Mount.cpp

#include "../Configuration.hpp"
#include "Utility.hpp"
#include "EPROMStore.hpp"
#include "LcdMenu.hpp"
#include "HallSensorHoming.hpp"
#include "EndSwitches.hpp"
#include "Mount.hpp"
#include "Sidereal.hpp"
#include "core/CalendarMath.hpp"
#include "libs/MappedDict/MappedDict.hpp"

PUSH_NO_WARNINGS
#ifdef NEW_STEPPER_LIB
    #ifdef __AVR_ATmega2560__
        #include "InterruptAccelStepper.h"
        #include "StepperConfiguration.hpp"
    #endif
#endif

#if (INFO_DISPLAY_TYPE == INFO_DISPLAY_TYPE_I2C_SSD1306_128x64)
    #include "SSD1306_128x64_Display.hpp"
#endif
#include <AccelStepper.h>

#if (RA_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART) || (DEC_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART)                                          \
    || (AZ_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART) || (ALT_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART)                                       \
    || (FOCUS_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART)
    #include <TMCStepper.h>  // If you get an error here, download the TMCstepper library from "Tools > Manage Libraries"
#endif
POP_NO_WARNINGS

// slewStatus()
#define SLEWING_DEC      B00000010
#define SLEWING_RA       B00000001
#define SLEWING_BOTH     B00000011
#define SLEWING_TRACKING B00001000
#define NOT_SLEWING      B00000000
#define SLEW_MASK_ANY    B1111

#define UART_CONNECTION_TEST_RETRIES 5

const char *formatStringsDEC[] = {
    "",
    " {d}@ {m}' {s}\"",  // LCD Menu w/ cursor
    "{d}*{m}'{s}#",      // Meade
    "{d} {m}'{s}\"",     // Print
    "{d}@{m}'{s}\"",     // LCD display only
    "{d}{m}{s}",         // Compact
};

const char *formatStringsRA[] = {
    "",
    " %02dh %02dm %02ds",  // LCD Menu w/ cursor
    "%02d:%02d:%02d#",     // Meade
    "%02dh %02dm %02ds",   // Print
    "%02dh%02dm%02ds",     // LCD display only
    "%02d%02d%02d",        // Compact
};

const float siderealDegreesInHour = 14.95904348958;

/////////////////////////////////
//
// CTOR
//
/////////////////////////////////
Mount::Mount(LcdMenu *lcdMenu)
#if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE) || (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
    : _azAltWasRunning(false)
#endif
#if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
      ,
      _stepsPerAZDegree(AZIMUTH_STEPS_PER_REV / 360)
#endif
#if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
      ,
      _stepsPerALTDegree(ALTITUDE_STEPS_PER_REV / 360)
#endif

{
    _commandReceived = 0;

#if (INFO_DISPLAY_TYPE != INFO_DISPLAY_TYPE_NONE)
    _lastInfoUpdate = millis();
#endif
    _lcdMenu = lcdMenu;
    initializeVariables();
}

void Mount::initializeVariables()
{
    // We are now defaulting to northern hemisphere at 45deg. Switching is now supported
    // at runtime when the Latitude is received via Meade command.
    inNorthernHemisphere = NORTHERN_HEMISPHERE == 1;

    _stepsPerRADegree  = RA_STEPS_PER_DEGREE;   // u-steps per degree when slewing
    _stepsPerDECDegree = DEC_STEPS_PER_DEGREE;  // u-steps per degree when slewing

    _mountStatus       = 0;
    _lastDisplayUpdate = 0;
    _stepperWasRunning = false;
    _latitude          = Latitude(inNorthernHemisphere ? 45.0f : -45.0f);
    _longitude         = Longitude(100.0);
    _zeroPosDEC        = 0.0f;

    _compensateForTrackerOff = false;
    _trackerStoppedAt        = 0;

    _totalDECMove            = 0;
    _totalRAMove             = 0;
    _moveRate                = 4;
    _backlashCorrectionSteps = 0;
    _correctForBacklash      = false;
    _slewingToHome           = false;
    _slewingToPark           = false;
    _decLowerLimit           = 0;
    _decUpperLimit           = 0;

#if USE_GYRO_LEVEL == 1
    _pitchCalibrationAngle = 0;
    _rollCalibrationAngle  = 0;
#endif

    _localUtcOffset          = 0;
    _localStartDate.year     = 2021;
    _localStartDate.month    = 1;
    _localStartDate.day      = 1;
    _localStartTimeSetMillis = -1;
    _lastTRKCheck            = 0;
}

/////////////////////////////////
//
// clearConfiguration
//
/////////////////////////////////
void Mount::clearConfiguration()
{
    EEPROMStore::clearConfiguration();
    initializeVariables();
    readConfiguration();
}

/////////////////////////////////
//
// readConfiguration
//
/////////////////////////////////
void Mount::readConfiguration()
{
    LOG(DEBUG_INFO, "[MOUNT]: Reading configuration data from EEPROM");
    readPersistentData();
    LOG(DEBUG_INFO, "[MOUNT]: Done reading configuration data from EEPROM");
}

/////////////////////////////////
//
// readPersistentData
//
/////////////////////////////////
void Mount::readPersistentData()
{
    // EEPROMStore will always return valid data, even if no data is present in the store
    int16_t lastFlashed = EEPROMStore::getLastFlashedVersion();

    // Calculate this running firmwares version.
    String sVersion = String(VERSION);
    int firstDot    = sVersion.indexOf(".");
    int secondDot   = sVersion.indexOf(".", firstDot + 1);
    int16_t version = 10000 * sVersion.substring(1, firstDot).toInt();
    version += 100 * sVersion.substring(firstDot + 1, secondDot).toInt();
    version += sVersion.substring(secondDot + 1).toInt();

    if (lastFlashed != version)
    {
        LOG(DEBUG_INFO, "[MOUNT]: EEPROM: New Flash detected! Flashed from %d to %d.", lastFlashed, version);
        // Write upgrade code here if needed. lastFlashed is 0 if we have never flashed V1.14.x and beyond
        EEPROMStore::storeLastFlashedVersion(version);
        if (lastFlashed < 11307)
        {
            LOG(DEBUG_INFO, "[MOUNT]: EEPROM: First time post 1.13.6, setting AZ and ALT home to 0");
            // Introduced these two in 1.13.7
            EEPROMStore::storeALTPosition(0);
            EEPROMStore::storeAZPosition(0);
        }
    }
    else
    {
        LOG(DEBUG_INFO, "[MOUNT]: EEPROM: Same firmware version as last boot %d.", version);
    }

    _stepsPerRADegree = EEPROMStore::getRAStepsPerDegree();
    LOG(DEBUG_INFO, "[MOUNT]: EEPROM: RA steps/deg is %f", _stepsPerRADegree);

    _stepsPerDECDegree = EEPROMStore::getDECStepsPerDegree();
    LOG(DEBUG_INFO, "[MOUNT]: EEPROM: DEC steps/deg is %f", _stepsPerDECDegree);

#if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
    _stepsPerAZDegree = EEPROMStore::getAZStepsPerDegree();
    LOG(DEBUG_INFO, "[MOUNT]: EEPROM: AZ steps/deg is %f", _stepsPerAZDegree);
#endif

#if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
    _stepsPerALTDegree = EEPROMStore::getALTStepsPerDegree();
    LOG(DEBUG_INFO, "[MOUNT]: EEPROM: ALT steps/deg is %f", _stepsPerALTDegree);
#endif
    float speed = EEPROMStore::getSpeedFactor();
    LOG(DEBUG_INFO, "[MOUNT]: EEPROM: Speed factor is %f", speed);
    setSpeedCalibration(speed, false);

    _backlashCorrectionSteps = EEPROMStore::getBacklashCorrectionSteps();
    LOG(DEBUG_INFO, "[MOUNT]: EEPROM: Backlash correction is %d", _backlashCorrectionSteps);

    _latitude = EEPROMStore::getLatitude();
    LOG(DEBUG_INFO, "[MOUNT]: EEPROM: Latitude is %s", _latitude.ToString());

    _longitude = EEPROMStore::getLongitude();
    LOG(DEBUG_INFO, "[MOUNT]: EEPROM: Longitude is %s", _longitude.ToString());

    _localUtcOffset = EEPROMStore::getUtcOffset();
    LOG(DEBUG_INFO, "[MOUNT]: EEPROM: UTC offset is %d", _localUtcOffset);

#if USE_GYRO_LEVEL == 1
    _pitchCalibrationAngle = EEPROMStore::getPitchCalibrationAngle();
    LOG(DEBUG_INFO, "[MOUNT]: EEPROM: Pitch Offset is %f", _pitchCalibrationAngle);

    _rollCalibrationAngle = EEPROMStore::getRollCalibrationAngle();
    LOG(DEBUG_INFO, "[MOUNT]: EEPROM: Roll Offset is %f", _rollCalibrationAngle);
#endif

    _decLowerLimit = static_cast<long>(-(EEPROMStore::getDECLowerLimit() * _stepsPerDECDegree));
    if (_decLowerLimit == 0 && DEC_LIMIT_DOWN != 0)
    {
        _decLowerLimit = static_cast<long>(-(DEC_LIMIT_DOWN * _stepsPerDECDegree));
    }
    _decUpperLimit = static_cast<long>((EEPROMStore::getDECUpperLimit() * _stepsPerDECDegree));
    if (_decUpperLimit == 0 && DEC_LIMIT_UP != 0)
    {
        _decUpperLimit = static_cast<long>(DEC_LIMIT_UP * _stepsPerDECDegree);
    }
    LOG(DEBUG_INFO, "[MOUNT]: EEPROM: DEC limits read as %l -> %l", _decLowerLimit, _decUpperLimit);

#if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
    long altPos = EEPROMStore::getALTPosition();
    _stepperALT->setCurrentPosition(altPos);
#endif

#if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
    long azPos = EEPROMStore::getAZPosition();
    _stepperAZ->setCurrentPosition(azPos);
#endif

    configureHemisphere(_latitude.getTotalHours() > 0);
}

/////////////////////////////////
//
// configureHemisphere
//
/////////////////////////////////
void Mount::configureHemisphere(bool inNorthern, bool force)
{
    if ((inNorthernHemisphere != inNorthern) || force)
    {
        bool wasTracking = isSlewingTRK();
        LOG(DEBUG_ANY, "[SYSTEM]: Hemisphere changed (or forced update) to %s.", inNorthern ? "northern" : "southern");
        LOG(DEBUG_ANY, "[SYSTEM]: Stopping all steppers.");
        stopSlewing(ALL_DIRECTIONS | TRACKING);
        waitUntilStopped(ALL_DIRECTIONS);
        inNorthernHemisphere = inNorthern;
        bool invertDir       = inNorthernHemisphere ? (RA_INVERT_DIR == 1) : (RA_INVERT_DIR != 1);
        LOG(DEBUG_ANY, "[SYSTEM]: Configured RA steppers, DIR Invert is %d", invertDir);
        _stepperRA->setPinsInverted(invertDir, false, false);
        _stepperTRK->setPinsInverted(invertDir, false, false);

        LOG(DEBUG_ANY, "[SYSTEM]: Reset RA and TRK positions to 0");
        _stepperTRK->setCurrentPosition(0);
        _stepperRA->setCurrentPosition(0);
        if (wasTracking)
        {
            LOG(DEBUG_ANY, "[SYSTEM]: Restarting TRK since it was on.");
            startSlewing(TRACKING);
        }
    }
    else
    {
        LOG(DEBUG_ANY, "[SYSTEM]: Already in %s hemisphere, no action taken.", inNorthernHemisphere ? "northern" : "southern");
    }
}

/////////////////////////////////
//
// configureRAStepper
//
/////////////////////////////////
void Mount::configureRAStepper(byte pin1, byte pin2, uint32_t maxSpeed, uint32_t maxAcceleration)
{
#ifdef NEW_STEPPER_LIB
    _stepperRA = new StepperRaSlew(AccelStepper::DRIVER, pin1, pin2);

    // Use another AccelStepper to run the RA motor as well. This instance tracks earths rotation.
    _stepperTRK = new StepperRaTrk(AccelStepper::DRIVER, pin1, pin2);
#else
    _stepperRA = new AccelStepper(AccelStepper::DRIVER, pin1, pin2);

    // Use another AccelStepper to run the RA motor as well. This instance tracks earths rotation.
    _stepperTRK = new AccelStepper(AccelStepper::DRIVER, pin1, pin2);
#endif

    _stepperRA->setMaxSpeed(maxSpeed);
    _stepperRA->setAcceleration(maxAcceleration);
    _maxRASpeed        = maxSpeed;
    _maxRAAcceleration = maxAcceleration;

    _stepperTRK->setMaxSpeed(5000);
    _stepperTRK->setAcceleration(15000);
}

/////////////////////////////////
//
// configureDECStepper
//
/////////////////////////////////
void Mount::configureDECStepper(byte pin1, byte pin2, uint32_t maxSpeed, uint32_t maxAcceleration)
{
#ifdef NEW_STEPPER_LIB
    _stepperDEC = new StepperDecSlew(AccelStepper::DRIVER, pin1, pin2);

    // Use another AccelStepper to run the DEC motor as well. This instance is used for guiding.
    _stepperGUIDE = new StepperDecTrk(AccelStepper::DRIVER, pin1, pin2);
#else
    _stepperDEC = new AccelStepper(AccelStepper::DRIVER, pin1, pin2);

    // Use another AccelStepper to run the DEC motor as well. This instance is used for guiding.
    _stepperGUIDE = new AccelStepper(AccelStepper::DRIVER, pin1, pin2);
#endif
    _stepperDEC->setMaxSpeed(maxSpeed);
    _stepperDEC->setAcceleration(maxAcceleration);
    _maxDECSpeed        = maxSpeed;
    _maxDECAcceleration = maxAcceleration;

    _stepperGUIDE->setMaxSpeed(maxSpeed);
    _stepperGUIDE->setAcceleration(maxAcceleration);

#if DEC_INVERT_DIR == 1
    _stepperDEC->setPinsInverted(true, false, false);
    _stepperGUIDE->setPinsInverted(true, false, false);
#endif
    _stepperGUIDE->setCurrentPosition(0);
}

/////////////////////////////////
//
// configureAZStepper / configureALTStepper
//
/////////////////////////////////
#if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
void Mount::configureAZStepper(byte pin1, byte pin2, int maxSpeed, int maxAcceleration)
{
    #ifdef NEW_STEPPER_LIB
    _stepperAZ = new StepperAzSlew(AccelStepper::DRIVER, pin1, pin2);
    #else
    _stepperAZ = new AccelStepper(AccelStepper::DRIVER, pin1, pin2);
    #endif
    _stepperAZ->setMaxSpeed(maxSpeed);
    _stepperAZ->setAcceleration(maxAcceleration);
    _maxAZSpeed        = maxSpeed;
    _maxAZAcceleration = maxAcceleration;
    #if AZ_INVERT_DIR == 1
    _stepperAZ->setPinsInverted(true, false, false);
    #endif
}
#endif

#if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
void Mount::configureALTStepper(byte pin1, byte pin2, int maxSpeed, int maxAcceleration)
{
    #ifdef NEW_STEPPER_LIB
    _stepperALT = new StepperAltSlew(AccelStepper::DRIVER, pin1, pin2);
    #else
    _stepperALT = new AccelStepper(AccelStepper::DRIVER, pin1, pin2);
    #endif
    _stepperALT->setMaxSpeed(maxSpeed);
    _stepperALT->setAcceleration(maxAcceleration);
    _maxALTSpeed        = maxSpeed;
    _maxALTAcceleration = maxAcceleration;
    #if ALT_INVERT_DIR == 1
    _stepperALT->setPinsInverted(true, false, false);
    #endif
}
#endif

/////////////////////////////////
//
// configureFocusStepper
//
/////////////////////////////////
#if (FOCUS_STEPPER_TYPE != STEPPER_TYPE_NONE)
void Mount::configureFocusStepper(byte pin1, byte pin2, int maxSpeed, int maxAcceleration)
{
    #ifdef NEW_STEPPER_LIB
    _stepperFocus = new StepperFocusSlew(AccelStepper::DRIVER, pin1, pin2);
    #else
    _stepperFocus = new AccelStepper(AccelStepper::DRIVER, pin1, pin2);
    #endif
    _stepperFocus->setMaxSpeed(maxSpeed);
    _stepperFocus->setAcceleration(maxAcceleration);
    _stepperFocus->setSpeed(0);
    _stepperFocus->setCurrentPosition(50000);
    _maxFocusSpeed        = maxSpeed;
    _maxFocusAcceleration = maxAcceleration;
    _maxFocusRateSpeed    = maxSpeed;
}
#endif

#if RA_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART || DEC_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART                                              \
    || AZ_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART || ALT_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART                                           \
    || FOCUS_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
    #if (UART_CONNECTION_TEST_TXRX == 1) || (TEST_VERIFY_MODE == 1)
bool Mount::connectToDriver(const String &driverKind, uint16_t *rmsCurrent)
{
    MappedDict<String, TMC2209Stepper *>::DictEntry_t lookupTable[] = {
        #if RA_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
        {"RA", _driverRA},
        #endif
        #if DEC_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
        {"DEC", _driverDEC},
        #endif
        #if ALT_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
        {"ALT", _driverALT},
        #endif
        #if AZ_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
        {"AZ", _driverAZ},
        #endif
        #if FOCUS_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
        {"FOC", _driverFocus},
        #endif
    };
    auto driverLookup = MappedDict<String, TMC2209Stepper *>(lookupTable, ARRAY_SIZE(lookupTable));

    TMC2209Stepper *driver = nullptr;
    driverLookup.tryGet(driverKind, &driver);

    if (driver != nullptr)
    {
        LOG(DEBUG_STEPPERS, "[STEPPERS]: Testing UART Connection to %s driver...", driverKind.c_str());
        for (int i = 0; i < UART_CONNECTION_TEST_RETRIES; i++)
        {
            if (driver->test_connection() == 0)
            {
                LOG(DEBUG_STEPPERS, "[STEPPERS]: UART connection to %s driver successful.", driverKind.c_str());
                if (rmsCurrent != nullptr)
                {
                    *rmsCurrent = driver->rms_current();
                }
                return true;
            }
            else
            {
                delay(500);
            }
        }
        LOG(DEBUG_STEPPERS, "[STEPPERS]: UART connection to %s driver failed.", driverKind.c_str());
    }
    if (rmsCurrent != nullptr)
    {
        *rmsCurrent = 0;
    }
    return false;
}
    #endif
#endif

/////////////////////////////////
//
// configureRAdriver
// TMC2209 UART only
/////////////////////////////////
#if RA_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
    #if SW_SERIAL_UART == 0
void Mount::configureRAdriver(Stream *serial, float rsense, byte driveraddress, int rmscurrent, int stallvalue)
{
    _driverRA = new TMC2209Stepper(serial, rsense, driveraddress);
    _driverRA->begin();
    bool UART_Rx_connected = false;
        #if UART_CONNECTION_TEST_TXRX == 1
    UART_Rx_connected = connectToDriver("RA");
    if (!UART_Rx_connected)
    {
        digitalWrite(RA_EN_PIN,
                     HIGH);  //Disable motor for safety reasons if UART connection fails to avoid operating at incorrect rms_current
    }
        #endif
    _driverRA->toff(0);
        #if USE_VREF == 0  //By default, Vref is ignored when using UART to specify rms current.
    _driverRA->I_scale_analog(false);
        #endif
    LOG(DEBUG_STEPPERS, "[MOUNT]: Requested RA motor rms_current: %d mA", rmscurrent);
    _driverRA->rms_current(rmscurrent, 1.0f);  //holdMultiplier = 1 to set ihold = irun
    _driverRA->pdn_disable(1);
        #if defined(ARDUINO_ARCH_RP2040)
    _driverRA->toff(4);  // toff>=3 required for StealthChop slow-decay phase
        #else
    _driverRA->toff(1);
        #endif
    _driverRA->en_spreadCycle(RA_UART_STEALTH_MODE == 0);
    _driverRA->blank_time(24);
    _driverRA->microsteps(RA_TRACKING_MICROSTEPPING == 1 ? 0 : RA_TRACKING_MICROSTEPPING);  // System starts in tracking mode
    _driverRA->fclktrim(4);
    _driverRA->TCOOLTHRS(0xFFFFF);  //xFFFFF);
    _driverRA->semin(0);            //disable CoolStep so that current is consistent
    _driverRA->SGTHRS(stallvalue);
    if (UART_Rx_connected)
    {
        LOG(DEBUG_STEPPERS, "[MOUNT]: Actual RA motor rms_current: %d mA", _driverRA->rms_current());
        LOG(DEBUG_STEPPERS, "[MOUNT]: Actual RA CS value: %d", _driverRA->cs_actual());
        LOG(DEBUG_STEPPERS, "[MOUNT]: Actual RA vsense: %d", _driverRA->vsense());
    }
}

