OpenAstroTech · EricSchubert · Mar 10, 2026 · Mar 10, 2026 · Mar 15, 2026 · Mar 15, 2026
diff --git a/.gitignore b/.gitignore
@@ -1,8 +1,6 @@
 .pio
 .vscode
 venv
-.venv
-__pycache__
 .idea
 cmake-*
 CMakeLists.txt
@@ -11,3 +9,6 @@ build_cache
 
 Configuration_local*
 MeadeToWikiOutput.txt
+
+!Configuration_local_examples/
+!Configuration_local_examples/*
diff --git a/Changelog.md b/Changelog.md
@@ -1,42 +1,3 @@
-**V1.13.19 - Updates**
-- Support inverting and mirroring InfoDisplays.
-
-**V1.13.18 - Updates**
-- Final changes for OAE
-
-**V1.13.17 - Updates**
-- Store AZ/ALT steps per degree and allow them to be set from Meade
-- Added more output to the InfoDisplay during boot and fixed a bug in console mode.
-- Fixed a bug that was causing the firmware to hang after a slew, if a :Q# command was issued (thanks to user c3n for tracking it down, pun intended).
-
-**V1.13.16 - Updates**
-- Throttled InfoDisplay updates. Turned off on two axis slew, limited to 5Hz on one-axis slew.
-- Guide pulses are now ignored for DEC as well when at the limits.
-
-**V1.13.15 - Updates**
-- Changes necessary for OAE, add OAE board
-- Check `INFO_DISPLAY_TYPE` builds in CI
-- Fix `INFO_DISPLAY_TYPE_I2C_SSD1306_128x64` for esp32 builds
-
-**V1.13.14 - Updates**
-- Improved Serial command handling (made it less 'blocking'), which should improve general performance
-- Guide pulses are ignored when tracking is disabled (for example, when at the limits)
-
-**V1.13.13 - Updates**
-- Improved Meade command documentation
-- Fixed a bug that was not correctly showing the stepper direction in the :GX# command reply./
-
-**V1.13.12 - Updates**
-- Parallelize matrix_build.py for faster CI builds
-- Added basic test mode that can be run via terminal connection.
-
-**V1.13.11 - Updates**
-- Fixed DEBUG macro usage.
-- Clarified some Meade documentation.
-
-**V1.13.10 - Updates**
-- Fixed dependency specification for git tags
-
 **V1.13.9 - Updates**
 - Added guide logging support.
 - Fixed some Meade documentation errors.
@@ -68,6 +29,7 @@ NOTE: Make sure to do a Factory Reset when using this version.
 - Lowered ESP32 second core priority
 - Added support for informational display
 - You must upgrade to OATControl V1.1.2.0 to use with this version (at least if you want to use teh DEC park/unpark feature)
+
 **V1.13.2 - Updates**
 - Fix for RA steps being incorrectly set on every boot.
 

diff --git a/Configuration.hpp b/Configuration.hpp
@@ -266,14 +266,16 @@
     #include "boards/RAMPS/pins_RAMPS.hpp"
 #elif (BOARD == BOARD_ESP32_ESP32DEV)
     #include "boards/ESP32_ESP32DEV/pins_ESP32DEV.hpp"
-#elif (BOARD == BOARD_OAE_V1)
-    #include "boards/ESP32_ESP32DEV/pins_OAE_V1.hpp"
 #elif (BOARD == BOARD_AVR_MKS_GEN_L_V1)
     #include "boards/AVR_MKS_GEN_L_V1/pins_MKS_GEN_L_V1.h"
 #elif (BOARD == BOARD_AVR_MKS_GEN_L_V2)
     #include "boards/AVR_MKS_GEN_L_V2/pins_MKS_GEN_L_V2.h"
 #elif (BOARD == BOARD_AVR_MKS_GEN_L_V21)
     #include "boards/AVR_MKS_GEN_L_V21/pins_MKS_GEN_L_V21.h"
+#elif (BOARD == BOARD_RP2040_JACKW01)
+    #include "boards/RP2040_JACKW01/pins_RP2040_JACKW01.hpp"
+#elif (BOARD == BOARD_RP2040_SKR_PICO)
+    #include "boards/RP2040_SKR_PICO/pins_RP2040_SKR_PICO.hpp"
 #endif
 
