Add Test mode via terminal

Changelog.md

@@ -1,3 +1,6 @@
+**V1.13.12 - Updates**
+- Added basic test mode that can be run via terminal connection.
+
 **V1.13.11 - Updates**
 - Fixed DEBUG macro usage.
 - Clarified some Meade documentation.

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 "V1.13.11"
+#define VERSION "V1.13.12"

matrix_build.py

@@ -57,6 +57,7 @@
     "FOCUS_STEPPER_TYPE": STEPPER_TYPES,
     "FOCUS_DRIVER_TYPE": DRIVER_TYPES,
     "DISPLAY_TYPE": DISPLAY_TYPES,
+    "TEST_VERIFY_MODE": BOOLEAN_VALUES,
     "DEBUG_LEVEL": ["DEBUG_NONE", "DEBUG_ANY"],
     "RA_MOTOR_CURRENT_RATING": "1",
     "RA_OPERATING_CURRENT_SETTING": "1",

src/Mount.cpp

@@ -357,7 +357,7 @@ void Mount::configureAZStepper(byte pin1, byte pin2, int maxSpeed, int maxAccele
     #ifdef NEW_STEPPER_LIB
     _stepperAZ = new StepperAzSlew(AccelStepper::DRIVER, pin1, pin2);
     #else
-    _stepperAZ    = new AccelStepper(AccelStepper::DRIVER, pin1, pin2);
+    _stepperAZ = new AccelStepper(AccelStepper::DRIVER, pin1, pin2);
     #endif
     _stepperAZ->setMaxSpeed(maxSpeed);
     _stepperAZ->setAcceleration(maxAcceleration);
@@ -375,7 +375,7 @@ void Mount::configureALTStepper(byte pin1, byte pin2, int maxSpeed, int maxAccel
     #ifdef NEW_STEPPER_LIB
     _stepperALT = new StepperAltSlew(AccelStepper::DRIVER, pin1, pin2);
     #else
-    _stepperALT   = new AccelStepper(AccelStepper::DRIVER, pin1, pin2);
+    _stepperALT = new AccelStepper(AccelStepper::DRIVER, pin1, pin2);
     #endif
     _stepperALT->setMaxSpeed(maxSpeed);
     _stepperALT->setAcceleration(maxAcceleration);
@@ -413,23 +413,56 @@ void Mount::configureFocusStepper(byte pin1, byte pin2, int maxSpeed, int maxAcc
 #if RA_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART || DEC_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART                                              \
     || AZ_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART || ALT_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART                                           \
     || FOCUS_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
-    #if UART_CONNECTION_TEST_TXRX == 1
-bool Mount::connectToDriver(TMC2209Stepper *driver, const char *driverKind)
+    #if (UART_CONNECTION_TEST_TXRX == 1) || (TEST_VERIFY_MODE == 1)
+bool Mount::connectToDriver(const String &driverKind, uint16_t *rmsCurrent)
 {
-    LOG(DEBUG_STEPPERS, "[STEPPERS]: Testing UART Connection to %s driver...", driverKind);
-    for (int i = 0; i < UART_CONNECTION_TEST_RETRIES; i++)
+    MappedDict<String, TMC2209Stepper *>::DictEntry_t lookupTable[] = {
+        #if RA_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
+        {"RA", _driverRA},
+        #endif
+        #if DEC_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
+        {"DEC", _driverDEC},
+        #endif
+        #if ALT_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
+        {"ALT", _driverALT},
+        #endif
+        #if AZ_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
+        {"AZ", _driverAZ},
+        #endif
+        #if FOCUS_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
+        {"FOC", _driverFocus},
+        #endif
+    };
+    auto driverLookup = MappedDict<String, TMC2209Stepper *>(lookupTable, ARRAY_SIZE(lookupTable));
+
+    TMC2209Stepper *driver = nullptr;
+    driverLookup.tryGet(driverKind, &driver);
+
+    if (driver != nullptr)
     {
-        if (driver->test_connection() == 0)
+        LOG(DEBUG_STEPPERS, "[STEPPERS]: Testing UART Connection to %s driver...", driverKind.c_str());
+        for (int i = 0; i < UART_CONNECTION_TEST_RETRIES; i++)
         {
-            LOG(DEBUG_STEPPERS, "[STEPPERS]: UART connection to %s driver successful.", driverKind);
-            return true;
-        }
-        else
-        {
-            delay(500);
+            if (driver->test_connection() == 0)
+            {
+                LOG(DEBUG_STEPPERS, "[STEPPERS]: UART connection to %s driver successful.", driverKind.c_str());
+                if (rmsCurrent != nullptr)
+                {
+                    *rmsCurrent = driver->rms_current();
+                }
+                return true;
+            }
+            else
+            {
+                delay(500);
+            }
         }
+        LOG(DEBUG_STEPPERS, "[STEPPERS]: UART connection to %s driver failed.", driverKind.c_str());
+    }
+    if (rmsCurrent != nullptr)
+    {
+        *rmsCurrent = 0;
     }
