > 0) && (temp_day < 32) &&
            (temp_hour >= 0) && (temp_hour < 24) &&
@@ -15049,10 +15097,21 @@ byte process_backslash_command(byte input_buffer[], int input_buffer_index, byte
           satellite_array_data_ready = 0;
         #endif
 
+        // Update the Realtime Clock if we have one
+
         #if defined(FEATURE_RTC_DS1307)
+          #if defined(DEBUG_RTC)
+            debug.println("process_backslash_command: setting DS1307 RTC time");
+          #endif
           rtc.adjust(DateTime(temp_year, temp_month, temp_day, temp_hour, temp_minute, temp_second));
+          #if defined(DEBUG_RTC)
+            debug.println("process_backslash_command: set DS1307 RTC time");
+          #endif          
         #endif // defined(FEATURE_RTC_DS1307)
         #if defined(FEATURE_RTC_PCF8583)
+          #if defined(DEBUG_RTC)
+            debug.println("process_backslash_command: setting PCF8583 RTC time");
+          #endif        
           rtc.year = temp_year;
           rtc.month = temp_month;
           rtc.day = temp_day;
@@ -15060,9 +15119,28 @@ byte process_backslash_command(byte input_buffer[], int input_buffer_index, byte
           rtc.minute = temp_minute;
           rtc.second = temp_second;
           rtc.set_time();
+          #if defined(DEBUG_RTC)
+            debug.println("process_backslash_command: set PCF8583 RTC time");
+          #endif             
         #endif // defined(FEATURE_RTC_PCF8583)
+        #if defined(FEATURE_RTC_TEENSY)
+          #if defined(DEBUG_RTC)
+            debug.println("process_backslash_command: setting Teensy RTC time");
+          #endif        
+          tmElements_t temp_t;
+          temp_t.Year = temp_year - 1970;
+          temp_t.Month = temp_month;
+          temp_t.Day = temp_day;
+          temp_t.Hour = temp_hour;
+          temp_t.Minute = temp_minute;
+          temp_t.Second = temp_second;
+          Teensy3Clock.set(makeTime(temp_t));
+          #if defined(DEBUG_RTC)
+            debug.println("process_backslash_command: set Teensy RTC time");
+          #endif             
+        #endif //FEATURE_RTC_TEENSY
 
-        #if (!defined(FEATURE_RTC_DS1307) && !defined(FEATURE_RTC_PCF8583))
+        #if (!defined(FEATURE_RTC_DS1307) && !defined(FEATURE_RTC_PCF8583) && !defined(FEATURE_RTC_TEENSY))
           strcpy(return_string, "Clock set to ");
           #if !defined(DEVELOPMENT_TIMELIB)
           update_time();
@@ -19250,10 +19328,10 @@ void service_stepper_motor_pulse_pins(){
 #ifdef FEATURE_STEPPER_MOTOR
 void set_az_stepper_freq(unsigned int frequency){
 
-  if (frequency > 2000) {frequency = 2000;}
+  if (frequency > STEPPER_MOTOR_MAX_FREQ) {frequency = STEPPER_MOTOR_MAX_FREQ;}
 
   if (frequency > 0) {
-    az_stepper_freq_count = 2000 / frequency;
+    az_stepper_freq_count = STEPPER_MOTOR_MAX_FREQ / frequency;
   } else {
     az_stepper_freq_count = 0;
   }
@@ -19273,10 +19351,10 @@ void set_az_stepper_freq(unsigned int frequency){
 #if defined(FEATURE_ELEVATION_CONTROL) && defined(FEATURE_STEPPER_MOTOR)
 void set_el_stepper_freq(unsigned int frequency){
 
-  if (frequency > 2000) {frequency = 20000;}
+  if (frequency > STEPPER_MOTOR_MAX_FREQ) {frequency = STEPPER_MOTOR_MAX_FREQ;}
 
   if (frequency > 0) {
-    el_stepper_freq_count = 2000 / frequency;
+    el_stepper_freq_count = STEPPER_MOTOR_MAX_FREQ / frequency;
   } else {
     el_stepper_freq_count = 0;
   }

k3ng_rotator_controller/rotator_features.h

@@ -178,3 +178,8 @@
 // #define OPTION_MORE_SERIAL_CHECKS
 // #define OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE  
 // #define OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP // if disabled, rotational and configuration commands will be ignored on the serial port for the first 10 second after boot up
+
+#define OPTION_STEPPER_MOTOR_MAX_2_KHZ
+// #define OPTION_STEPPER_MOTOR_MAX_5_KHZ
+// #define OPTION_STEPPER_MOTOR_MAX_10_KHZ
+// #define OPTION_STEPPER_MOTOR_MAX_20_KHZ

k3ng_rotator_controller/rotator_features_m0upu.h

@@ -164,3 +164,8 @@
 //#define OPTION_MORE_SERIAL_CHECKS
 //#define OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE  
 //#define OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP // if disabled, rotational and configuration commands will be ignored on the serial port for the first 10 second after boot up
+
+#define OPTION_STEPPER_MOTOR_MAX_2_KHZ
+// #define OPTION_STEPPER_MOTOR_MAX_5_KHZ
+// #define OPTION_STEPPER_MOTOR_MAX_10_KHZ
+// #define OPTION_STEPPER_MOTOR_MAX_20_KHZ