 #include "Configuration_adv.hpp"

diff --git a/ConfigurationValidation.hpp b/ConfigurationValidation.hpp
@@ -17,7 +17,7 @@
 #endif
 
 // Platform
-#if defined(ESP32) || defined(__AVR_ATmega2560__)
+#if defined(ESP32) || defined(__AVR_ATmega2560__) || defined(ARDUINO_ARCH_RP2040)
 // Valid platform
 #else
     #error Unsupported platform configuration. Use at own risk.
@@ -30,6 +30,8 @@
     && ((DISPLAY_TYPE == DISPLAY_TYPE_NONE) || (DISPLAY_TYPE == DISPLAY_TYPE_LCD_KEYPAD) || (DISPLAY_TYPE_LCD_KEYPAD_I2C_MCP23008)         \
         || (DISPLAY_TYPE_LCD_KEYPAD_I2C_MCP23017))
 // Valid display for ATmega
+#elif defined(ARDUINO_ARCH_RP2040) && (DISPLAY_TYPE == DISPLAY_TYPE_NONE)
+// Valid display for RP2040 (no display in Phase 1)
 #else
     #error Unsupported display configuration. Use at own risk.
 #endif
@@ -81,16 +83,15 @@
     #else
         #error Defined an AZ driver, but no AZ stepper.
     #endif
-#elif defined(__AVR_ATmega2560__)
+#elif defined(__AVR_ATmega2560__) || defined(ARDUINO_ARCH_RP2040)
     // Azimuth configuration
     #if (AZ_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART)
         #ifndef AZ_DRIVER_ADDRESS
             // Serial bus address must be specified for TMC2209 in UART mode
             #error AZ driver address for DRIVER_TYPE_TMC2209_UART not specified.
         #endif
     #endif
-#elif defined(OAE)
-// Valid OAE configuration
+
 #else
     #error Configuration does not support AZ. Use at own risk.
 #endif
@@ -102,7 +103,7 @@
     #else
         #error Defined an ALT driver, but no ALT stepper.
     #endif
-#elif defined(__AVR_ATmega2560__)
+#elif defined(__AVR_ATmega2560__) || defined(ARDUINO_ARCH_RP2040)
     // Altitude configuration
     #if (ALT_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART)
         #ifndef ALT_DRIVER_ADDRESS
@@ -166,8 +167,8 @@
 // External sensors
 #if (USE_GPS == 0)
 // Baseline configuration without GPS is valid
-#elif defined(ESP32) || defined(__AVR_ATmega2560__)
-// GPS is supported on ESP32 and ATmega
+#elif defined(ESP32) || defined(__AVR_ATmega2560__) || defined(ARDUINO_ARCH_RP2040)
+// GPS is supported on ESP32, ATmega, and RP2040
 #else
     #error Unsupported GPS configuration. Use at own risk.
 #endif
@@ -197,7 +198,7 @@
         #warning Missing pin assignments for MS pins
     #endif
 #elif (DEC_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART)
-    #if !defined(DEC_STEP_PIN) || !defined(DEC_DIR_PIN) || !defined(DEC_EN_PIN)
+    #if !defined(DEC_STEP_PIN) || !defined(DEC_DIR_PIN) || !defined(DEC_EN_PIN) || !defined(DEC_DIAG_PIN)
         // Required pin assignments missing
         #error Missing pin assignments for configured DEC DRIVER_TYPE_TMC2209_UART driver
     #endif
@@ -217,7 +218,7 @@
         #warning Missing pin assignments for MS pins
     #endif
 #elif (RA_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART)
-    #if !defined(RA_STEP_PIN) || !defined(RA_DIR_PIN) || !defined(RA_EN_PIN)
+    #if !defined(RA_STEP_PIN) || !defined(RA_DIR_PIN) || !defined(RA_EN_PIN) || !defined(RA_DIAG_PIN)
         // Required pin assignments missing
         #error Missing pin assignments for configured RA DRIVER_TYPE_TMC2209_UART driver
     #endif
@@ -229,7 +230,7 @@
 
