This Astrometric Telescope Control System (ATCS) upgrade is for the PrimeTCS-Ui ATCS controller.

The minimum Maestro4 version which works with this version of ATCS firmware is 0.09.000. Assure that Maestro4 is upgraded to at least this version before upgrading PrimeTCS-Ui firmware.

Installation instructions

1. Assure PrimeTCS-Ui that the controller is attached via USB to the Windows PC.
2. Using the Device Manager on the Windows PC, determine the COM port number for the PrimeTCS-Ui controller connection.
3. Run the ATCS_FirmwareM_NN_RRR.exe file where N is major version, NN is minor version and RRR is revision.
4. The "Astrometric Firmware Upgrader" will run. Follow the steps in the user interface. Step #1 will be pre-completed for you. Step #2 is to select the COM port number for the attached controller and click "Connect". Finally, step #3 is to click "Upgrade Firmware". The upgrade will commence and status on progress will be provided.
   
5. Power-cycle PrimeTCS-Ui and it should now boot into using the new firmware and connect to Maestro.

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Software Licensing

A software activation license is necessary for major new upgrades of Maestro and ATCS firmware.
There is a substantial amount of work that goes into each major upgrade and this effort needs to be
supported through nominal license fees.  This will assure that further future upgrades and continued support are
available for ATCS.

ATCS: New features this release

ATCL Command Changes
--------------------
- Added the GetCoordinateAggregate3 "CGa3" command in support of Maestro4.
	Returns present RA, Dec, Hour angle, Az, Alt and GoToProgressPercent in the format:
		"HOURS|SIGNED_2DIGIT|HOURS|UNSIGNED_3DIGIT|SIGNED_2DIGIT|NNN%"
- The following ATCL commands have been renamed...
	MGzx	GetMotorEncTrackingX --> GetMotorEncDiagAggregateX
	MGzy	GetMotorEncTrackingY --> GetMotorEncDiagAggregateY
- Note the modified return strings for the following command...
	GetMotorEncDiagAggregateX	MGzx	-->	Returns TicksSidereal, MotorDiagPositionX, EncDiagPositionX in the format ""XXXXX|XXXXX|XXXXX".
	    TicksSidereal is expressed in Ticks (75ms calculation increments).
	    MotorDiagPositionX is the steps since last ZeroMotorDiagPositionX command.
	    EncDiagPositionX is the encoder counts since the last ZeroEncDiagPositionX command.
	GetMotorEncDiagAggregateY	MGzy	-->	Ditto
	- The Y-axis motor diagnostics position is now pulled from a histrory buffer indexed with MotorDiagIndex value.  Only the X-axis motor
		diagnostics position was done this way previously.
	- The default MotorDiagIndex is now set to 2.  This is the correct value to "time align" motor diag position with encoder diag position.

ATCS: Bug fixes this release

- Added interprocess mutual exclusion on communications ring buffer access.  While no problem manifest from the previous implementation this
	was due-diligence improvement.