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Telescope mount and focuser control with a Raspberry Pi

License: GNU General Public License v3.0

C++ 96.22% Makefile 1.13% HTML 2.65%

pimoco's Introduction

pimoco

Telescope mount and focuser control with a Raspberry Pi

Motivation

Why do we need a separate device to control stepper motors attached to a telescope? Often times, a Raspberry Pi 4 running Ekos/Kstars/Indi will be attached to the telescope anyway, providing plenty of compute power. Modern stepper motor controllers like the Trinamic TMC5160 have an on-board motion controller which accepts position read, set target speed and go-to commands via SPI. The Raspberry Pi has two such interfaces for a total of five devices on its GPIO port.

This is

capable (1/256 microsteps, up to 1000x sidereal slewing, silent tracking, load-adaptive speed w/o step loss)
robust (no Wifi, Bluetooth or USB connections to the mount as a source of error)
beautiful (supports SkySafari on phones/tablets and game controllers via Ekos/Kstars/Indi)
inexpensive (no need for separate microcontrollers like OnStep or TeenAstro)
manageable (no separate device firmware, only Indi drivers which Linux package managers can update)

Wiki

pimoco's People

Contributors

Stargazers

Watchers

Forkers

martin964 skieast gmke

pimoco's Issues

Add mount slewing commands MoveNS, MoveEW, SetSlewRate

Refactor focuser/TMC5160/SPI debug output to use Indi macros

Set gpclk0 with wiringPi to remove need for an /etc/rc.local entry

Refactor mount.cpp into multiple files for legibility

Use interrupts to re-enable tracking faster when a goto reaches position

Test that the stepper class works with the BOB

Add AltAz support

First test of focuser driver and hardware on real scope

Add backlash compensation to stepper class

Make indi focuser driver functionally complete

Add "track rate sync" button to learn tracking rate for unaligned daytime solar tracking

Breadboard 3 BOBs as a stepper plus mount controller

First test of mount driver and hardware on real scope

Add support for meridian flip to mount

Initialization code does not use stored configuration data

Add support for DS1822 temperature probe to focuser

Wrap two stepper classes into an Indi Mount class, initially supporting Gotos

Solve how to provide 12-16 Mhz clock signal, from Pi or crystal oscillator

Add refraction compensation with temperature and air pressure sensor

Gotos dont consistently signal completion.

