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ClutchplateDudeClutchplateDude
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Guiding and perf fixes (#261)
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+129
-97
lines changed

7 files changed

+129
-97
lines changed

‎Changelog.md‎

Lines changed: 4 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,3 +1,7 @@
1+
**V1.13.14 - Updates**
2+
- Improved Serial command handling (made it less 'blocking'), which should improve general performance
3+
- Guide pulses are ignored when tracking is disabled (for example, when at the limits)
4+
15
**V1.13.13 - Updates**
26
- Improved Meade command documentation
37
- Fixed a bug that was not correctly showing the stepper direction in the :GX# command reply./
@@ -44,7 +48,6 @@ NOTE: Make sure to do a Factory Reset when using this version.
4448
- Lowered ESP32 second core priority
4549
- Added support for informational display
4650
- You must upgrade to OATControl V1.1.2.0 to use with this version (at least if you want to use teh DEC park/unpark feature)
47-
4851
**V1.13.2 - Updates**
4952
- Fix for RA steps being incorrectly set on every boot.
5053

‎Version.h‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -3,4 +3,4 @@
33
// Also, numbers are interpreted as simple numbers. _ __ _
44
// So 1.8 is actually 1.08, meaning that 1.12 is a later version than 1.8. \_(..)_/
55

6-
#define VERSION "V1.13.13"
6+
#define VERSION "V1.13.14"

‎src/HallSensorHoming.cpp‎

Lines changed: 9 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -210,6 +210,7 @@ void HallSensorHoming::processHomingProgress()
210210
{
211211
// First time the pin has triggered, record that position
212212
_homingData.position[HOMING_START_PIN_POSITION] = _pMount->getCurrentStepperPosition(_axis);
213+
213214
LOG(DEBUG_STEPPERS,
214215
"[HOMING]: Potentially found start of sensor at %l",
215216
_homingData.position[HOMING_START_PIN_POSITION]);
@@ -230,6 +231,10 @@ void HallSensorHoming::processHomingProgress()
230231
// Make sure we continue moving far enough to reach end
231232
long distance = _homingData.initialDir * _stepsPerDegree * _homingData.searchDistance;
232233
_pMount->moveStepperBy(_axis, distance);
234+
LOG(DEBUG_STEPPERS,
235+
"[HOMING]: Making sure stepper keeps going by another %l steps. New target is %l",
236+
distance,
237+
_pMount->getCurrentStepperPosition(_axis) + distance);
233238

234239
_homingData.lastPinState = homingPinState;
235240
_homingData.pinChangeCount = 0;
@@ -289,6 +294,10 @@ void HallSensorHoming::processHomingProgress()
289294
// Make sure we continue moving far enough to reach end
290295
long distance = -_homingData.initialDir * _stepsPerDegree * _homingData.searchDistance;
291296
_pMount->moveStepperBy(_axis, distance);
297+
LOG(DEBUG_STEPPERS,
298+
"[HOMING]: Making sure stepper keeps going by another %l steps. New target is %l",
299+
distance,
300+
_pMount->getCurrentStepperPosition(_axis) + distance);
292301

293302
_homingData.lastPinState = homingPinState;
294303
_homingData.pinChangeCount = 0;

‎src/MeadeCommandProcessor.cpp‎

Lines changed: 3 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -626,7 +626,7 @@ bool gpsAqcuisitionComplete(int &indicator); // defined in c72_menuHA_GPS.hpp
626626
// Information:
627627
// This stops all motors, including tracking. Note that deceleration curves are still followed.
628628
// Returns:
629-
// "1" when all motors have stopped
629+
// nothing
630630
//
631631
// :Qd#
632632
// Description:
@@ -1521,6 +1521,7 @@ String MeadeCommandProcessor::handleMeadeSetInfo(String inCmd)
15211521
/////////////////////////////
15221522
String MeadeCommandProcessor::handleMeadeMovement(String inCmd)
15231523
{
1524+
LOG(DEBUG_MEADE, "[MEADE]: Process Move command: [%s]", inCmd.c_str());
15241525
if (inCmd[0] == 'S') // :MS#
15251526
{
15261527
_mount->startSlewingToTarget();
@@ -2203,7 +2204,7 @@ String MeadeCommandProcessor::processCommand(String inCmd)
22032204
{
22042205
if (inCmd[0] == ':')
22052206
{
2206-
LOG(DEBUG_MEADE, "[MEADE]: Received command '%s'", inCmd.c_str());
2207+
LOG(DEBUG_MEADE, "[MEADE]: Received command '%s'", inCmd.c_str());
22072208

