PR feedback

- Removed votatile from variables that aren't accessed in other threads
- Extracted common function that calculates elapsed tracking time
- Created function to set status to a specific value in a thread-safe way

Author: ClutchplateDude

src/Mount.cpp

@@ -2279,6 +2279,13 @@ void Mount::setTrackingStepperPos(long stepPos)
     _stepperTRK->setCurrentPosition(stepPos);
 }
 
+void Mount::setStatus(int state)
+{
+    noInterrupts();
+    _mountStatus = state;
+    interrupts();
+}
+
 void Mount::setStatusFlag(int flag)
 {
     noInterrupts();
@@ -2590,8 +2597,7 @@ void Mount::startSlewing(int direction)
                 setStatusFlag(STATUS_SLEWING);
             }
 
-            const float trackedHours = (_trackingSpeed > 0) ? ((_stepperTRK->currentPosition() / _trackingSpeed) / 3600.0F)
-                                                            : 0.0F;  // steps / steps/s / 3600 = hours
+            const float trackedHours = getTrackedHours();
             if (direction & EAST)
             {
                 // We need to subtract the distance tracked from the physical RA home coordinate
@@ -3279,7 +3285,7 @@ void Mount::loop()
                     {
                         LOG(DEBUG_MOUNT | DEBUG_STEPPERS, "[MOUNT]: Loop:   Already at Parking pos, so done.");
                         noInterrupts();
-                        _mountStatus = STATUS_PARKED;
+                        setStatus(STATUS_PARKED);
                         interrupts();
                     }
                 }
@@ -3299,7 +3305,7 @@ void Mount::loop()
             {
                 LOG(DEBUG_MOUNT | DEBUG_STEPPERS, "[MOUNT]: Loop:   Arrived at park position...");
                 noInterrupts();
-                _mountStatus = STATUS_PARKED;
+                setStatus(STATUS_PARKED);
                 interrupts();
                 _slewingToPark = false;
             }
@@ -3590,8 +3596,7 @@ void Mount::calculateRAandDECSteppers(long &targetRASteps, long &targetDECSteps,
     LOG(DEBUG_COORD_CALC, "[MOUNT]: CalcSteppersIn: moveRA (target) is %f", moveRA);
 
     // Total hours of tracking-to-date
-    float trackedHours
-        = (_trackingSpeed > 0) ? ((_stepperTRK->currentPosition() / _trackingSpeed) / 3600.0F) : 0.0F;  // steps / steps/s / 3600 = hours
+    float trackedHours = getTrackedHours();
     LOG(DEBUG_COORD_CALC, "[MOUNT]: CalcSteppersIn: Tracked time is %l steps (%f h).", _stepperTRK->currentPosition(), trackedHours);
 
     // The current RA of the home position, taking tracking-to-date into account
@@ -4279,15 +4284,19 @@ void Mount::testUART_vactual(TMC2209Stepper *driver, int _speed, int _duration)
     #endif
 #endif
 
+float Mount::getTrackedHours()
+{
+    return (_trackingSpeed > 0) ? ((_stepperTRK->currentPosition() / _trackingSpeed) / 3600.0F) : 0.0F;  // steps / steps/s / 3600 = hours
+}
+
 /////////////////////////////////
 //
 // checkRALimit
 //
 /////////////////////////////////
 float Mount::checkRALimit()
 {
-    const float trackedHours
-        = (_trackingSpeed > 0) ? ((_stepperTRK->currentPosition() / _trackingSpeed) / 3600.0F) : 0.0F;  // steps / steps/s / 3600 = hours
+    const float trackedHours = getTrackedHours();
     const float homeRA  = _zeroPosRA.getTotalHours() + trackedHours;
     const float RALimit = RA_TRACKING_LIMIT;
     LOG(DEBUG_MOUNT_VERBOSE,

src/Mount.hpp

@@ -264,6 +264,9 @@ class Mount
     void setSlewRate(int rate);
     int getSlewRate();
 
+    // Get the number of hours we've been tracking
+    float getTrackedHours();
+    
     // Set the HA time (HA is derived from LST, the setter calculates and sets LST)
     void setHA(const DayTime &haTime);
     const DayTime HA() const;
@@ -391,6 +394,7 @@ class Mount
     // Returns a comma-delimited string with all the mounts' information
     String getStatusString();
 
+    void setStatus(int state);
     void setStatusFlag(int flag);
     void clearStatusFlag(int flag);
 
@@ -656,14 +660,14 @@ class Mount
     EndSwitch *_decEndSwitch;
 #endif
 
-    volatile unsigned long _guideRaEndTime;
-    volatile unsigned long _guideDecEndTime;
+    unsigned long _guideRaEndTime;
+    unsigned long _guideDecEndTime;
     unsigned long _lastMountPrint = 0;
     float _trackingSpeed;             // RA u-steps/sec when in tracking mode
     float _trackingSpeedCalibration;  // Dimensionless, very close to 1.0
     unsigned long _lastDisplayUpdate;
-    volatile unsigned long _trackerStoppedAt;
-    volatile bool _compensateForTrackerOff;
+    unsigned long _trackerStoppedAt;
+    bool _compensateForTrackerOff;
     volatile int _mountStatus;
 
     char scratchBuffer[24];