Configuration data is not loaded reliably on startup

Telescope driver crashes after motor initialization with new PCB

Logfile

[2021-07-04T12:06:55.642 CEST DEBG ][                org.kde.kstars] - Daylight Saving Time active
[2021-07-04T12:06:55.643 CEST DEBG ][                org.kde.kstars] - Next Daylight Savings Time change (Local Time):  "Sun Oct 31 00:59:59 2021 GMT"
[2021-07-04T12:06:55.643 CEST DEBG ][                org.kde.kstars] - Next Daylight Savings Time change (UTC):  "Sat Oct 30 22:59:59 2021 GMT"
[2021-07-04T12:06:55.643 CEST DEBG ][                org.kde.kstars] - Starting the timer
[2021-07-04T12:06:55.962 CEST DEBG ][           org.kde.kstars.ekos] - Resetting Ekos Manager...
[2021-07-04T12:06:56.032 CEST INFO ][           org.kde.kstars.ekos] - "Starting INDI services..."
[2021-07-04T12:06:56.033 CEST DEBG ][           org.kde.kstars.indi] - INDI: Starting local drivers...
[2021-07-04T12:06:56.034 CEST DEBG ][           org.kde.kstars.indi] - Starting INDI Server:  ("-v", "-p", "7624", "-m", "1024", "-r", "0", "-f", "/tmp/indififo039d8cfc") -f "/tmp/indififo039d8cfc"
[2021-07-04T12:06:56.051 CEST DEBG ][           org.kde.kstars.indi] - INDI Server Started?  true
[2021-07-04T12:06:56.052 CEST DEBG ][           org.kde.kstars.indi] - INDI: INDI Server started locally on port  7624
[2021-07-04T12:06:56.052 CEST DEBG ][           org.kde.kstars.indi] - Starting INDI Driver  "indi_pimoco_mount"
[2021-07-04T12:06:56.053 CEST DEBG ][           org.kde.kstars.indi] - Starting INDI Driver  "indi_asi_ccd"
[2021-07-04T12:06:56.053 CEST DEBG ][           org.kde.kstars.indi] - Starting INDI Driver  "indi_asi_wheel"
[2021-07-04T12:06:56.053 CEST DEBG ][           org.kde.kstars.indi] - Starting INDI Driver  "indi_pimoco_focuser"
[2021-07-04T12:06:56.054 CEST DEBG ][           org.kde.kstars.indi] - Starting INDI Driver  "indi_joystick"
[2021-07-04T12:06:56.054 CEST DEBG ][           org.kde.kstars.indi] - Starting INDI Driver  "indi_skysafari"
[2021-07-04T12:06:56.054 CEST DEBG ][           org.kde.kstars.indi] - Adding managed driver "Pimoco mount"
[2021-07-04T12:06:56.054 CEST DEBG ][           org.kde.kstars.indi] - Adding managed driver "ZWO CCD"
[2021-07-04T12:06:56.054 CEST DEBG ][           org.kde.kstars.indi] - Adding managed driver "ASI EFW"
[2021-07-04T12:06:56.055 CEST DEBG ][           org.kde.kstars.indi] - Adding managed driver "Pimoco focuser"
[2021-07-04T12:06:56.055 CEST DEBG ][           org.kde.kstars.indi] - Adding managed driver "Joystick"
[2021-07-04T12:06:56.055 CEST DEBG ][           org.kde.kstars.indi] - Adding managed driver "SkySafari"
[2021-07-04T12:06:56.057 CEST DEBG ][           org.kde.kstars.indi] - INDIListener: Adding a new client manager to INDI listener..
[2021-07-04T12:06:56.057 CEST DEBG ][           org.kde.kstars.indi] - INDI: Connecting to local INDI server on port  7624  ...
[2021-07-04T12:06:56.059 CEST DEBG ][           org.kde.kstars.indi] - Connection to INDI server is successful
[2021-07-04T12:06:56.060 CEST INFO ][           org.kde.kstars.ekos] - "INDI services started on port 7624."
[2021-07-04T12:06:56.072 CEST DEBG ][           org.kde.kstars.indi] - INDI server connected.
[2021-07-04T12:06:56.135 CEST DEBG ][           org.kde.kstars.indi] - Received new device Pimoco focuser
[2021-07-04T12:06:56.157 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:06:56: startup: /usr/bin/indiserver -v -p 7624 -m 1024 -r 0 -f /tmp/indififo039d8cfc "
[2021-07-04T12:06:56.158 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:06:56: listening to port 7624 on fd 3"
[2021-07-04T12:06:56.158 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "FIFO: start indi_pimoco_mount -n \"Pimoco mount\""
[2021-07-04T12:06:56.158 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "With name: Pimoco mount"
[2021-07-04T12:06:56.158 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "FIFO: Starting driver indi_pimoco_mount"
[2021-07-04T12:06:56.159 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:06:56: Driver indi_pimoco_mount: pid=2469 rfd=4 wfd=7 efd=8"
[2021-07-04T12:06:56.159 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "FIFO: start indi_asi_ccd"
[2021-07-04T12:06:56.159 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "FIFO: Starting driver indi_asi_ccd"
[2021-07-04T12:06:56.159 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:06:56: Driver indi_asi_ccd: pid=2470 rfd=5 wfd=10 efd=11"
[2021-07-04T12:06:56.159 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "FIFO: start indi_asi_wheel"
[2021-07-04T12:06:56.160 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "FIFO: Starting driver indi_asi_wheel"
[2021-07-04T12:06:56.160 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:06:56: Driver indi_asi_wheel: pid=2471 rfd=6 wfd=15 efd=16"
[2021-07-04T12:06:56.160 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "FIFO: start indi_pimoco_focuser -n \"Pimoco focuser\""
[2021-07-04T12:06:56.160 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "With name: Pimoco focuser"
[2021-07-04T12:06:56.160 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "FIFO: Starting driver indi_pimoco_focuser"
[2021-07-04T12:06:56.161 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:06:56: Driver indi_pimoco_focuser: pid=2472 rfd=9 wfd=18 efd=19"
[2021-07-04T12:06:56.161 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "FIFO: start indi_joystick -n \"Joystick\""