22082209
// Apparently some LX200 implementations put spaces in their commands..... remove them with impunity.
22092210
int spacePos;

‎src/Mount.cpp‎

Lines changed: 82 additions & 74 deletions
Original file line numberDiff line numberDiff line change
@@ -1566,11 +1566,9 @@ void Mount::stopGuiding(bool ra, bool dec)
15661566
// Stop RA guide first, since it's just a speed change back to tracking speed
15671567
if (ra && (_mountStatus & STATUS_GUIDE_PULSE_RA))
15681568
{
1569-
LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
1570-
"[GUIDE]: stopGuide: RA set speed : %f (at %l)",
1571-
_trackingSpeed,
1572-
_stepperTRK->currentPosition());
1569+
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: stopGuide: TRK stop guide at : %l", _stepperTRK->currentPosition());
15731570
_stepperTRK->setSpeed(_trackingSpeed);
1571+
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: stopGuide: TRK speed set to : %f", _trackingSpeed);
15741572
_mountStatus &= ~STATUS_GUIDE_PULSE_RA;
15751573
}
15761574

@@ -1586,8 +1584,6 @@ void Mount::stopGuiding(bool ra, bool dec)
15861584
_stepperGUIDE->run();
15871585
_stepperTRK->runSpeed();
15881586
}
1589-
1590-
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: stopGuide: DEC stopped at : %l", _stepperGUIDE->currentPosition());
15911587
_mountStatus &= ~STATUS_GUIDE_PULSE_DEC;
15921588
}
15931589

@@ -1613,84 +1609,95 @@ void Mount::guidePulse(byte direction, int duration)
16131609
#if (DEBUG_LEVEL != DEBUG_NONE)
16141610
const char *directionName = "-NE-S---W";
16151611
#endif
1616-
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: > Guide Pulse %c for %dms", directionName[direction], duration);
1617-
if ((direction == NORTH) || (direction == SOUTH))
1612+
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: > Guide Pulse %c for %dms requested", directionName[direction], duration);
1613+
if (!isSlewingTRK())
16181614
{
1619-
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: DEC current steps : %l", _stepperGUIDE->currentPosition());
1620-
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: DEC steps/deg : %f", _stepsPerDECDegree);
1621-
LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
1622-
"[GUIDE]: guidePulse: DEC Microstep ratio : %f",
1623-
(DEC_GUIDE_MICROSTEPPING / DEC_SLEW_MICROSTEPPING));
1615+
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: Not tracking (at limit?), ignoring guide pulse");
16241616
}
16251617
else
16261618
{
1627-
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA current steps : %l", _stepperTRK->currentPosition());
1628-
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA steps/deg : %f", _stepsPerRADegree);
1629-
LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
1630-
"[GUIDE]: guidePulse: RA Microstep ratio : %f",
1631-
(RA_TRACKING_MICROSTEPPING / RA_SLEW_MICROSTEPPING));
1632-
}
1619+
if ((direction == NORTH) || (direction == SOUTH))
1620+
{
1621+
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: DEC current steps : %l", _stepperGUIDE->currentPosition());
1622+
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: DEC steps/deg : %f", _stepsPerDECDegree);
1623+
LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
1624+
"[GUIDE]: guidePulse: DEC Microstep ratio : %f",
1625+
(1.0 * DEC_GUIDE_MICROSTEPPING / DEC_SLEW_MICROSTEPPING));
1626+
}
1627+
else
1628+
{
1629+
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA current steps : %l", _stepperTRK->currentPosition());
1630+
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA steps/deg : %f", _stepsPerRADegree);
1631+
LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
1632+
"[GUIDE]: guidePulse: RA Microstep ratio : %f",
1633+
(1.0 * RA_TRACKING_MICROSTEPPING / RA_SLEW_MICROSTEPPING));
1634+
}
16331635

