This document provides instructions on upgrading DomePro firmware and provides release notes on the associated firmware version.

Installation instructions

1. Assure that the DomePro 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 DomePro controller connection.
3. Run the DomePro_N.exe file. 'N' is the firmware version number.
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.
   Note: DomeProU and DomePro2 products shipped prior to 1-Apr-2022 cannot be upgraded with the "Astrometric Firmware Upgrader" HOWEVER, contact us and we will assist in conveniently upgrading your firmware.
5. Upgrade the other controller (e.g. shutter) if this is a classic dome system.
6. Power-cycle DomePro and it should now boot into using the new firmware and connect to Maestro.

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New this version

Bug fixes

- Potential for loss of settings fixed
    - In previous versions of DomePro firmware, there was a narrow (25ms) period of time at power-up where settings resided only in
        volatile memory (RAM).  If DomePro were to be powered-off in this window of vulnerability then settings could be reset to
        defaults.  Version 28 firmware fixes this vulnerability.

Features

- Front-panel display status for DomeProU
    - In version 28 firmware, the front-panel display on DomeProU models (except -dx variants) shows status.  Refer to the latest
        "DomeProU/DomePro2 User's Manual" (available from https://www.astrometric.com/support/documentation-2/) for details.

- Improvements for Step/Dir motor type functionality for azimuth
    - The ability to set max velocity and acceleration was added to the step/dir mode capabilities of DomePro.
    - The "StepDir" Drive Type was added so that the released version of firmware can directly support Step/Dir-mode and it is no longer
        necessary to have a special release of the firmware for Step/Dir applications.
    - Note: Step/Dir support for shutter motors is still provided only through special firmware release (e.g., NexDome).
	- Note: In Step/Dir mode azimuth coast is not used and the value set (via the SetDomeAzCoast) is ignored.
	- Note: Step/Dir mode does not use an azimuth encoder therefore there is no azimuth stall detection.

Additions or changes to ATCL commands
    - GetHW_InternalError (HGie): If the hardware is unresponsive then this command will indicate if there was an Internal Error in the
        firmware that could have been a cause of it.
    - StepDir and RunRunEnable options added to the Set(Get)DomeAzDriveType, Set(Get)DomeShutter1_DriveType,
		Set(Get)DomeShutter2_DriveType commands.
    - SetStepperAzimuthVelMax (DSmv):	HEX	This velocity specifies the maximum velocity used for dome azimuth rotation.  The
						maximum velocity supported by DomeProU is +/-250,000 microsteps/sec.  The velocity
						specification used in ATCL is derived by multiplying the required (in microsteps/sec)
						by 8388.608.  For example: 31,250 microsteps/sec * 8388.608 = 262,144,000 =
						0x0FA00000. The maximum value is 0x7D000000.
    - GetStepperAzimuthVelMax (DGmv):	HEX	
    - SetStepperAzimuthAccel (DSma):	HEX	The maximum acceleration supported by DomeProU is 500,000 microsteps/sec^2.  The
						acceleration specification used in ATCL is derived by multiplying the required
						acceleration (in microsteps/sec^2) by 0.016384.  For example: 10k microsteps/sec^2 *
						0.016384 = 164 = 0x00A4. The maximum value is 0x2000.
    - GetStepperAzimuthAccel (DGma): 	HEX