    #elif SW_SERIAL_UART == 1

void Mount::configureRAdriver(uint16_t RA_SW_RX, uint16_t RA_SW_TX, float rsense, byte driveraddress, int rmscurrent, int stallvalue)
{
    _driverRA = new TMC2209Stepper(RA_SW_RX, RA_SW_TX, rsense, driveraddress);
    _driverRA->beginSerial(19200);
    _driverRA->mstep_reg_select(true);
    _driverRA->pdn_disable(true);
    bool UART_Rx_connected = false;
        #if UART_CONNECTION_TEST_TXRX == 1
    UART_Rx_connected = connectToDriver("RA");
    if (!UART_Rx_connected)
    {
        digitalWrite(RA_EN_PIN,
                     HIGH);  //Disable motor for safety reasons if UART connection fails to avoid operating at incorrect rms_current
    }
        #endif
    _driverRA->toff(0);
        #if USE_VREF == 0  //By default, Vref is ignored when using UART to specify rms current.
    _driverRA->I_scale_analog(false);
        #endif
    LOG(DEBUG_STEPPERS, "[MOUNT]: Requested RA motor rms_current: %d mA", rmscurrent);
    _driverRA->rms_current(rmscurrent, 1.0f);  //holdMultiplier = 1 to set ihold = irun
        #if defined(ARDUINO_ARCH_RP2040)
    _driverRA->toff(4);  // toff>=3 required for StealthChop slow-decay phase
        #else
    _driverRA->toff(1);
        #endif
    _driverRA->en_spreadCycle(RA_UART_STEALTH_MODE == 0);
    _driverRA->blank_time(24);
    _driverRA->semin(0);                                                                    //disable CoolStep so that current is consistent
    _driverRA->microsteps(RA_TRACKING_MICROSTEPPING == 1 ? 0 : RA_TRACKING_MICROSTEPPING);  // System starts in tracking mode
    _driverRA->fclktrim(4);
    _driverRA->TCOOLTHRS(0xFFFFF);  //xFFFFF);
    _driverRA->SGTHRS(stallvalue);
    if (UART_Rx_connected)
    {
        LOG(DEBUG_STEPPERS, "[MOUNT]: Actual RA motor rms_current: %d mA", _driverRA->rms_current());
        LOG(DEBUG_STEPPERS, "[MOUNT]: Actual RA CS value: %d", _driverRA->cs_actual());
        LOG(DEBUG_STEPPERS, "[MOUNT]: Actual RA vsense: %d", _driverRA->vsense());
    }
}
    #endif
#endif

/////////////////////////////////
//
// configureDECdriver
// TMC2209 UART only
/////////////////////////////////
#if DEC_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
    #if SW_SERIAL_UART == 0
void Mount::configureDECdriver(Stream *serial, float rsense, byte driveraddress, int rmscurrent, int stallvalue)
{
    _driverDEC = new TMC2209Stepper(serial, rsense, driveraddress);
    _driverDEC->begin();
    bool UART_Rx_connected = false;
        #if UART_CONNECTION_TEST_TXRX == 1
    UART_Rx_connected = connectToDriver("DEC");
    if (!UART_Rx_connected)
    {
        digitalWrite(DEC_EN_PIN,
                     HIGH);  //Disable motor for safety reasons if UART connection fails to avoid operating at incorrect rms_current
    }
        #endif
    _driverDEC->toff(0);
        #if USE_VREF == 0  //By default, Vref is ignored when using UART to specify rms current.
    _driverDEC->I_scale_analog(false);
        #endif
    LOG(DEBUG_STEPPERS, "[MOUNT]: Requested DEC motor rms_current: %d mA", rmscurrent);
    _driverDEC->rms_current(rmscurrent, 1.0f);  //holdMultiplier = 1 to set ihold = irun
    _driverDEC->pdn_disable(1);
    _driverDEC->iholddelay(15);
    _driverDEC->TPOWERDOWN(255);
        #if defined(ARDUINO_ARCH_RP2040)
    _driverDEC->toff(4);  // toff>=3 required for StealthChop slow-decay phase
        #else
    _driverDEC->toff(1);
        #endif
    _driverDEC->en_spreadCycle(DEC_UART_STEALTH_MODE == 0);
    _driverDEC->blank_time(24);
    _driverDEC->microsteps(
        DEC_GUIDE_MICROSTEPPING == 1 ? 0 : DEC_GUIDE_MICROSTEPPING);  // If 1 then disable microstepping. Start with Guide microsteps.
    _driverDEC->TCOOLTHRS(0xFFFFF);
    _driverDEC->semin(0);  //disable CoolStep so that current is consistent
    _driverDEC->SGTHRS(stallvalue);
    if (UART_Rx_connected)
    {
        LOG(DEBUG_STEPPERS, "[MOUNT]: Actual DEC motor rms_current: %d mA", _driverDEC->rms_current());
        LOG(DEBUG_STEPPERS, "[MOUNT]: Actual DEC CS value: %d", _driverDEC->cs_actual());
        LOG(DEBUG_STEPPERS, "[MOUNT]: Actual DEC vsense: %d", _driverDEC->vsense());
    }
}

    #elif SW_SERIAL_UART == 1

void Mount::configureDECdriver(uint16_t DEC_SW_RX, uint16_t DEC_SW_TX, float rsense, byte driveraddress, int rmscurrent, int stallvalue)
{
    _driverDEC = new TMC2209Stepper(DEC_SW_RX, DEC_SW_TX, rsense, driveraddress);
    _driverDEC->beginSerial(19200);
    _driverDEC->mstep_reg_select(true);
    _driverDEC->pdn_disable(true);
    bool UART_Rx_connected = false;
        #if UART_CONNECTION_TEST_TXRX == 1
    UART_Rx_connected = connectToDriver("DEC");
    if (!UART_Rx_connected)
    {
        digitalWrite(DEC_EN_PIN,
                     HIGH);  //Disable motor for safety reasons if UART connection fails to avoid operating at incorrect rms_current
    }
        #endif
    _driverDEC->toff(0);
        #if USE_VREF == 0  //By default, Vref is ignored when using UART to specify rms current.
    _driverDEC->I_scale_analog(false);
        #endif
    LOG(DEBUG_STEPPERS, "[MOUNT]: Requested DEC motor rms_current: %d mA", rmscurrent);
    _driverDEC->rms_current(rmscurrent, 1.0f);  //holdMultiplier = 1 to set ihold = irun
        #if defined(ARDUINO_ARCH_RP2040)
    _driverDEC->toff(4);  // toff>=3 required for StealthChop slow-decay phase
        #else
    _driverDEC->toff(1);
        #endif
    _driverDEC->en_spreadCycle(DEC_UART_STEALTH_MODE == 0);
    _driverDEC->blank_time(24);
    _driverDEC->microsteps(
        DEC_GUIDE_MICROSTEPPING == 1 ? 0 : DEC_GUIDE_MICROSTEPPING);  // If 1 then disable microstepping. Start with Guide microsteps
    _driverDEC->TCOOLTHRS(0xFFFFF);
    _driverDEC->semin(0);  //disable CoolStep so that current is consistent
    _driverDEC->SGTHRS(stallvalue);
    if (UART_Rx_connected)
    {
        LOG(DEBUG_STEPPERS, "[MOUNT]: Actual DEC motor rms_current: %d mA", _driverDEC->rms_current());
        LOG(DEBUG_STEPPERS, "[MOUNT]: Actual DEC CS value: %d", _driverDEC->cs_actual());
        LOG(DEBUG_STEPPERS, "[MOUNT]: Actual DEC vsense: %d", _driverDEC->vsense());
    }
}
    #endif
#endif

/////////////////////////////////
//
// configureAZdriver
// TMC2209 UART only
/////////////////////////////////
#if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE) && (AZ_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART)
    #if SW_SERIAL_UART == 0
void Mount::configureAZdriver(Stream *serial, float rsense, byte driveraddress, int rmscurrent, int stallvalue)
{
    _driverAZ = new TMC2209Stepper(serial, rsense, driveraddress);
    _driverAZ->begin();
    bool UART_Rx_connected = false;
        #if UART_CONNECTION_TEST_TXRX == 1
    UART_Rx_connected = connectToDriver("AZ");
    if (!UART_Rx_connected)
    {
        digitalWrite(AZ_EN_PIN,
                     HIGH);  //Disable motor for safety reasons if UART connection fails to avoid operating at incorrect rms_current
    }
        #endif
    _driverAZ->toff(0);
        #if USE_VREF == 0  //By default, Vref is ignored when using UART to specify rms current.
    _driverAZ->I_scale_analog(false);
        #endif
    LOG(DEBUG_STEPPERS, "[MOUNT]: Requested AZ motor rms_current: %d mA", rmscurrent);
    _driverAZ->rms_current(rmscurrent, AZ_MOTOR_HOLD_SETTING / 100.0);  //holdMultiplier = 1 to set ihold = irun
        #if defined(ARDUINO_ARCH_RP2040)
    _driverAZ->toff(4);  // toff>=3 required for StealthChop slow-decay phase
        #else
    _driverAZ->toff(1);
        #endif
    _driverAZ->en_spreadCycle(0);
    _driverAZ->blank_time(24);
    _driverAZ->microsteps(AZ_MICROSTEPPING == 1 ? 0 : AZ_MICROSTEPPING);  // If 1 then disable microstepping
    _driverAZ->TCOOLTHRS(0xFFFFF);                                        //xFFFFF);
    _driverAZ->semin(0);                                                  //disable CoolStep so that current is consistent
    _driverAZ->SGTHRS(stallvalue);
    if (UART_Rx_connected)
    {
        LOG(DEBUG_STEPPERS, "[MOUNT]: Actual AZ motor rms_current: %d mA", _driverAZ->rms_current());
        LOG(DEBUG_STEPPERS, "[MOUNT]: Actual AZ CS value: %d", _driverAZ->cs_actual());
        LOG(DEBUG_STEPPERS, "[MOUNT]: Actual AZ vsense: %d", _driverAZ->vsense());
    }
}

    #elif SW_SERIAL_UART == 1

void Mount::configureAZdriver(uint16_t AZ_SW_RX, uint16_t AZ_SW_TX, float rsense, byte driveraddress, int rmscurrent, int stallvalue)
{
    _driverAZ = new TMC2209Stepper(AZ_SW_RX, AZ_SW_TX, rsense, driveraddress);
    _driverAZ->beginSerial(19200);
    _driverAZ->mstep_reg_select(true);
    _driverAZ->pdn_disable(true);
    bool UART_Rx_connected = false;
        #if UART_CONNECTION_TEST_TXRX == 1
    UART_Rx_connected = connectToDriver("AZ");
    if (!UART_Rx_connected)
    {
        digitalWrite(AZ_EN_PIN,
                     HIGH);  //Disable motor for safety reasons if UART connection fails to avoid operating at incorrect rms_current
    }
        #endif
    _driverAZ->toff(0);
        #if USE_VREF == 0  //By default, Vref is ignored when using UART to specify rms current.
    _driverAZ->I_scale_analog(false);
        #endif
    LOG(DEBUG_STEPPERS, "[MOUNT]: Requested AZ motor rms_current: %d mA", rmscurrent);
    _driverAZ->rms_current(rmscurrent, AZ_MOTOR_HOLD_SETTING / 100.0);  //holdMultiplier = 1 to set ihold = irun
        #if defined(ARDUINO_ARCH_RP2040)
    _driverAZ->toff(4);  // toff>=3 required for StealthChop slow-decay phase
        #else
    _driverAZ->toff(1);
        #endif
    _driverAZ->en_spreadCycle(0);
    _driverAZ->blank_time(24);
    _driverAZ->microsteps(AZ_MICROSTEPPING == 1 ? 0 : AZ_MICROSTEPPING);  // If 1 then disable microstepping
    _driverAZ->TCOOLTHRS(0xFFFFF);                                        //xFFFFF);
    _driverAZ->semin(0);                                                  //disable CoolStep so that current is consistent
    _driverAZ->SGTHRS(stallvalue);
    if (UART_Rx_connected)
    {
        LOG(DEBUG_STEPPERS, "[MOUNT]: Actual AZ motor rms_current: %d mA", _driverAZ->rms_current());
        LOG(DEBUG_STEPPERS, "[MOUNT]: Actual AZ CS value: %d", _driverAZ->cs_actual());
        LOG(DEBUG_STEPPERS, "[MOUNT]: Actual AZ vsense: %d", _driverAZ->vsense());
    }
}
    #endif
#endif

/////////////////////////////////
//
// configureALTdriver
// TMC2209 UART only
/////////////////////////////////
#if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE) && (ALT_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART)
    #if SW_SERIAL_UART == 0
void Mount::configureALTdriver(Stream *serial, float rsense, byte driveraddress, int rmscurrent, int stallvalue)
{
    _driverALT = new TMC2209Stepper(serial, rsense, driveraddress);
    _driverALT->begin();
    bool UART_Rx_connected = false;
        #if UART_CONNECTION_TEST_TXRX == 1
    UART_Rx_connected = connectToDriver("ALT");
    if (!UART_Rx_connected)
    {
        digitalWrite(ALT_EN_PIN,
                     HIGH);  //Disable motor for safety reasons if UART connection fails to avoid operating at incorrect rms_current
    }
        #endif
    _driverALT->toff(0);
        #if USE_VREF == 0  //By default, Vref is ignored when using UART to specify rms current.
    _driverALT->I_scale_analog(false);
        #endif
    LOG(DEBUG_STEPPERS, "[MOUNT]: Requested ALT motor rms_current: %d mA", rmscurrent);
    _driverALT->rms_current(rmscurrent, ALT_MOTOR_HOLD_SETTING / 100.0);  //holdMultiplier = 1 to set ihold = irun
        #if defined(ARDUINO_ARCH_RP2040)
    _driverALT->toff(4);  // toff>=3 required for StealthChop slow-decay phase
        #else
    _driverALT->toff(1);
        #endif
    _driverALT->en_spreadCycle(0);
    _driverALT->blank_time(24);
    _driverALT->microsteps(ALT_MICROSTEPPING == 1 ? 0 : ALT_MICROSTEPPING);  // If 1 then disable microstepping
    _driverALT->TCOOLTHRS(0xFFFFF);                                          //xFFFFF);
    _driverALT->semin(0);                                                    //disable CoolStep so that current is consistent
    _driverALT->SGTHRS(stallvalue);
    if (UART_Rx_connected)
    {
        LOG(DEBUG_STEPPERS, "[MOUNT]: Actual ALT motor rms_current: %d mA", _driverALT->rms_current());
        LOG(DEBUG_STEPPERS, "[MOUNT]: Actual ALT CS value: %d", _driverALT->cs_actual());
        LOG(DEBUG_STEPPERS, "[MOUNT]: Actual ALT vsense: %d", _driverALT->vsense());
    }
}

    #elif SW_SERIAL_UART == 1

void Mount::configureALTdriver(uint16_t ALT_SW_RX, uint16_t ALT_SW_TX, float rsense, byte driveraddress, int rmscurrent, int stallvalue)
{
    _driverALT = new TMC2209Stepper(ALT_SW_RX, ALT_SW_TX, rsense, driveraddress);
    _driverALT->beginSerial(19200);
    _driverALT->mstep_reg_select(true);
    _driverALT->pdn_disable(true);
        #if UART_CONNECTION_TEST_TXRX == 1
    bool UART_Rx_connected = false;
    UART_Rx_connected      = connectToDriver("ALT");
    if (!UART_Rx_connected)
    {
        digitalWrite(ALT_EN_PIN,
                     HIGH);  //Disable motor for safety reasons if UART connection fails to avoid operating at incorrect rms_current
    }
        #endif
    _driverALT->toff(0);
        #if USE_VREF == 0  //By default, Vref is ignored when using UART to specify rms current.
    _driverALT->I_scale_analog(false);
        #endif
    LOG(DEBUG_STEPPERS, "[MOUNT]: Requested ALT motor rms_current: %d mA", rmscurrent);
    _driverALT->rms_current(rmscurrent, ALT_MOTOR_HOLD_SETTING / 100.0);  //holdMultiplier = 1 to set ihold = irun
        #if defined(ARDUINO_ARCH_RP2040)
    _driverALT->toff(4);  // toff>=3 required for StealthChop slow-decay phase
        #else
    _driverALT->toff(1);
        #endif
    _driverALT->en_spreadCycle(0);
    _driverALT->blank_time(24);
    _driverALT->microsteps(ALT_MICROSTEPPING == 1 ? 0 : ALT_MICROSTEPPING);  // If 1 then disable microstepping
    _driverALT->TCOOLTHRS(0xFFFFF);                                          //xFFFFF);
    _driverALT->semin(0);                                                    //disable CoolStep so that current is consistent
    _driverALT->SGTHRS(stallvalue);
        #if UART_CONNECTION_TEST_TXRX == 1
    if (UART_Rx_connected)
    {
        LOG(DEBUG_STEPPERS, "[MOUNT]: Actual ALT motor rms_current: %d mA", _driverALT->rms_current());
        LOG(DEBUG_STEPPERS, "[MOUNT]: Actual ALT CS value: %d", _driverALT->cs_actual());
        LOG(DEBUG_STEPPERS, "[MOUNT]: Actual ALT vsense: %d", _driverALT->vsense());
    }
        #endif
}
    #endif
#endif

/////////////////////////////////
//
// configureFocusdriver
// TMC2209 UART only
/////////////////////////////////
#if (FOCUS_STEPPER_TYPE != STEPPER_TYPE_NONE) && (FOCUS_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART)
    #if SW_SERIAL_UART == 0
void Mount::configureFocusDriver(Stream *serial, float rsense, byte driveraddress, int rmscurrent, int stallvalue)
{
    _driverFocus = new TMC2209Stepper(serial, rsense, driveraddress);
    _driverFocus->begin();
        #if UART_CONNECTION_TEST_TXRX == 1
    bool UART_Rx_connected = false;
    UART_Rx_connected      = connectToDriver("FOC");
    if (!UART_Rx_connected)
    {
        digitalWrite(FOCUS_EN_PIN,
                     HIGH);  //Disable motor for safety reasons if UART connection fails to avoid operating at incorrect rms_current
    }
        #endif
    _driverFocus->toff(0);
        #if USE_VREF == 0  //By default, Vref is ignored when using UART to specify rms current.
    _driverFocus->I_scale_analog(false);
        #endif
    LOG(DEBUG_STEPPERS | DEBUG_FOCUS, "[FOCUS]: Requested Focus motor rms_current: %d mA", rmscurrent);
    _driverFocus->rms_current(rmscurrent, FOCUSER_MOTOR_HOLD_SETTING / 100.f);  //holdMultiplier = 1 to set ihold = irun
        #if defined(ARDUINO_ARCH_RP2040)
    _driverFocus->toff(4);  // toff>=3 required for StealthChop slow-decay phase
        #else
    _driverFocus->toff(1);
        #endif
    _driverFocus->en_spreadCycle(FOCUS_UART_STEALTH_MODE == 0);
    _driverFocus->blank_time(24);
    _driverFocus->microsteps(FOCUS_MICROSTEPPING == 1 ? 0 : FOCUS_MICROSTEPPING);  // If 1 then disable microstepping
    _driverFocus->TCOOLTHRS(0xFFFFF);                                              //xFFFFF);
    _driverFocus->semin(0);                                                        //disable CoolStep so that current is consistent
    _driverFocus->SGTHRS(stallvalue);
        #if UART_CONNECTION_TEST_TXRX == 1
    if (UART_Rx_connected)
    {
        LOG(DEBUG_STEPPERS | DEBUG_FOCUS, "[FOCUS]: Actual Focus motor rms_current: %d mA", _driverFocus->rms_current());
        LOG(DEBUG_STEPPERS | DEBUG_FOCUS, "[FOCUS]: Actual Focus CS value: %d", _driverFocus->cs_actual());
        LOG(DEBUG_STEPPERS | DEBUG_FOCUS, "[FOCUS]: Actual Focus vsense: %d", _driverFocus->vsense());
    }
        #endif

        #if FOCUSER_ALWAYS_ON == 1
    LOG(DEBUG_FOCUS, "[FOCUS]: Always on -> TMC2209U enabling driver pin.");
    digitalWrite(FOCUS_EN_PIN, LOW);  // Logic LOW to enable driver
        #endif
}

