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ESP32 ST-4 autoguider library with thread-safe pulse guiding

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Port of arduino-st4 (Kevin Ferrare) to ESP32/PlatformIO with:
- FreeRTOS mutex protection at every layer (Pin, Axis, Pulse, Controller)
- Hardware timer pulse guiding with ISR-safe deferred stop pattern
- Backward-compatible serial protocol (57600 baud, #-terminated)
- Extended commands: PULSE, POS?, SYNC, STATUS?, VERSION?
- Optional WiFi/WebSocket control (gated by ST4_WIFI_ENABLED)
- Dead-reckoning position tracker using esp_timer microsecond precision

All 4 examples build clean against esp32dev target.
This commit is contained in:
Ryan Malloy 2026-02-17 19:46:03 -07:00
commit 4c91fd4811
25 changed files with 1638 additions and 0 deletions
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GNU LESSER GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
This version of the GNU Lesser General Public License incorporates
the terms and conditions of version 3 of the GNU General Public
License, supplemented by the additional permissions listed below.
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.PHONY: all basic serial pulse wifi clean
BOARD = esp32dev
LIB = .
all: basic serial pulse wifi
@echo "All examples built successfully"
basic:
pio ci examples/basic_gpio/basic_gpio.ino --lib="$(LIB)" --board=$(BOARD)
serial:
pio ci examples/serial_compatible/serial_compatible.ino --lib="$(LIB)" --board=$(BOARD)
pulse:
pio ci examples/pulse_guide/pulse_guide.ino --lib="$(LIB)" --board=$(BOARD)
wifi:
pio ci examples/wifi_control/wifi_control.ino --lib="$(LIB)" --board=$(BOARD) \
--project-option="build_flags=-DST4_WIFI_ENABLED" \
--project-option="lib_deps=bblanchon/ArduinoJson@^7.0.0, mathieucarbou/ESPAsyncWebServer@^3.6.0"
clean:
rm -rf .pio

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// ST4-ESP32 Basic GPIO Example
// Cycles through all axis directions to verify wiring
// Use multimeter or logic analyzer on TLP521-4 outputs to verify
#include <ST4.h>
ST4Axis ra;
ST4Axis dec;
void setup() {
Serial.begin(115200);
Serial.println("ST4 Basic GPIO Test");
ra.begin(ST4_PIN_RA_PLUS, ST4_PIN_RA_MINUS);
dec.begin(ST4_PIN_DEC_PLUS, ST4_PIN_DEC_MINUS);
Serial.println("Pins initialized. Cycling directions...");
}
void loop() {
Serial.println("RA+");
ra.plus();
delay(2000);
Serial.println("RA stop");
ra.stop();
delay(1000);
Serial.println("RA-");
ra.minus();
delay(2000);
Serial.println("RA stop");
ra.stop();
delay(1000);
Serial.println("DEC+");
dec.plus();
delay(2000);
Serial.println("DEC stop");
dec.stop();
delay(1000);
Serial.println("DEC-");
dec.minus();
delay(2000);
Serial.println("All stop");
dec.stop();
delay(3000);
}

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// ST4-ESP32 Pulse Guide Example
// Demonstrates hardware-timer pulse guiding with position tracking
//
// Send via serial (57600 baud):
// CONNECT# - connect to mount
// PULSE RA+ 500# - pulse RA+ for 500ms
// PULSE DEC- 1000# - pulse DEC- for 1 second
// POS?# - read current position
// STATUS?# - full status report
#include <ST4.h>
ST4Controller controller;
ST4Serial st4Serial;
void setup() {
Serial.begin(115200);
Serial.println("ST4 Pulse Guide Example");
controller.begin(
ST4_PIN_RA_PLUS, ST4_PIN_RA_MINUS,
ST4_PIN_DEC_PLUS, ST4_PIN_DEC_MINUS,
ST4_PIN_LED
);
st4Serial.begin(controller, Serial);
controller.connect();
Serial.println("Ready. Try: PULSE RA+ 500#");
}
void loop() {
st4Serial.update();
// Print position every 5 seconds while moving
static uint32_t lastPrint = 0;
if (millis() - lastPrint > 5000) {
lastPrint = millis();
if (controller.axisActive(ST4AxisId::RA) ||
controller.axisActive(ST4AxisId::DECLINATION) ||
controller.isPulseActive()) {
Serial.print("RA: ");
Serial.print(controller.position(ST4AxisId::RA), 6);
Serial.print(" DEC: ");
Serial.println(controller.position(ST4AxisId::DECLINATION), 6);
}
}
}