[2021-07-04T12:06:56.161 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "With name: Joystick"
[2021-07-04T12:06:56.161 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "FIFO: Starting driver indi_joystick"
[2021-07-04T12:06:56.161 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:06:56: Driver indi_joystick: pid=2473 rfd=12 wfd=21 efd=22"
[2021-07-04T12:06:56.162 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "FIFO: start indi_skysafari -n \"SkySafari\""
[2021-07-04T12:06:56.162 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "With name: SkySafari"
[2021-07-04T12:06:56.162 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "FIFO: Starting driver indi_skysafari"
[2021-07-04T12:06:56.162 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:06:56: Driver indi_skysafari: pid=2474 rfd=17 wfd=24 efd=25"
[2021-07-04T12:06:56.162 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:06:56: Client 20: new arrival from 127.0.0.1:41234 - welcome!"
[2021-07-04T12:06:56.163 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:06:56: Driver indi_pimoco_mount: snooping on GPS Simulator.GEOGRAPHIC_COORD"
[2021-07-04T12:06:56.163 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:06:56: Driver indi_pimoco_mount: snooping on GPS Simulator.TIME_UTC"
[2021-07-04T12:06:56.163 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:06:56: Driver indi_pimoco_mount: snooping on Dome Simulator.DOME_PARK"
[2021-07-04T12:06:56.163 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:06:56: Driver indi_pimoco_mount: snooping on Dome Simulator.DOME_SHUTTER"
[2021-07-04T12:06:56.164 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:06:56: Driver indi_asi_wheel: Searching for HID Device VID: 0x3c3 PID: 0x1f01"
[2021-07-04T12:06:56.164 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  ""
[2021-07-04T12:06:56.208 CEST DEBG ][           org.kde.kstars.indi] - INDIListener: New device "Pimoco focuser"
[2021-07-04T12:06:56.208 CEST INFO ][           org.kde.kstars.ekos] - Ekos received a new device:  "Pimoco focuser"
[2021-07-04T12:06:56.214 CEST DEBG ][           org.kde.kstars.indi] - Received new device Pimoco mount
[2021-07-04T12:06:56.215 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:06:56: Driver indi_asi_wheel: Searching for HID Device VID: 0x3c3 PID: 0x1f02"
[2021-07-04T12:06:56.216 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:06:56: Driver indi_asi_wheel: No ASI EFW detected.Searching for HID Device VID: 0x3c3 PID: 0x1f01"
[2021-07-04T12:06:56.216 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:06:56: Driver indi_asi_wheel: Searching for HID Device VID: 0x3c3 PID: 0x1f02"
[2021-07-04T12:06:56.217 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  ""
[2021-07-04T12:06:56.358 CEST DEBG ][           org.kde.kstars.indi] - INDIListener: New device "Pimoco mount"
[2021-07-04T12:06:56.359 CEST INFO ][           org.kde.kstars.ekos] - Ekos received a new device:  "Pimoco mount"
[2021-07-04T12:06:56.366 CEST DEBG ][           org.kde.kstars.indi] - Received new device SkySafari
[2021-07-04T12:06:56.501 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:06:56: Client 23: new arrival from 127.0.0.1:41236 - welcome!"
[2021-07-04T12:06:56.502 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:06:56: Driver indi_asi_wheel: No ASI EFW detected.Searching for HID Device VID: 0x3c3 PID: 0x1f01"
[2021-07-04T12:06:56.503 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:06:56: Driver indi_asi_wheel: Searching for HID Device VID: 0x3c3 PID: 0x1f02"
[2021-07-04T12:06:56.503 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  ""
[2021-07-04T12:06:56.510 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco mount >: < CONNECTION >
[2021-07-04T12:06:56.513 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco mount >: < DRIVER_INFO >
[2021-07-04T12:06:56.521 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco mount >: < POLLING_PERIOD >
[2021-07-04T12:06:56.524 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco mount >: < DEBUG >
[2021-07-04T12:06:56.527 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco mount >: < CONFIG_PROCESS >
[2021-07-04T12:06:56.529 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco focuser >: < CONNECTION >
[2021-07-04T12:06:56.533 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco focuser >: < DRIVER_INFO >
[2021-07-04T12:06:56.541 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco focuser >: < DEBUG >
[2021-07-04T12:06:56.544 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco focuser >: < POLLING_PERIOD >
[2021-07-04T12:06:56.551 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco focuser >: < CONFIG_PROCESS >
[2021-07-04T12:06:56.555 CEST INFO ][           org.kde.kstars.indi] - Pimoco focuser :  "[INFO] Debug is enabled. "
[2021-07-04T12:06:56.555 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco focuser >: < DEBUG_LEVEL >
[2021-07-04T12:06:56.557 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco focuser >: < LOGGING_LEVEL >
[2021-07-04T12:06:56.559 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco focuser >: < LOG_OUTPUT >
[2021-07-04T12:06:56.561 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Toggle Debug Level -- Driver Debug "
[2021-07-04T12:06:56.561 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Toggle Logging Level -- Messages "