    #elif SW_SERIAL_UART == 1

void Mount::configureFocusDriver(
    uint16_t FOCUS_SW_RX, uint16_t FOCUS_SW_TX, float rsense, byte driveraddress, int rmscurrent, int stallvalue)
{
    _driverFocus = new TMC2209Stepper(FOCUS_SW_RX, FOCUS_SW_TX, rsense, driveraddress);
    _driverFocus->beginSerial(19200);
    _driverFocus->mstep_reg_select(true);
    _driverFocus->pdn_disable(true);
        #if UART_CONNECTION_TEST_TXRX == 1
    bool UART_Rx_connected = false;
    UART_Rx_connected      = connectToDriver("FOC");
    if (!UART_Rx_connected)
    {
        digitalWrite(FOCUS_EN_PIN,
                     HIGH);  //Disable motor for safety reasons if UART connection fails to avoid operating at incorrect rms_current
    }
        #endif
    _driverFocus->toff(0);
        #if USE_VREF == 0  //By default, Vref is ignored when using UART to specify rms current.
    _driverFocus->I_scale_analog(false);
        #endif
    LOG(DEBUG_STEPPERS | DEBUG_FOCUS, "[FOCUS]: Requested Focus motor rms_current: %d mA", rmscurrent);
    _driverFocus->rms_current(rmscurrent, FOCUSER_MOTOR_HOLD_SETTING / 100.f);  //holdMultiplier = 1 to set ihold = irun
        #if defined(ARDUINO_ARCH_RP2040)
    _driverFocus->toff(4);  // toff>=3 required for StealthChop slow-decay phase
        #else
    _driverFocus->toff(1);
        #endif
    _driverFocus->en_spreadCycle(FOCUS_UART_STEALTH_MODE == 0);
    _driverFocus->blank_time(24);
    _driverFocus->microsteps(FOCUS_MICROSTEPPING == 1 ? 0 : FOCUS_MICROSTEPPING);  // If 1 then disable microstepping
    _driverFocus->TCOOLTHRS(0xFFFFF);                                              //xFFFFF);
    _driverFocus->semin(0);                                                        //disable CoolStep so that current is consistent
    _driverFocus->SGTHRS(stallvalue);
        #if UART_CONNECTION_TEST_TXRX == 1
    if (UART_Rx_connected)
    {
        LOG(DEBUG_STEPPERS | DEBUG_FOCUS, "[FOCUS]: Actual Focus motor rms_current: %d mA", _driverFocus->rms_current());
        LOG(DEBUG_STEPPERS | DEBUG_FOCUS, "[FOCUS]: Actual Focus CS value: %d", _driverFocus->cs_actual());
        LOG(DEBUG_STEPPERS | DEBUG_FOCUS, "[FOCUS]: Actual Focus vsense: %d", _driverFocus->vsense());
    }
        #endif
        #if FOCUSER_ALWAYS_ON == 1
    LOG(DEBUG_FOCUS, "[FOCUS]: Always on -> TMC2209U enabling driver pin.");
    digitalWrite(FOCUS_EN_PIN, LOW);  // Logic LOW to enable driver
        #endif
}
    #endif
#endif

/////////////////////////////////
//
// getSpeedCalibration
//
/////////////////////////////////
float Mount::getSpeedCalibration()
{
    return _trackingSpeedCalibration;
}

/////////////////////////////////
//
// setSpeedCalibration
//
/////////////////////////////////
void Mount::setSpeedCalibration(float val, bool saveToStorage)
{
    LOG(DEBUG_MOUNT, "[MOUNT]: Updating speed calibration from %f to %f", _trackingSpeedCalibration, val);
    _trackingSpeedCalibration = val;

    LOG(DEBUG_MOUNT, "[MOUNT]: Current tracking speed is %f steps/sec", _trackingSpeed);

    // Tracking speed has to be exactly the rotation speed of the earth. The earth rotates 360° per astronomical day.
    // This is 23h 56m 4.0905s, therefore the dimensionless _trackingSpeedCalibration = (23h 56m 4.0905s / 24 h) * mechanical calibration factor
    // Also compensate for higher precision microstepping in tracking mode (_stepsPerRADegree uses slewing MS for calculations)
    _trackingSpeed = _trackingSpeedCalibration * _stepsPerRADegree * (RA_TRACKING_MICROSTEPPING / RA_SLEW_MICROSTEPPING) * 360.0f
                     / SIDEREAL_SECONDS_PER_DAY;  // (fraction of day) * u-steps/deg * (u-steps/u-steps) * deg / (sec/day) = u-steps / sec
    LOG(DEBUG_MOUNT, "[MOUNT]: RA steps per degree is %f steps/deg", _stepsPerRADegree);
    LOG(DEBUG_MOUNT, "[MOUNT]: New tracking speed is %f steps/sec", _trackingSpeed);

    LOG(DEBUG_MOUNT, "[MOUNT]: FactorToSpeed : %s, %s", String(val, 6).c_str(), String(_trackingSpeed, 6).c_str());

    if (saveToStorage)
        EEPROMStore::storeSpeedFactor(_trackingSpeedCalibration);

    // If we are currently tracking, update the speed. No need to update microstepping mode
    if (isSlewingTRK())
    {
        LOG(DEBUG_STEPPERS, "[MOUNT]: SpeedCalibration TRK.setSpeed(%f)", _trackingSpeed);
        _stepperTRK->setSpeed(_trackingSpeed);
    }
}

#if USE_GYRO_LEVEL == 1
/////////////////////////////////
//
// getPitchCalibrationAngle
//
// The pitch value at which the mount is level
/////////////////////////////////
float Mount::getPitchCalibrationAngle()
{
    return _pitchCalibrationAngle;
}

/////////////////////////////////
//
// setPitchCalibrationAngle
//
/////////////////////////////////
void Mount::setPitchCalibrationAngle(float angle)
{
    _pitchCalibrationAngle = angle;
    EEPROMStore::storePitchCalibrationAngle(_pitchCalibrationAngle);
}

/////////////////////////////////
//
// getRollCalibration
//
// The roll value at which the mount is level
/////////////////////////////////
float Mount::getRollCalibrationAngle()
{
    return _rollCalibrationAngle;
}

/////////////////////////////////
//
// setRollCalibration
//
/////////////////////////////////
void Mount::setRollCalibrationAngle(float angle)
{
    _rollCalibrationAngle = angle;
    EEPROMStore::storeRollCalibrationAngle(_rollCalibrationAngle);
}
#endif

/////////////////////////////////
//
// getStepsPerDegree
//
/////////////////////////////////
float Mount::getStepsPerDegree(StepperAxis which)
{
    if (which == RA_STEPS)
    {
        return _stepsPerRADegree;  // u-steps/degree
    }
    if (which == DEC_STEPS)
    {
        return _stepsPerDECDegree;  // u-steps/degree
    }
    if (which == AZIMUTH_STEPS)
    {
#if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
        return _stepsPerAZDegree;  // u-steps/degree
#else
        return 1;
#endif
    }
    if (which == ALTITUDE_STEPS)
    {
#if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
        return _stepsPerALTDegree;  // u-steps/degree
#else
        return 1;
#endif
    }

    return 0;
}

/////////////////////////////////
//
// setStepsPerDegree
//
/////////////////////////////////
// Function to set steps per degree for each axis. This function stores the value in persistent storage.
void Mount::setStepsPerDegree(StepperAxis which, float steps)
{
    if (which == DEC_STEPS)
    {
        _stepsPerDECDegree = steps;
        EEPROMStore::storeDECStepsPerDegree(_stepsPerDECDegree);
    }
    else if (which == RA_STEPS)
    {
        _stepsPerRADegree = steps;
        EEPROMStore::storeRAStepsPerDegree(_stepsPerRADegree);
        setSpeedCalibration(_trackingSpeedCalibration, false);
    }
#if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
    else if (which == AZIMUTH_STEPS)
    {
        _stepsPerAZDegree = steps;
        EEPROMStore::storeAZStepsPerDegree(_stepsPerAZDegree);
    }
#endif
#if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
    else if (which == ALTITUDE_STEPS)
    {
        _stepsPerALTDegree = steps;
        EEPROMStore::storeALTStepsPerDegree(_stepsPerALTDegree);
    }
#endif
}

/////////////////////////////////
//
// getBacklashCorrection
//
/////////////////////////////////
int Mount::getBacklashCorrection()
{
    return _backlashCorrectionSteps;
}

/////////////////////////////////
//
// getMountHardwareInfo
//
/////////////////////////////////
String Mount::getStepperInfo()
{
    String ret = "";

#if RA_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
    ret += "TU";
#elif RA_DRIVER_TYPE == DRIVER_TYPE_TMC2209_STANDALONE
    ret += "TS";
#elif RA_DRIVER_TYPE == DRIVER_TYPE_A4988_GENERIC
    ret += "A";
#else
    ret += "?";
#endif

    ret += ",";
    ret += String(RA_SLEW_MICROSTEPPING);
    ret += ",";
    ret += String(RA_TRACKING_MICROSTEPPING);

    ret += "|";

#if DEC_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
    ret += "TU";
#elif DEC_DRIVER_TYPE == DRIVER_TYPE_TMC2209_STANDALONE
    ret += "TS";
#elif DEC_DRIVER_TYPE == DRIVER_TYPE_A4988_GENERIC
    ret += "A";
#else
    ret += "?";
#endif

    ret += ",";
    ret += String(DEC_SLEW_MICROSTEPPING);
    ret += ",";
    ret += String(DEC_GUIDE_MICROSTEPPING);

    ret += "|";

    return ret;
}

/////////////////////////////////
//
// getMountHardwareInfo
//
/////////////////////////////////
String Mount::getMountHardwareInfo()
{
    String ret = F("Unknown,");
#if defined(ESP32)
    ret = F("ESP32,");
#elif defined(__AVR_ATmega2560__)
    ret = F("Mega,");
#elif defined(ARDUINO_ARCH_RP2040)
    ret = F("RP2040,");
#endif

    ret += F("NEMA|");

    ret += String(RA_PULLEY_TEETH) + "|";
    ret += String(RA_STEPPER_SPR) + ",";

    ret += F("NEMA|");

    ret += String(DEC_PULLEY_TEETH) + "|";
    ret += String(DEC_STEPPER_SPR) + ",";

#if USE_GPS == 1
    ret += F("GPS,");
#else
    ret += F("NO_GPS,");
#endif

#if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE) && (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
    ret += F("AUTO_AZ_ALT,");
#elif (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
    ret += F("AUTO_AZ,");
#elif (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
    ret += F("AUTO_ALT,");
#else
    ret += F("NO_AZ_ALT,");
#endif

#if USE_GYRO_LEVEL == 1
    ret += F("GYRO,");
#else
    ret += F("NO_GYRO,");
#endif

#if DISPLAY_TYPE == DISPLAY_TYPE_NONE
    ret += F("NO_LCD,");
#elif DISPLAY_TYPE == DISPLAY_TYPE_LCD_KEYPAD
    ret += F("LCD_KEYPAD,");
#elif DISPLAY_TYPE == DISPLAY_TYPE_LCD_KEYPAD_I2C_MCP23008
    ret += F("LCD_I2C_MCP23008,");
#elif DISPLAY_TYPE == DISPLAY_TYPE_LCD_KEYPAD_I2C_MCP23017
    ret += F("LCD_I2C_MCP23017,");
#elif DISPLAY_TYPE == DISPLAY_TYPE_LCD_JOY_I2C_SSD1306
    ret += F("LCD_JOY_I2C_SSD1306,");
#endif

#if INFO_DISPLAY_TYPE == DISPLAY_TYPE_NONE
    ret += F("NO_INFO_DISP,");
#elif INFO_DISPLAY_TYPE == INFO_DISPLAY_TYPE_I2C_SSD1306_128x64
    ret += F("INFO_I2C_SSD1306_128x64,");
    // To add new display types, format this string in the same way: INFO_<interface>_<chip>_<resolution>
#else
    ret += F("INFO_UNKNOWN,");
#endif

#if FOCUS_STEPPER_TYPE == STEPPER_TYPE_NONE
    ret += F("NO_FOC,");
#else
    ret += F("FOC,");
#endif

#if USE_HALL_SENSOR_RA_AUTOHOME == 1
    ret += F("HSAH,");
#else
    ret += F("NO_HSAH,");
#endif
#if USE_HALL_SENSOR_DEC_AUTOHOME == 1
    ret += F("HSAV,");
#else
    ret += F("NO_HSAV,");
#endif

#if (USE_RA_END_SWITCH == 1) || (USE_DEC_END_SWITCH == 1)
    ret += F("ENDSW");
    #if (USE_RA_END_SWITCH == 1)
    ret += F("_RA");
    #endif
    #if (USE_DEC_END_SWITCH == 1)
    ret += F("_DEC");
    #endif
    ret += F(",");
#else
    ret += F("NO_ENDSW,");
#endif

    return ret;
}

/////////////////////////////////
//
// setBacklashCorrection
//
/////////////////////////////////
// Function to set steps per degree for each axis. This function stores the value in persistent storage.
void Mount::setBacklashCorrection(int steps)
{
    _backlashCorrectionSteps = steps;
    EEPROMStore::storeBacklashCorrectionSteps(_backlashCorrectionSteps);
}

/////////////////////////////////
//
// setSlewRate
//
/////////////////////////////////
void Mount::setSlewRate(int rate)
{
    _moveRate           = clamp(rate, 1, 4);
    float speedFactor[] = {0, 0.05, 0.2, 0.5, 1.0};
    LOG(DEBUG_MOUNT, "[MOUNT]: setSlewRate, rate is %d -> %f", _moveRate, speedFactor[_moveRate]);
    _stepperDEC->setMaxSpeed(speedFactor[_moveRate] * _maxDECSpeed);
    _stepperRA->setMaxSpeed(speedFactor[_moveRate] * _maxRASpeed);
    LOG(DEBUG_MOUNT, "[MOUNT]: setSlewRate, new speeds are RA: %f  DEC: %f", _stepperRA->maxSpeed(), _stepperDEC->maxSpeed());
}

/////////////////////////////////
//
// setSlewRate
//
/////////////////////////////////
int Mount::getSlewRate()
{
    return _moveRate;
}

/////////////////////////////////
//
// setHA
//
/////////////////////////////////
void Mount::setHA(const DayTime &haTime)
{
    LOG(DEBUG_MOUNT, "[MOUNT]: setHA:  HA is %s", haTime.ToString());
    DayTime lst = DayTime(POLARIS_RA_HOUR, POLARIS_RA_MINUTE, POLARIS_RA_SECOND);
    lst.addTime(haTime);
    setLST(lst);
}

/////////////////////////////////
//
// HA
//
/////////////////////////////////
const DayTime Mount::HA() const
{
    // LOG(DEBUG_MOUNT_VERBOSE, "[MOUNT]: Get HA.");
    // LOG(DEBUG_MOUNT_VERBOSE, "[MOUNT]: Polaris adjust: %s", DayTime(POLARIS_RA_HOUR, POLARIS_RA_MINUTE, POLARIS_RA_SECOND).ToString());
    DayTime ha = _LST;
    // LOG(DEBUG_MOUNT_VERBOSE, "[MOUNT]: LST: %s", _LST.ToString());
    ha.subtractTime(DayTime(POLARIS_RA_HOUR, POLARIS_RA_MINUTE, POLARIS_RA_SECOND));
    // LOG(DEBUG_MOUNT, "[MOUNT]: GetHA: LST-Polaris is HA %s", ha.ToString());
    return ha;
}

/////////////////////////////////
//
// setLST
//
/////////////////////////////////
void Mount::setLST(const DayTime &lst)
{
    _LST       = lst;
    _zeroPosRA = lst;
#if defined(OAM) || defined(OAE)
    _zeroPosRA.addHours(6);  // shift allcoordinates by 90° for EQ mount movement
#endif
    LOG(DEBUG_MOUNT, "[MOUNT]: Set LST and ZeroPosRA to: %s", _LST.ToString());
}

/////////////////////////////////
//
// setLatitude
//
/////////////////////////////////
void Mount::setLatitude(Latitude latitude)
{
    LOG(DEBUG_GENERAL, "[MOUNT]: Setting longitude to %fs", latitude.getTotalHours());
    _latitude = latitude;
    configureHemisphere(_latitude.getTotalHours() > 0);
    EEPROMStore::storeLatitude(_latitude);
}

/////////////////////////////////
//
// setLongitude
//
/////////////////////////////////
void Mount::setLongitude(Longitude longitude)
{
    LOG(DEBUG_GENERAL, "[MOUNT]: Setting longitude to %fs", longitude.getTotalHours());
    _longitude = longitude;
    EEPROMStore::storeLongitude(_longitude);

    autoCalcHa();
}

/////////////////////////////////
//
// latitude
//
/////////////////////////////////
const Latitude Mount::latitude() const
{
    return _latitude;
}
/////////////////////////////////
//
// longitude
//
/////////////////////////////////
const Longitude Mount::longitude() const
{
    return _longitude;
}

/////////////////////////////////
//
// targetRA
//
/////////////////////////////////
// Get a reference to the target RA value.
DayTime &Mount::targetRA()
{
    return _targetRA;
}

/////////////////////////////////
//
// targetDEC
//
/////////////////////////////////
// Get a reference to the target DEC value.
Declination &Mount::targetDEC()
{
    return _targetDEC;
}

/////////////////////////////////
//
// currentRA
//
/////////////////////////////////
// Get current RA value.
const DayTime Mount::currentRA() const
{
    // How many steps moves the RA ring one sidereal hour along. One sidereal hour moves just shy of 15 degrees
    float stepsPerSiderealHour = _stepsPerRADegree * siderealDegreesInHour;              // u-steps/degree * degrees/hr = u-steps/hr
    float hourPos              = -_stepperRA->currentPosition() / stepsPerSiderealHour;  // u-steps / u-steps/hr = hr

    hourPos += _zeroPosRA.getTotalHours();

    const float degreePos = (_stepperDEC->currentPosition() / _stepsPerDECDegree) + _zeroPosDEC;
    if (degreePos < 0)
    {
        hourPos += 12;
        if (hourPos > 24)
            hourPos -= 24;
    }

    // Make sure we are normalized
    if (hourPos < 0)
        hourPos += 24;
    if (hourPos > 24)
        hourPos -= 24;

    return hourPos;
}

/////////////////////////////////
//
// currentDEC
//
/////////////////////////////////
// Get current DEC value.
const Declination Mount::currentDEC() const
{
    // u-steps / u-steps/deg = deg
    const float degreePos = (_stepperDEC->currentPosition() / _stepsPerDECDegree) + _zeroPosDEC;  // u-steps / u-steps/deg = deg
    Declination dec(degreePos);

    return dec;
}

/////////////////////////////////
//
// syncPosition
//
/////////////////////////////////
// Set the current RA and DEC position to be the given coordinate. We do this by setting the stepper motor coordinate
// to be at the calculated positions (that they would be if we were slewing there).
void Mount::syncPosition(DayTime ra, Declination dec)
{
    long solutions[6];
    _targetDEC = dec;
    _targetRA  = ra;
    LOG(DEBUG_COORD_CALC,
        "[MOUNT]: syncPosition: Target Sync is RA: %f  and DEC: %f",
        _targetRA.getTotalHours(),
        _targetDEC.getTotalDegrees());
    LOG(DEBUG_COORD_CALC,
        "[MOUNT]: syncPosition: Current Pos is RA: %f  and DEC: %f )",
        currentRA().getTotalHours(),
        currentDEC().getTotalDegrees());
    LOG(DEBUG_COORD_CALC, "[MOUNT]: syncPosition: ZeroPos values RA: %f  and DEC: %f)", _zeroPosRA.getTotalHours(), _zeroPosDEC);

    // Adjust the home RA position by the delta sync position.
    float raAdjust = ra.getTotalHours() - currentRA().getTotalHours();
    LOG(DEBUG_COORD_CALC, "[MOUNT]: syncPosition: AdjustRA is %f  (%f - %f)", raAdjust, ra.getTotalHours(), currentRA().getTotalHours());
    while (raAdjust > 12)
    {
        raAdjust -= 24;
    }
    while (raAdjust < -12)
    {
        raAdjust += 24;
    }
    LOG(DEBUG_COORD_CALC, "[MOUNT]: syncPosition: AdjustRA is %f", raAdjust);
    _zeroPosRA.addHours(raAdjust);
    LOG(DEBUG_COORD_CALC, "[MOUNT]: syncPosition: ZeroPosRA is now %f", _zeroPosRA.getTotalHours());

    // Adjust the home DEC position by the delta between the sync'd target and current position.
    const float degreePos = (_stepperDEC->currentPosition() / _stepsPerDECDegree) + _zeroPosDEC;  // u-steps / u-steps/deg = deg
    LOG(DEBUG_COORD_CALC, "[MOUNT]: syncPosition: DEC degreePos is: %f", degreePos);

    // Dec totalhours can be plus or minus the distance from the pole (because it keeps track of whether we are upwards or downwards from the pole)
    // So we use the abs of both values to find their difference
    float decAdjust = fabsf(dec.getTotalDegrees()) - fabsf(currentDEC().getTotalDegrees());
    LOG(DEBUG_COORD_CALC,
        "[MOUNT]: syncPosition: DecAdjust is: %f ( |%f| - |%f| )",
        decAdjust,
        dec.getTotalDegrees(),
        currentDEC().getTotalDegrees());
    if (degreePos < 0)
    {
        LOG(DEBUG_COORD_CALC, "[MOUNT]: syncPosition: Inverted DecAdjust to: %f (below home pos)", decAdjust);
        decAdjust = -decAdjust;
    }

    _zeroPosDEC += decAdjust;
    LOG(DEBUG_COORD_CALC, "[MOUNT]: syncPosition: _zeroPosDEC adjusted by: %f", decAdjust);
    LOG(DEBUG_COORD_CALC, "[MOUNT]: syncPosition: _zeroPosDEC: %f", _zeroPosDEC);

    long targetRAPosition, targetDECPosition;
    calculateRAandDECSteppers(targetRAPosition, targetDECPosition, solutions);