 #if (AZ_STEPPER_TYPE != STEPPER_TYPE_NONE)
     #if (AZ_DRIVER_TYPE == DRIVER_TYPE_A4988_GENERIC) || (AZ_DRIVER_TYPE == DRIVER_TYPE_TMC2209_STANDALONE)
-        #if !defined(AZ_STEP_PIN) || !defined(AZ_DIR_PIN) || !defined(AZ_EN_PIN)
+        #if !defined(AZ_STEP_PIN) || !defined(AZ_DIR_PIN) || !defined(AZ_EN_PIN) || !defined(AZ_DIAG_PIN)
             // Required pin assignments missing
             #error Missing pin assignments for configured AZ DRIVER_TYPE_A4988_GENERIC or DRIVER_TYPE_TMC2209_STANDALONE driver
         #endif
@@ -238,6 +239,12 @@
             // Required pin assignments missing (ATmega uses SoftwareSerial for this driver)
             #error Missing pin assignments for configured AZ DRIVER_TYPE_TMC2209_UART driver
         #endif
+        #if !defined(AZ_DIAG_PIN)
+            // AZ_DIAG_PIN (TMC2209 DIAG output) is used only for stallGuard-based homing.
+            // It is optional: omit it if your hardware does not wire the DIAG output to a GPIO.
+            // Without it, stallGuard homing is unavailable but all other AZ motion works normally.
+            #pragma message "AZ_DIAG_PIN not defined. StallGuard homing unavailable for AZ axis."
+        #endif
         #if !((defined(AZ_SERIAL_PORT_TX) && defined(AZ_SERIAL_PORT_RX)) || defined(AZ_SERIAL_PORT))
             // Required pin assignments missing for UART serial
             #error Missing pin assignments for configured AZ DRIVER_TYPE_TMC2209_UART driver serial connection
@@ -247,7 +254,7 @@
 
 #if (ALT_STEPPER_TYPE != STEPPER_TYPE_NONE)
     #if (ALT_DRIVER_TYPE == DRIVER_TYPE_A4988_GENERIC) || (ALT_DRIVER_TYPE == DRIVER_TYPE_TMC2209_STANDALONE)
-        #if !defined(ALT_STEP_PIN) || !defined(ALT_DIR_PIN) || !defined(ALT_EN_PIN)
+        #if !defined(ALT_STEP_PIN) || !defined(ALT_DIR_PIN) || !defined(ALT_EN_PIN) || !defined(ALT_DIAG_PIN)
             // Required pin assignments missing
             #error Missing pin assignments for configured AZ DRIVER_TYPE_A4988_GENERIC or DRIVER_TYPE_TMC2209_STANDALONE driver
         #endif
@@ -256,6 +263,12 @@
             // Required pin assignments missing (ATmega uses SoftwareSerial for this driver)
             #error Missing pin assignments for configured ALT DRIVER_TYPE_TMC2209_UART driver
         #endif
+        #if !defined(ALT_DIAG_PIN)
+            // ALT_DIAG_PIN (TMC2209 DIAG output) is used only for stallGuard-based homing.
+            // It is optional: omit it if your hardware does not wire the DIAG output to a GPIO.
+            // Without it, stallGuard homing is unavailable but all other ALT motion works normally.
+            #pragma message "ALT_DIAG_PIN not defined. StallGuard homing unavailable for ALT axis."
+        #endif
         #if !((defined(ALT_SERIAL_PORT_TX) && defined(ALT_SERIAL_PORT_RX)) || defined(ALT_SERIAL_PORT))
             // Required pin assignments missing for UART serial
             #error Missing pin assignments for configured ALT DRIVER_TYPE_TMC2209_UART driver serial connection

diff --git a/Configuration_adv.hpp b/Configuration_adv.hpp
@@ -22,15 +22,6 @@
     #define BUFFER_LOGS false
 #endif
 