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// ST4-ESP32 Serial Compatible Example
// Drop-in replacement for original ArduinoCode.ino
// Works with the ASCOM ArduinoST4 driver at 57600 baud
//
// Original commands: CONNECT# DISCONNECT# RA+# RA-# RA0# DEC+# DEC-# DEC0#
// Extended commands: PULSE RA+ 500# POS?# SYNC 12.345 45.678# STATUS?# VERSION?#
#include <ST4.h>
ST4Controller controller;
ST4Serial st4Serial;
void setup() {
controller.begin(
ST4_PIN_RA_PLUS, ST4_PIN_RA_MINUS,
ST4_PIN_DEC_PLUS, ST4_PIN_DEC_MINUS,
ST4_PIN_LED
);
// Extended mode adds PULSE, POS?, SYNC, STATUS?, VERSION?
// Set to false for strict original protocol compatibility
st4Serial.begin(controller, Serial, true);
}
void loop() {
st4Serial.update();
}

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// ST4-ESP32 WiFi Control Example
// Creates a WiFi AP with WebSocket server for wireless autoguiding
//
// Connect to WiFi AP, then open WebSocket at ws://<IP>/ws
// JSON commands:
// {"cmd":"move","axis":"ra","dir":"+"}
// {"cmd":"pulse","axis":"dec","dir":"-","ms":500}
// {"cmd":"stop"}
// {"cmd":"sync","ra":12.345,"dec":45.678}
// {"cmd":"status"}
//
// State broadcasts are sent automatically on direction changes
// and periodically during active slew
#ifndef ST4_WIFI_ENABLED
#define ST4_WIFI_ENABLED
#endif
#include <ST4.h>
ST4Controller controller;
ST4Serial st4Serial;
ST4WiFi st4WiFi;
const char* WIFI_SSID = "ST4-Guider";
const char* WIFI_PASS = "st4guide!";
void setup() {
Serial.begin(115200);
Serial.println("ST4 WiFi Control");
controller.begin(
ST4_PIN_RA_PLUS, ST4_PIN_RA_MINUS,
ST4_PIN_DEC_PLUS, ST4_PIN_DEC_MINUS,
ST4_PIN_LED
);
st4Serial.begin(controller, Serial);
ST4WiFiConfig wifiConfig = {
.ssid = WIFI_SSID,
.password = WIFI_PASS,
.apMode = true,
.httpPort = 80,
.broadcastIntervalMs = 250
};
st4WiFi.begin(controller, wifiConfig);
controller.connect();
Serial.println("WiFi AP: " + String(WIFI_SSID));
Serial.print("WebSocket: ws://");
Serial.print(WiFi.softAPIP());
Serial.println("/ws");
}
void loop() {
st4Serial.update();
st4WiFi.update();
}

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include/ST4.h Normal file
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// SPDX-License-Identifier: LGPL-3.0-or-later
// ST4-ESP32: ESP32 ST-4 autoguider port controller
// Facade header - includes all library components
#pragma once
#include "ST4Types.h"
#include "ST4Config.h"
#include "ST4Pin.h"
#include "ST4Axis.h"
#include "ST4Tracker.h"
#include "ST4Pulse.h"
#include "ST4Controller.h"
#include "ST4Serial.h"
#ifdef ST4_WIFI_ENABLED
#include "ST4WiFi.h"
#endif

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// SPDX-License-Identifier: LGPL-3.0-or-later
// ST4-ESP32: Dual-pin axis with mutual exclusion
// Deactivates opposing pin before activating (matches original safety pattern)
#pragma once
#include <freertos/FreeRTOS.h>
#include <freertos/semphr.h>
#include "ST4Pin.h"
#include "ST4Types.h"
class ST4Axis {
ST4Pin plusPin_;
ST4Pin minusPin_;
volatile ST4Direction direction_;
SemaphoreHandle_t mutex_;
public:
ST4Axis();
~ST4Axis();
void begin(int plusPin, int minusPin,
ST4PinLogic logic = ST4PinLogic::ACTIVE_HIGH);
void plus();
void minus();
void stop();
void move(ST4Direction dir);
ST4Direction direction() const;
bool isActive() const;
};