    LOG(DEBUG_COORD_CALC, "[MOUNT]: syncPosition: Solution 1: RA %l and DEC %l", solutions[0], solutions[1]);
    LOG(DEBUG_COORD_CALC, "[MOUNT]: syncPosition: Solution 2: RA %l and DEC %l", solutions[2], solutions[3]);
    LOG(DEBUG_COORD_CALC, "[MOUNT]: syncPosition: Solution 3: RA %l and DEC %l", solutions[4], solutions[5]);
    LOG(DEBUG_COORD_CALC, "[MOUNT]: syncPosition: Chosen    : RA %l and DEC %l", targetRAPosition, targetDECPosition);
}

/////////////////////////////////
//
// startSlewingToTarget
//
/////////////////////////////////
// Calculates movement parameters and program steppers to move
// there. Must call loop() frequently to actually move.
void Mount::startSlewingToTarget()
{
    stopGuiding();

    // Make sure we're slewing at full speed on a GoTo
    LOG(DEBUG_STEPPERS, "[STEPPERS]: startSlewingToTarget: Set DEC to MaxSpeed(%l)", _maxDECSpeed);
    _stepperDEC->setMaxSpeed(_maxDECSpeed);
    LOG(DEBUG_STEPPERS, "[STEPPERS]: startSlewingToTarget: Set RA  to MaxSpeed(%l)", _maxRASpeed);
    _stepperRA->setMaxSpeed(_maxRASpeed);

    // Calculate new RA stepper target (and DEC). We are never in guiding mode here.
    _currentRAStepperPosition = _stepperRA->currentPosition();
    long targetRAPosition, targetDECPosition;
    calculateRAandDECSteppers(targetRAPosition, targetDECPosition);

    if (targetRAPosition != _stepperRA->currentPosition())
    {
        // Only stop tracking if we're tracking and actually going to slew somewhere else, otherwise the
        // mount::loop() code won't detect the end of the slewing operation...
        if (isSlewingTRK())
        {
            LOG(DEBUG_STEPPERS, "[MOUNT]: Stop tracking (NEMA steppers)");
            stopSlewing(TRACKING);
            _trackerStoppedAt        = millis();
            _compensateForTrackerOff = true;
        }

// Set RA to slew microsteps for TMC2209 UART once the TRK stepper has stopped
#if RA_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
        LOG(DEBUG_STEPPERS, "[STEPPERS]: startSlewingToTarget: Switching RA driver to microsteps(%d)", RA_SLEW_MICROSTEPPING);
        _driverRA->microsteps(RA_SLEW_MICROSTEPPING == 1 ? 0 : RA_SLEW_MICROSTEPPING);
#endif

        LOG(DEBUG_STEPPERS, "[STEPPERS]: startSlewingToTarget: TRK stopped at %lms", _trackerStoppedAt);
    }

    setStatusFlag(STATUS_SLEWING | STATUS_SLEWING_TO_TARGET);
#if DEC_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
    // Since normal state for DEC is guide microstepping, switch to slew microstepping here.
    LOG(DEBUG_STEPPERS, "[STEPPERS]: startSlewingToTarget: Switching DEC driver to microsteps(%d)", DEC_SLEW_MICROSTEPPING);
    _driverDEC->microsteps(DEC_SLEW_MICROSTEPPING == 1 ? 0 : DEC_SLEW_MICROSTEPPING);
#endif
    _stepperWasRunning = true;
    moveSteppersTo(targetRAPosition, targetDECPosition, RA_AND_DEC_STEPS);  // u-steps (in slew mode)
    _totalDECMove = static_cast<float>(_stepperDEC->distanceToGo());
    _totalRAMove  = static_cast<float>(_stepperRA->distanceToGo());
    LOG(DEBUG_MOUNT, "[MOUNT]: RA Dist: %l,   DEC Dist: %l", _stepperRA->distanceToGo(), _stepperDEC->distanceToGo());
}

/////////////////////////////////
//
// startSlewingToHome
//
/////////////////////////////////
// Calculates movement parameters and program steppers to move to home position.
// Takes any sync operations that have happened and tracking into account.
void Mount::startSlewingToHome()
{
    stopGuiding();

    // Make sure we're slewing at full speed on a GoTo
    LOG(DEBUG_STEPPERS, "[STEPPERS]: startSlewingToHome: Set DEC to MaxSpeed(%l)", _maxDECSpeed);
    _stepperDEC->setMaxSpeed(_maxDECSpeed);
    LOG(DEBUG_STEPPERS, "[STEPPERS]: startSlewingToHome: Set RA  to MaxSpeed(%l)", _maxRASpeed);
    _stepperRA->setMaxSpeed(_maxRASpeed);

    _currentRAStepperPosition = _stepperRA->currentPosition();

    long targetRAPosition        = 0;
    const long targetDECPosition = 0;

    _slewingToHome = true;
    // Take tracking into account
    const long trackingOffset = _stepperTRK->currentPosition() * RA_SLEW_MICROSTEPPING / RA_TRACKING_MICROSTEPPING;
    targetRAPosition -= trackingOffset;
    LOG(DEBUG_STEPPERS,
        "[STEPPERS]: startSlewingToHome: Adjusted with tracking distance: %l (adjusted for MS: %l), result: %l",
        _stepperTRK->currentPosition(),
        trackingOffset,
        targetRAPosition);

    long raStepsToGo = targetRAPosition - _stepperRA->currentPosition();
    if (raStepsToGo != 0)
    {
        // Only stop tracking if we're actually going to slew somewhere else, otherwise the
        // mount::loop() code won't detect the end of the slewing operation...
        LOG(DEBUG_STEPPERS, "[MOUNT]: Stop tracking (NEMA steppers)");
        stopSlewing(TRACKING);
        _trackerStoppedAt        = millis();
        _compensateForTrackerOff = true;

// set Slew microsteps for TMC2209 UART once the TRK stepper has stopped
#if RA_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
        LOG(DEBUG_STEPPERS, "[STEPPERS]: startSlewingToHome: Switching RA driver to microsteps(%d)", RA_SLEW_MICROSTEPPING);
        _driverRA->microsteps(RA_SLEW_MICROSTEPPING == 1 ? 0 : RA_SLEW_MICROSTEPPING);
#endif

        LOG(DEBUG_STEPPERS, "[STEPPERS]: startSlewingToHome: TRK stopped at %lms", _trackerStoppedAt);
    }

    setStatusFlag(STATUS_SLEWING | STATUS_SLEWING_TO_TARGET);
#if DEC_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
    // Since normal state for DEC is guide microstepping, switch to slew microstepping here.
    LOG(DEBUG_STEPPERS, "[STEPPERS]: startSlewingToHome: Switching DEC driver to microsteps(%d)", DEC_SLEW_MICROSTEPPING);
    _driverDEC->microsteps(DEC_SLEW_MICROSTEPPING == 1 ? 0 : DEC_SLEW_MICROSTEPPING);
#endif
    _stepperWasRunning = true;
    moveSteppersTo(targetRAPosition, targetDECPosition, RA_AND_DEC_STEPS);  // u-steps (in slew mode)
    _totalDECMove = static_cast<float>(_stepperDEC->distanceToGo());
    _totalRAMove  = static_cast<float>(_stepperRA->distanceToGo());
    LOG(DEBUG_MOUNT, "[MOUNT]: RA Dist: %l,   DEC Dist: %l", _stepperRA->distanceToGo(), _stepperDEC->distanceToGo());
}

/////////////////////////////////
//
// stopGuiding
//
/////////////////////////////////
void Mount::stopGuiding(bool ra, bool dec)
{
    if (!isGuiding())
        return;

    // Stop RA guide first, since it's just a speed change back to tracking speed
    if (ra && (_mountStatus & STATUS_GUIDE_PULSE_RA))
    {
        LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: stopGuide:    TRK stop guide at  : %l", _stepperTRK->currentPosition());
        _stepperTRK->setSpeed(_trackingSpeed);
        LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: stopGuide:    TRK speed set to   : %f", _trackingSpeed);
        clearStatusFlag(STATUS_GUIDE_PULSE_RA);
    }

    if (dec && (_mountStatus & STATUS_GUIDE_PULSE_DEC))
    {
        LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: stopGuide:    DEC stop guide at   : %l", _stepperGUIDE->currentPosition());

        // Stop DEC guiding and wait for it to stop.
        _stepperGUIDE->stop();

#if !defined(ESP32BOARD)
        while (_stepperGUIDE->isRunning())
        {
            _stepperGUIDE->run();
            _stepperTRK->runSpeed();
        }
#endif

        clearStatusFlag(STATUS_GUIDE_PULSE_DEC);
    }

    //disable pulse state if no direction is active
    if ((_mountStatus & STATUS_GUIDE_PULSE_DIR) == 0)
    {
        LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: Clear guiding state");
        clearStatusFlag(STATUS_GUIDE_PULSE_MASK);
    }
    else
    {
        LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: One axis still guiding");
    }
}

/////////////////////////////////
//
// guidePulse
//
/////////////////////////////////
void Mount::guidePulse(byte direction, int duration)
{
#if (DEBUG_LEVEL != DEBUG_NONE)
    const char *directionName = "-NE-S---W";
#endif
    LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: > Guide Pulse %c for %dms requested", directionName[direction], duration);
    // Deliberately not using isSlewingTRK() here: slewStatus() reports NOT_SLEWING while any guide pulse
    // is running, so that check would silently drop every pulse arriving during an active one (e.g. from
    // clients that send pulses back-to-back without waiting for completion, like INDI/EKOS).
    if (!isTracking())
    {
        LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: Not tracking (at limit?), ignoring guide pulse");
    }
    else
    {
        if ((direction == NORTH) || (direction == SOUTH))
        {
            LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   DEC current steps   : %l", _stepperGUIDE->currentPosition());
            LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   DEC steps/deg       : %f", _stepsPerDECDegree);
            LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
                "[GUIDE]: guidePulse:   DEC Microstep ratio : %f",
                (1.0 * DEC_GUIDE_MICROSTEPPING / DEC_SLEW_MICROSTEPPING));
        }
        else
        {
            LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   RA  current steps   : %l", _stepperTRK->currentPosition());
            LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   RA  steps/deg       : %f", _stepsPerRADegree);
            LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
                "[GUIDE]: guidePulse:   RA  Microstep ratio : %f",
                (1.0 * RA_TRACKING_MICROSTEPPING / RA_SLEW_MICROSTEPPING));
        }

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

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

        switch (direction)
        {
            case NORTH:
                // If a upper limit is set, check we're not there. If we are, refuse the guide pulse.
                if (_decUpperLimit != 0 && _stepperDEC->currentPosition() >= _decUpperLimit)
                {
                    // TODO: Make sure Southern hemisphere does not need a sign/direction inversion.
                    LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
                        "[GUIDE]: guidePulse:   DEC is at (%l) which is at or above upper limit (%l), ignoring guide pulse",
                        _stepperDEC->currentPosition(),
                        _decUpperLimit);
                }
                else
                {
                    LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   DEC base speed      : %f", decGuidingSpeed);
                    LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
                        "[GUIDE]: guidePulse:   DEC guide speed     : %f",
                        DEC_PULSE_MULTIPLIER * decGuidingSpeed);
                    _stepperGUIDE->setSpeed(DEC_PULSE_MULTIPLIER * decGuidingSpeed);
                    setStatusFlag(STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_DEC);
                    _guideDecEndTime = millis() + duration;
                }
                break;

            case SOUTH:
                if (_decLowerLimit != 0 && _stepperDEC->currentPosition() <= _decLowerLimit)
                {
                    LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
                        "[GUIDE]: guidePulse:   DEC is at (%l) which is at or below lower limit (%l), ignoring guide pulse",
                        _stepperDEC->currentPosition(),
                        _decLowerLimit);
                    LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   DEC is at lower limit, ignoring guide pulse");
                }
                else
                {
                    LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   DEC base speed      : %f", decGuidingSpeed);
                    LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
                        "[GUIDE]: guidePulse:   DEC guide speed     : %f",
                        -DEC_PULSE_MULTIPLIER * decGuidingSpeed);
                    _stepperGUIDE->setSpeed(-DEC_PULSE_MULTIPLIER * decGuidingSpeed);
                    setStatusFlag(STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_DEC);
                    _guideDecEndTime = millis() + duration;
                }
                break;

            case WEST:
                // We were in tracking mode before guiding, so no need to update microstepping mode on RA driver
                LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   RA  base speed      : %f", raGuidingSpeed);
                LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   RA  speed factor    : %f", _trackingSpeedCalibration);
                raGuidingSpeed *= _trackingSpeedCalibration;
                LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   RA  adjusted speed  : %f", raGuidingSpeed);
                LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
                    "[GUIDE]: guidePulse:   RA  guide speed     : %f (%f x adjusted speed)",
                    (RA_PULSE_MULTIPLIER * raGuidingSpeed),
                    RA_PULSE_MULTIPLIER);
                _stepperTRK->setSpeed(RA_PULSE_MULTIPLIER * raGuidingSpeed);  // Faster than siderael
                setStatusFlag(STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_RA);
                _guideRaEndTime = millis() + duration;
                break;

            case EAST:
                // We were in tracking mode before guiding, so no need to update microstepping mode on RA driver
                LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   RA  base speed      : %f", raGuidingSpeed);
                LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   RA  speed factor    : %f", _trackingSpeedCalibration);
                raGuidingSpeed *= _trackingSpeedCalibration;
                LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse:   RA  adjusted speed  : %f", raGuidingSpeed);
                LOG(DEBUG_STEPPERS | DEBUG_GUIDE,
                    "[GUIDE]: guidePulse:   RA  guide speed     : %f (%f x adjusted speed)",
                    (2.0 - RA_PULSE_MULTIPLIER * raGuidingSpeed),
                    (2.0 - RA_PULSE_MULTIPLIER));
                _stepperTRK->setSpeed(raGuidingSpeed * (2.0f - RA_PULSE_MULTIPLIER));  // Slower than siderael
                setStatusFlag(STATUS_GUIDE_PULSE | STATUS_GUIDE_PULSE_RA);
                _guideRaEndTime = millis() + duration;
                break;
        }
    }
// Since we will not be updating the display during a guide pulse, update the display here.
#if INFO_DISPLAY_TYPE != INFO_DISPLAY_TYPE_NONE
    updateInfoDisplay();
#endif

    LOG(DEBUG_STEPPERS | DEBUG_GUIDE, "[GUIDE]: guidePulse: < Guide Pulse");
}

/////////////////////////////////
//
// commandReceived()
//
// Keeps track of how many Meade commands have been processed.
/////////////////////////////////
void Mount::commandReceived()
{
    _commandReceived++;
}

#if SUPPORT_DRIFT_ALIGNMENT == 1
/////////////////////////////////
//
// runDriftAlignmentPhase
//
// Runs one of the phases of the Drift alignment
// This runs the RA motor 400 steps (about 5.3 arcminutes) in the given duration
// This function should be callsed 3 times:
// The first time with EAST, second with WEST and then with 0.
/////////////////////////////////
void Mount::runDriftAlignmentPhase(int direction, int durationSecs)
{
    float const numArcMinutes(5.3);
    long numSteps = floorf((_stepsPerRADegree * (numArcMinutes / 60.0f)));  // u-steps/deg * minutes / (minutes/deg) = u-steps

    // Calculate the speed at which it takes the given duration to cover the steps.
    float speed = numSteps / durationSecs;
    switch (direction)
    {
        case EAST:
            // Move steps east at the calculated speed, synchronously
            _stepperRA->setMaxSpeed(speed);
            _stepperRA->move(numSteps);
            _stepperRA->runToPosition();

            // Overcome the gearing gap
            _stepperRA->setMaxSpeed(300);
            _stepperRA->move(-20);
            _stepperRA->runToPosition();
            break;

        case WEST:
            // Move steps west at the calculated speed, synchronously
            _stepperRA->setMaxSpeed(speed);
            _stepperRA->move(-numSteps);
            _stepperRA->runToPosition();
            break;

        case 0:
            // Fix the gearing to go back the other way
            _stepperRA->setMaxSpeed(300);
            _stepperRA->move(20);
            _stepperRA->runToPosition();

            // Re-configure the stepper to the correct parameters.
            _stepperRA->setMaxSpeed(_maxRASpeed);
            break;
    }
}
#endif

/////////////////////////////////
//
// setManualSlewMode
//
/////////////////////////////////
void Mount::setManualSlewMode(bool state)
{
    if (state)
    {
        stopSlewing(ALL_DIRECTIONS);
        stopSlewing(TRACKING);
        waitUntilStopped(ALL_DIRECTIONS);
        setStatusFlag(STATUS_SLEWING | STATUS_SLEWING_MANUAL);
#if RA_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
        LOG(DEBUG_STEPPERS, "[STEPPERS]: setManualSlewMode: Switching RA driver to microsteps(%d)", RA_SLEW_MICROSTEPPING);
        _driverRA->microsteps(RA_SLEW_MICROSTEPPING == 1 ? 0 : RA_SLEW_MICROSTEPPING);
#endif
    }
    else
    {
        clearStatusFlag(STATUS_SLEWING_MANUAL);
        stopSlewing(ALL_DIRECTIONS);
        waitUntilStopped(ALL_DIRECTIONS);
        LOG(DEBUG_STEPPERS, "[STEPPERS]: setManualSlewMode: Set RA  speed/accel:  %l  / %l", _maxRASpeed, _maxRAAcceleration);
        LOG(DEBUG_STEPPERS, "[STEPPERS]: setManualSlewMode: Set DEC speed/accel:  %l  / %l", _maxDECSpeed, _maxDECAcceleration);
        _stepperRA->setAcceleration(_maxRAAcceleration);
        _stepperRA->setMaxSpeed(_maxRASpeed);
        _stepperDEC->setMaxSpeed(_maxDECSpeed);
        _stepperDEC->setAcceleration(_maxDECAcceleration);
        startSlewing(TRACKING);
    }
}

/////////////////////////////////
//
// setSpeed
//
/////////////////////////////////
void Mount::setSpeed(StepperAxis which, float speedDegsPerSec)
{
    if (which == RA_STEPS)
    {
        float stepsPerSec = speedDegsPerSec * _stepsPerRADegree;  // deg/sec * u-steps/deg = u-steps/sec
        LOG(DEBUG_STEPPERS, "[STEPPERS]: setSpeed: Set RA speed %f degs/s, which is %f steps/s", speedDegsPerSec, stepsPerSec);
        // TODO: Are we already in slew mode?
        _stepperRA->setSpeed(stepsPerSec);
    }
    else if (which == DEC_STEPS)
    {
        float stepsPerSec = speedDegsPerSec * _stepsPerDECDegree;  // deg/sec * u-steps/deg = u-steps/sec
        LOG(DEBUG_STEPPERS, "[STEPPERS]: setSpeed: Set DEC speed %f degs/s, which is %f steps/s", speedDegsPerSec, stepsPerSec);
        // TODO: Are we already in slew mode?
        _stepperDEC->setSpeed(stepsPerSec);
    }
#if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
    else if (which == AZIMUTH_STEPS)
    {
        float stepsPerSec = speedDegsPerSec * _stepsPerAZDegree;  // deg/sec * u-steps/deg = u-steps/sec
        LOG(DEBUG_STEPPERS, "[STEPPERS]: setSpeed: Set AZ speed %f degs/s, which is %f steps/s", speedDegsPerSec, stepsPerSec);
        _stepperAZ->setSpeed(stepsPerSec);
    }
#endif
#if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
    else if (which == ALTITUDE_STEPS)
    {
        float stepsPerSec = speedDegsPerSec * _stepsPerALTDegree;  // deg/sec * u-steps/deg = u-steps/sec
        LOG(DEBUG_STEPPERS, "[STEPPERS]: setSpeed: Set ALT speed %f degs/s, which is %f steps/s", speedDegsPerSec, stepsPerSec);
        _stepperALT->setSpeed(stepsPerSec);
    }
#endif

#if (FOCUS_STEPPER_TYPE != STEPPER_TYPE_NONE)
    else if (which == FOCUS_STEPS)
    {
        LOG(DEBUG_MOUNT | DEBUG_FOCUS, "[FOCUS]: setSpeed() Focuser setSpeed %f", speedDegsPerSec);
        if (speedDegsPerSec != 0)
        {
            LOG(DEBUG_STEPPERS | DEBUG_FOCUS,
                "[FOCUS]: Mount:setSpeed(): Enabling motor, setting speed to %f. Continuous",
                speedDegsPerSec);
            enableFocusMotor();
            _stepperFocus->setMaxSpeed(speedDegsPerSec);
            _stepperFocus->moveTo(sign(speedDegsPerSec) * 300000);
            _focuserMode = FOCUS_TO_TARGET;
        }
        else
        {
            LOG(DEBUG_STEPPERS | DEBUG_FOCUS, "[FOCUS]: setSpeed(): Stopping motor.");
            _stepperFocus->stop();
        }
    }
#endif
}

void Mount::getAZALTPositions(long &azPos, long &altPos)
{
#if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
    azPos = _stepperAZ->currentPosition();
#else
    azPos = 0;
#endif
#if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
    altPos = _stepperALT->currentPosition();
#else
    altPos = 0;
#endif
}

void Mount::moveAZALTToHome()
{
#if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
    enableAzMotor();
    _stepperAZ->moveTo(0);
#endif
#if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
    enableAltMotor();
    _stepperALT->moveTo(0);
#endif
}

void Mount::setAZALTHome()
{
#if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
    _stepperAZ->setCurrentPosition(0);
    EEPROMStore::storeAZPosition(0);
#endif
#if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
    _stepperALT->setCurrentPosition(0);
    EEPROMStore::storeALTPosition(0);
#endif
}