[2021-07-04T12:06:56.571 CEST DEBG ][           org.kde.kstars.indi] - INDIListener: New device "SkySafari"
[2021-07-04T12:06:56.572 CEST INFO ][           org.kde.kstars.ekos] - Ekos received a new device:  "SkySafari"
[2021-07-04T12:06:56.573 CEST DEBG ][           org.kde.kstars.indi] - Received new device Joystick
[2021-07-04T12:06:56.599 CEST DEBG ][           org.kde.kstars.indi] - < SkySafari >: < CONNECTION >
[2021-07-04T12:06:56.604 CEST DEBG ][           org.kde.kstars.indi] - < SkySafari >: < DRIVER_INFO >
[2021-07-04T12:06:56.619 CEST DEBG ][           org.kde.kstars.indi] - < SkySafari >: < DEBUG >
[2021-07-04T12:06:56.623 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco mount >: < ACTIVE_DEVICES >
[2021-07-04T12:06:56.629 CEST DEBG ][           org.kde.kstars.indi] - < SkySafari >: < CONFIG_PROCESS >
[2021-07-04T12:06:56.631 CEST DEBG ][           org.kde.kstars.indi] - < SkySafari >: < SKYSAFARI_SETTINGS >
[2021-07-04T12:06:56.637 CEST DEBG ][           org.kde.kstars.indi] - < SkySafari >: < ACTIVE_DEVICES >
[2021-07-04T12:06:56.642 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco mount >: < DOME_POLICY >
[2021-07-04T12:06:56.645 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco mount >: < TELESCOPE_INFO >
[2021-07-04T12:06:56.657 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco mount >: < SCOPE_CONFIG_NAME >
[2021-07-04T12:06:56.668 CEST DEBG ][           org.kde.kstars.indi] - INDIListener: New device "Joystick"
[2021-07-04T12:06:56.669 CEST INFO ][           org.kde.kstars.ekos] - Ekos received a new device:  "Joystick"
[2021-07-04T12:06:56.692 CEST DEBG ][           org.kde.kstars.indi] - < Joystick >: < CONNECTION >
[2021-07-04T12:06:56.694 CEST DEBG ][           org.kde.kstars.indi] - < Joystick >: < DRIVER_INFO >
[2021-07-04T12:06:56.701 CEST DEBG ][           org.kde.kstars.indi] - < Joystick >: < DEBUG >
[2021-07-04T12:06:56.704 CEST DEBG ][           org.kde.kstars.indi] - < Joystick >: < CONFIG_PROCESS >
[2021-07-04T12:06:56.707 CEST DEBG ][           org.kde.kstars.indi] - < Joystick >: < DEVICE_PORT >
[2021-07-04T12:06:56.715 CEST INFO ][           org.kde.kstars.indi] - Pimoco mount :  "[INFO] Debug is enabled. "
[2021-07-04T12:06:56.715 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco mount >: < DEBUG_LEVEL >
[2021-07-04T12:06:56.721 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco mount >: < LOGGING_LEVEL >
[2021-07-04T12:06:56.724 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco mount >: < LOG_OUTPUT >
[2021-07-04T12:06:56.727 CEST INFO ][           org.kde.kstars.indi] - Pimoco mount :  "[INFO] Attempting connection to HA on /dev/spidev0.0 "
[2021-07-04T12:06:56.728 CEST INFO ][           org.kde.kstars.indi] - Pimoco mount :  "[INFO] HA: Handshake successful "
[2021-07-04T12:06:56.729 CEST INFO ][           org.kde.kstars.indi] - Pimoco focuser :  "[INFO] Attempting connection on /dev/spidev0.0 "
[2021-07-04T12:06:56.729 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Device /dev/spidev0.0: opening "
[2021-07-04T12:06:56.729 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] 0: sent b9 01 02 03 04   recv 38 00 00 10 0d "
[2021-07-04T12:06:56.730 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] 1: sent 39 11 12 13 14   recv 38 01 02 03 04 "
[2021-07-04T12:06:56.730 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] 2: sent b9 21 22 23 24   recv 38 01 02 03 04 "
[2021-07-04T12:06:56.730 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] 3: sent 39 31 32 33 34   recv 38 21 22 23 24 "
[2021-07-04T12:06:56.730 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] 4: sent 39 41 42 43 44   recv 38 21 22 23 24 "
[2021-07-04T12:06:56.731 CEST INFO ][           org.kde.kstars.indi] - Pimoco focuser :  "[INFO] Focuser: Handshake successful "
[2021-07-04T12:06:56.732 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Focuser: Setting target position to -22116868 "
[2021-07-04T12:06:56.732 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Focuser: Actual position -22116868 "
[2021-07-04T12:06:56.732 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Focuser: Already at target "
[2021-07-04T12:06:56.732 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Focuser: Setting target speed to +0 "
[2021-07-04T12:06:56.733 CEST INFO ][           org.kde.kstars.indi] - SkySafari :  "[INFO] SkySafari Server is running. Connect the App now to this machine using SkySafari LX200 driver. "
[2021-07-04T12:06:56.733 CEST INFO ][           org.kde.kstars.ekos] - "SkySafari" Version: "0.2" Interface: 32768 is connected.
[2021-07-04T12:06:56.734 CEST DEBG ][           org.kde.kstars.ekos] - 1  devices connected out of  4
[2021-07-04T12:06:56.869 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:06:56: Client 26: new arrival from 127.0.0.1:41238 - welcome!"
[2021-07-04T12:06:56.870 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:06:56: Driver indi_skysafari: No ASI EFW detected.INDI::BaseClient::connectServer: creating new connection..."
[2021-07-04T12:06:56.870 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:06:56: Driver indi_skysafari: 2021-07-04T10:06:56: [INFO] HA: Enabling interrupts on physical pin 35"
[2021-07-04T12:06:56.870 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:06:56: Driver indi_skysafari: Receiving Pimoco mount Device..."
[2021-07-04T12:06:56.870 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  ""