-#ifndef OAM
-    #ifndef OAE
-        #define OAT "OAT"
-    #endif
-#endif
-#if defined(OAE) && defined(OAM)
-    #error "OAE and OAM cannot be defined at the same time"
-#endif
-
 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 //                            ////////
 // MOTOR & DRIVER SETTINGS    ////////
@@ -241,14 +232,14 @@
 #endif
 
 #ifndef DEC_LIMIT_UP
-    #if defined(OAM) || defined(OAE)
+    #ifdef OAM
         #define DEC_LIMIT_UP 135.0f
     #else
         #define DEC_LIMIT_UP 0.0f
     #endif
 #endif
 #ifndef DEC_LIMIT_DOWN
-    #if defined(OAM) || defined(OAE)
+    #ifdef OAM
         #define DEC_LIMIT_DOWN 135.0f
     #else
         #define DEC_LIMIT_DOWN 0.0f
@@ -341,34 +332,16 @@
         #define AZ_STEPPER_ACCELERATION (100 * AZ_MICROSTEPPING)
     #endif
 
-    // the Circumference of the AZ rotation. 808mm dia (OAT)
+    // the Circumference of the AZ rotation. 808mm dia.
     #ifndef AZ_CIRCUMFERENCE
-        #ifdef OAE
-            // Roughly from the joint to the rod placement is 70mm
-            #define AZ_CIRCUMFERENCE 56.0f * 2 * PI
-            #ifndef AZ_ROD_PITCH
-                #define AZ_ROD_PITCH 0.5
-            #endif
-            #define AZIMUTH_STEPS_PER_REV                                                                                                  \
-                +(AZ_CORRECTION_FACTOR * (AZ_CIRCUMFERENCE / AZ_ROD_PITCH) * AZ_STEPPER_SPR * AZ_MICROSTEPPING)  // Actually u-steps/rev
-        #else
-            #define AZ_CIRCUMFERENCE 2538.4f
-        #endif
+        #define AZ_CIRCUMFERENCE 2538.4f
     #endif
-
-    #ifndef OAE
-        #define AZ_WORMGEAR_RATIO 1.0f
-    #endif
-
     #ifndef AZIMUTH_STEPS_PER_REV
         #define AZIMUTH_STEPS_PER_REV                                                                                                      \
             (AZ_CORRECTION_FACTOR * (AZ_CIRCUMFERENCE / (AZ_PULLEY_TEETH * GT2_BELT_PITCH)) * AZ_STEPPER_SPR                               \
              * AZ_MICROSTEPPING)  // Actually u-steps/rev
     #endif
-
-    #ifndef AZIMUTH_STEPS_PER_ARC_MINUTE
-        #define AZIMUTH_STEPS_PER_ARC_MINUTE (AZIMUTH_STEPS_PER_REV / (360 * 60.0f))  // Used to determine move distance in steps
-    #endif
+    #define AZIMUTH_STEPS_PER_ARC_MINUTE (AZIMUTH_STEPS_PER_REV / (360 * 60.0f))  // Used to determine move distance in steps
 
     // AZ TMC2209 UART settings
     // These settings work only with TMC2209 in UART connection (single wire to TX)
@@ -400,7 +373,7 @@
         #define ALT_MICROSTEPPING 4
     #endif
     #ifndef ALT_STEPPER_SPR
-        #define ALT_STEPPER_SPR (400.0)  // NEMA 0.9° = 400  |  NEMA 1.8° = 200
+        #define ALT_STEPPER_SPR 400  // NEMA 0.9° = 400  |  NEMA 1.8° = 200
     #endif
     #ifndef ALT_STEPPER_SPEED
         #define ALT_STEPPER_SPEED 2000
@@ -418,37 +391,24 @@
             #define ALT_ROD_PITCH 1.0  // mm/rev
         #endif
         // the Circumference of the AZ rotation. 209.1mm radius.
-        #ifndef ALT_CIRCUMFERENCE
-            #define ALT_CIRCUMFERENCE 209.1 * 2 * PI
-        #endif
+        #define ALT_CIRCUMFERENCE 209.1 * 2 * PI
         #define ALTITUDE_STEPS_PER_REV                                                                                                     \
             (ALT_CORRECTION_FACTOR * (ALT_CIRCUMFERENCE / ALT_ROD_PITCH) * ALT_STEPPER_SPR * ALT_MICROSTEPPING)  // Actually u-steps/rev
 