/////////////////////////////////
//
// park
//
// Targets the mount to move to the home position and
// turns off all motors once it gets there.
/////////////////////////////////
void Mount::park()
{
    stopGuiding();
    stopSlewing(ALL_DIRECTIONS | TRACKING);
    waitUntilStopped(ALL_DIRECTIONS);
    startSlewingToHome();
    setStatusFlag(STATUS_PARKING);
}

bool Mount::isAxisRunning(StepperAxis axis)
{
    switch (axis)
    {
        case RA_STEPS:
            return _stepperRA->isRunning();
        case DEC_STEPS:
            return _stepperDEC->isRunning();
#if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
        case ALTITUDE_STEPS:
            return _stepperALT->isRunning();
#endif
#if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
        case AZIMUTH_STEPS:
            return _stepperAZ->isRunning();
#endif
#if (FOCUS_STEPPER_TYPE != STEPPER_TYPE_NONE)
        case FOCUS_STEPS:
            return _stepperFocus->isRunning();
#endif
        default:
            break;
    }
    return false;
}

#if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
/////////////////////////////////
//
// isRunningAZ
//
/////////////////////////////////
bool Mount::isRunningAZ() const
{
    return _stepperAZ->isRunning();
}

#endif

#if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
/////////////////////////////////
//
// isRunningALT
//
/////////////////////////////////
bool Mount::isRunningALT() const
{
    return _stepperALT->isRunning();
}
#endif

#if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE) || (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
/////////////////////////////////
//
// moveBy
//
/////////////////////////////////
void Mount::moveBy(int direction, float arcMinutes)
{
    #if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
    if (direction == AZIMUTH_STEPS)
    {
        enableAzMotor();
        long stepsToMove = arcMinutes * AZIMUTH_STEPS_PER_ARC_MINUTE;
        _stepperAZ->move(stepsToMove);
    }
    #endif
    #if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
    if (direction == ALTITUDE_STEPS)
    {
        enableAltMotor();
        long stepsToMove = arcMinutes * ALTITUDE_STEPS_PER_ARC_MINUTE;
        _stepperALT->move(stepsToMove);
    }
    #endif
}

/////////////////////////////////
//
// disableAzAltMotors
//
/////////////////////////////////
void Mount::disableAzAltMotors()
{
    #if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
    _stepperAZ->stop();
    #endif
    #if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
    _stepperALT->stop();
    #endif

    #if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
    while (_stepperAZ->isRunning())
    {
        loop();
    }
    #endif

    #if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
    while (_stepperALT->isRunning())
    {
        loop();
    }
    #endif

    #if AZ_ALWAYS_ON == 0
        #if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
    digitalWrite(AZ_EN_PIN, HIGH);  // Logic HIGH to disable driver
        #endif
    #endif

    #if ALT_ALWAYS_ON == 0
        #if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
    digitalWrite(ALT_EN_PIN, HIGH);  // Logic HIGH to disable driver
        #endif
    #endif
}

/////////////////////////////////
//
// enableAzAltMotors
//
/////////////////////////////////
void Mount::enableAzMotor()
{
    #if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
    digitalWrite(AZ_EN_PIN, LOW);  // Logic LOW to enable driver
    // Let loop() disable the driver again, even if the move turns out to be zero steps
    // (e.g. move to home while already at home), so it never stays powered.
    _azAltWasRunning = true;
    #endif
}

void Mount::enableAltMotor()
{
    #if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
    digitalWrite(ALT_EN_PIN, LOW);  // Logic LOW to enable driver
    // See enableAzMotor()
    _azAltWasRunning = true;
    #endif
}

#endif

#if (FOCUS_STEPPER_TYPE != STEPPER_TYPE_NONE)
/////////////////////////////////
//
// isRunningFocus
//
/////////////////////////////////
bool Mount::isRunningFocus() const
{
    return _stepperFocus->isRunning();
}

/////////////////////////////////
//
// getFocusSpeed
//
/////////////////////////////////
float Mount::getFocusSpeed() const
{
    return _stepperFocus->speed();
}

/////////////////////////////////
//
// focusSetSpeedByRate
//
/////////////////////////////////
void Mount::focusSetSpeedByRate(int rate)
{
    _focusRate          = clamp(rate, 1, 4);
    float speedFactor[] = {0, 0.05, 0.2, 0.5, 1.0};
    _maxFocusRateSpeed  = speedFactor[_focusRate] * _maxFocusSpeed;
    LOG(DEBUG_FOCUS,
        "[FOCUS]: focusSetSpeedByRate: rate is %d, factor %f, maxspeed %f -> %f",
        _focusRate,
        speedFactor[_focusRate],
        _maxFocusSpeed,
        _maxFocusRateSpeed);
    _stepperFocus->setMaxSpeed(_maxFocusRateSpeed);

    if (_stepperFocus->isRunning())
    {
        LOG(DEBUG_FOCUS, "[FOCUS]: focusSetSpeedByRate: stepper is already running so should adjust speed?");
        //_stepperFocus->setSpeed(speedFactor[_focusRate ] * _maxFocusSpeed);
    }
}

/////////////////////////////////
//
// focusContinuousMove
//
/////////////////////////////////
void Mount::focusContinuousMove(FocuserDirection direction)
{
    // maxSpeed is set to what the rate dictates
    LOG(DEBUG_FOCUS, "[FOCUS]: focusContinuousMove: direction is %d, maxspeed %f", direction, _maxFocusRateSpeed);
    setSpeed(FOCUS_STEPS, static_cast<int>(direction) * _maxFocusRateSpeed);
}

/////////////////////////////////
//
// focusMoveBy
//
/////////////////////////////////
void Mount::focusMoveBy(long steps)
{
    long targetPosition = _stepperFocus->currentPosition() + steps;
    LOG(DEBUG_FOCUS, "[FOCUS]: focusMoveBy: move by %l steps to %l. Target Mode.", steps, targetPosition);
    enableFocusMotor();
    _stepperFocus->moveTo(targetPosition);
    _focuserMode = FOCUS_TO_TARGET;
}

/////////////////////////////////
//
// focusGetPosition
//
/////////////////////////////////
long Mount::focusGetStepperPosition()
{
    return _stepperFocus->currentPosition();
}

/////////////////////////////////
//
// focusSetPosition
//
/////////////////////////////////
void Mount::focusSetStepperPosition(long steps)
{
    _stepperFocus->setCurrentPosition(steps);
}

/////////////////////////////////
//
// disableFocusMotor
//
/////////////////////////////////
void Mount::disableFocusMotor()
{
    LOG(DEBUG_FOCUS, "[FOCUS]: disableFocusMotor: stopping motor and waiting.");
    _stepperFocus->stop();
    waitUntilStopped(FOCUSING);

    #if (FOCUS_STEPPER_TYPE != STEPPER_TYPE_NONE)
        #if FOCUSER_ALWAYS_ON == 0
            #if (FOCUS_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART)

    LOG(DEBUG_FOCUS, "[FOCUS]: disableFocusMotor: TMC2209U disabling enable pin");
    digitalWrite(FOCUS_EN_PIN, HIGH);  // Logic HIGH to disable driver
            #else
    LOG(DEBUG_FOCUS, "[FOCUS]: disableFocusMotor: non-TMC2209U disabling enable pin");
    digitalWrite(FOCUS_EN_PIN, HIGH);  // Logic HIGH to disable driver
            #endif
        #endif
    #endif
}

/////////////////////////////////
//
// enableFocusMotor
//
/////////////////////////////////
void Mount::enableFocusMotor()
{
    LOG(DEBUG_FOCUS, "[FOCUS]: enableFocusMotor: enabling driver pin.");
    digitalWrite(FOCUS_EN_PIN, LOW);  // Logic LOW to enable driver
}

/////////////////////////////////
//
// focusStop
//
/////////////////////////////////
void Mount::focusStop()
{
    LOG(DEBUG_FOCUS, "[FOCUS]: focusStop: stopping motor.");
    _stepperFocus->stop();
}

#endif

/////////////////////////////////
//
// setTrackingStepperPos
//
/////////////////////////////////
void Mount::setTrackingStepperPos(long stepPos)
{
    _stepperTRK->setCurrentPosition(stepPos);
}

void Mount::setStatus(int state)
{
    noInterrupts();
    _mountStatus = state;
    interrupts();
}

void Mount::setStatusFlag(int flag)
{
    noInterrupts();
    _mountStatus |= flag;
    interrupts();
}

void Mount::clearStatusFlag(int flag)
{
    noInterrupts();
    _mountStatus &= ~flag;
    interrupts();
}

/////////////////////////////////
//
// getStatusString
//
/////////////////////////////////
String Mount::getStatusStateString()
{
    String status;
    if (_mountStatus == STATUS_PARKED)
    {
        status = F("Parked");
    }
    else if ((_mountStatus & STATUS_PARKING) || (_mountStatus & STATUS_PARKING_POS))
    {
        status = F("Parking");
    }
    else if (isFindingHome())
    {
        status = F("Homing");
    }
    else if (isGuiding())
    {
        status = F("Guiding");
    }
    else if (slewStatus() & SLEW_MASK_ANY)
    {
        if (_mountStatus & STATUS_SLEWING_TO_TARGET)
        {
            status = F("SlewToTarget");
        }
        else if (_mountStatus & STATUS_SLEWING_FREE)
        {
            status = F("FreeSlew");
        }
        else if (_mountStatus & STATUS_SLEWING_MANUAL)
        {
            status = F("ManualSlew");
        }
        else if (slewStatus() & SLEWING_TRACKING)
        {
            status = F("Tracking");
        }
    }
    else
    {
        status = "Idle";
    }
    return status;
}
/////////////////////////////////
//
// getStatusString
//
/////////////////////////////////
String Mount::getStatusString()
{
    String status = getStatusStateString() + ",";

    String disp = "------,";
    if (_mountStatus & STATUS_SLEWING)
    {
        byte slew = slewStatus();
        if (slew & SLEWING_RA)
        {
            disp[0] = _stepperRA->targetPosition() < _stepperRA->currentPosition() ? 'R' : 'r';
        }
        if (slew & SLEWING_DEC)
        {
            disp[1] = _stepperDEC->targetPosition() < _stepperDEC->currentPosition() ? 'D' : 'd';
        }
        if (slew & SLEWING_TRACKING)
        {
            disp[2] = 'T';
        }
    }
    else if (isSlewingTRK())
    {
        disp[2] = 'T';
    }
#if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
    if (_stepperAZ->isRunning())
    {
        disp[3] = _stepperAZ->targetPosition() < _stepperAZ->currentPosition() ? 'Z' : 'z';
    }
#endif
#if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
    if (_stepperALT->isRunning())
    {
        disp[4] = _stepperALT->targetPosition() < _stepperALT->currentPosition() ? 'A' : 'a';
    }
#endif

#if (FOCUS_STEPPER_TYPE != STEPPER_TYPE_NONE)
    if (_stepperFocus->isRunning())
        disp[5] = _stepperFocus->targetPosition() < _stepperFocus->currentPosition() ? 'F' : 'f';
#endif

    status += disp;
    status += String(_stepperRA->currentPosition()) + ",";
    status += String(_stepperDEC->currentPosition()) + ",";
    status += String(_stepperTRK->currentPosition()) + ",";

    status += RAString(COMPACT_STRING | CURRENT_STRING) + ",";
    status += DECString(COMPACT_STRING | CURRENT_STRING) + ",";
#if (FOCUS_STEPPER_TYPE != STEPPER_TYPE_NONE)
    status += String(_stepperFocus->currentPosition()) + ",";
#else
    status += ",";
#endif

    return status;
}

/////////////////////////////////
//
// slewStatus
//
// Returns the current state of the motors and is a bitfield with these flags:
// NOT_SLEWING is all zero. SLEWING_DEC, SLEWING_RA, SLEWING_BOTH, SLEWING_TRACKING are bits.
/////////////////////////////////
byte Mount::slewStatus() const
{
    if (_mountStatus == STATUS_PARKED)
    {
        return NOT_SLEWING;
    }
    if (isGuiding())
    {
        return NOT_SLEWING;
    }
    byte slewState = _stepperRA->isRunning() ? SLEWING_RA : NOT_SLEWING;
    slewState |= _stepperDEC->isRunning() ? SLEWING_DEC : NOT_SLEWING;

    slewState |= (_mountStatus & STATUS_TRACKING) ? SLEWING_TRACKING : NOT_SLEWING;
    return slewState;
}

byte Mount::mountStatus() const
{
    return _mountStatus;
}

/////////////////////////////////
//
// isGuiding
//
/////////////////////////////////
bool Mount::isGuiding() const
{
    return (_mountStatus & STATUS_GUIDE_PULSE) != 0;
}

/////////////////////////////////
//
// isSlewingDECorRA
//
/////////////////////////////////
bool Mount::isSlewingRAorDEC() const
{
    if (isParking())
        return true;
    return (slewStatus() & (SLEWING_DEC | SLEWING_RA)) != 0;
}

/////////////////////////////////
//
// isSlewingIdle
//
/////////////////////////////////
bool Mount::isSlewingIdle() const
{
    if (isParking())
        return false;
    return (slewStatus() & (SLEWING_DEC | SLEWING_RA)) == 0;
}

/////////////////////////////////
//
// isSlewingTRK
//
/////////////////////////////////
bool Mount::isSlewingTRK() const
{
    return (slewStatus() & SLEWING_TRACKING) != 0;
}

/////////////////////////////////
//
// isTracking
//
/////////////////////////////////
bool Mount::isTracking() const
{
    // Unlike isSlewingTRK(), this stays true while a guide pulse is running,
    // since slewStatus() reports NOT_SLEWING for the whole guiding block.
    return (_mountStatus & STATUS_TRACKING) != 0;
}

/////////////////////////////////
//
// isParking
//
/////////////////////////////////
bool Mount::isParking() const
{
    return _mountStatus & (STATUS_PARKING | STATUS_PARKING_POS);
}

/////////////////////////////////
//
// isFindingHome
//
/////////////////////////////////
bool Mount::isFindingHome() const
{
    return _mountStatus & STATUS_FINDING_HOME;
}

/////////////////////////////////
//
// startSlewing
//
// Starts manual slewing in one of eight directions or
// tracking, but only if not currently parking!
/////////////////////////////////
void Mount::startSlewing(int direction)
{
    if (!isParking())
    {
        stopGuiding();

        if (direction & TRACKING)
        {
// Start tracking
#if RA_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
            LOG(DEBUG_STEPPERS, "[STEPPERS]: startSlewing: Tracking: Switching RA driver to microsteps(%d)", RA_TRACKING_MICROSTEPPING);
            _driverRA->microsteps(RA_TRACKING_MICROSTEPPING == 1 ? 0 : RA_TRACKING_MICROSTEPPING);
#endif
            _stepperTRK->setSpeed(_trackingSpeed);

            // Turn on tracking
            setStatusFlag(STATUS_TRACKING);
        }
        else
        {
            // Start slewing
            int sign = inNorthernHemisphere ? 1 : -1;

            // Set move rate to last commanded slew rate
            setSlewRate(_moveRate);
            if (isSlewingTRK())
            {
                stopSlewing(TRACKING);
                _trackerStoppedAt        = millis();
                _compensateForTrackerOff = true;
                LOG(DEBUG_STEPPERS, "[STEPPERS]: startSlewing: stopped TRK at %l", _trackerStoppedAt);
            }

// Change microstep mode for slewing
#if RA_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
            LOG(DEBUG_STEPPERS, "[STEPPERS]: startSlewing: Slewing: Switching RA driver to microsteps(%d)", RA_SLEW_MICROSTEPPING);
            _driverRA->microsteps(RA_SLEW_MICROSTEPPING == 1 ? 0 : RA_SLEW_MICROSTEPPING);
#endif
#if DEC_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
            // Since normal state for DEC is guide microstepping, switch to slew microstepping here.
            LOG(DEBUG_STEPPERS, "[STEPPERS]: startSlewing: Slewing: Switching DEC driver to microsteps(%d)", DEC_SLEW_MICROSTEPPING);
            _driverDEC->microsteps(DEC_SLEW_MICROSTEPPING == 1 ? 0 : DEC_SLEW_MICROSTEPPING);
#endif

            if (direction & NORTH)
            {
                long targetLocation = _stepsPerDECDegree * DEC_LIMIT_UP;
                if (_decUpperLimit != 0)
                {
                    targetLocation = _decUpperLimit;
                    LOG(DEBUG_STEPPERS,
                        "[STEPPERS]: startSlewing(N): DEC has upper limit of %l. targetMoveTo is now %l",
                        _decUpperLimit,
                        targetLocation);
                }
                else
                {
                    LOG(DEBUG_STEPPERS, "[STEPPERS]: startSlewing(N): initial targetMoveTo is %l", targetLocation);
                }

                _stepperDEC->moveTo(targetLocation);
                setStatusFlag(STATUS_SLEWING);
            }

            if (direction & SOUTH)
            {
                long targetLocation = -_stepsPerDECDegree * DEC_LIMIT_DOWN;
                if (_decLowerLimit != 0)
                {
                    targetLocation = _decLowerLimit;
                    LOG(DEBUG_STEPPERS,
                        "[STEPPERS]: startSlewing(S): DEC has lower limit of %l. targetMoveTo is now %l",
                        _decLowerLimit,
                        targetLocation);
                }
                else
                {
                    LOG(DEBUG_STEPPERS, "[STEPPERS]: startSlewing(S): initial targetMoveTo is %l", targetLocation);
                }

                _stepperDEC->moveTo(targetLocation);
                setStatusFlag(STATUS_SLEWING);
            }

            const float trackedHours = getTrackedHours();
            if (direction & EAST)
            {
                // We need to subtract the distance tracked from the physical RA home coordinate
                long targetEastPos = _stepsPerRADegree * 15.0 * (RA_PHYSICAL_LIMIT + trackedHours);
                LOG(DEBUG_STEPPERS,
                    "[STEPPERS]: startSlewing(E): initial targetMoveTo is %l (adjusted for %fh tracked)",
                    -sign * targetEastPos,
                    trackedHours);
                _stepperRA->moveTo(-sign * targetEastPos);
                setStatusFlag(STATUS_SLEWING);
            }
            if (direction & WEST)
            {
                // We need to add the distance tracked from the physical RA home coordinate
                long targetWestPos = _stepsPerRADegree * 15.0 * (min(RA_PHYSICAL_LIMIT, RA_TRACKING_LIMIT) - trackedHours);
                LOG(DEBUG_STEPPERS,
                    "[STEPPERS]: startSlewing(W): initial targetMoveTo is %l (adjusted for %fh tracked)",
                    sign * targetWestPos,
                    trackedHours);
                _stepperRA->moveTo(sign * targetWestPos);
                setStatusFlag(STATUS_SLEWING);
            }
        }
    }
}

/////////////////////////////////
//
// stopSlewing
//
// Stop manual slewing in one of two directions or Tracking. NS is the same. EW is the same
/////////////////////////////////
void Mount::stopSlewing(int direction)
{
    if (direction & TRACKING)
    {
        // Turn off tracking
        clearStatusFlag(STATUS_TRACKING);

        LOG(DEBUG_STEPPERS, "[STEPPERS]: stopSlewing: TRK stepper stop()");
        _stepperTRK->stop();
    }

    if ((direction & (NORTH | SOUTH)) != 0)
    {
        LOG(DEBUG_STEPPERS, "[STEPPERS]: stopSlewing: DEC stepper stop()");
        _stepperDEC->stop();
    }

    if ((direction & (WEST | EAST)) != 0)
    {
        LOG(DEBUG_STEPPERS, "[STEPPERS]: stopSlewing: RA stepper stop()");
        _stepperRA->stop();
        if (isFindingHome())
        {
            clearStatusFlag(STATUS_FINDING_HOME);
        }
    }
}

void Mount::stopSlewing(StepperAxis axis)
{
    if (axis == RA_STEPS)
    {
        _stepperRA->stop();
    }
    else if (axis == DEC_STEPS)
    {
        _stepperDEC->stop();
    }
    else if (axis == AZIMUTH_STEPS)
    {
#if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
        _stepperAZ->stop();
#endif
    }
    else if (axis == ALTITUDE_STEPS)
    {
#if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
        _stepperALT->stop();
#endif
    }
    else if (axis == FOCUS_STEPS)
    {
#if (FOCUS_STEPPER_TYPE != STEPPER_TYPE_NONE)
        _stepperFocus->stop();
#endif
    }
}