k3ng_rotator_controller/rotator_features_test.h

@@ -12,7 +12,7 @@
 
 */
 
-// #define DEVELOPMENT_TIMELIB
+#define DEVELOPMENT_TIMELIB
 
 #define FEATURE_ELEVATION_CONTROL       // uncomment this for AZ/EL rotators
 #define FEATURE_YAESU_EMULATION           // uncomment this for Yaesu GS-232 emulation on control port
@@ -25,8 +25,9 @@
 #define FEATURE_GPS
 #define FEATURE_RTC_DS1307
 // #define FEATURE_RTC_PCF8583
+// #define FEATURE_RTC_TEENSY // Requires DEVELOPMENT_TIMELIB at the moment
 // #define FEATURE_ETHERNET
-// #define FEATURE_STEPPER_MOTOR    // Requires TimerFive library to be copied to the Arduino libraries directory (If using OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE below, copy the TimeOne library)
+#define FEATURE_STEPPER_MOTOR    // Requires TimerFive library to be copied to the Arduino libraries directory (If using OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE below, copy the TimeOne library)
 // #define FEATURE_AUTOCORRECT
 // #define FEATURE_TEST_DISPLAY_AT_STARTUP
 
@@ -190,6 +191,12 @@
 #define OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE
 // #define OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP // if disabled, rotational and configuration commands will be ignored on the serial port for the first 10 second after boot up
 
+#define OPTION_STEPPER_MOTOR_MAX_2_KHZ
+// #define OPTION_STEPPER_MOTOR_MAX_5_KHZ
+// #define OPTION_STEPPER_MOTOR_MAX_10_KHZ
+// #define OPTION_STEPPER_MOTOR_MAX_20_KHZ
+
+
 #define OPTION_CLI_VT100
 
 										// ######## ########  ######  ######## 

k3ng_rotator_controller/rotator_features_wb6kcn.h

@@ -154,5 +154,9 @@
 //#define OPTION_GPS_EXCLUDE_MISSING_LF_CR_HANDLING
 //#define OPTION_MORE_SERIAL_CHECKS
 //#define OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE
-// #define OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP // if disabled, rotational and configuration commands will be ignored on the serial port for the first 10 second after boot up
+#define OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP // if disabled, rotational and configuration commands will be ignored on the serial port for the first 10 second after boot up
 
+#define OPTION_STEPPER_MOTOR_MAX_2_KHZ
+// #define OPTION_STEPPER_MOTOR_MAX_5_KHZ
+// #define OPTION_STEPPER_MOTOR_MAX_10_KHZ
+// #define OPTION_STEPPER_MOTOR_MAX_20_KHZ

k3ng_rotator_controller/rotator_settings.h

@@ -80,9 +80,9 @@ You can tweak these, but read the online documentation!
 
 // Variable frequency output settings and FEATURE_STEPPER_MOTOR settings
 #define AZ_VARIABLE_FREQ_OUTPUT_LOW   31    // Frequency in hertz of minimum speed (rotate_cw_freq, rotate_ccw_freq minimum value: 31 !)
-#define AZ_VARIABLE_FREQ_OUTPUT_HIGH 1000   // Frequency in hertz of maximum speed (FEATURE_STEPPER_MOTOR maximum value: 2000 !)
+#define AZ_VARIABLE_FREQ_OUTPUT_HIGH 1000   // Frequency in hertz of maximum speed (FEATURE_STEPPER_MOTOR maximum value 2000 unless you change OPTION_STEPPER_MOTOR_MAX_X_KHZ in features file)
 #define EL_VARIABLE_FREQ_OUTPUT_LOW   31    // Frequency in hertz of minimum speed (rotate_up_freq, rotate_down_freq minimum value: 31 !)
-#define EL_VARIABLE_FREQ_OUTPUT_HIGH 1000   // Frequency in hertz of maximum speed (FEATURE_STEPPER_MOTOR maximum value: 2000 !)
+#define EL_VARIABLE_FREQ_OUTPUT_HIGH 1000   // Frequency in hertz of maximum speed (FEATURE_STEPPER_MOTOR maximum value: 2000 unless you change OPTION_STEPPER_MOTOR_MAX_X_KHZ in features file)
 
 // Settings for OPTION_AZ_MANUAL_ROTATE_LIMITS
 #define AZ_MANUAL_ROTATE_CCW_LIMIT 0   // if using a rotator that starts at 180 degrees, set this to something like 185

k3ng_rotator_controller/rotator_settings_m0upu.h

@@ -80,9 +80,10 @@ You can tweak these, but read the online documentation!
 