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// SPDX-License-Identifier: LGPL-3.0-or-later
// ST4-ESP32: Default pin configuration for ESP32
#pragma once
#include <cstdint>
// Default GPIO assignments for ESP32 with TLP521-4 optocoupler
// Override by defining before including ST4.h
#ifndef ST4_PIN_RA_PLUS
#define ST4_PIN_RA_PLUS 16
#endif
#ifndef ST4_PIN_RA_MINUS
#define ST4_PIN_RA_MINUS 17
#endif
#ifndef ST4_PIN_DEC_PLUS
#define ST4_PIN_DEC_PLUS 18
#endif
#ifndef ST4_PIN_DEC_MINUS
#define ST4_PIN_DEC_MINUS 19
#endif
#ifndef ST4_PIN_LED
#define ST4_PIN_LED 2
#endif

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// SPDX-License-Identifier: LGPL-3.0-or-later
// ST4-ESP32: High-level mount controller
// Owns axes, trackers, and pulse engine with configurable sidereal rates
// Controller-level mutex ensures composite operations are atomic across cores
#pragma once
#include <freertos/FreeRTOS.h>
#include <freertos/semphr.h>
#include "ST4Types.h"
#include "ST4Config.h"
#include "ST4Axis.h"
#include "ST4Tracker.h"
#include "ST4Pulse.h"
class ST4Controller {
ST4Axis axes_[2];
ST4Tracker trackers_[2];
ST4Pulse pulse_;
ST4RateConfig rateConfig_;
bool connected_;
int ledPin_;
mutable SemaphoreHandle_t mutex_;
double calculateSlewRate(ST4AxisId axis, ST4Direction dir) const;
public:
ST4Controller();
~ST4Controller();
void begin(int raPlusPin = ST4_PIN_RA_PLUS,
int raMinusPin = ST4_PIN_RA_MINUS,
int decPlusPin = ST4_PIN_DEC_PLUS,
int decMinusPin = ST4_PIN_DEC_MINUS,
int ledPin = ST4_PIN_LED,
ST4PinLogic logic = ST4PinLogic::ACTIVE_HIGH);
void setRates(const ST4RateConfig& config);
void connect();
void disconnect();
bool isConnected() const;
void move(ST4AxisId axis, ST4Direction dir);
void stopAxis(ST4AxisId axis);
void stopAll();
bool pulseGuide(ST4AxisId axis, ST4Direction dir, uint32_t ms);
bool isPulseActive() const;
double position(ST4AxisId axis) const;
void setPosition(ST4AxisId axis, double pos);
void sync(double ra, double dec);
ST4Direction axisDirection(ST4AxisId axis) const;
bool axisActive(ST4AxisId axis) const;
ST4State state() const;
ST4Axis& axis(ST4AxisId id);
ST4Tracker& tracker(ST4AxisId id);
};

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// SPDX-License-Identifier: LGPL-3.0-or-later
// ST4-ESP32: Single GPIO pin abstraction with configurable active logic
#pragma once
#include <Arduino.h>
#include "ST4Types.h"
class ST4Pin {
int pin_;
ST4PinLogic logic_;
bool active_;
public:
ST4Pin();
void begin(int pin, ST4PinLogic logic = ST4PinLogic::ACTIVE_HIGH);
void activate();
void deactivate();
bool isActive() const;
int pin() const;
};