1634-
// DEC stepper moves at sidereal rate in both directions
1635-
// RA stepper moves at either 2.5x sidereal rate or 0.5x sidereal rate.
1636-
// Also compensate for microstepping mode change between slew & guiding/tracking
1637-
float decGuidingSpeed = _stepsPerDECDegree * (DEC_GUIDE_MICROSTEPPING / DEC_SLEW_MICROSTEPPING) * siderealDegreesInHour
1638-
/ 3600.0f; // u-steps/deg * deg/hr / sec/hr = u-steps/sec
1639-
float raGuidingSpeed = _stepsPerRADegree * (RA_TRACKING_MICROSTEPPING / RA_SLEW_MICROSTEPPING) * siderealDegreesInHour
1640-
/ 3600.0f; // u-steps/deg * deg/hr / sec/hr = u-steps/sec
1636+
// DEC stepper moves at sidereal rate in both directions
1637+
// RA stepper moves at either 2.5x sidereal rate or 0.5x sidereal rate.
1638+
// Also compensate for microstepping mode change between slew & guiding/tracking
1639+
float decGuidingSpeed = _stepsPerDECDegree * (1.0 * DEC_GUIDE_MICROSTEPPING / DEC_SLEW_MICROSTEPPING) * siderealDegreesInHour
1640+
/ 3600.0f; // u-steps/deg * deg/hr / sec/hr = u-steps/sec
1641+
float raGuidingSpeed = _stepsPerRADegree * (1.0 * RA_TRACKING_MICROSTEPPING / RA_SLEW_MICROSTEPPING) * siderealDegreesInHour
1642+
/ 3600.0f; // u-steps/deg * deg/hr / sec/hr = u-steps/sec
16411643

1642-
// TODO: Do we need to track how many steps the steppers took and add them to the GoHome calculation?
1643-
// If so, we need to remember where we were when we started the guide pulse. Then at the end,
1644-
// we can calculate the difference. Ignore DEC Guide for now.
1645-
// TODO: Take guide pulses on DEC into account
1644+
// TODO: Do we need to track how many steps the steppers took and add them to the GoHome calculation?
1645+
// If so, we need to remember where we were when we started the guide pulse. Then at the end,
1646+
// we can calculate the difference. Ignore DEC Guide for now.
1647+
// TODO: Take guide pulses on DEC into account
16461648

1647-
switch (direction)
1648-
{
1649-
case NORTH:
1650-
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: DEC base speed : %f", decGuidingSpeed);
1651-
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: DEC guide speed : %f", DEC_PULSE_MULTIPLIER * decGuidingSpeed);
1652-
_stepperGUIDE->setSpeed(DEC_PULSE_MULTIPLIER * decGuidingSpeed);
1653-
_mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_DEC;
1654-
_guideDecEndTime = millis() + duration;
1655-
break;
1649+
switch (direction)
1650+
{
1651+
case NORTH:
1652+
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: DEC base speed : %f", decGuidingSpeed);
1653+
LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
1654+
"[GUIDE]: guidePulse: DEC guide speed : %f",
1655+
DEC_PULSE_MULTIPLIER * decGuidingSpeed);
1656+
_stepperGUIDE->setSpeed(DEC_PULSE_MULTIPLIER * decGuidingSpeed);
1657+
_mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_DEC;
1658+
_guideDecEndTime = millis() + duration;
1659+
break;
16561660

1657-
case SOUTH:
1658-
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: DEC base speed : %f", decGuidingSpeed);
1659-
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: DEC guide speed : %f", -DEC_PULSE_MULTIPLIER * decGuidingSpeed);
1660-
_stepperGUIDE->setSpeed(-DEC_PULSE_MULTIPLIER * decGuidingSpeed);
1661-
_mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_DEC;
1662-
_guideDecEndTime = millis() + duration;
1663-
break;
1661+
case SOUTH:
1662+
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: DEC base speed : %f", decGuidingSpeed);
1663+
LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
1664+
"[GUIDE]: guidePulse: DEC guide speed : %f",
1665+
-DEC_PULSE_MULTIPLIER * decGuidingSpeed);
1666+
_stepperGUIDE->setSpeed(-DEC_PULSE_MULTIPLIER * decGuidingSpeed);
1667+
_mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_DEC;
1668+
_guideDecEndTime = millis() + duration;
1669+
break;
16641670