 // Variable frequency output settings and FEATURE_STEPPER_MOTOR settings
 #define AZ_VARIABLE_FREQ_OUTPUT_LOW   31    // Frequency in hertz of minimum speed (rotate_cw_freq, rotate_ccw_freq minimum value: 31 !)
-#define AZ_VARIABLE_FREQ_OUTPUT_HIGH 1000   // Frequency in hertz of maximum speed (FEATURE_STEPPER_MOTOR maximum value: 2000 !)
+#define AZ_VARIABLE_FREQ_OUTPUT_HIGH 1000   // Frequency in hertz of maximum speed (FEATURE_STEPPER_MOTOR maximum value 2000 unless you change OPTION_STEPPER_MOTOR_MAX_X_KHZ in features file)
 #define EL_VARIABLE_FREQ_OUTPUT_LOW   31    // Frequency in hertz of minimum speed (rotate_up_freq, rotate_down_freq minimum value: 31 !)
-#define EL_VARIABLE_FREQ_OUTPUT_HIGH 1000   // Frequency in hertz of maximum speed (FEATURE_STEPPER_MOTOR maximum value: 2000 !)
+#define EL_VARIABLE_FREQ_OUTPUT_HIGH 1000   // Frequency in hertz of maximum speed (FEATURE_STEPPER_MOTOR maximum value: 2000 unless you change OPTION_STEPPER_MOTOR_MAX_X_KHZ in features file)
+
 
 // Settings for OPTION_AZ_MANUAL_ROTATE_LIMITS
 #define AZ_MANUAL_ROTATE_CCW_LIMIT 0   // if using a rotator that starts at 180 degrees, set this to something like 185

k3ng_rotator_controller/rotator_settings_test.h

@@ -90,9 +90,9 @@ You can tweak these, but read the online documentation!
 
 // Variable frequency output settings and FEATURE_STEPPER_MOTOR settings
 #define AZ_VARIABLE_FREQ_OUTPUT_LOW   31    // Frequency in hertz of minimum speed (rotate_cw_freq, rotate_ccw_freq minimum value: 31 !)
-#define AZ_VARIABLE_FREQ_OUTPUT_HIGH 1000   // Frequency in hertz of maximum speed (FEATURE_STEPPER_MOTOR maximum value: 2000 !)
+#define AZ_VARIABLE_FREQ_OUTPUT_HIGH 1000   // Frequency in hertz of maximum speed (FEATURE_STEPPER_MOTOR maximum value 2000 unless you change OPTION_STEPPER_MOTOR_MAX_X_KHZ in features file)
 #define EL_VARIABLE_FREQ_OUTPUT_LOW   31    // Frequency in hertz of minimum speed (rotate_up_freq, rotate_down_freq minimum value: 31 !)
-#define EL_VARIABLE_FREQ_OUTPUT_HIGH 1000   // Frequency in hertz of maximum speed (FEATURE_STEPPER_MOTOR maximum value: 2000 !)
+#define EL_VARIABLE_FREQ_OUTPUT_HIGH 1000   // Frequency in hertz of maximum speed (FEATURE_STEPPER_MOTOR maximum value: 2000 unless you change OPTION_STEPPER_MOTOR_MAX_X_KHZ in features file)
 
 // Settings for OPTION_AZ_MANUAL_ROTATE_LIMITS
 #define AZ_MANUAL_ROTATE_CCW_LIMIT 0   // if using a rotator that starts at 180 degrees, set this to something like 185

k3ng_rotator_controller/rotator_settings_wb6kcn.h

@@ -79,9 +79,9 @@ You can tweak these, but read the online documentation!
 
 // Variable frequency output settings and FEATURE_STEPPER_MOTOR settings
 #define AZ_VARIABLE_FREQ_OUTPUT_LOW   31    // Frequency in hertz of minimum speed (rotate_cw_freq, rotate_ccw_freq minimum value: 31 !)
-#define AZ_VARIABLE_FREQ_OUTPUT_HIGH 1000   // Frequency in hertz of maximum speed (FEATURE_STEPPER_MOTOR maximum value: 2000 !)
+#define AZ_VARIABLE_FREQ_OUTPUT_HIGH 1000   // Frequency in hertz of maximum speed (FEATURE_STEPPER_MOTOR maximum value 2000 unless you change OPTION_STEPPER_MOTOR_MAX_X_KHZ in features file)
 #define EL_VARIABLE_FREQ_OUTPUT_LOW   31    // Frequency in hertz of minimum speed (rotate_up_freq, rotate_down_freq minimum value: 31 !)
-#define EL_VARIABLE_FREQ_OUTPUT_HIGH 1000   // Frequency in hertz of maximum speed (FEATURE_STEPPER_MOTOR maximum value: 2000 !)
+#define EL_VARIABLE_FREQ_OUTPUT_HIGH 1000   // Frequency in hertz of maximum speed (FEATURE_STEPPER_MOTOR maximum value: 2000 unless you change OPTION_STEPPER_MOTOR_MAX_X_KHZ in features file)
 
 // Settings for OPTION_AZ_MANUAL_ROTATE_LIMITS
 #define AZ_MANUAL_ROTATE_CCW_LIMIT 179   // if using a rotator that starts at 180 degrees, set this to something like 185