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

The minimum Maestro4 version which works with this version of DomePro firmware is 0.09.002. Assure that Maestro4 is upgraded to at least this version before upgrading DomePro firmware.

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

Features

"Stall if motor NOT enabled" feature
	- This feature is for azimuth systems with step/dir motors.
	- When this feature is enabled, a motor stall will be registered if the "Motor Enabled" feedback signal from the motor driver
		(connected into the Mon+/Mon- DomeProU inputs) is NOT asserted when the motor is being commanded to move.
	- Associated new ATCL commands:
		DSms: SetDomeAzStallIfMotorNotEnabled with parameter "Yes" or "No"
		DGms: GetDomeAzStallIfMotorNotEnabled
	- Specific implementation using Teknic servo motors
		- Teknic HLFP output assigned to the "SERVO ON" function.  Meaning: when the Servo is On the HLFB output asserts
			(conducts).  The HLFB output deasserts when the motor is off/disabled and in a shutdown state.
		- HLFP output used to source current into the Mon+/Mon- inputs.
		- DSmsYes command used to SetDomeAzStallIfMotorNotEnabled.
		- Then, if DomeProU is activating the azimuth motor(s), and the Teknic HLFP output is NOT asserted, there will a stall
			(via azimuth MoveMode showing "Stall").

Support for multiple motor current sensors
	- DomePro supports motor current sensors with different sensitivities and 0-current offsets.
	- 0-current offset is automatically compensated for when the system is running.
	- Sensitivity is tracked in a non-volatile parameter accessible with the ATCL commands below.  Client software can then
		use the sensitivity to scale the supply current value acquired using the GetDomeShutterMotorADC (DGsc) or
		GetDomeAzimuthMotorADC (DGac) commands.
	- New ATCL commands
		DSia	SetDomeAzimuthCurrentSensorSensitivity
		DGia	GetDomeAzimuthCurrentSensorSensitivity
		DSis 	SetDomeShutterCurrentSensorSensitivity
		DGis 	GetDomeShutterCurrentSensorSensitivity
		Sets the sensitivity of the current sensor in units of Amps/bit (of ADC value) times 2^20.  For example, if the
		sensitivity value is returned as 0x8400 then scale the ADC value by 0x8400/2^20 or 33792/1048576 = 0.0322265625 Amps/bit.

"Is Closed" indicated on isolated output
	DomeProU's has a digital output on each controller.  In v.31 DomePro firmware, this output is asserted when the dome status
	indicates "Closed".  This output is provided as the Out+ and Out- connections on the Azimuth or Clamshell controller.
	This feature is not enabled for the Shutter controller.
	Specifically, when dome status is "Closed" an NPN transistor is turned out (collector connected to Out+ and emitter connected
	to Out-).  This transistor can source up to 25mA.

Support for RunRunEnabled drive type
	- DomeProU systems which directly drive DC motors now support RunRunEnable Drive Type.  RunRunEnable first sets-up a steering
		relay which has two mutually exclusive inputs (i.e., Run CW and Run CCW) and then, after a brief wait, enables power to the
		steering relay using a power transistor.
	- RunRunEnable Drive Type has the advantage that relays are not used to switch motor current.  Instead, the relays are setup for
		current steering some time before and held some time after the motor is turned on using a switching power transistor.

Bug fixes
	- Even when the Shutdown input is asserted, or Power Good is de-asserted, Shutters can be commanded from Maestro to slightly open
		before Shutdown or Power "not" Good again closes them.  This is corrected in v.31 firmware.  No shutter open or GoTo command
		from Maestro will result in shutter motion if the Shutdown input is asserted, or Power Good is de-asserted.  Note: shutter
		open operations from the front panel are allowed since DomePro's automatic closures are disabled with button press.