/////////////////////////////////
//
// waitUntilStopped
//
/////////////////////////////////
// Block until the RA and DEC motors are stopped
void Mount::waitUntilStopped(byte direction)
{
    while (((direction & (EAST | WEST)) && _stepperRA->isRunning()) || ((direction & (NORTH | SOUTH)) && _stepperDEC->isRunning())
           || ((direction & TRACKING) && (((_mountStatus & STATUS_TRACKING) == 0) && _stepperTRK->isRunning()))
#if FOCUS_STEPPER_TYPE != STEPPER_TYPE_NONE
           || ((direction & FOCUSING) && _stepperFocus->isRunning())
#endif
    )
    {
        loop();
        yield();
    }
}

/////////////////////////////////
//
// waitUntilAllStopped
//
/////////////////////////////////
// Block until all steppers are stopped
void Mount::waitUntilAllStopped()
{
    while (_stepperRA->isRunning() || _stepperDEC->isRunning() || (((_mountStatus & STATUS_TRACKING) == 0) && _stepperTRK->isRunning())
#if FOCUS_STEPPER_TYPE != STEPPER_TYPE_NONE
           || _stepperFocus->isRunning()
#endif
#if AZ_STEPPER_TYPE != STEPPER_TYPE_NONE
           || _stepperAZ->isRunning()
#endif
#if ALT_STEPPER_TYPE != STEPPER_TYPE_NONE
           || _stepperALT->isRunning()
#endif
    )
    {
        loop();
        yield();
    }
}

/////////////////////////////////
//
// getCurrentStepperPosition
//
/////////////////////////////////
long Mount::getCurrentStepperPosition(int direction)
{
    if (direction & TRACKING)
    {
        return _stepperTRK->currentPosition();
    }
    if (direction & (NORTH | SOUTH))
    {
        return _stepperDEC->currentPosition();
    }
    if (direction & (EAST | WEST))
    {
        return _stepperRA->currentPosition();
    }
    return 0;
}

long Mount::getCurrentStepperPosition(StepperAxis axis)
{
    if (axis == StepperAxis::DEC_STEPS)
    {
        return _stepperDEC->currentPosition();
    }
    if (axis == StepperAxis::RA_STEPS)
    {
        return _stepperRA->currentPosition();
    }
    if (axis == StepperAxis::FOCUS_STEPS)
    {
#if (FOCUS_STEPPER_TYPE != STEPPER_TYPE_NONE)
        return _stepperFocus->currentPosition();
#endif
    }
    if (axis == StepperAxis::ALTITUDE_STEPS)
    {
#if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
        return _stepperALT->currentPosition();
#endif
    }
    if (axis == StepperAxis::AZIMUTH_STEPS)
    {
#if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
        return _stepperAZ->currentPosition();
#endif
    }
    return 0;
}

/////////////////////////////////
//
// setHomingOffset
//
/////////////////////////////////
void Mount::setHomingOffset(StepperAxis axis, long offset)
{
    if (axis == StepperAxis::RA_STEPS)
    {
        EEPROMStore::storeRAHomingOffset(offset);
        LOG(DEBUG_MOUNT, "[MOUNT]: setHomingOffset(RA): Offset: %l", offset);
    }
    if (axis == StepperAxis::DEC_STEPS)
    {
        EEPROMStore::storeDECHomingOffset(offset);
        LOG(DEBUG_MOUNT, "[MOUNT]: setDECHomingOffset(DEC): Offset: %l", offset);
    }
}

/////////////////////////////////
//
// getHomingOffset
//
/////////////////////////////////
long Mount::getHomingOffset(StepperAxis axis)
{
    if (axis == StepperAxis::RA_STEPS)
    {
        return EEPROMStore::getRAHomingOffset();
    }
    else if (axis == StepperAxis::DEC_STEPS)
    {
        return EEPROMStore::getDECHomingOffset();
    }
    return 0;
}

/////////////////////////////////
//
// findHomeByHallSensor
//
/////////////////////////////////
#if (USE_HALL_SENSOR_RA_AUTOHOME == 1) || (USE_HALL_SENSOR_DEC_AUTOHOME == 1)
bool Mount::findHomeByHallSensor(StepperAxis axis, int initialDirection, int searchDistance)
{
    #if USE_HALL_SENSOR_RA_AUTOHOME == 1
    if (axis == StepperAxis::RA_STEPS)
    {
        if (_raHoming != nullptr)
        {
            delete _raHoming;
        }
        int32_t offset = EEPROMStore::getRAHomingOffset();
        _raHoming      = new HallSensorHoming(this, axis, _stepsPerRADegree, RA_HOMING_SENSOR_PIN, RA_HOMING_SENSOR_ACTIVE_STATE, offset);
        return _raHoming->findHomeByHallSensor(initialDirection, searchDistance);
    }
    #endif

    #if USE_HALL_SENSOR_DEC_AUTOHOME == 1
    if (axis == StepperAxis::DEC_STEPS)
    {
        if (_decHoming != nullptr)
        {
            delete _decHoming;
        }
        int32_t offset = EEPROMStore::getDECHomingOffset();
        _decHoming = new HallSensorHoming(this, axis, _stepsPerDECDegree, DEC_HOMING_SENSOR_PIN, DEC_HOMING_SENSOR_ACTIVE_STATE, offset);
        return _decHoming->findHomeByHallSensor(initialDirection, searchDistance);
    }
    #endif
    return false;
}

/////////////////////////////////
//
// processHomingProgress
//
/////////////////////////////////
void Mount::processHomingProgress()
{
    #if USE_HALL_SENSOR_RA_AUTOHOME == 1
    if ((_raHoming != nullptr) && (!_raHoming->isIdleOrComplete()))
    {
        _raHoming->processHomingProgress();
    }
    #endif

    #if USE_HALL_SENSOR_DEC_AUTOHOME == 1
    if ((_decHoming != nullptr) && (!_decHoming->isIdleOrComplete()))
    {
        _decHoming->processHomingProgress();
    }
    #endif
}
#endif

String Mount::getAutoHomingStates() const
{
    String state;
#if USE_HALL_SENSOR_RA_AUTOHOME == 1
    if ((_raHoming != nullptr) && (!_raHoming->isIdleOrComplete()))
    {
        state += _raHoming->getHomingState(_raHoming->getHomingState());
    }
    else
    {
        state += _raHoming->getLastResult();
    }
#endif
    state += "|";
#if USE_HALL_SENSOR_DEC_AUTOHOME == 1
    if ((_decHoming != nullptr) && (!_decHoming->isIdleOrComplete()))
    {
        state += _decHoming->getHomingState(_decHoming->getHomingState());
    }
    else
    {
        state += _decHoming->getLastResult();
    }
#endif
    return state;
}

#if (USE_RA_END_SWITCH == 1 || USE_DEC_END_SWITCH == 1)
/////////////////////////////////
//
// End Switches RA/DEC
//
/////////////////////////////////
void Mount::setupEndSwitches()
{
    #if (USE_RA_END_SWITCH == 1)
    _raEndSwitch = new EndSwitch(
        this, StepperAxis::RA_STEPS, RA_ENDSWITCH_EAST_SENSOR_PIN, RA_ENDSWITCH_WEST_SENSOR_PIN, RA_END_SWITCH_ACTIVE_STATE);
    #endif

    #if (USE_DEC_END_SWITCH == 1)
    _decEndSwitch = new EndSwitch(
        this, StepperAxis::DEC_STEPS, DEC_ENDSWITCH_DOWN_SENSOR_PIN, DEC_ENDSWITCH_UP_SENSOR_PIN, DEC_END_SWITCH_ACTIVE_STATE);
    #endif
}
#endif

/////////////////////////////////
//
// delay
//
/////////////////////////////////
void Mount::delay(int ms)
{
    unsigned long now = millis();
    while (millis() - now < (unsigned long) ms)
    {
        loop();
        yield();
    }
}

/////////////////////////////////
//
// interruptLoop()
//
// This function is only called on run in an ISR. It needs to be fast and do little work.
/////////////////////////////////
#if defined(ESP32) || !defined(NEW_STEPPER_LIB)
void Mount::interruptLoop()
{
    // Only process guide pulses if we are tracking.
    if ((_mountStatus & STATUS_GUIDE_PULSE) && (_mountStatus & STATUS_TRACKING))
    {
        _stepperTRK->runSpeed();
        if (_mountStatus & STATUS_GUIDE_PULSE_DEC)
        {
            _stepperGUIDE->runSpeed();
        }
        return;
    }

    if (_mountStatus & STATUS_TRACKING)
    {
        _stepperTRK->runSpeed();
    }

    if (_mountStatus & STATUS_SLEWING)
    {
        if (_mountStatus & STATUS_SLEWING_MANUAL)
        {
            _stepperDEC->runSpeed();
            _stepperRA->runSpeed();
        }
        else
        {
            _stepperDEC->run();
            _stepperRA->run();
        }
    }
    else if (!(_mountStatus & STATUS_TRACKING) && (_stepperTRK->isRunning()))
    {
        // If we are not tracking, but the tracking stepper is running, we need to let it move.
        // This can happen when we need to compensate for a slew (during which the tracker is
        // stopped). After the slew, the tracker is advanced by the distance it would have
        // travelled during the slew if it had been tracking.
        // That compensation uses goto mode (using runToNewPosition()), so we need to use run(),
        // since runSpeed() only advances the stepper when it is in constant speed mode.
        _stepperTRK->run();
    }

    if (_mountStatus & STATUS_FINDING_HOME)
    {
    #if USE_HALL_SENSOR_RA_AUTOHOME == 1
        _stepperRA->run();
        if (_raHoming != nullptr)
        {
            _raHoming->processHomingProgress();
        }
    #endif
    #if USE_HALL_SENSOR_DEC_AUTOHOME == 1
        _stepperDEC->run();
        if (_decHoming != nullptr)
        {
            _decHoming->processHomingProgress();
        }
    #endif
    }

    #if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
    _stepperAZ->run();
    #endif
    #if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
    _stepperALT->run();
    #endif

    #if (FOCUS_STEPPER_TYPE != STEPPER_TYPE_NONE)
    if (_focuserMode == FOCUS_TO_TARGET)
    {
        _stepperFocus->run();
    }
    else if (_focuserMode == FOCUS_CONTINUOUS)
    {
        _stepperFocus->runSpeed();
    }
    #endif

    #if (USE_RA_END_SWITCH == 1)
    _raEndSwitch->processEndSwitchState();
    #endif

    #if (USE_DEC_END_SWITCH == 1)
    _decEndSwitch->processEndSwitchState();
    #endif
}
#endif

/////////////////////////////////
//
// loop
//
// Process any stepper changes.
/////////////////////////////////
void Mount::loop()
{
    bool raStillRunning  = false;
    bool decStillRunning = false;

    unsigned long now = millis();

#if (DEBUG_LEVEL & DEBUG_MOUNT) && (DEBUG_LEVEL & DEBUG_VERBOSE)
    if (now - _lastMountPrint > 2000)
    {
        LOG(DEBUG_MOUNT, "[MOUNT]: Status -> %s", getStatusString().c_str());
        _lastMountPrint = now;
    }
#endif

#if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE) || (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
    bool oneIsRunning = false;
    #if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
    oneIsRunning |= _stepperAZ->isRunning();
    #endif
    #if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
    oneIsRunning |= _stepperALT->isRunning();
    #endif

    if (!oneIsRunning && _azAltWasRunning)
    {
        // One of the motors was running last time through the loop, but not anymore, so shutdown the outputs.
        disableAzAltMotors();
        _azAltWasRunning = false;
    #if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
        EEPROMStore::storeAZPosition(_stepperAZ->currentPosition());
    #endif
    #if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
        EEPROMStore::storeALTPosition(_stepperALT->currentPosition());
    #endif
    }

    oneIsRunning = false;
    #if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
    oneIsRunning |= _stepperAZ->isRunning();
    #endif
    #if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
    oneIsRunning |= _stepperALT->isRunning();
    #endif

    if (oneIsRunning)
    {
        _azAltWasRunning = true;
    }
#endif

#if (FOCUS_STEPPER_TYPE != STEPPER_TYPE_NONE)
    // LOG(DEBUG_MOUNT, "[MOUNT]: Focuser running:  %d", _stepperFocus->isRunning());

    if (_stepperFocus->isRunning())
    {
        LOG(DEBUG_FOCUS, "[MOUNT]: Loop: Focuser running at speed %f", _stepperFocus->speed());
        _focuserWasRunning = true;
    }
    else if (_focuserWasRunning)
    {
        LOG(DEBUG_FOCUS, "[MOUNT]: Loop: Focuser is stopped, but was running ");
        // If focuser was running last time through the loop, but not this time, it has
        // either been stopped, or reached the target.
        _focuserMode       = FOCUS_IDLE;
        _focuserWasRunning = false;
        LOG(DEBUG_FOCUS, "[MOUNT]: Loop: Focuser is stopped, but was running, disabling");
        disableFocusMotor();
    }

#endif

    if (isGuiding())
    {
        now                 = millis();
        bool stopRaGuiding  = (now > _guideRaEndTime) && (_mountStatus & STATUS_GUIDE_PULSE_RA);
        bool stopDecGuiding = (now > _guideDecEndTime) && (_mountStatus & STATUS_GUIDE_PULSE_DEC);
        if (stopRaGuiding || stopDecGuiding)
        {
            LOG(DEBUG_GUIDE, "[MOUNT]: Loop: StopGuiding. Now: %l, RA End: %l, DEC End: %l", now, _guideRaEndTime, _guideDecEndTime);
            stopGuiding(stopRaGuiding, stopDecGuiding);
        }
        // Do not update the info display while a pulse is running: a full-frame render blocks
        // loop() for roughly 100ms (1KB over the default 100kHz I2C), which delays the end-time
        // checks above and makes guide pulses overshoot their requested duration. The display
        // is still refreshed at each pulse start (guidePulse) and between pulses (end of loop()).
        return;
    }

    if (_stepperDEC->isRunning())
    {
        decStillRunning = true;
    }

    if (_stepperRA->isRunning())
    {
        raStillRunning = true;
    }

    if (raStillRunning || decStillRunning)
    {
        displayStepperPositionThrottled();
    }
    else
    {
        // Check whether we should stop tracking every 5 seconds
        if (now - _lastTRKCheck > 5000)
        {
            checkRALimit();
        }

        //
        // Arrived at target after Slew!
        //
        clearStatusFlag(STATUS_SLEWING | STATUS_SLEWING_TO_TARGET | STATUS_SLEWING_MANUAL);

        if (_stepperWasRunning)
        {
            LOG(DEBUG_MOUNT | DEBUG_STEPPERS,
                "[MOUNT]: Loop: Reached target. RA:%l, DEC:%l",
                _stepperRA->currentPosition(),
                _stepperDEC->currentPosition());
            // Mount is at Target!
            // If we we're parking, we just reached home. Clear the flag, reset the motors and stop tracking.
            if (isParking())
            {
                stopSlewing(TRACKING);
                // If we're on the second part of the slew to parking, don't set home here
                if (!_slewingToPark)
                {
                    bool saveHomeSlew = _slewingToHome;
                    LOG(DEBUG_MOUNT | DEBUG_STEPPERS,
                        "[MOUNT]: Loop:   Was Parking, not slewing to park so stop tracking and set home. SlewToHome: %d",
                        _slewingToHome);
                    setHome(false);
                    _slewingToHome = saveHomeSlew;
                }
                else
                {
                    LOG(DEBUG_MOUNT | DEBUG_STEPPERS,
                        "[MOUNT]: Loop:   Was Parking and slewing to Park, stop tracking. SlewToHome: %d",
                        _slewingToHome);
                }
                LOG(DEBUG_MOUNT | DEBUG_STEPPERS, "[MOUNT]: Loop:   Slew2Park:%d, Slew2Home:%d", _slewingToPark, _slewingToHome);
            }

            _currentRAStepperPosition = _stepperRA->currentPosition();
#if RA_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
            if (!isFindingHome())  // When finding home, we never want to switch back to tracking until homing is finished.
            {
                LOG(DEBUG_STEPPERS, "[STEPPERS]: Loop: Arrived. RA driver setMicrosteps(%d)", RA_TRACKING_MICROSTEPPING);
                _driverRA->microsteps(RA_TRACKING_MICROSTEPPING == 1 ? 0 : RA_TRACKING_MICROSTEPPING);
            }
#endif
            if (!isParking())
            {
                LOG(DEBUG_STEPPERS, "[STEPPERS]: Loop: Not parking");
                if (_compensateForTrackerOff)
                {
                    now                             = millis();
                    unsigned long elapsed           = now - _trackerStoppedAt;
                    unsigned long compensationSteps = _trackingSpeed * elapsed / 1000.0f;
                    LOG(DEBUG_STEPPERS,
                        "[STEPPERS]: loop: Arrived at %lms. Tracking was off for %lms (%l steps), compensating.",
                        now,
                        elapsed,
                        compensationSteps);
                    _stepperTRK->runToNewPosition(_stepperTRK->currentPosition() + compensationSteps);

                    LOG(DEBUG_STEPPERS, "[STEPPERS]: loop: compensation complete.");
                    _compensateForTrackerOff = false;
                }

                if (!isFindingHome())  // If we're homing, RA must stay in Slew configuration
                {
                    LOG(DEBUG_STEPPERS, "[STEPPERS]: Loop: Not finding home, so start tracking");
                    startSlewing(TRACKING);
                }
            }

// Reset DEC to guide microstepping so that guiding is always ready and no switch is neccessary on guide pulses.
#if DEC_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
            LOG(DEBUG_STEPPERS, "[STEPPERS]: Loop: Arrived. DEC driver setMicrosteps(%d)", DEC_GUIDE_MICROSTEPPING);
            _driverDEC->microsteps(DEC_GUIDE_MICROSTEPPING == 1 ? 0 : DEC_GUIDE_MICROSTEPPING);
#endif

            if (_correctForBacklash)
            {
                LOG(DEBUG_MOUNT | DEBUG_STEPPERS,
                    "[MOUNT]: Loop:   Reached target at %d. Compensating for backlash by %d",
                    (int) _currentRAStepperPosition,
                    _backlashCorrectionSteps);
                _currentRAStepperPosition += _backlashCorrectionSteps;
                _stepperRA->runToNewPosition(_currentRAStepperPosition);
                _correctForBacklash = false;
                LOG(DEBUG_MOUNT | DEBUG_STEPPERS, "[MOUNT]: Loop:   Backlash correction done. Pos: %d", _currentRAStepperPosition);
            }
            else
            {
                LOG(DEBUG_MOUNT | DEBUG_STEPPERS,
                    "[MOUNT]: Loop:   Reached target at %d, no backlash compensation needed",
                    _currentRAStepperPosition);
            }

            LOG(DEBUG_MOUNT | DEBUG_STEPPERS, "[MOUNT]: Loop:   Slew2Park:%d, Slew2Home:%d", _slewingToPark, _slewingToHome);
            if (_slewingToHome)
            {
                LOG(DEBUG_MOUNT | DEBUG_STEPPERS, "[MOUNT]: Loop:   Was Slewing home...");
                _targetRA = currentRA();
                if (isParking())
                {
// Set DEC to Slew microstepping since it is set to guiding.
#if DEC_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
                    LOG(DEBUG_STEPPERS, "[STEPPERS]: Loop: Parking. DEC driver setMicrosteps(%d)", DEC_SLEW_MICROSTEPPING);
                    _driverDEC->microsteps(DEC_SLEW_MICROSTEPPING == 1 ? 0 : DEC_SLEW_MICROSTEPPING);
#endif
                    LOG(DEBUG_MOUNT | DEBUG_STEPPERS, "[MOUNT]: Loop:   Was parking, so no tracking. Proceeding to park position...");
                    clearStatusFlag(STATUS_PARKING);
                    _slewingToPark = true;
                    _stepperRA->moveTo(-getHomingOffset(StepperAxis::RA_STEPS));
                    _stepperDEC->moveTo(-getHomingOffset(StepperAxis::DEC_STEPS));
                    _totalDECMove = 1.0f * _stepperDEC->distanceToGo();
                    _totalRAMove  = 1.0f * _stepperRA->distanceToGo();
                    LOG(DEBUG_MOUNT | DEBUG_STEPPERS,
                        "[MOUNT]: Loop:   Park Position is R:%l  D:%l, TotalMove is R:%f, D:%f",
                        -getHomingOffset(StepperAxis::RA_STEPS),
                        -getHomingOffset(StepperAxis::DEC_STEPS),
                        _totalRAMove,
                        _totalDECMove);
                    if ((_stepperDEC->distanceToGo() != 0) || (_stepperRA->distanceToGo() != 0))
                    {
                        LOG(DEBUG_MOUNT | DEBUG_STEPPERS, "[MOUNT]: Loop:   Distance to Parking is non-zero, slewing to park position...");
                        setStatusFlag(STATUS_PARKING_POS | STATUS_SLEWING);
                    }
                    else
                    {
                        LOG(DEBUG_MOUNT | DEBUG_STEPPERS, "[MOUNT]: Loop:   Already at Parking pos, so done.");
                        noInterrupts();
                        setStatus(STATUS_PARKED);
                        interrupts();
                    }
                }
                else
                {
                    LOG(DEBUG_MOUNT | DEBUG_STEPPERS, "[MOUNT]: Loop:   Slewed home, not parking, so restart tracking.");
                    startSlewing(TRACKING);
                }
                _slewingToHome = false;
// Reset DEC to guide microstepping so that guiding is always ready and no switch is neccessary on guide pulses.
#if DEC_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
                LOG(DEBUG_STEPPERS, "[STEPPERS]: Loop: Arrived at park. DEC driver setMicrosteps(%d)", DEC_GUIDE_MICROSTEPPING);
                _driverDEC->microsteps(DEC_GUIDE_MICROSTEPPING == 1 ? 0 : DEC_GUIDE_MICROSTEPPING);
#endif
            }
            else if (_slewingToPark)
            {
                LOG(DEBUG_MOUNT | DEBUG_STEPPERS, "[MOUNT]: Loop:   Arrived at park position...");
                noInterrupts();
                setStatus(STATUS_PARKED);
                interrupts();
                _slewingToPark = false;
            }
            _totalDECMove = _totalRAMove = 0;