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// SPDX-License-Identifier: LGPL-3.0-or-later
// ST4-ESP32: Hardware timer pulse guiding (non-blocking)
// Uses esp_timer one-shot with deferred stop via FreeRTOS task
#pragma once
#include <esp_timer.h>
#include <freertos/FreeRTOS.h>
#include <freertos/semphr.h>
#include <freertos/task.h>
#include "ST4Axis.h"
#include "ST4Tracker.h"
class ST4Pulse {
// Static instance for timer callback (standard embedded ISR pattern)
static ST4Pulse* instance_;
esp_timer_handle_t timer_;
SemaphoreHandle_t pulseDoneSem_;
SemaphoreHandle_t mutex_;
TaskHandle_t pulseTaskHandle_;
ST4Axis* activeAxis_;
ST4Tracker* activeTracker_;
volatile bool active_;
volatile bool shutdown_;
static constexpr uint32_t MAX_PULSE_MS = 10000;
void cancelLocked();
static void timerCallback(void* arg);
static void pulseTaskFunc(void* arg);
public:
ST4Pulse();
~ST4Pulse();
void begin();
bool pulse(ST4Axis& axis, ST4Tracker& tracker,
ST4Direction dir, double slewRate, uint32_t ms);
bool isActive() const;
void cancel();
};

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// SPDX-License-Identifier: LGPL-3.0-or-later
// ST4-ESP32: Serial protocol handler (ASCOM/INDI compatible)
// Drop-in replacement for original ArduinoCode.ino serial protocol
// Extended mode adds PULSE, POS?, SYNC, STATUS?, VERSION?
#pragma once
#include <Arduino.h>
#include "ST4Controller.h"
class ST4Serial {
ST4Controller* controller_;
HardwareSerial* serial_;
String buffer_;
bool extendedMode_;
void processCommand(const String& cmd);
void processExtendedCommand(const String& cmd);
String directionStr(ST4Direction dir) const;
public:
ST4Serial();
void begin(ST4Controller& controller,
HardwareSerial& serial = Serial,
bool extendedMode = true);
void update();
};

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// SPDX-License-Identifier: LGPL-3.0-or-later
// ST4-ESP32: Dead-reckoning position tracker
// Port of ASCOM AxisMovementTracker.cs using esp_timer microsecond precision
#pragma once
#include <freertos/FreeRTOS.h>
#include <freertos/semphr.h>
#include "ST4Types.h"
class ST4Tracker {
double position_;
double slewRate_;
int64_t startTime_;
mutable SemaphoreHandle_t mutex_;
double calculateDelta() const;
public:
ST4Tracker();
~ST4Tracker();
void begin();
void start(double slewRate);
void stop();
double position() const;
void setPosition(double pos);
double slewRate() const;
bool isMoving() const;
};

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include/ST4Types.h Normal file
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// SPDX-License-Identifier: LGPL-3.0-or-later
// ST4-ESP32: ESP32 ST-4 autoguider port controller
// Based on arduino-st4 by Kevin Ferrare
#pragma once
#include <cstdint>
enum class ST4Direction : uint8_t {
PLUS,
MINUS,
STOP
};
enum class ST4AxisId : uint8_t {
RA = 0,
DECLINATION = 1
};
enum class ST4PinLogic : uint8_t {
ACTIVE_HIGH,
ACTIVE_LOW
};
// Sidereal rate constants (from ASCOM ArduinoST4 Constants.cs)
namespace ST4Constants {
constexpr double DEGREES_PER_SECOND = 360.0 / (24.0 * 3600.0);
constexpr double RA_PER_SECOND = 1.0 / 3600.0;
// Default sidereal rate multipliers (from ASCOM Driver.cs)
// RA+: 8x slew + 1x earth rotation = 9x
// RA-: 8x slew - 1x earth rotation = 7x
// DEC: symmetric 8x
constexpr double DEFAULT_RA_RATE_PLUS = 9.0;
constexpr double DEFAULT_RA_RATE_MINUS = 7.0;
constexpr double DEFAULT_DEC_RATE_PLUS = 8.0;
constexpr double DEFAULT_DEC_RATE_MINUS = 8.0;
constexpr uint32_t DEFAULT_BAUD_RATE = 57600;
constexpr uint16_t DEFAULT_WS_PORT = 81;
constexpr uint16_t DEFAULT_HTTP_PORT = 80;
constexpr char VERSION[] = "2026.02.17";
}
struct ST4AxisState {
bool active;
ST4Direction direction;
double position;
};
struct ST4State {
bool connected;
ST4AxisState ra;
ST4AxisState dec;
};
struct ST4RateConfig {
double raPlusMultiplier;
double raMinusMultiplier;
double decPlusMultiplier;
double decMinusMultiplier;
};