[2021-07-04T12:06:56.874 CEST INFO ][           org.kde.kstars.indi] - Pimoco mount :  "[INFO] HA: Enabling interrupts on physical pin 35 "
[2021-07-04T12:06:56.874 CEST INFO ][           org.kde.kstars.indi] - SkySafari :  "[INFO] Loading device configuration... "
[2021-07-04T12:06:56.875 CEST INFO ][           org.kde.kstars.indi] - SkySafari :  "[INFO] Device configuration applied. "
[2021-07-04T12:06:56.876 CEST INFO ][           org.kde.kstars.indi] - Pimoco mount :  "[INFO] HA: Auto-tuning... "
[2021-07-04T12:06:56.877 CEST INFO ][           org.kde.kstars.indi] - Pimoco focuser :  "[INFO] Focuser: Enabling interrupts on physical pin 35 "
[2021-07-04T12:06:56.877 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Focuser: Setting run current 800mA with global scaler 129 and iRun 15, resulting in 781mA "
[2021-07-04T12:06:56.877 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Focuser: Setting hold current 800mA with iHold 15, resulting in 781mA "
[2021-07-04T12:06:56.878 CEST INFO ][           org.kde.kstars.indi] - Pimoco focuser :  "[INFO] Focuser: Auto-tuning... "
[2021-07-04T12:06:56.878 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Focuser: Current position is -22116615 "
[2021-07-04T12:06:56.879 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Focuser: Setting target position to -22116359 "
[2021-07-04T12:06:56.879 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Focuser: Actual position -22116614 "
[2021-07-04T12:06:56.879 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Focuser: Reached target position at -22116359 after 7 polls in 0s 81ms "
[2021-07-04T12:06:56.956 CEST INFO ][           org.kde.kstars.indi] - Joystick :  "[INFO] Error: cannot find Joystick device. "
[2021-07-04T12:06:56.956 CEST DEBG ][           org.kde.kstars.ekos] - "Joystick"  is disconnected.
[2021-07-04T12:06:56.956 CEST INFO ][           org.kde.kstars.ekos] - "Joystick failed to connect.\nPlease ensure the device is connected and powered on."
[2021-07-04T12:06:57.010 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Focuser: Setting target position to -21988359 "
[2021-07-04T12:06:57.010 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Focuser: Actual position -22116349 "
[2021-07-04T12:07:01.428 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Focuser: Reached target position at -21988359 after 437 polls in 4s 418ms "
[2021-07-04T12:07:01.433 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Focuser: Setting target position to -22116615 "
[2021-07-04T12:07:01.433 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Focuser: Actual position -21988359 "
[2021-07-04T12:07:05.875 CEST INFO ][           org.kde.kstars.indi] - Pimoco mount :  "[INFO] Connection to HA on /dev/spidev0.0 successful "
[2021-07-04T12:07:05.876 CEST INFO ][           org.kde.kstars.indi] - Pimoco mount :  "[INFO] Attempting connection to Dec on /dev/spidev0.1 "
[2021-07-04T12:07:05.876 CEST INFO ][           org.kde.kstars.indi] - Pimoco mount :  "[INFO] Dec: Handshake successful "
[2021-07-04T12:07:05.879 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Focuser: Reached target position at -22116615 after 440 polls in 4s 449ms "
[2021-07-04T12:07:05.880 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Focuser: Setting hold current 100mA with iHold 1, resulting in 98mA "
[2021-07-04T12:07:05.881 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Focuser: Successfully initialized "
[2021-07-04T12:07:05.884 CEST INFO ][           org.kde.kstars.indi] - Pimoco focuser :  "[INFO] Connection on /dev/spidev0.0 successful "
[2021-07-04T12:07:05.885 CEST INFO ][           org.kde.kstars.ekos] - "Pimoco focuser" Version: "1.0" Interface: 8 is connected.
[2021-07-04T12:07:05.885 CEST DEBG ][           org.kde.kstars.ekos] - 2  devices connected out of  4
[2021-07-04T12:07:06.075 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco focuser >: < FOCUS_MOTION >
[2021-07-04T12:07:06.250 CEST INFO ][     org.kde.kstars.ekos.focus] - "Idle."
[2021-07-04T12:07:06.254 CEST INFO ][           org.kde.kstars.ekos] - "Pimoco focuser focuser is online."
[2021-07-04T12:07:06.258 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco focuser >: < REL_FOCUS_POSITION >
[2021-07-04T12:07:06.261 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco focuser >: < ABS_FOCUS_POSITION >
[2021-07-04T12:07:06.265 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco focuser >: < FOCUS_MAX >
[2021-07-04T12:07:06.268 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco focuser >: < FOCUS_ABORT_MOTION >
[2021-07-04T12:07:06.271 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco focuser >: < FOCUS_SYNC >
[2021-07-04T12:07:06.275 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco focuser >: < Presets >
[2021-07-04T12:07:06.281 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco focuser >: < Goto >
[2021-07-04T12:07:06.284 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco focuser >: < USEJOYSTICK >
[2021-07-04T12:07:06.286 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco focuser >: < SNOOP_JOYSTICK >
[2021-07-04T12:07:06.290 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco focuser >: < MOTOR >
[2021-07-04T12:07:06.307 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco focuser >: < SWITCHES >
[2021-07-04T12:07:06.312 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco focuser >: < RAMP >
