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 +238,9 @@ 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;
+    snprintf(p, sizeof(achBuf) - used, " (%.5f)", this->getTotalHours());
     return achBuf;
 }
 void DayTime::printTwoDigits(char *achDegs, int num) const

src/Declination.cpp

@@ -84,14 +84,9 @@ 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);
+    float displayVal = inNorthernHemisphere ? 90 - fabsf(getTotalHours()) : -90 + fabsf(getTotalHours());
+    snprintf(achBufDeg + used, sizeof(achBufDeg) - used, " (%.4f, %.4f)", displayVal, getTotalHours());
 
     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

@@ -91,9 +91,17 @@ angle_t Gyro::getCurrentAngles()
         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;
+        float denomPitch = sqrtf((float) AcY * AcY + (float) AcZ * AcZ);
+        if (denomPitch > 0.0f)
+        {
+            result.pitchAngle += atanf(-1.0f * AcX / denomPitch) * 180.0f / static_cast<float>(PI);
+        }
         // 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;
+        float denomRoll = sqrtf((float) AcX * AcX + (float) AcZ * AcZ);
+        if (denomRoll > 0.0f)
+        {
+            result.rollAngle += atanf(-1.0f * AcY / denomRoll) * 180.0f / static_cast<float>(PI);
+        }
 
         delay(10);  // Decorrelate measurements
     }

src/MeadeCommandProcessor.cpp

@@ -1258,6 +1258,10 @@ String MeadeCommandProcessor::handleMeadeInit(String inCmd)
 /////////////////////////////
 String MeadeCommandProcessor::handleMeadeGetInfo(String inCmd)
 {
+    if (inCmd.length() < 1)
+    {
+        return "";
+    }
     char cmdOne = inCmd[0];
     char cmdTwo = (inCmd.length() > 1) ? inCmd[1] : '\0';
     char achBuffer[20];
@@ -1330,7 +1334,7 @@ String MeadeCommandProcessor::handleMeadeGetInfo(String inCmd)
         case 'G':  // :GG
             {
                 int offset = _mount->getLocalUtcOffset();
-                sprintf(achBuffer, "%+03d#", -offset);
+                snprintf(achBuffer, sizeof(achBuffer), "%+03d#", -offset);
                 return String(achBuffer);
             }
         case 'a':  // :Ga
@@ -1352,7 +1356,7 @@ String MeadeCommandProcessor::handleMeadeGetInfo(String inCmd)
         case 'C':  // :GC
             {
                 LocalDate date = _mount->getLocalDate();
-                sprintf(achBuffer, "%02d/%02d/%02d#", date.month, date.day, date.year % 100);
+                snprintf(achBuffer, sizeof(achBuffer), "%02d/%02d/%02d#", date.month, date.day, date.year % 100);
                 return String(achBuffer);
             }
         case 'M':  // :GM
@@ -1385,6 +1389,10 @@ String MeadeCommandProcessor::handleMeadeGetInfo(String inCmd)
 /////////////////////////////
 String MeadeCommandProcessor::handleMeadeGPSCommands(String inCmd)
 {
+    if (inCmd.length() < 1)
+    {
+        return "0";
+    }
 #if USE_GPS == 1
     if (inCmd[0] == 'T')
     {
@@ -1415,6 +1423,10 @@ String MeadeCommandProcessor::handleMeadeGPSCommands(String inCmd)
 /////////////////////////////
 String MeadeCommandProcessor::handleMeadeSyncControl(String inCmd)
 {
+    if (inCmd.length() < 1)
+    {
+        return "FAIL#";
+    }
     if (inCmd[0] == 'M')  // :CM
     {
         _mount->syncPosition(_mount->targetRA(), _mount->targetDEC());
@@ -1429,6 +1441,10 @@ String MeadeCommandProcessor::handleMeadeSyncControl(String inCmd)
 /////////////////////////////
 String MeadeCommandProcessor::handleMeadeSetInfo(String inCmd)
 {
+    if (inCmd.length() < 1)
+    {
+        return "0";
+    }
     if ((inCmd[0] == 'd') && (inCmd.length() == 10))
     {
         // Set DEC
@@ -1561,6 +1577,10 @@ String MeadeCommandProcessor::handleMeadeSetInfo(String inCmd)
 /////////////////////////////
 String MeadeCommandProcessor::handleMeadeMovement(String inCmd)
 {
+    if (inCmd.length() < 1)
+    {
+        return "";
+    }
     LOG(DEBUG_MEADE, "[MEADE]: Process Move command: [%s]", inCmd.c_str());
     if (inCmd[0] == 'S')  // :MS#
     {
@@ -1605,12 +1625,12 @@ String MeadeCommandProcessor::handleMeadeMovement(String inCmd)
                 direction = EAST;
             else if (inCmd[1] == 'w')
                 direction = WEST;
-            int duration = (inCmd[2] - '0') * 1000 + (inCmd[3] - '0') * 100 + (inCmd[4] - '0') * 10 + (inCmd[5] - '0');
+            int duration = inCmd.substring(2, 6).toInt();
             _mount->guidePulse(direction, duration);
             return "";
         }
     }
-    else if (inCmd[0] == 'A')
+    else if (inCmd[0] == 'A' && inCmd.length() > 1)
     {
         LOG(DEBUG_MEADE, "[MEADE]: Move Az/Alt");
 