1665-
case WEST:
1666-
// We were in tracking mode before guiding, so no need to update microstepping mode on RA driver
1667-
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA base speed : %f", raGuidingSpeed);
1668-
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA speed factor : %f", _trackingSpeedCalibration);
1669-
raGuidingSpeed *= _trackingSpeedCalibration;
1670-
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA adjusted speed : %f", raGuidingSpeed);
1671-
LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
1672-
"[GUIDE]: guidePulse: RA guide speed : %f (%f x adjusted speed)",
1673-
(RA_PULSE_MULTIPLIER * raGuidingSpeed),
1674-
RA_PULSE_MULTIPLIER);
1675-
_stepperTRK->setSpeed(RA_PULSE_MULTIPLIER * raGuidingSpeed); // Faster than siderael
1676-
_mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_RA;
1677-
_guideRaEndTime = millis() + duration;
1678-
break;
1671+
case WEST:
1672+
// We were in tracking mode before guiding, so no need to update microstepping mode on RA driver
1673+
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA base speed : %f", raGuidingSpeed);
1674+
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA speed factor : %f", _trackingSpeedCalibration);
1675+
raGuidingSpeed *= _trackingSpeedCalibration;
1676+
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA adjusted speed : %f", raGuidingSpeed);
1677+
LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
1678+
"[GUIDE]: guidePulse: RA guide speed : %f (%f x adjusted speed)",
1679+
(RA_PULSE_MULTIPLIER * raGuidingSpeed),
1680+
RA_PULSE_MULTIPLIER);
1681+
_stepperTRK->setSpeed(RA_PULSE_MULTIPLIER * raGuidingSpeed); // Faster than siderael
1682+
_mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_RA;
1683+
_guideRaEndTime = millis() + duration;
1684+
break;
16791685

1680-
case EAST:
1681-
// We were in tracking mode before guiding, so no need to update microstepping mode on RA driver
1682-
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA base speed : %f", raGuidingSpeed);
1683-
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA speed factor : %f", _trackingSpeedCalibration);
1684-
raGuidingSpeed *= _trackingSpeedCalibration;
1685-
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA adjusted speed : %f", raGuidingSpeed);
1686-
LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
1687-
"[GUIDE]: guidePulse: RA guide speed : %f (%f x adjusted speed)",
1688-
(2.0 - RA_PULSE_MULTIPLIER * raGuidingSpeed),
1689-
(2.0 - RA_PULSE_MULTIPLIER));
1690-
_stepperTRK->setSpeed(raGuidingSpeed * (2.0f - RA_PULSE_MULTIPLIER)); // Slower than siderael
1691-
_mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_RA;
1692-
_guideRaEndTime = millis() + duration;
1693-
break;
1686+
case EAST:
1687+
// We were in tracking mode before guiding, so no need to update microstepping mode on RA driver
1688+
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA base speed : %f", raGuidingSpeed);
1689+
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA speed factor : %f", _trackingSpeedCalibration);
1690+
raGuidingSpeed *= _trackingSpeedCalibration;
1691+
LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: RA adjusted speed : %f", raGuidingSpeed);
1692+
LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
1693+
"[GUIDE]: guidePulse: RA guide speed : %f (%f x adjusted speed)",
1694+
(2.0 - RA_PULSE_MULTIPLIER * raGuidingSpeed),
1695+
(2.0 - RA_PULSE_MULTIPLIER));
1696+
_stepperTRK->setSpeed(raGuidingSpeed * (2.0f - RA_PULSE_MULTIPLIER)); // Slower than siderael
1697+
_mountStatus |= STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_RA;
1698+
_guideRaEndTime = millis() + duration;
1699+
break;
1700+
}
16941701
}
16951702
// Since we will not be updating the display during a guide pulse, update the display here.
16961703
#if INFO_DISPLAY_TYPE != INFO_DISPLAY_TYPE_NONE
@@ -2992,6 +2999,7 @@ void Mount::loop()
29922999
bool stopDecGuiding = (now > _guideDecEndTime) && (_mountStatus & STATUS_GUIDE_PULSE_DEC);
29933000
if (stopRaGuiding || stopDecGuiding)
29943001
{
3002+
LOG(DEBUG_GUIDE, "[MOUNT]: Loop: StopGuiding. Now: %l, RA End: %l, DEC End: %l", now, _guideRaEndTime, _guideDecEndTime);
29953003
stopGuiding(stopRaGuiding, stopDecGuiding);
29963004
}
29973005
else