-    LOG(DEBUG_STEPPERS, "[STEPPERS]: UART connection to %s driver failed.", driverKind);
     return false;
 }
     #endif
@@ -448,7 +481,7 @@ void Mount::configureRAdriver(Stream *serial, float rsense, byte driveraddress,
     _driverRA->begin();
     bool UART_Rx_connected = false;
         #if UART_CONNECTION_TEST_TXRX == 1
-    UART_Rx_connected = connectToDriver(_driverRA, "RA");
+    UART_Rx_connected = connectToDriver("RA");
     if (!UART_Rx_connected)
     {
         digitalWrite(RA_EN_PIN,
@@ -487,7 +520,7 @@ void Mount::configureRAdriver(uint16_t RA_SW_RX, uint16_t RA_SW_TX, float rsense
     _driverRA->pdn_disable(true);
     bool UART_Rx_connected = false;
         #if UART_CONNECTION_TEST_TXRX == 1
-    UART_Rx_connected = connectToDriver(_driverRA, "RA");
+    UART_Rx_connected = connectToDriver("RA");
     if (!UART_Rx_connected)
     {
         digitalWrite(RA_EN_PIN,
@@ -531,7 +564,7 @@ void Mount::configureDECdriver(Stream *serial, float rsense, byte driveraddress,
     _driverDEC->begin();
     bool UART_Rx_connected = false;
         #if UART_CONNECTION_TEST_TXRX == 1
-    UART_Rx_connected = connectToDriver(_driverDEC, "DEC");
+    UART_Rx_connected = connectToDriver("DEC");
     if (!UART_Rx_connected)
     {
         digitalWrite(DEC_EN_PIN,
@@ -570,7 +603,7 @@ void Mount::configureDECdriver(uint16_t DEC_SW_RX, uint16_t DEC_SW_TX, float rse
     _driverDEC->pdn_disable(true);
     bool UART_Rx_connected = false;
         #if UART_CONNECTION_TEST_TXRX == 1
-    UART_Rx_connected = connectToDriver(_driverDEC, "DEC");
+    UART_Rx_connected = connectToDriver("DEC");
     if (!UART_Rx_connected)
     {
         digitalWrite(DEC_EN_PIN,
@@ -614,7 +647,7 @@ void Mount::configureAZdriver(Stream *serial, float rsense, byte driveraddress,
     _driverAZ->begin();
     bool UART_Rx_connected = false;
         #if UART_CONNECTION_TEST_TXRX == 1
-    UART_Rx_connected = connectToDriver(_driverAZ, "AZ");
+    UART_Rx_connected = connectToDriver("AZ");
     if (!UART_Rx_connected)
     {
         digitalWrite(AZ_EN_PIN,
@@ -652,7 +685,7 @@ void Mount::configureAZdriver(uint16_t AZ_SW_RX, uint16_t AZ_SW_TX, float rsense
     _driverAZ->pdn_disable(true);
     bool UART_Rx_connected = false;
         #if UART_CONNECTION_TEST_TXRX == 1
-    UART_Rx_connected = connectToDriver(_driverAZ, "AZ");
+    UART_Rx_connected = connectToDriver("AZ");
     if (!UART_Rx_connected)
     {
         digitalWrite(AZ_EN_PIN,
@@ -695,7 +728,7 @@ void Mount::configureALTdriver(Stream *serial, float rsense, byte driveraddress,
     _driverALT->begin();
     bool UART_Rx_connected = false;
         #if UART_CONNECTION_TEST_TXRX == 1
-    UART_Rx_connected = connectToDriver(_driverALT, "ALT");
+    UART_Rx_connected = connectToDriver("ALT");
     if (!UART_Rx_connected)
     {
         digitalWrite(ALT_EN_PIN,
@@ -733,7 +766,7 @@ void Mount::configureALTdriver(uint16_t ALT_SW_RX, uint16_t ALT_SW_TX, float rse
     _driverALT->pdn_disable(true);
         #if UART_CONNECTION_TEST_TXRX == 1
     bool UART_Rx_connected = false;
-    UART_Rx_connected = connectToDriver(_driverALT, "ALT");
+    UART_Rx_connected      = connectToDriver("ALT");
     if (!UART_Rx_connected)
     {
         digitalWrite(ALT_EN_PIN,
@@ -778,10 +811,10 @@ void Mount::configureFocusDriver(Stream *serial, float rsense, byte driveraddres
     _driverFocus->begin();
         #if UART_CONNECTION_TEST_TXRX == 1
     bool UART_Rx_connected = false;
-    UART_Rx_connected      = connectToDriver(_driverFocus, "Focus");
+    UART_Rx_connected      = connectToDriver("FOC");
     if (!UART_Rx_connected)
     {
-        digitalWrite(ALT_EN_PIN,
+        digitalWrite(FOCUS_EN_PIN,
                      HIGH);  //Disable motor for safety reasons if UART connection fails to avoid operating at incorrect rms_current
     }
         #endif
@@ -824,7 +857,7 @@ void Mount::configureFocusDriver(
     _driverFocus->pdn_disable(true);
         #if UART_CONNECTION_TEST_TXRX == 1
     bool UART_Rx_connected = false;
-    UART_Rx_connected = connectToDriver(_driverFocus, "Focus");
+    UART_Rx_connected      = connectToDriver("FOC");
     if (!UART_Rx_connected)
     {
         digitalWrite(FOCUS_EN_PIN,
@@ -1836,7 +1869,7 @@ void Mount::getAZALTPositions(long &azPos, long &altPos)
 #if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
     azPos = _stepperAZ->currentPosition();
 #else
-    azPos  = 0;
+    azPos = 0;
 #endif
 #if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
     altPos = _stepperALT->currentPosition();