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// SPDX-License-Identifier: LGPL-3.0-or-later
// ST4-ESP32: WiFi + WebSocket server (optional)
// Enable by defining ST4_WIFI_ENABLED before including ST4.h
#pragma once
#ifdef ST4_WIFI_ENABLED
#include <WiFi.h>
#include <ESPAsyncWebServer.h>
#include <ArduinoJson.h>
#include "ST4Controller.h"
struct ST4WiFiConfig {
const char* ssid;
const char* password;
bool apMode;
uint16_t httpPort;
uint32_t broadcastIntervalMs;
};
class ST4WiFi {
ST4Controller* controller_;
AsyncWebServer* server_;
AsyncWebSocket* ws_;
ST4WiFiConfig config_;
uint32_t lastBroadcast_;
ST4Direction lastRaDir_;
ST4Direction lastDecDir_;
void handleWebSocketEvent(AsyncWebSocket* server,
AsyncWebSocketClient* client,
AwsEventType type, void* arg,
uint8_t* data, size_t len);
void processCommand(AsyncWebSocketClient* client,
uint8_t* data, size_t len);
void broadcastState();
String stateJson() const;
public:
ST4WiFi();
~ST4WiFi();
void begin(ST4Controller& controller, const ST4WiFiConfig& config);
void update();
};
#endif // ST4_WIFI_ENABLED

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library.json Normal file
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{
"name": "ST4-ESP32",
"version": "2026.02.17",
"description": "ESP32 ST-4 autoguider port controller with WiFi/WebSocket support, hardware-timer pulse guiding, and FreeRTOS thread safety",
"keywords": [
"telescope",
"autoguider",
"st-4",
"mount-control",
"pulse-guiding",
"satellite-tracking",
"ham-radio",
"esp32"
],
"repository": {
"type": "git",
"url": "https://git.supported.systems/rpm/st-4-esp32"
},
"authors": [
{
"name": "Ryan Malloy",
"email": "ryan@supported.systems"
}
],
"license": "LGPL-3.0-or-later",
"frameworks": "arduino",
"platforms": "espressif32",
"headers": "ST4.h",
"dependencies": {
"bblanchon/ArduinoJson": "^7.0.0"
},
"build": {
"flags": [
"-I include"
]
},
"examples": [
"examples/basic_gpio/basic_gpio.ino",
"examples/serial_compatible/serial_compatible.ino",
"examples/pulse_guide/pulse_guide.ino",
"examples/wifi_control/wifi_control.ino"
]
}

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platformio.ini Normal file
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; ST4-ESP32 PlatformIO library
; For building examples: use 'make' targets (uses pio ci)
; For development/upload: pio run -e <env> (uses symlink lib_deps)
[platformio]
default_envs = serial_compatible
[env]
platform = espressif32
board = esp32dev
framework = arduino
monitor_speed = 115200
lib_deps = symlink://.
[env:basic_gpio]
build_src_filter = +<../examples/basic_gpio/>
[env:serial_compatible]
build_src_filter = +<../examples/serial_compatible/>
[env:pulse_guide]
build_src_filter = +<../examples/pulse_guide/>
[env:wifi_control]
build_flags = -DST4_WIFI_ENABLED
lib_deps =
symlink://.
bblanchon/ArduinoJson@^7.0.0
mathieucarbou/ESPAsyncWebServer@^3.6.0
build_src_filter = +<../examples/wifi_control/>