            // Make sure we do one last update when the steppers have stopped.
            displayStepperPosition();
        }
    }

#if (USE_HALL_SENSOR_RA_AUTOHOME == 1) || (USE_HALL_SENSOR_DEC_AUTOHOME == 1)
    if (_mountStatus & STATUS_FINDING_HOME)
    {
        processHomingProgress();
    }
#endif

#if (USE_RA_END_SWITCH == 1)
    _raEndSwitch->processEndSwitchState();
    _raEndSwitch->checkSwitchState();
#endif

#if (USE_DEC_END_SWITCH == 1)
    _decEndSwitch->processEndSwitchState();
    _decEndSwitch->checkSwitchState();
#endif

    _stepperWasRunning = raStillRunning || decStillRunning;
#if INFO_DISPLAY_TYPE != INFO_DISPLAY_TYPE_NONE
    updateInfoDisplay();
#endif
}

#if (INFO_DISPLAY_TYPE != INFO_DISPLAY_TYPE_NONE)
void Mount::setupInfoDisplay()
{
    #if (INFO_DISPLAY_TYPE == INFO_DISPLAY_TYPE_I2C_SSD1306_128x64)
    LOG(DEBUG_DISPLAY, "[DISPLAY]: Create SSD1306 OLED class...");
    infoDisplay = new SDD1306OLED128x64(INFO_DISPLAY_I2C_ADDRESS, INFO_DISPLAY_I2C_SDA_PIN, INFO_DISPLAY_I2C_SCL_PIN);
    LOG(DEBUG_ANY, "[SYSTEM]: SSD1306 OLED created... initializing");
    infoDisplay->init();
    infoDisplay->setConsoleMode(true);
    LOG(DEBUG_DISPLAY, "[DISPLAY]: Created and initialized SSD1306 OLED class...");
    #endif
}

void Mount::updateInfoDisplay()
{
    #if (INFO_DISPLAY_TYPE != INFO_DISPLAY_TYPE_NONE)
    // If we update this display too often while slewing, the serial port is unable to process commands fast enough. Which makes the driver
    // timeout, causing ASCOM errors.
    // We will update at 30Hz when idle, 5Hz when slewing one axis and skip updates when slewing both.

    int refreshRateHz = 30;
        #if defined(ARDUINO_ARCH_RP2040)
    const bool isSlewingAny = (slewStatus() & (SLEWING_DEC | SLEWING_RA)) != 0;
    refreshRateHz           = isSlewingAny ? 15 : 30;
        #else
    const bool isSlewingRAandDEC = (slewStatus() & (SLEWING_DEC | SLEWING_RA)) == (SLEWING_DEC | SLEWING_RA);
    if (isSlewingRAandDEC)
    {
        return;  // Do not update the display
    }
    else if (isSlewingRAorDEC())
    {
        refreshRateHz = 5;  // Update the display slower
    }
        #endif
    const long now = millis();
    if (now - _lastInfoUpdate > (1000 / refreshRateHz))
    {
        LOG(DEBUG_DISPLAY, "[DISPLAY]: Render state to OLED ...");
        infoDisplay->renderScreen((void *) this);
        LOG(DEBUG_DISPLAY, "[DISPLAY]: Rendered state to OLED ...");
        _lastInfoUpdate = now;
    }
    #endif
}

InfoDisplayRender *Mount::getInfoDisplay()
{
    return infoDisplay;
}

#endif

/////////////////////////////////
//
// bootComplete
//
/////////////////////////////////
void Mount::bootComplete()
{
    _bootComplete = true;
}

/////////////////////////////////
//
// isBootComplete
//
/////////////////////////////////
bool Mount::isBootComplete()
{
    return _bootComplete;
}

/////////////////////////////////
//
// setDecLimitPosition
//
// If limitAngle is 0, no offset is given, so the current position is used.
/////////////////////////////////
void Mount::setDecLimitPosition(bool upper, float limitAngle)
{
    if (upper)
    {
        if (limitAngle == 0)
        {
            _decUpperLimit = _stepperDEC->currentPosition();
            EEPROMStore::storeDECUpperLimit(fabsf(_decUpperLimit / _stepsPerDECDegree));
        }
        else
        {
            _decUpperLimit = (limitAngle * _stepsPerDECDegree);
            EEPROMStore::storeDECUpperLimit(limitAngle);
        }
        LOG(DEBUG_MOUNT, "[MOUNT]: setDecLimitPosition(Upper) to %f: limit DEC: %l -> %l", limitAngle, _decLowerLimit, _decUpperLimit);
    }
    else
    {
        if (limitAngle == 0)
        {
            _decLowerLimit = _stepperDEC->currentPosition();
            EEPROMStore::storeDECLowerLimit(fabsf(_decLowerLimit / _stepsPerDECDegree));
        }
        else
        {
            _decLowerLimit = -(limitAngle * _stepsPerDECDegree);
            EEPROMStore::storeDECLowerLimit(limitAngle);
        }
        LOG(DEBUG_MOUNT, "[MOUNT]: setDecLimitPosition(Lower) to %f: limit DEC: %l -> %l", limitAngle, _decLowerLimit, _decUpperLimit);
    }
}

/////////////////////////////////
//
// clearDecLimitPosition
//
/////////////////////////////////
void Mount::clearDecLimitPosition(bool upper)
{
    if (upper)
    {
        _decUpperLimit = DEC_LIMIT_UP * _stepsPerDECDegree;
        EEPROMStore::storeDECUpperLimit(DEC_LIMIT_UP);
        LOG(DEBUG_MOUNT, "[MOUNT]: clearDecLimitPosition(Upper): limit DEC: %l -> %l", _decLowerLimit, _decUpperLimit);
    }
    else
    {
        _decLowerLimit = -(DEC_LIMIT_DOWN * _stepsPerDECDegree);
        EEPROMStore::storeDECLowerLimit(DEC_LIMIT_DOWN);
        LOG(DEBUG_MOUNT, "[MOUNT]: clearDecLimitPosition(Lower): limit DEC: %l -> %l", _decLowerLimit, _decUpperLimit);
    }
}

/////////////////////////////////
//
// getDecLimitPositions
//
/////////////////////////////////
void Mount::getDecLimitPositions(float &lowerLimit, float &upperLimit)
{
    lowerLimit = -1.0f * _decLowerLimit / _stepsPerDECDegree;
    upperLimit = 1.0f * _decUpperLimit / _stepsPerDECDegree;
    LOG(DEBUG_MOUNT,
        "[MOUNT]: getDecLimitPositions: limit DEC: %l -> %l (%f -> %f)",
        _decLowerLimit,
        _decUpperLimit,
        lowerLimit,
        upperLimit);
}

/////////////////////////////////
//
// setHome
//
/////////////////////////////////
void Mount::setHome(bool clearZeroPos)
{
    LOG(DEBUG_MOUNT, "[MOUNT]: setHome() called. Stopping steppers");
    bool wasTracking = isSlewingTRK();
    stopSlewing(ALL_DIRECTIONS);
    waitUntilStopped(ALL_DIRECTIONS);
    if (wasTracking)
    {
        LOG(DEBUG_MOUNT, "[MOUNT]: setHome: Tracking was on, so start it again.");
        startSlewing(TRACKING);
    }

    //LOG(DEBUG_MOUNT_VERBOSE, "[MOUNT]: setHomePre: currentRA is %s", currentRA().ToString());
    //LOG(DEBUG_MOUNT_VERBOSE, "[MOUNT]: setHomePre: targetRA is %s", targetRA().ToString());
    //LOG(DEBUG_MOUNT_VERBOSE, "[MOUNT]: setHomePre: zeroPos is %s", _zeroPosRA.ToString());
    _zeroPosRA = clearZeroPos ? DayTime(POLARIS_RA_HOUR, POLARIS_RA_MINUTE, POLARIS_RA_SECOND) : calculateLst();
#if defined(OAM) || defined(OAE)
    _zeroPosRA.addHours(6);  // shift allcoordinates by 90° for EQ mount movement
#endif
    _zeroPosDEC = 0.0f;

    _stepperRA->setCurrentPosition(0);
    _stepperDEC->setCurrentPosition(0);
    _stepperTRK->setCurrentPosition(0);
    _stepperGUIDE->setCurrentPosition(0);

    _targetRA      = currentRA();
    _slewingToHome = false;
    _slewingToPark = false;

    //LOG(DEBUG_MOUNT_VERBOSE, "[MOUNT]: setHomePost: currentRA is %s", currentRA().ToString());
    //LOG(DEBUG_MOUNT_VERBOSE, "[MOUNT]: setHomePost: zeroPos is %s", _zeroPosRA.ToString());
    //LOG(DEBUG_MOUNT_VERBOSE, "[MOUNT]: setHomePost: targetRA is %s", targetRA().ToString());
}

/////////////////////////////////
//
// getSpeed
//
// Get the current speed of the stepper. NORTH, WEST, TRACKING
/////////////////////////////////
float Mount::getSpeed(int direction)
{
    if (direction & TRACKING)
    {
        return _trackingSpeed;
    }
    if (direction & (NORTH | SOUTH))
    {
        return _stepperDEC->speed();
    }
    if (direction & (EAST | WEST))
    {
        return _stepperRA->speed();
    }
    return 0;
}

/////////////////////////////////
//
// calculateStepperPositions
//
// This code calculates the stepper locations to move to, given the right ascension and declination
/////////////////////////////////
void Mount::calculateStepperPositions(float raCoord, float decCoord, long &raPos, long &decPos)
{
    DayTime savedRA      = _targetRA;
    Declination savedDec = _targetDEC;
    _targetRA            = DayTime(raCoord);
    _targetDEC           = Declination::FromSeconds(decCoord * 3600.0f);
    calculateRAandDECSteppers(raPos, decPos);
    _targetRA  = savedRA;
    _targetDEC = savedDec;
}

/////////////////////////////////
//
// calculateRAandDECSteppers
//
// This code tells the steppers to what location to move to, given the select right ascension and declination
/////////////////////////////////
void Mount::calculateRAandDECSteppers(long &targetRASteps, long &targetDECSteps, long pSolutions[6]) const
{
    LOG(DEBUG_COORD_CALC, "[MOUNT]: CalcSteppersPre: Current : RA: %s, DEC: %s", currentRA().ToString(), currentDEC().ToString());
    LOG(DEBUG_COORD_CALC, "[MOUNT]: CalcSteppersPre: Target  : RA: %s, DEC: %s", _targetRA.ToString(), _targetDEC.ToString());
    LOG(DEBUG_COORD_CALC, "[MOUNT]: CalcSteppersPre: ZeroRA  : %s", _zeroPosRA.ToString());
    LOG(DEBUG_COORD_CALC, "[MOUNT]: CalcSteppersPre: ZeroDEC : %f", _zeroPosDEC);
    LOG(DEBUG_COORD_CALC,
        "[MOUNT]: CalcSteppersPre: Stepper: RA: %l, DEC: %l, TRK: %l",
        _stepperRA->currentPosition(),
        _stepperDEC->currentPosition(),
        _stepperTRK->currentPosition());
    DayTime raTarget      = _targetRA;
    Declination decTarget = _targetDEC;

    // Calculate how far from the home position this new target is.
    raTarget.subtractTime(_zeroPosRA);
    LOG(DEBUG_COORD_CALC,
        "[MOUNT]: CalcSteppersIn: Adjust RA by ZeroPosRA. New Target RA: %s, DEC: %s",
        raTarget.ToString(),
        _targetDEC.ToString());

    // Where do we want to move RA to?
    float moveRA = raTarget.getTotalHours();
    LOG(DEBUG_COORD_CALC, "[MOUNT]: CalcSteppersIn: moveRA (target) is %f", moveRA);

    // Total hours of tracking-to-date
    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
    float homeRA = _zeroPosRA.getTotalHours() + trackedHours;
    LOG(DEBUG_COORD_CALC, "[MOUNT]: CalcSteppersIn: homeRA adjusted by elasped tracking actually represents %f h", homeRA);

    // Delta between target RA and home position with a normalized range of -12 hr to 12 hr
    float homeTargetDeltaRA = _targetRA.getTotalHours() - homeRA;
    LOG(DEBUG_COORD_CALC,
        "[MOUNT]: CalcSteppersIn: Delta of home to targetRA (%f) is %f (will use to check limits) ",
        _targetRA.getTotalHours(),
        homeTargetDeltaRA);
    while (homeTargetDeltaRA > 12)
    {
        homeTargetDeltaRA = homeTargetDeltaRA - 24;
    }
    while (homeTargetDeltaRA < -12)
    {
        homeTargetDeltaRA = homeTargetDeltaRA + 24;
    }

    // Map [0 to 24] range to [-12 to +12] range
    while (moveRA > 12)
    {
        moveRA = moveRA - 24;
        LOG(DEBUG_COORD_CALC,
            "[MOUNT]: CalcSteppersIn: moveRA>12 so -24. New Target RA: %s, DEC: %s",
            DayTime(moveRA).ToString(),
            _targetDEC.ToString());
    }

    // How many u-steps moves the RA ring one sidereal hour along when slewing. One sidereal hour moves just shy of 15 degrees
    float stepsPerSiderealHour = _stepsPerRADegree * siderealDegreesInHour;  // u-steps/deg * deg/hr = u-steps/hr

    // Where do we want to move DEC to?
    float moveDEC = decTarget.getTotalDegrees();
    if (!inNorthernHemisphere)
    {
        LOG(DEBUG_COORD_CALC, "[MOUNT]: CalcSteppersIn: moveDEC inverted for southern Hemisphere => %f", moveDEC);
        moveDEC = -moveDEC;
    }

    LOG(DEBUG_COORD_CALC,
        "[MOUNT]: CalcSteppersIn: Target hrs pos RA: Delta:%f (moveRA: %f), DEC: %s (moveDEC: %f)",
        homeTargetDeltaRA,
        moveRA,
        decTarget.ToString(),
        moveDEC);

    /*
  * Current RA wheel has a rotation limit of around 7 hours in each direction from home position.
  * Since tracking does not trigger the meridian flip, we try to extend the possible tracking time 
  * without reaching the RA ring end by executing the meridian flip before slewing to the target.
  * For this flip the RA and DEC rings have to be flipped by 180° (which is 12 RA hours). Based
  * on the physical RA ring limits, this means that the flip can only be executed during +/-[5h to 7h]
  * sections around the home position of RA. The tracking time will still be limited to around 2h in
  * worst case if the target is located right before the 5h mark during slewing. 
  */
    float const RALimitL = inNorthernHemisphere ? -RA_LIMIT_LEFT : -RA_LIMIT_RIGHT;
    float const RALimitR = inNorthernHemisphere ? RA_LIMIT_RIGHT : RA_LIMIT_LEFT;
    LOG(DEBUG_COORD_CALC, "[MOUNT]: CalcSteppersIn: Limits are : %f to %f", RALimitL, RALimitR);

    if (pSolutions != nullptr)
    {
        pSolutions[0] = long(-moveRA) * stepsPerSiderealHour;
        pSolutions[1] = long(moveDEC) * _stepsPerDECDegree;
        pSolutions[2] = long(-(moveRA - 12.0f)) * stepsPerSiderealHour;
        pSolutions[3] = long(-moveDEC) * _stepsPerDECDegree;
        pSolutions[4] = long(-(moveRA + 12.0f)) * stepsPerSiderealHour;
        pSolutions[5] = long(-moveDEC) * _stepsPerDECDegree;
    }

    LOG(DEBUG_COORD_CALC, "[MOUNT]: CalcSteppersIn: Solution 1: %f, %f", -moveRA, moveDEC);
    LOG(DEBUG_COORD_CALC, "[MOUNT]: CalcSteppersIn: Solution 2: %f, %f", -(moveRA - 12.0f), -moveDEC);
    LOG(DEBUG_COORD_CALC, "[MOUNT]: CalcSteppersIn: Solution 3: %f, %f", -(moveRA + 12.0f), -moveDEC);

    // If we reach the limit in the positive direction ...
    if (homeTargetDeltaRA > RALimitR)
    {
        LOG(DEBUG_COORD_CALC,
            "[MOUNT]: CalcSteppersIn: Using Solution 2, since hometargetDeltaRA %f (RA:%f) is past max limit %f, inverting both axes",
            homeTargetDeltaRA,
            moveRA,
            RALimitR);

        // ... turn both RA and DEC axis around
        moveRA -= 12.0f;
        moveDEC = -moveDEC;
        LOG(DEBUG_COORD_CALC, "[MOUNT]: CalcSteppersIn: Adjusted Target. RA: %f, DEC: %f", moveRA, moveDEC);
    }
    // If we reach the limit in the negative direction...
    else if (homeTargetDeltaRA < RALimitL)
    {
        LOG(DEBUG_COORD_CALC,
            "[MOUNT]: CalcSteppersIn: Using solution 3 since homeTargetDeltaRA %f (RA:%f) is past min limit: %f, inverting both axes",
            homeTargetDeltaRA,
            moveRA,
            RALimitL);
        // ... turn both RA and DEC axis around

        moveRA += 12.0f;
        moveDEC = -moveDEC;
        LOG(DEBUG_COORD_CALC, "[MOUNT]: CalcSteppersIn: Adjusted Target. RA: %f, DEC: %f", moveRA, moveDEC);
    }
    else
    {
        LOG(DEBUG_COORD_CALC,
            "[MOUNT]: CalcSteppersIn: Using solution 1 since targetRA %f is in range. RA: %f, DEC: %f",
            homeTargetDeltaRA,
            moveRA,
            moveDEC);
    }

    // zeroPosDEC will be zero unless one or more Sync commands have moved it, in which case it is the
    // accumulated offset from zero (home) in degrees.
    moveDEC -= _zeroPosDEC;
    LOG(DEBUG_COORD_CALC, "[MOUNT]: CalcSteppersIn: adjusted DEC by _zeroPosDEC: %f => DEC: %f", _zeroPosDEC, moveDEC);

    targetRASteps  = -moveRA * stepsPerSiderealHour;
    targetDECSteps = moveDEC * _stepsPerDECDegree;
    LOG(DEBUG_COORD_CALC, "[MOUNT]: CalcSteppersPost: ResultTarget Steps RA: %l, DEC: %l", targetRASteps, targetDECSteps);
}

/////////////////////////////////
//
// moveSteppersTo
//
/////////////////////////////////
void Mount::moveSteppersTo(float targetRASteps, float targetDECSteps, StepperAxis direction)
{  // Units are u-steps (in slew mode)
    // Show time: tell the steppers where to go!
    _correctForBacklash = false;
    LOG(DEBUG_STEPPERS, "[STEPPERS]: MoveSteppersTo: RA  From: %l  To: %f", _stepperRA->currentPosition(), targetRASteps);
    LOG(DEBUG_STEPPERS, "[STEPPERS]: MoveSteppersTo: DEC From: %l  To: %f", _stepperDEC->currentPosition(), targetDECSteps);

    if ((direction == RA_AND_DEC_STEPS) || (direction == RA_STEPS))
    {
        if ((_backlashCorrectionSteps != 0) && ((_stepperRA->currentPosition() - targetRASteps) > 0))
        {
            LOG(DEBUG_STEPPERS, "[STEPPERS]: MoveSteppersTo: Needs backlash correction of %d!", _backlashCorrectionSteps);
            targetRASteps -= _backlashCorrectionSteps;
            _correctForBacklash = true;
        }

        _stepperRA->moveTo(targetRASteps);
    }

    if ((direction == RA_AND_DEC_STEPS) || (direction == DEC_STEPS))
    {
        if (_decUpperLimit != 0)
        {
#if DEBUG_LEVEL != 0
            if (targetDECSteps > (float) _decUpperLimit)
            {
                LOG(DEBUG_STEPPERS, "[STEPPERS]: MoveSteppersTo: DEC Upper Limit enforced. To: %l", _decUpperLimit);
            }
#endif
            targetDECSteps = min(targetDECSteps, (float) _decUpperLimit);
        }

        if (_decLowerLimit != 0)
        {
#if DEBUG_LEVEL != 0
            if (targetDECSteps < (float) _decLowerLimit)
            {
                LOG(DEBUG_STEPPERS, "[STEPPERS]: MoveSteppersTo: DEC Lower Limit enforced. To: %l", _decLowerLimit);
            }
#endif
            targetDECSteps = max(targetDECSteps, (float) _decLowerLimit);
        }