‎src/b_setup.hpp‎

Lines changed: 11 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -357,7 +357,6 @@ void setup()
357357
// Set the stepper motor parameters
358358
#if (RA_STEPPER_TYPE != STEPPER_TYPE_NONE)
359359
LOG(DEBUG_ANY, "[STEPPERS]: Configure RA stepper NEMA.");
360-
LOG(DEBUG_ANY, "[STEPPERS]: Stepper SPR : %d", RA_STEPPER_SPR);
361360
LOG(DEBUG_ANY, "[STEPPERS]: Slew Microsteps : %d", RA_SLEW_MICROSTEPPING);
362361
LOG(DEBUG_ANY, "[STEPPERS]: Trk Microsteps : %d", RA_TRACKING_MICROSTEPPING);
363362
LOG(DEBUG_ANY, "[STEPPERS]: Stepper SPR : %d", RA_STEPPER_SPR);
@@ -381,17 +380,18 @@ void setup()
381380

382381
#if (DEC_STEPPER_TYPE != STEPPER_TYPE_NONE)
383382
LOG(DEBUG_ANY, "[STEPPERS]: Configure DEC stepper NEMA.");
384-
LOG(DEBUG_ANY, "[STEPPERS]: Slew Microsteps : %d", DEC_SLEW_MICROSTEPPING);
385-
LOG(DEBUG_ANY, "[STEPPERS]: Stepper SPR : %d", DEC_STEPPER_SPR);
386-
LOG(DEBUG_ANY, "[STEPPERS]: Transmission : %f", DEC_TRANSMISSION);
383+
LOG(DEBUG_ANY, "[STEPPERS]: Slew Microsteps : %d", DEC_SLEW_MICROSTEPPING);
384+
LOG(DEBUG_ANY, "[STEPPERS]: Guide Microsteps : %d", DEC_GUIDE_MICROSTEPPING);
385+
LOG(DEBUG_ANY, "[STEPPERS]: Stepper SPR : %d", DEC_STEPPER_SPR);
386+
LOG(DEBUG_ANY, "[STEPPERS]: Transmission : %f", DEC_TRANSMISSION);
387387
#ifdef NEW_STEPPER_LIB
388-
LOG(DEBUG_ANY, "[STEPPERS]: Driver Slew SPR : %l", config::Dec::DRIVER_SPR_SLEW);
389-
LOG(DEBUG_ANY, "[STEPPERS]: Driver Trk SPR : %l", config::Dec::DRIVER_SPR_TRK);
390-
LOG(DEBUG_ANY, "[STEPPERS]: SPR Slew : %f", config::Dec::SPR_SLEW);
391-
LOG(DEBUG_ANY, "[STEPPERS]: SPR Trk : %f", config::Dec::SPR_TRK);
392-
LOG(DEBUG_ANY, "[STEPPERS]: Speed Slew : %f", config::Dec::SPEED_SLEW);
393-
LOG(DEBUG_ANY, "[STEPPERS]: Accel Slew : %f", config::Dec::ACCEL_SLEW);
394-
LOG(DEBUG_ANY, "[STEPPERS]: Speed Trk : %f", config::Dec::SPEED_TRK);
388+
LOG(DEBUG_ANY, "[STEPPERS]: Driver Slew SPR : %l", config::Dec::DRIVER_SPR_SLEW);
389+
LOG(DEBUG_ANY, "[STEPPERS]: Driver Trk SPR : %l", config::Dec::DRIVER_SPR_TRK);
390+
LOG(DEBUG_ANY, "[STEPPERS]: SPR Slew : %f", config::Dec::SPR_SLEW);
391+
LOG(DEBUG_ANY, "[STEPPERS]: SPR Trk : %f", config::Dec::SPR_TRK);
392+
LOG(DEBUG_ANY, "[STEPPERS]: Speed Slew : %f", config::Dec::SPEED_SLEW);
393+
LOG(DEBUG_ANY, "[STEPPERS]: Accel Slew : %f", config::Dec::ACCEL_SLEW);
394+
LOG(DEBUG_ANY, "[STEPPERS]: Speed Trk : %f", config::Dec::SPEED_TRK);
395395
LOG(DEBUG_ANY, "[STEPPERS]: Configure DEC stepper NEMA...");
396396
mount.configureDECStepper(DECmotorPin1, DECmotorPin2, config::Dec::SPEED_SLEW, config::Dec::ACCEL_SLEW);
397397
#else

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