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// SPDX-License-Identifier: LGPL-3.0-or-later
#include "ST4Axis.h"
ST4Axis::ST4Axis()
: direction_(ST4Direction::STOP), mutex_(nullptr) {}
ST4Axis::~ST4Axis() {
if (mutex_) vSemaphoreDelete(mutex_);
}
void ST4Axis::begin(int plusPin, int minusPin, ST4PinLogic logic) {
mutex_ = xSemaphoreCreateMutex();
configASSERT(mutex_);
plusPin_.begin(plusPin, logic);
minusPin_.begin(minusPin, logic);
stop();
}
void ST4Axis::plus() {
xSemaphoreTake(mutex_, portMAX_DELAY);
// Safety: deactivate opposing direction first (prevents optocoupler short)
minusPin_.deactivate();
plusPin_.activate();
direction_ = ST4Direction::PLUS;
xSemaphoreGive(mutex_);
}
void ST4Axis::minus() {
xSemaphoreTake(mutex_, portMAX_DELAY);
plusPin_.deactivate();
minusPin_.activate();
direction_ = ST4Direction::MINUS;
xSemaphoreGive(mutex_);
}
void ST4Axis::stop() {
xSemaphoreTake(mutex_, portMAX_DELAY);
plusPin_.deactivate();
minusPin_.deactivate();
direction_ = ST4Direction::STOP;
xSemaphoreGive(mutex_);
}
void ST4Axis::move(ST4Direction dir) {
switch (dir) {
case ST4Direction::PLUS: plus(); break;
case ST4Direction::MINUS: minus(); break;
case ST4Direction::STOP: stop(); break;
}
}
ST4Direction ST4Axis::direction() const {
// Atomic read on ESP32 (uint8_t enum)
return direction_;
}
bool ST4Axis::isActive() const {
return direction_ != ST4Direction::STOP;
}