src/Mount.hpp

@@ -154,8 +154,6 @@ class Mount
 
     void initializeVariables();
 
-    static Mount instance();
-
     // Configure the RA stepper motor. This also sets up the TRK stepper on the same pins.
     void configureRAStepper(byte pin1, byte pin2, uint32_t maxSpeed, uint32_t maxAcceleration);
 
@@ -182,7 +180,8 @@ class Mount
 #if RA_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART || DEC_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART                                              \
     || AZ_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART || ALT_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART                                           \
     || FOCUS_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
-    bool connectToDriver(TMC2209Stepper *driver, const char *driverKind);
+    bool connectToDriver(const String &driverKind, uint16_t *rmsCurrent = nullptr);
+
 #endif
 #if RA_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
         // Configure the RA Driver (TMC2209 UART only)

src/Utility.cpp

@@ -226,6 +226,46 @@ float atanf(float x)
     return static_cast<float>(atan(static_cast<double>(x)));
 }
 
+String *splitStringBy(String str, char splitChar)
+{
+    unsigned int count = 1;  // At least one string if input is non-empty
+
+    // Count occurrences of splitChar to determine the number of splits
+    for (unsigned int i = 0; i < str.length(); i++)
+    {
+        if (str[i] == splitChar)
+        {
+            count++;
+        }
+    }
+
+    // Dynamically allocate memory for the resulting array
+    String *array  = new String[count + 1];  // +1 for the nullptr terminator
+    unsigned int r = 0;                      // Start of the substring
+    unsigned int t = 0;                      // Index in the result array
+
+    // Iterate through the string to split it
+    for (unsigned int i = 0; i < str.length(); i++)
+    {
+        if (str[i] == splitChar)
+        {
+            array[t++] = str.substring(r, i);  // Store substring
+            r          = i + 1;                // Move start to next character
+        }
+    }
+
+    // Add the last part of the string
+    if (r < str.length())
+    {
+        array[t++] = str.substring(r);
+    }
+
+    // Mark the end of the array with ""
+    array[t] = "";
+
+    return array;
+}
+
 #if defined(ESP32)
 int freeMemory()
 {

src/Utility.hpp

@@ -173,5 +173,11 @@ int sign(long num);
 int fsign(float num);
 
 #define ARRAY_SIZE(x) (sizeof(x) / sizeof(x[0]))
+#define CASERETURN(c, r)                                                                                                                   \
+    case c:                                                                                                                                \
+        return r
+
+// Return an array of String* with a nullptr sentinel
+String *splitStringBy(String str, char splitChar);
 
 #endif

src/b_setup.hpp

@@ -12,6 +12,10 @@ PUSH_NO_WARNINGS
 POP_NO_WARNINGS
 #endif
 
+#if TEST_VERIFY_MODE == 1
+    #include "testmenu.hpp"
+#endif
+
 #ifndef NEW_STEPPER_LIB
     #include "InterruptCallback.hpp"
 #endif
@@ -111,7 +115,21 @@ void setup()
     #endif
 #endif
 
-    LOG(DEBUG_ANY, "[SYSTEM]: Hello, universe, this is OAT %s!", VERSION);
+#if TEST_VERIFY_MODE == 1
+    #ifdef OAM
+    Serial.print(F("Booting OAM Firmware "));
+    #else
+    Serial.print(F("Booting OAT Firmware "));
+    #endif
+    Serial.print(VERSION);
+    Serial.println(F(" ..."));
+#else
+    #ifdef OAM
+    LOG(DEBUG_ANY, "[SYSTEM]: Hello, universe, this is OAM Firmware %s!", VERSION);
+    #else
+    LOG(DEBUG_ANY, "[SYSTEM]: Hello, universe, this is OAT Firmware %s!", VERSION);
+    #endif
+#endif
 
 #if (INFO_DISPLAY_TYPE != INFO_DISPLAY_TYPE_NONE)
     LOG(DEBUG_ANY, "[SYSTEM]: Get OLED info screen ready...");
@@ -522,4 +540,7 @@ void setup()
     delay(250);
     mount.getInfoDisplay()->setConsoleMode(false);
 #endif
+#if TEST_VERIFY_MODE == 1
+    TestMenu::getCurrentMenu()->display();
+#endif
 }