Change Programming Mode Entry Strategy (Issue #24)

Since EQMOD V2.00, the :Oxx is issued as part of run time. This caused AstroEQ to spuriously enter programming mode causing connection issues. To combat the problem, programming mode entry now requires 20 successive :O1x commands with no other commands in between. It is highly unlikely EQMOD will ever issue this many :O1x commands without other commands interleaved. EQMOD always appears to send :O1x commands together with a companion :O2x command. This is enough to prevent entry as only an :O1x command is considered.
TCWORLD · Jun 23, 2018 · 0e0e9af · 0e0e9af
1 parent a13cdad
commit 0e0e9af
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Showing 3 changed files with 42 additions and 19 deletions.
diff --git a/AstroEQ-ConfigUtility/AstroEQUploader/Executioner.pde b/AstroEQ-ConfigUtility/AstroEQUploader/Executioner.pde
@@ -230,14 +230,20 @@ public class EEPROMInterface extends Executioner {
     } catch (Exception e){
 
     }
-    write(":O1"+mode+"\r");
-    buffer.add(":O1"+mode);
-    println(":O1"+mode);
-    String readback = getResponse(10000,'\r');
-    println(readback);
-    if((readback==null) || !readback.equals("=\r")){ //try to find a response within 10 seconds
-      exitCode = 3; //could not set mode, fatal error
-      println("Failed to recieve response.");
+
+    String readback;
+    //Send the entry command 20 times and AstroEQ will only update programming mode after 10 successful entry requests.
+    for (int i = 0; i < 20; i++) {
+      write(":O1"+mode+"\r");
+      buffer.add(":O1"+mode);
+      println(":O1"+mode);
+
+      readback = getResponse(10000,'\r');
+      println(readback);
+      if((readback==null) || !readback.equals("=\r")){ //try to find a response within 10 seconds
+        exitCode = 3; //could not set mode, fatal error
+        println("Failed to recieve response.");
+      }
     }
 
     while ((args.size() > 0) && (exitCode == 0)) {

diff --git a/AstroEQ-Firmware/AstroEQ/AstroEQ.c b/AstroEQ-Firmware/AstroEQ/AstroEQ.c
@@ -51,6 +51,7 @@ byte readyToGo[2] = {0,0};
 unsigned long gotoPosn[2] = {0UL,0UL}; //where to slew to
 bool encodeDirection[2];
 byte progMode = RUNMODE; //MODES:  0 = Normal Ops (EQMOD). 1 = Validate EEPROM. 2 = Store to EEPROM. 3 = Rebuild EEPROM
+byte progModeEntryCount = 0; //Must send 10 non-zero progMode commands to switch out of run-time. This is to prevent accidental entry by EQMOD.
 byte microstepConf;
 byte driverVersion;
 bool standaloneMode = false; //Initially not in standalone mode (EQMOD mode)
@@ -1065,6 +1066,10 @@ bool decodeCommand(char command, char* buffer){ //each command is axis specific.
     byte axis = synta_getaxis();
     unsigned int correction;
     byte oldSREG;
+    if ((progMode == RUNMODE) && (command != 'O')) {
+        //If any command other than programming entry request is sent, reset the entry count.
+        progModeEntryCount = 0;
+    }
     switch(command) {
         case 'e': //read-only, return the eVal (version number)
             responseData = cmd.eVal[axis]; //response to the e command is stored in the eVal function for that axis.
@@ -1148,15 +1153,26 @@ bool decodeCommand(char command, char* buffer){ //each command is axis specific.
         //Command required for entering programming mode. All other programming commands cannot be used when progMode = 0 (normal ops)
         case 'O': //set the programming mode.
             progMode = buffer[0] - '0';              //MODES:  0 = Normal Ops (EQMOD). 1 = Validate EEPROM. 2 = Store to EEPROM. 3 = Rebuild EEPROM
-            if (progMode != RUNMODE) {
-                motorStop(RA,1); //emergency axis stop.
-                motorDisable(RA); //shutdown driver power.
-                motorStop(DC,1); //emergency axis stop.
-                motorDisable(DC); //shutdown driver power.
-                readyToGo[RA] = 0;
-                readyToGo[DC] = 0;
-            } else { //reset the uC to return to normal ops mode.
-                success = false;
+            if (progModeEntryCount != 20) {
+                //If we haven't sent enough entry commands to switch into programming mode
+                if ((progMode != PROGMODE) && (progMode != STOREMODE) && (progMode != REBUILDMODE) && (axis != RA)) {
+                    //If we sent an entry command that asks for normal operation, reset the entry count.
+                    progModeEntryCount = 0;
+                } else {
+                    //Otherwise increment the count of entry requests.
+                    progModeEntryCount = progModeEntryCount + 1;
+                }
+            } else {
+                if (progMode != RUNMODE) {
+                    motorStop(RA,1); //emergency axis stop.
+                    motorDisable(RA); //shutdown driver power.
+                    motorStop(DC,1); //emergency axis stop.
+                    motorDisable(DC); //shutdown driver power.
+                    readyToGo[RA] = 0;
+                    readyToGo[DC] = 0;
+                } else { //reset the uC to return to normal ops mode.
+                    success = false;
+                }
             }
             break;
 

diff --git a/AstroEQ-Firmware/AstroEQ/commands.c b/AstroEQ-Firmware/AstroEQ/commands.c
@@ -99,7 +99,9 @@ const char cmd_commands[numberOfCommands][3] = { {'j', 0, 6}, //arranged in orde
                                                  {'P', 1, 0},
                                                  {'F', 0, 0},
                                                  {'L', 0, 0},
-                                                 //Programmer Commands
+                                                 //Programmer Entry Command
+                                                 {'O', 1, 0},
+                                                 //Programmer Commands - Ignored in Run-Mode
                                                  {'A', 6, 0},
                                                  {'B', 6, 0},
                                                  {'S', 6, 0},
@@ -113,7 +115,6 @@ const char cmd_commands[numberOfCommands][3] = { {'j', 0, 6}, //arranged in orde
                                                  {'z', 0, 2},
                                                  {'R', 6, 0},
                                                  {'r', 0, 6},
-                                                 {'O', 1, 0},
                                                  {'Q', 2, 0},
                                                  {'q', 0, 2},
                                                  {'X', 6, 0},