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// SPDX-License-Identifier: LGPL-3.0-or-later
#include "ST4Controller.h"
#include <Arduino.h>
ST4Controller::ST4Controller()
: connected_(false), ledPin_(-1), mutex_(nullptr) {
rateConfig_ = {
ST4Constants::DEFAULT_RA_RATE_PLUS,
ST4Constants::DEFAULT_RA_RATE_MINUS,
ST4Constants::DEFAULT_DEC_RATE_PLUS,
ST4Constants::DEFAULT_DEC_RATE_MINUS
};
}
ST4Controller::~ST4Controller() {
if (mutex_) vSemaphoreDelete(mutex_);
}
void ST4Controller::begin(int raPlusPin, int raMinusPin,
int decPlusPin, int decMinusPin,
int ledPin, ST4PinLogic logic) {
mutex_ = xSemaphoreCreateMutex();
configASSERT(mutex_);
ledPin_ = ledPin;
if (ledPin_ >= 0) {
pinMode(ledPin_, OUTPUT);
digitalWrite(ledPin_, LOW);
}
axes_[static_cast<int>(ST4AxisId::RA)].begin(raPlusPin, raMinusPin, logic);
axes_[static_cast<int>(ST4AxisId::DECLINATION)].begin(decPlusPin, decMinusPin, logic);
trackers_[0].begin();
trackers_[1].begin();
pulse_.begin();
}
void ST4Controller::setRates(const ST4RateConfig& config) {
configASSERT(config.raPlusMultiplier > 0);
configASSERT(config.raMinusMultiplier > 0);
configASSERT(config.decPlusMultiplier > 0);
configASSERT(config.decMinusMultiplier > 0);
xSemaphoreTake(mutex_, portMAX_DELAY);
rateConfig_ = config;
xSemaphoreGive(mutex_);
}
double ST4Controller::calculateSlewRate(ST4AxisId axis, ST4Direction dir) const {
if (dir == ST4Direction::STOP) return 0;
double baseRate = (axis == ST4AxisId::RA)
? ST4Constants::RA_PER_SECOND
: ST4Constants::DEGREES_PER_SECOND;
double multiplier;
if (axis == ST4AxisId::RA) {
multiplier = (dir == ST4Direction::PLUS)
? rateConfig_.raPlusMultiplier
: rateConfig_.raMinusMultiplier;
} else {
multiplier = (dir == ST4Direction::PLUS)
? rateConfig_.decPlusMultiplier
: rateConfig_.decMinusMultiplier;
}
double sign = (dir == ST4Direction::MINUS) ? -1.0 : 1.0;
return sign * baseRate * multiplier;
}
void ST4Controller::connect() {
xSemaphoreTake(mutex_, portMAX_DELAY);
connected_ = true;
if (ledPin_ >= 0) digitalWrite(ledPin_, HIGH);
xSemaphoreGive(mutex_);
stopAll();
}
void ST4Controller::disconnect() {
stopAll();
xSemaphoreTake(mutex_, portMAX_DELAY);
connected_ = false;
if (ledPin_ >= 0) digitalWrite(ledPin_, LOW);
xSemaphoreGive(mutex_);
}
bool ST4Controller::isConnected() const {
return connected_;
}
void ST4Controller::move(ST4AxisId axis, ST4Direction dir) {
if (!connected_) return;
xSemaphoreTake(mutex_, portMAX_DELAY);
int idx = static_cast<int>(axis);
if (dir == ST4Direction::STOP) {
axes_[idx].stop();
trackers_[idx].stop();
} else {
axes_[idx].move(dir);
trackers_[idx].start(calculateSlewRate(axis, dir));
}
xSemaphoreGive(mutex_);
}
void ST4Controller::stopAxis(ST4AxisId axis) {
move(axis, ST4Direction::STOP);
}
void ST4Controller::stopAll() {
xSemaphoreTake(mutex_, portMAX_DELAY);
int raIdx = static_cast<int>(ST4AxisId::RA);
int decIdx = static_cast<int>(ST4AxisId::DECLINATION);
axes_[raIdx].stop();
trackers_[raIdx].stop();
axes_[decIdx].stop();
trackers_[decIdx].stop();
xSemaphoreGive(mutex_);
if (pulse_.isActive()) pulse_.cancel();
}
bool ST4Controller::pulseGuide(ST4AxisId axis, ST4Direction dir, uint32_t ms) {
if (!connected_) return false;
xSemaphoreTake(mutex_, portMAX_DELAY);
int idx = static_cast<int>(axis);
double rate = calculateSlewRate(axis, dir);
bool result = pulse_.pulse(axes_[idx], trackers_[idx], dir, rate, ms);
xSemaphoreGive(mutex_);
return result;
}
bool ST4Controller::isPulseActive() const {
return pulse_.isActive();
}
double ST4Controller::position(ST4AxisId axis) const {
return trackers_[static_cast<int>(axis)].position();
}
void ST4Controller::setPosition(ST4AxisId axis, double pos) {
trackers_[static_cast<int>(axis)].setPosition(pos);
}
void ST4Controller::sync(double ra, double dec) {
xSemaphoreTake(mutex_, portMAX_DELAY);
setPosition(ST4AxisId::RA, ra);
setPosition(ST4AxisId::DECLINATION, dec);
xSemaphoreGive(mutex_);
}
ST4Direction ST4Controller::axisDirection(ST4AxisId axis) const {
return axes_[static_cast<int>(axis)].direction();
}
bool ST4Controller::axisActive(ST4AxisId axis) const {
return axes_[static_cast<int>(axis)].isActive();
}
ST4State ST4Controller::state() const {
xSemaphoreTake(mutex_, portMAX_DELAY);
ST4State s;
s.connected = connected_;
s.ra.active = axes_[0].isActive();
s.ra.direction = axes_[0].direction();
s.ra.position = trackers_[0].position();
s.dec.active = axes_[1].isActive();
s.dec.direction = axes_[1].direction();
s.dec.position = trackers_[1].position();
xSemaphoreGive(mutex_);
return s;
}
ST4Axis& ST4Controller::axis(ST4AxisId id) {
return axes_[static_cast<int>(id)];
}
ST4Tracker& ST4Controller::tracker(ST4AxisId id) {
return trackers_[static_cast<int>(id)];
}

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// SPDX-License-Identifier: LGPL-3.0-or-later
#include "ST4Pin.h"
ST4Pin::ST4Pin()
: pin_(-1), logic_(ST4PinLogic::ACTIVE_HIGH), active_(false) {}
void ST4Pin::begin(int pin, ST4PinLogic logic) {
pin_ = pin;
logic_ = logic;
active_ = false;
pinMode(pin_, OUTPUT);
deactivate();
}
void ST4Pin::activate() {
if (pin_ < 0) return;
active_ = true;
digitalWrite(pin_, (logic_ == ST4PinLogic::ACTIVE_HIGH) ? HIGH : LOW);
}
void ST4Pin::deactivate() {
if (pin_ < 0) return;
active_ = false;
digitalWrite(pin_, (logic_ == ST4PinLogic::ACTIVE_HIGH) ? LOW : HIGH);
}
bool ST4Pin::isActive() const {
return active_;
}
int ST4Pin::pin() const {
return pin_;
}