[2021-07-04T12:07:06.391 CEST INFO ][           org.kde.kstars.indi] - Pimoco focuser :  "[INFO] Loading device configuration... "
[2021-07-04T12:07:06.393 CEST INFO ][           org.kde.kstars.ekos] - "Re-disabling debug logging for Pimoco focuser..."
[2021-07-04T12:07:06.398 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Toggle Debug Level -- Driver Debug "
[2021-07-04T12:07:06.399 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Toggle Logging Level -- Messages "
[2021-07-04T12:07:06.400 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco focuser >: < JOYSTICKSETTINGS >
[2021-07-04T12:07:06.408 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Focuser: Setting hold current 100mA with iHold 1, resulting in 98mA "
[2021-07-04T12:07:06.409 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Focuser: Setting run current 800mA with global scaler 129 and iRun 15, resulting in 781mA "
[2021-07-04T12:07:06.409 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Configuration successfully saved for MOTOR. "
[2021-07-04T12:07:06.409 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Configuration successfully saved for RAMP. "
[2021-07-04T12:07:06.409 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Configuration successfully saved for SWITCHES. "
[2021-07-04T12:07:06.410 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Configuration successfully saved for MOTOR. "
[2021-07-04T12:07:06.410 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Configuration successfully saved for RAMP. "
[2021-07-04T12:07:06.411 CEST INFO ][           org.kde.kstars.indi] - Pimoco focuser :  "[INFO] Device configuration applied. "
[2021-07-04T12:07:06.411 CEST DEBG ][           org.kde.kstars.indi] - Pimoco focuser : "[DEBUG] Configuration successfully loaded. "
[2021-07-04T12:07:06.412 CEST INFO ][           org.kde.kstars.indi] - Pimoco mount :  "[INFO] Dec: Enabling interrupts on physical pin 36 "
[2021-07-04T12:07:06.414 CEST INFO ][           org.kde.kstars.indi] - Pimoco mount :  "[INFO] Dec: Auto-tuning... "
[2021-07-04T12:07:06.556 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:05: Driver indi_pimoco_focuser: snooping on Joystick.JOYSTICK_AXES"
[2021-07-04T12:07:06.556 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:05: Driver indi_pimoco_focuser: snooping on Joystick.JOYSTICK_BUTTONS"
[2021-07-04T12:07:06.561 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  ""
[2021-07-04T12:07:06.562 CEST INFO ][           org.kde.kstars.ekos] - "Unable to establish the following devices:\n+ ZWO CCD\n+ ASI EFW\nPlease ensure each device is connected and powered on."
[2021-07-04T12:07:06.566 CEST INFO ][           org.kde.kstars.indi] - Pimoco focuser :  "[INFO] Debug is disabled. "
[2021-07-04T12:07:06.880 CEST INFO ][           org.kde.kstars.indi] - Pimoco focuser :  "[INFO] Focuser has reached position 4272850428 "
[2021-07-04T12:07:15.100 CEST INFO ][           org.kde.kstars.indi] - Pimoco mount :  "[INFO] Connection to Dec on /dev/spidev0.1 successful "
[2021-07-04T12:07:15.101 CEST INFO ][           org.kde.kstars.ekos] - "Pimoco mount" Version: "1.0" Interface: 5 is connected.
[2021-07-04T12:07:15.101 CEST DEBG ][           org.kde.kstars.ekos] - 3  devices connected out of  4
[2021-07-04T12:07:15.248 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari: Dispatch command error(-1): INDI: Could not find property EQUATORIAL_EOD_COORD in Pimoco mount"
[2021-07-04T12:07:15.248 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari: <setNumberVector device=\"Pimoco mount\" name=\"EQUATORIAL_EOD_COORD\" state=\"Idle\" timeout=\"60\" timestamp=\"2021-07-04T10:07:15\">"
[2021-07-04T12:07:15.248 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari:     <oneNumber name=\"RA\">"
[2021-07-04T12:07:15.248 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari: 4.9626434720832506287"
[2021-07-04T12:07:15.249 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari:     </oneNumber>"
[2021-07-04T12:07:15.249 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari:     <oneNumber name=\"DEC\">"
[2021-07-04T12:07:15.249 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari: 6.3683675130208428072"
[2021-07-04T12:07:15.249 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari:     </oneNumber>"
[2021-07-04T12:07:15.249 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari: </setNumberVector>"
[2021-07-04T12:07:15.249 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari: Dispatch command error(-1): "
[2021-07-04T12:07:15.250 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari: <setSwitchVector device=\"Pimoco mount\" name=\"TELESCOPE_PIER_SIDE\" state=\"Ok\" timeout=\"60\" timestamp=\"2021-07-04T10:07:15\">"
[2021-07-04T12:07:15.250 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari:     <oneSwitch name=\"PIER_WEST\">"
[2021-07-04T12:07:15.250 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari: Off"
[2021-07-04T12:07:15.250 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari:     </oneSwitch>"
[2021-07-04T12:07:15.250 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari:     <oneSwitch name=\"PIER_EAST\">"
[2021-07-04T12:07:15.251 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari: On"
[2021-07-04T12:07:15.251 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari:     </oneSwitch>"