     #else
-        #ifdef OAE
-            #ifndef ALT_ROD_PITCH
-                #define ALT_ROD_PITCH 1.25  // mm/rev
-            #endif
-            // the Circumference of the ALT rotation. Roughly 146mm radius.
-            #define ALT_CIRCUMFERENCE 130.0f * 2 * PI
-            #define ALTITUDE_STEPS_PER_REV                                                                                                 \
-                +(ALT_CORRECTION_FACTOR * (ALT_CIRCUMFERENCE / ALT_ROD_PITCH) * ALT_STEPPER_SPR                                            \
-                  * ALT_MICROSTEPPING)  // Actually u-steps/rev
+        // the Circumference of the AZ rotation. 770mm dia.
+        #define ALT_CIRCUMFERENCE 2419.0f
+        #if AUTOPA_VERSION == 1
+            // the ratio of the ALT gearbox for AutoPA V1 (40:3)
+            #define ALT_WORMGEAR_RATIO (40.0f / 3.0f)
         #else
-            // the Circumference of the AZ rotation. 770mm dia.
-            #define ALT_CIRCUMFERENCE 2419.0f
-            #if AUTOPA_VERSION == 1
-                // the ratio of the ALT gearbox for AutoPA V1 (40:3)
-                #define ALT_WORMGEAR_RATIO (40.0f / 3.0f)
-            #else
-                // the ratio of the ALT gearbox for AutoPA V2 (40:1)
-                #define ALT_WORMGEAR_RATIO (40.0f)
-            #endif
-            #ifndef ALTITUDE_STEPS_PER_REV
-                #define ALTITUDE_STEPS_PER_REV                                                                                             \
-                    (ALT_CORRECTION_FACTOR * (ALT_CIRCUMFERENCE / (ALT_PULLEY_TEETH * GT2_BELT_PITCH)) * ALT_STEPPER_SPR                   \
-                     * ALT_MICROSTEPPING * ALT_WORMGEAR_RATIO)  // Actually u-steps/rev
-            #endif
+            // the ratio of the ALT gearbox for AutoPA V2 (40:1)
+            #define ALT_WORMGEAR_RATIO (40.0f)
+        #endif
+        #ifndef ALTITUDE_STEPS_PER_REV
+            #define ALTITUDE_STEPS_PER_REV                                                                                                 \
+                (ALT_CORRECTION_FACTOR * (ALT_CIRCUMFERENCE / (ALT_PULLEY_TEETH * GT2_BELT_PITCH)) * ALT_STEPPER_SPR * ALT_MICROSTEPPING   \
+                 * ALT_WORMGEAR_RATIO)  // Actually u-steps/rev
         #endif
     #endif
 
@@ -658,6 +618,23 @@
 //                                  ////////
 ////////////////////////////////////////////
 
+// Stepper drivers
+#if (RA_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART)
+    #if defined(ESP32)
+        #define RA_SERIAL_PORT Serial2  // Can be shared with DEC_SERIAL_PORT
+    #elif defined(__AVR_ATmega2560__)
+    // Uses SoftwareSerial
+    #endif
+#endif
+
+#if (DEC_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART)
+    #if defined(ESP32)
+        #define DEC_SERIAL_PORT Serial2  // Can be shared with RA_SERIAL_PORT
+    #elif defined(__AVR_ATmega2560__)
+    // Uses SoftwareSerial
+    #endif
+#endif
+
 // Focuser
 #if (FOCUS_DRIVER_TYPE == DRIVER_TYPE_TMC2209_UART)
     #if defined(ESP32)