@@ -1730,6 +1750,10 @@ String MeadeCommandProcessor::handleMeadeMovement(String inCmd)
 /////////////////////////////
 String MeadeCommandProcessor::handleMeadeHome(String inCmd)
 {
+    if (inCmd.length() < 1)
+    {
+        return "";
+    }
     if (inCmd[0] == 'P')  // :hP
     {                     // Park
         _mount->park();
@@ -1765,6 +1789,10 @@ String MeadeCommandProcessor::handleMeadeDistance(String inCmd)
 /////////////////////////////
 String MeadeCommandProcessor::handleMeadeExtraCommands(String inCmd)
 {
+    if (inCmd.length() < 1)
+    {
+        return "";
+    }
 #if SUPPORT_DRIFT_ALIGNMENT == 1
     // :XDmmm
     if (inCmd[0] == 'D')  // :XD
@@ -1874,8 +1902,8 @@ String MeadeCommandProcessor::handleMeadeExtraCommands(String inCmd)
         {
             long azPos, altPos;
             _mount->getAZALTPositions(azPos, altPos);
-            char scratchBuffer[20];
-            sprintf(scratchBuffer, "%ld|%ld#", azPos, altPos);
+            char scratchBuffer[24];
+            snprintf(scratchBuffer, sizeof(scratchBuffer), "%ld|%ld#", azPos, altPos);
             return String(scratchBuffer);
         }
         else if (inCmd[1] == 'C')  // :XGCn.nn*m.mm#
@@ -1888,8 +1916,8 @@ String MeadeCommandProcessor::handleMeadeExtraCommands(String inCmd)
                 float raCoord  = coords.substring(0, star).toFloat();
                 float decCoord = coords.substring(star + 1).toFloat();
                 _mount->calculateStepperPositions(raCoord, decCoord, raPos, decPos);
-                char scratchBuffer[20];
-                sprintf(scratchBuffer, "%ld|%ld#", raPos, decPos);
+                char scratchBuffer[24];
+                snprintf(scratchBuffer, sizeof(scratchBuffer), "%ld|%ld#", raPos, decPos);
                 return String(scratchBuffer);
             }
         }
@@ -1933,15 +1961,15 @@ String MeadeCommandProcessor::handleMeadeExtraCommands(String inCmd)
             {
                 char scratchBuffer[10];
                 DayTime ha = _mount->calculateHa();
-                sprintf(scratchBuffer, "%02d%02d%02d#", ha.getHours(), ha.getMinutes(), ha.getSeconds());
+                snprintf(scratchBuffer, sizeof(scratchBuffer), "%02d%02d%02d#", ha.getHours(), ha.getMinutes(), ha.getSeconds());
                 return String(scratchBuffer);
             }
         }
         else if (inCmd[1] == 'L')  // :XGL#
         {
             char scratchBuffer[10];
             DayTime lst = _mount->calculateLst();
-            sprintf(scratchBuffer, "%02d%02d%02d#", lst.getHours(), lst.getMinutes(), lst.getSeconds());
+            snprintf(scratchBuffer, sizeof(scratchBuffer), "%02d%02d%02d#", lst.getHours(), lst.getMinutes(), lst.getSeconds());
             return String(scratchBuffer);
         }
         else if (inCmd[1] == 'N')  // :XGN#
@@ -2164,6 +2192,10 @@ String MeadeCommandProcessor::handleMeadeQuit(String inCmd)
 /////////////////////////////
 String MeadeCommandProcessor::handleMeadeSetSlewRate(String inCmd)
 {
+    if (inCmd.length() < 1)
+    {
+        return "";
+    }
     switch (inCmd[0])
     {
         case 'S':
@@ -2189,6 +2221,10 @@ String MeadeCommandProcessor::handleMeadeSetSlewRate(String inCmd)
 /////////////////////////////
 String MeadeCommandProcessor::handleMeadeFocusCommands(String inCmd)
 {
+    if (inCmd.length() < 1)
+    {
+        return "";
+    }
 #if (FOCUS_STEPPER_TYPE != STEPPER_TYPE_NONE)
     if (inCmd[0] == '+')  // :F+
     {
@@ -2261,6 +2297,10 @@ String MeadeCommandProcessor::handleMeadeFocusCommands(String inCmd)
 
 String MeadeCommandProcessor::processCommand(String inCmd)
 {
+    if (inCmd.length() < 2)
+    {
+        return "";
+    }
     if (inCmd[0] == ':')
     {
         LOG(DEBUG_MEADE, "[MEADE]: Received command   '%s'", inCmd.c_str());
@@ -2272,6 +2312,10 @@ String MeadeCommandProcessor::processCommand(String inCmd)
             inCmd.remove(spacePos, 1);
         }
 
+        if (inCmd.length() < 2)
+        {
+            return "";
+        }
         LOG(DEBUG_MEADE, "[MEADE]: Processing command '%s'", inCmd.c_str());
         char command = inCmd[1];
         inCmd        = inCmd.substring(2);