[2021-07-04T12:07:15.251 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari: </setSwitchVector>"
[2021-07-04T12:07:15.251 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari: Dispatch command error(-1): "
[2021-07-04T12:07:15.251 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari: <setSwitchVector device=\"Pimoco mount\" name=\"CONNECTION\" state=\"Ok\" timeout=\"60\" timestamp=\"2021-07-04T10:07:15\">"
[2021-07-04T12:07:15.251 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari:     <oneSwitch name=\"CONNECT\">"
[2021-07-04T12:07:15.252 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari: On"
[2021-07-04T12:07:15.252 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari:     </oneSwitch>"
[2021-07-04T12:07:15.252 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari:     <oneSwitch name=\"DISCONNECT\">"
[2021-07-04T12:07:15.252 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari: Off"
[2021-07-04T12:07:15.252 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari:     </oneSwitch>"
[2021-07-04T12:07:15.252 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_skysafari: </setSwitchVector>"
[2021-07-04T12:07:15.253 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_pimoco_mount: snooping on Joystick.JOYSTICK_1"
[2021-07-04T12:07:15.253 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_pimoco_mount: snooping on Joystick.JOYSTICK_2"
[2021-07-04T12:07:15.253 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_pimoco_mount: snooping on Joystick.JOYSTICK_AXES"
[2021-07-04T12:07:15.253 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  "2021-07-04T10:07:15: Driver indi_pimoco_mount: snooping on Joystick.JOYSTICK_BUTTONS"
[2021-07-04T12:07:15.253 CEST DEBG ][           org.kde.kstars.indi] - INDI Server:  ""
[2021-07-04T12:07:15.254 CEST DEBG ][           org.kde.kstars.indi] - < Pimoco mount >: < ON_COORD_SET >
[2021-07-04T12:07:15.254 CEST INFO ][           org.kde.kstars.ekos] - "Pimoco mount is online."
[2021-07-04T12:07:15.435 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:330:13: QML MouseArea: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[2021-07-04T12:07:15.457 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:256: ReferenceError: xi18n is not defined
[2021-07-04T12:07:15.458 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:262: ReferenceError: xi18n is not defined
[2021-07-04T12:07:15.458 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:270: ReferenceError: xi18n is not defined
[2021-07-04T12:07:15.458 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:307: ReferenceError: xi18n is not defined
[2021-07-04T12:07:15.458 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:358: ReferenceError: xi18n is not defined
[2021-07-04T12:07:15.459 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:376: ReferenceError: xi18n is not defined
[2021-07-04T12:07:15.459 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:394: ReferenceError: xi18n is not defined
[2021-07-04T12:07:15.459 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:411: ReferenceError: xi18n is not defined
[2021-07-04T12:07:15.459 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:428: ReferenceError: xi18n is not defined
[2021-07-04T12:07:15.460 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:445: ReferenceError: xi18n is not defined
[2021-07-04T12:07:15.460 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:469: ReferenceError: xi18n is not defined
[2021-07-04T12:07:15.460 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:529: ReferenceError: xi18n is not defined
[2021-07-04T12:07:15.460 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:551: ReferenceError: xi18n is not defined
[2021-07-04T12:07:15.460 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:573: ReferenceError: xi18n is not defined
[2021-07-04T12:07:15.461 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:589: ReferenceError: xi18n is not defined
[2021-07-04T12:07:15.461 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:624: ReferenceError: xi18n is not defined
[2021-07-04T12:07:15.461 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:658: ReferenceError: xi18n is not defined
[2021-07-04T12:07:15.461 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:695: ReferenceError: xi18n is not defined
[2021-07-04T12:07:15.461 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:706: ReferenceError: xi18n is not defined
[2021-07-04T12:07:15.462 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:713: ReferenceError: xi18n is not defined
[2021-07-04T12:07:15.462 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:729: ReferenceError: xi18n is not defined
[2021-07-04T12:07:15.462 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:741: ReferenceError: xi18n is not defined
[2021-07-04T12:07:15.462 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:753: ReferenceError: xi18n is not defined
[2021-07-04T12:07:15.462 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:765: ReferenceError: xi18n is not defined
[2021-07-04T12:07:15.462 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:784: ReferenceError: xi18n is not defined
[2021-07-04T12:07:15.463 CEST WARN ][                       default] - qrc:/qml/mount/mountbox.qml:793: ReferenceError: xi18n is not defined
[2021-07-04T12:07:15.493 CEST INFO ][     org.kde.kstars.ekos.mount] - "Warning: Overriding UNC 6 f/4 configuration."