        _stepperDEC->moveTo(targetDECSteps);
    }
}

/////////////////////////////////
//
// moveStepperBy
//
/////////////////////////////////
void Mount::moveStepperBy(StepperAxis direction, long steps)
{
    LOG(DEBUG_STEPPERS, "[STEPPERS]: moveStepperBy: %l", steps);

    switch (direction)
    {
        case RA_AND_DEC_STEPS:
            LOG(DEBUG_STEPPERS, "[STEPPERS]: moveStepperBy: MoveStepperBy does not support multiple axes.");
            break;

        case RA_STEPS:
            if (steps != 0)
            {
                // Only stop tracking if we're actually tracking and going to slew somewhere else, otherwise the
                // mount::loop() code won't detect the end of the slewing operation...
                if (isSlewingTRK())
                {
                    LOG(DEBUG_STEPPERS, "[STEPPERS]: moveStepperBy: Stop tracking (NEMA steppers)");
                    stopSlewing(TRACKING);
                    _trackerStoppedAt        = millis();
                    _compensateForTrackerOff = true;
                    LOG(DEBUG_STEPPERS, "[STEPPERS]: moveStepperBy: TRK stopped at %lms", _trackerStoppedAt);
                }
            }

// set Slew microsteps for TMC2209 UART once the TRK stepper has stopped
#if RA_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
            LOG(DEBUG_STEPPERS, "[STEPPERS]: moveStepperBy: Switching RA driver to microsteps(%d)", RA_SLEW_MICROSTEPPING);
            _driverRA->microsteps(RA_SLEW_MICROSTEPPING == 1 ? 0 : RA_SLEW_MICROSTEPPING);
#endif
            setStatusFlag(STATUS_SLEWING | STATUS_SLEWING_TO_TARGET);
            _stepperWasRunning = true;
            moveSteppersTo(_stepperRA->currentPosition() + steps, 0, direction);
            _totalRAMove = 1.0f * _stepperRA->distanceToGo();
            break;

        case DEC_STEPS:
            {
                setStatusFlag(STATUS_SLEWING | STATUS_SLEWING_TO_TARGET);
#if DEC_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
                // Since normal state for DEC is guide microstepping, switch to slew microstepping here.
                LOG(DEBUG_STEPPERS, "[STEPPERS]: moveStepperBy: Switching DEC driver to microsteps(%d)", DEC_SLEW_MICROSTEPPING);
                _driverDEC->microsteps(DEC_SLEW_MICROSTEPPING == 1 ? 0 : DEC_SLEW_MICROSTEPPING);
#endif
                _stepperWasRunning = true;
                moveSteppersTo(0, _stepperDEC->currentPosition() + steps, direction);
                _totalDECMove = 1.0f * _stepperDEC->distanceToGo();
            }
            break;

        case FOCUS_STEPS:
            {
#if FOCUS_STEPPER_TYPE != STEPPER_TYPE_NONE
                focusMoveBy(steps);
#endif
            }
            break;

        case AZIMUTH_STEPS:
            {
#if AZ_STEPPER_TYPE != STEPPER_TYPE_NONE
                enableAzMotor();
                LOG(DEBUG_STEPPERS,
                    "[STEPPERS]: moveStepperBy: AZ from %l to %l",
                    _stepperAZ->currentPosition(),
                    _stepperAZ->currentPosition() + steps);
                _stepperAZ->moveTo(_stepperAZ->currentPosition() + steps);
#endif
            }
            break;

        case ALTITUDE_STEPS:
            {
#if ALT_STEPPER_TYPE != STEPPER_TYPE_NONE
                enableAltMotor();
                _stepperALT->moveTo(_stepperALT->currentPosition() + steps);
#endif
            }
            break;
    }
}

/////////////////////////////////
//
// moveStepperTo
//
/////////////////////////////////
void Mount::moveStepperTo(StepperAxis axis, long position)
{
    long curPos = getCurrentStepperPosition(axis);
    long delta  = position - curPos;
    moveStepperBy(axis, delta);
}

/////////////////////////////////
//
// getStepperProgress
//
/////////////////////////////////
bool Mount::getStepperProgress(int &raPercentage, int &decPercentage)
{
    bool slewInProgress = true;
    decPercentage       = 100;
    raPercentage        = 100;
    if ((fabsf(_totalDECMove) > 0.001f) && (fabsf(_totalRAMove) > 0.001f))
    {
        // Both axes moving to target
        decPercentage = (int) round(100.0f - 100.0f * _stepperDEC->distanceToGo() / _totalDECMove);
        raPercentage  = (int) round(100.0f - 100.0f * _stepperRA->distanceToGo() / _totalRAMove);
    }
    else if (fabsf(_totalDECMove) > 0.001f)
    {
        // Only DEC moving to target
        decPercentage = (int) round(100.0f - 100.0f * _stepperDEC->distanceToGo() / _totalDECMove);
    }
    else if (fabsf(_totalRAMove) > 0.001f)
    {
        // Only RA is moving to target
        raPercentage = (int) round(100.0f - 100.0f * _stepperRA->distanceToGo() / _totalRAMove);
    }
    else
    {
        // Nothing is slewing
        slewInProgress = false;
    }
    return slewInProgress;
}
/////////////////////////////////
//
// displayStepperPosition
//
/////////////////////////////////
void Mount::displayStepperPosition()
{
#if DISPLAY_TYPE > 0

    String disp;

    if ((fabsf(_totalDECMove) > 0.001f) && (fabsf(_totalRAMove) > 0.001f))
    {
        // Both axes moving to target
        float decDist = 100.0f - 100.0f * _stepperDEC->distanceToGo() / _totalDECMove;
        float raDist  = 100.0f - 100.0f * _stepperRA->distanceToGo() / _totalRAMove;

        sprintf(scratchBuffer, "R %s %d%%", RAString(LCD_STRING | CURRENT_STRING).c_str(), (int) raDist);
        _lcdMenu->setCursor(0, 0);
        _lcdMenu->printMenu(String(scratchBuffer));
        sprintf(scratchBuffer, "D%s %d%%", DECString(LCD_STRING | CURRENT_STRING).c_str(), (int) decDist);
        _lcdMenu->setCursor(0, 1);
        _lcdMenu->printMenu(String(scratchBuffer));
        return;
    }

    if (fabsf(_totalDECMove) > 0.001f)
    {
        // Only DEC moving to target
        float decDist = 100.0f - 100.0f * _stepperDEC->distanceToGo() / _totalDECMove;
        sprintf(scratchBuffer, "D%s %d%%", DECString(LCD_STRING | CURRENT_STRING).c_str(), (int) decDist);
        _lcdMenu->setCursor(0, 1);
        _lcdMenu->printMenu(String(scratchBuffer));
    }
    else if (fabsf(_totalRAMove) > 0.001f)
    {
        // Only RAmoving to target
        float raDist = 100.0f - 100.0f * _stepperRA->distanceToGo() / _totalRAMove;
        sprintf(scratchBuffer, "R %s %d%%", RAString(LCD_STRING | CURRENT_STRING).c_str(), (int) raDist);
        disp = disp + String(scratchBuffer);
        _lcdMenu->setCursor(0, inSerialControl ? 0 : 1);
        _lcdMenu->printMenu(String(scratchBuffer));
    }
    else
    {
        // Nothing moving
    #if SUPPORT_SERIAL_CONTROL == 1
        if (inSerialControl)
        {
            sprintf(scratchBuffer, " RA: %s", RAString(LCD_STRING | CURRENT_STRING).c_str());
            _lcdMenu->setCursor(0, 0);
            _lcdMenu->printMenu(scratchBuffer);
            sprintf(scratchBuffer, "DEC: %s", DECString(LCD_STRING | CURRENT_STRING).c_str());
            _lcdMenu->setCursor(0, 1);
            _lcdMenu->printMenu(scratchBuffer);
        }
        else
        {
            sprintf(scratchBuffer,
                    "R%s D%s",
                    RAString(COMPACT_STRING | CURRENT_STRING).c_str(),
                    DECString(COMPACT_STRING | CURRENT_STRING).c_str());
            _lcdMenu->setCursor(0, 1);
            _lcdMenu->printMenu(scratchBuffer);
        }
    #else
        sprintf(scratchBuffer,
                "R%s D%s",
                RAString(COMPACT_STRING | CURRENT_STRING).c_str(),
                DECString(COMPACT_STRING | CURRENT_STRING).c_str());
        _lcdMenu->setCursor(0, 1);
        _lcdMenu->printMenu(scratchBuffer);
    #endif
    }
#endif
}

/////////////////////////////////
//
// displayStepperPositionThrottled
//
/////////////////////////////////
void Mount::displayStepperPositionThrottled()
{
#if DISPLAY_TYPE > 0
    long elapsed = millis() - _lastDisplayUpdate;
    if (elapsed > DISPLAY_UPDATE_TIME)
    {
        displayStepperPosition();
        _lastDisplayUpdate = millis();
    }
#endif
}

/////////////////////////////////
//
// DECString
//
// Return a string of DEC in the given format. For LCDSTRING, active determines where the cursor is
/////////////////////////////////
String Mount::DECString(byte type, byte active)
{
    Declination dec;
    if ((type & TARGET_STRING) == TARGET_STRING)
    {
        dec = _targetDEC;
    }
    else
    {
        dec = currentDEC();
    }

    dec.formatString(scratchBuffer, formatStringsDEC[type & FORMAT_STRING_MASK]);

    if ((type & FORMAT_STRING_MASK) == LCDMENU_STRING)
    {
        scratchBuffer[active * 4 + (active > 0 ? 1 : 0)] = '>';
    }

    return String(scratchBuffer);
}

/////////////////////////////////
//
// RAString
//
/////////////////////////////////
// Return a string of RA in the given format. For LCDSTRING, active determines where the cursor is
String Mount::RAString(byte type, byte active)
{
    DayTime ra;
    if ((type & TARGET_STRING) == TARGET_STRING)
    {
        ra = _targetRA;
    }
    else
    {
        ra = currentRA();
    }

    sprintf(scratchBuffer, formatStringsRA[type & FORMAT_STRING_MASK], ra.getHours(), ra.getMinutes(), ra.getSeconds());
    if ((type & FORMAT_STRING_MASK) == LCDMENU_STRING)
    {
        scratchBuffer[active * 4] = '>';
    }
    return String(scratchBuffer);
}

/////////////////////////////////
//
//
//
/////////////////////////////////
DayTime Mount::getUtcTime()
{
    DayTime timeUTC = getLocalTime();
    timeUTC.addHours(-_localUtcOffset);
    return timeUTC;
}

/////////////////////////////////
//
// localTime
//
/////////////////////////////////
DayTime Mount::getLocalTime()
{
    DayTime timeLocal = _localStartTime;
    timeLocal.addSeconds((millis() - _localStartTimeSetMillis) / 1000);
    return timeLocal;
}

/////////////////////////////////
//
// localDate
//
/////////////////////////////////
LocalDate Mount::getLocalDate()
{
    LocalDate localDate        = _localStartDate;
    long secondsSinceSetDayEnd = ((millis() - _localStartTimeSetMillis) / 1000) - (86400 - _localStartTime.getTotalSeconds());

    while (secondsSinceSetDayEnd >= 0)
    {
        localDate.day++;
        secondsSinceSetDayEnd -= 86400;

        int maxDays = 31;
        switch (localDate.month)
        {
            case 2:
                if (((localDate.year % 4 == 0) && (localDate.year % 100 != 0)) || (localDate.year % 400 == 0))
                {
                    maxDays = 29;
                }
                else
                {
                    maxDays = 28;
                }
                break;

            case 4:
            case 6:
            case 9:
            case 11:
                maxDays = 30;
                break;
        }

        //calculate day overflow
        if (localDate.day > maxDays)
        {
            localDate.day = 1;
            localDate.month++;
        }
        //calculate year overflow
        if (localDate.month > 12)
        {
            localDate.month = 1;
            localDate.year++;
        }
    }

    return localDate;
}

/////////////////////////////////
//
// localUtcOffset
//
/////////////////////////////////
int Mount::getLocalUtcOffset() const
{
    return _localUtcOffset;
}

/////////////////////////////////
//
// setLocalStartDate
//
/////////////////////////////////
void Mount::setLocalStartDate(int year, int month, int day)
{
    _localStartDate.year  = year;
    _localStartDate.month = month;
    _localStartDate.day   = day;

    autoCalcHa();
}

/////////////////////////////////
//
// setLocalStartTime
//
/////////////////////////////////
void Mount::setLocalStartTime(DayTime localTime)
{
    _localStartTime          = localTime;
    _localStartTimeSetMillis = millis();

    autoCalcHa();
}

/////////////////////////////////
//
// setLocalUtcOffset
//
/////////////////////////////////
void Mount::setLocalUtcOffset(int offset)
{
    _localUtcOffset = offset;
    EEPROMStore::storeUtcOffset(_localUtcOffset);

    autoCalcHa();
}

/////////////////////////////////
//
// autoCalcHa
//
/////////////////////////////////
void Mount::autoCalcHa()
{
    setHA(calculateHa());
}

/////////////////////////////////
//
// calculateLst
//
/////////////////////////////////
DayTime Mount::calculateLst()
{
    DayTime timeUTC     = getUtcTime();
    LocalDate localDate = getLocalDate();
    // The sidereal formula needs the UTC date, which differs from the local date for |UTC offset| hours each day.
    core::CalendarDate utcDate
        = core::localToUtcDate({localDate.year, localDate.month, localDate.day}, getLocalTime().getTotalSeconds(), _localUtcOffset);
    DayTime lst = Sidereal::calculateByDateAndTime(longitude().getTotalHours(), utcDate.year, utcDate.month, utcDate.day, &timeUTC);
    // LOG(DEBUG_INFO,
    //     "[MOUNT]: Calculating LST. UTC time: %s. UTC date: %d-%d-%d. Longitude: %s",
    //     timeUTC.ToString(),
    //     utcDate.year,
    //     utcDate.month,
    //     utcDate.day,
    //     longitude().ToString());
    // LOG(DEBUG_INFO, "[MOUNT]: LST is: %s", lst.ToString());
    return lst;
}

/////////////////////////////////
//
// calculateHa
//
/////////////////////////////////
DayTime Mount::calculateHa()
{
    DayTime lst = calculateLst();
    LOG(DEBUG_INFO, "[MOUNT]: Calculating HA from LST: %s", lst.ToString());
    DayTime ha = Sidereal::calculateHa(lst.getTotalHours());
    LOG(DEBUG_INFO, "[MOUNT]: HA is: %s", ha.ToString());
    return ha;
}

/////////////////////////////////
//
// testUART
//
/////////////////////////////////
#if UART_CONNECTION_TEST_TX == 1
    #if RA_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
void Mount::testRA_UART_TX()
{
    //microsteps per driver clock tick (From TMC2209 datasheet: v[Hz] (microstep/s) = VACTUAL[2209] * 0.715Hz)
    const int speed = (RA_STEPPER_SPEED / 2) / 0.715255737f;
    //Duration in ms to move X degrees at half of the max speed
    const int duration = UART_CONNECTION_TEST_TX_DEG * (_stepsPerRADegree / (RA_STEPPER_SPEED / 2)) * 1000;
    LOG(DEBUG_STEPPERS, "[STEPPERS]: uartTest: Switching RA driver to microsteps(%d) for UART test", RA_SLEW_MICROSTEPPING);
    _driverRA->microsteps(RA_SLEW_MICROSTEPPING == 1 ? 0 : RA_SLEW_MICROSTEPPING);
    testUART_vactual(_driverRA, speed, duration);
    LOG(DEBUG_STEPPERS, "[STEPPERS]: uartTest: Switching RA driver to microsteps(%d) after UART test", RA_TRACKING_MICROSTEPPING);
    _driverRA->microsteps(RA_TRACKING_MICROSTEPPING == 1 ? 0 : RA_TRACKING_MICROSTEPPING);
}
    #endif

    #if DEC_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
void Mount::testDEC_UART_TX()
{
    //microsteps per driver clock tick (From TMC2209 datasheet: v[Hz] (microstep/s) = VACTUAL[2209] * 0.715Hz)
    const int speed = (DEC_STEPPER_SPEED / 2) / 0.715255737f;
    //Duration in ms to move X degrees at half of the max speed
    const int duration = UART_CONNECTION_TEST_TX_DEG * (_stepsPerDECDegree / (DEC_STEPPER_SPEED / 2)) * 1000;
    LOG(DEBUG_STEPPERS, "[STEPPERS]: uartTest: Switching DEC driver to microsteps(%d) for UART test", DEC_SLEW_MICROSTEPPING);
    _driverDEC->microsteps(DEC_SLEW_MICROSTEPPING == 1 ? 0 : DEC_SLEW_MICROSTEPPING);
    testUART_vactual(_driverDEC, speed, duration);
    LOG(DEBUG_STEPPERS, "[STEPPERS]: uartTest: Switching DEC driver to microsteps(%d) after UART test", DEC_GUIDE_MICROSTEPPING);
    _driverDEC->microsteps(DEC_GUIDE_MICROSTEPPING == 1 ? 0 : DEC_GUIDE_MICROSTEPPING);
}
    #endif

    #if RA_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART || DEC_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART
/**
 * Runs motor at specified speed for specified duration in each direction, allowing 0.5s to stop motion after each move
 * @param[in,out] driver The stepper driver instance
 * @param[in] speed The speed to run the stepper motor at (in microsteps per driver clock tick)
 * @param[in] duration The amount of time to turn the stepper (in milliseconds)
 */
void Mount::testUART_vactual(TMC2209Stepper *driver, int _speed, int _duration)
{
    driver->VACTUAL(_speed);
    delay(_duration);
    driver->VACTUAL(0);
    driver->shaft(1);
    delay(500);
    driver->VACTUAL(_speed);
    delay(_duration);
    driver->VACTUAL(0);
    driver->shaft(0);
    delay(500);
}
    #endif
#endif

float Mount::getTrackedHours() const
{
    return (_trackingSpeed > 0) ? ((_stepperTRK->currentPosition() / _trackingSpeed) / 3600.0F) : 0.0F;  // steps / steps/s / 3600 = hours
}

/////////////////////////////////
//
// checkRALimit
//
/////////////////////////////////
float Mount::checkRALimit()
{
    const float trackedHours = getTrackedHours();
    const float homeRA       = _zeroPosRA.getTotalHours() + trackedHours;
    const float RALimit      = RA_TRACKING_LIMIT;
    LOG(DEBUG_MOUNT_VERBOSE,
        "[MOUNT]: checkRALimit: homeRA: %f (ZeroPos: %f + TrkHrs: %f)",
        homeRA,
        _zeroPosRA.getTotalHours(),
        trackedHours);
    const float degreePos = (_stepperDEC->currentPosition() / _stepsPerDECDegree) + _zeroPosDEC;
    float hourPos         = currentRA().getTotalHours();
    LOG(DEBUG_MOUNT_VERBOSE, "[MOUNT]: checkRALimit: degreePosDec: %f , RA hourpos : %f)", degreePos, hourPos);
    if (inNorthernHemisphere ? degreePos < 0 : degreePos > 0)
    {
        hourPos -= 12;
        if (hourPos < 0)
            hourPos += 24;
        LOG(DEBUG_MOUNT_VERBOSE, "[MOUNT]: checkRALimit: switching RA hourPos to: %f", hourPos);
    }
    LOG(DEBUG_MOUNT_VERBOSE, "[MOUNT]: checkRALimit: RA hourPos (adjusted): %f", hourPos);
    float homeCurrentDeltaRA = homeRA - hourPos;
    LOG(DEBUG_MOUNT_VERBOSE, "[MOUNT]: checkRALimit: DeltaRA: %f (home:%f - hour:%f)", homeCurrentDeltaRA, homeRA, hourPos);
    while (homeCurrentDeltaRA > 12)
        homeCurrentDeltaRA -= 24;
    while (homeCurrentDeltaRA < -12)
        homeCurrentDeltaRA += 24;
    LOG(DEBUG_MOUNT_VERBOSE, "[MOUNT]: checkRALimit: deltaRA: %f => Check against %f", homeCurrentDeltaRA, RALimit);

    if (homeCurrentDeltaRA > RALimit)
    {
        LOG(DEBUG_MOUNT,
            "[MOUNT]: checkRALimit: Tracking limit reached. deltaRA: %f > RALimit:%f.  TrackedHrs:%f, HomeRA:%f, ",
            homeCurrentDeltaRA,
            RALimit,
            trackedHours,
            homeRA);
        stopSlewing(TRACKING);
    }
    _lastTRKCheck = millis();

    return RALimit - homeCurrentDeltaRA;
}