2 layer PCB design for Raspberry Pi hat

When mount limits disable tracking, it doesn't automatically reenable once the mount is back within limits

Fix minor hardware issues in PCB v0.4

Make drill hole for heat sink 0.3mm wider
Move GPS connector pin left towards BMP sensor to leave more room for the GPS antenna
Move RPi connector header down away from connector edge to make connectors flush with the connectors on the RPI itself

Dec tracking rate is the device Dec tracking rate, has wrong sign after meridian flip

Add support for BMP280 air pressure sensor

Make park status persistent over powerdowns

Save park flag in configuration file
Add sync to park capability
Restore park flag from config, and automatically sync to park on startup if set

Enhance motor control with SpreadChop/FullStep/StallGuard etc.

I think the .lib file is missing from the hardware folder

I was trying to look at the schematic in KiCad and the symbols aren't defined.
Thanks

Add park/unpark commands to mount

Add tracking to the Indi mount class

Mount does not resume tracking after MoveEW commands

Add XML files for automatic installation

Add ability to abort motion to mount

Add guiding commands to mount

Automated meridian flips with Kstars/Ekos don't work

Kstars/Ekos appears to expect physical pier side from Indi (east/west), not the Ascom pointing state beyont the pole/normal encoded inth these.

Conversion to AltAz delivers implausible results, mistriggering altitude limits

Add automated build pipeline for ARM7/8 as GitHub action

Add limits to mount

Add pier side support to mount

Wrap the stepper class into an indi Focuser class, building on the Indi Teenastro focuser driver

stop() may exceed bounds

Focuser does not respond to joystick commands as expected

Commands have no effect until relative movement target is set
Only one command is issued, even if the joystick is depressed for a longer time

Add 5V 3A voltage regulator to breadboard to power the pi w/o separate PSU

Add Indi driver for field rotator

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