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// SPDX-License-Identifier: LGPL-3.0-or-later
// Hardware timer pulse guiding with deferred ISR-safe stop
//
// Pattern: esp_timer callback -> semaphore -> high-priority task -> mutex -> axis.stop()
// The mutex protects the multi-field state (activeAxis_, activeTracker_, active_)
// from concurrent pulse()/cancel() calls across ESP32 cores.
#include "ST4Pulse.h"
ST4Pulse* ST4Pulse::instance_ = nullptr;
static const int PULSE_TASK_PRIORITY = configMAX_PRIORITIES - 2;
static const int PULSE_TASK_STACK = 2048;
ST4Pulse::ST4Pulse()
: timer_(nullptr), pulseDoneSem_(nullptr), mutex_(nullptr),
pulseTaskHandle_(nullptr),
activeAxis_(nullptr), activeTracker_(nullptr),
active_(false), shutdown_(false) {}
ST4Pulse::~ST4Pulse() {
// 1. Stop and delete timer (prevents new semaphore gives)
if (timer_) {
esp_timer_stop(timer_);
esp_timer_delete(timer_);
timer_ = nullptr;
}
// 2. Signal task to exit and unblock it
shutdown_ = true;
if (pulseDoneSem_) xSemaphoreGive(pulseDoneSem_);
// 3. Wait for task to see shutdown flag
if (pulseTaskHandle_) {
vTaskDelay(pdMS_TO_TICKS(10));
vTaskDelete(pulseTaskHandle_);
pulseTaskHandle_ = nullptr;
}
// 4. Delete synchronization primitives last
if (pulseDoneSem_) vSemaphoreDelete(pulseDoneSem_);
if (mutex_) vSemaphoreDelete(mutex_);
instance_ = nullptr;
}
void ST4Pulse::timerCallback(void* arg) {
ST4Pulse* self = static_cast<ST4Pulse*>(arg);
// Give semaphore to wake the pulse-stop task
// Safe for ESP_TIMER_TASK dispatch (the default)
xSemaphoreGive(self->pulseDoneSem_);
}
void ST4Pulse::pulseTaskFunc(void* arg) {
ST4Pulse* self = static_cast<ST4Pulse*>(arg);
for (;;) {
if (xSemaphoreTake(self->pulseDoneSem_, portMAX_DELAY) == pdTRUE) {
if (self->shutdown_) break;
xSemaphoreTake(self->mutex_, portMAX_DELAY);
if (self->active_) {
if (self->activeAxis_) self->activeAxis_->stop();
if (self->activeTracker_) self->activeTracker_->stop();
self->active_ = false;
}
xSemaphoreGive(self->mutex_);
}
}
// Task deletes itself on shutdown
vTaskDelete(nullptr);
}
void ST4Pulse::begin() {
instance_ = this;
mutex_ = xSemaphoreCreateMutex();
configASSERT(mutex_);
pulseDoneSem_ = xSemaphoreCreateBinary();
configASSERT(pulseDoneSem_);
esp_timer_create_args_t timerArgs = {};
timerArgs.callback = timerCallback;
timerArgs.arg = this;
timerArgs.name = "st4_pulse";
esp_err_t err = esp_timer_create(&timerArgs, &timer_);
configASSERT(err == ESP_OK);
BaseType_t created = xTaskCreatePinnedToCore(
pulseTaskFunc, "st4_pulse", PULSE_TASK_STACK,
this, PULSE_TASK_PRIORITY, &pulseTaskHandle_, 1
);
configASSERT(created == pdPASS);
}
void ST4Pulse::cancelLocked() {
// Caller must hold mutex_
esp_timer_stop(timer_);
// Drain any pending semaphore from a just-fired timer
xSemaphoreTake(pulseDoneSem_, 0);
if (activeAxis_) activeAxis_->stop();
if (activeTracker_) activeTracker_->stop();
active_ = false;
activeAxis_ = nullptr;
activeTracker_ = nullptr;
}
bool ST4Pulse::pulse(ST4Axis& axis, ST4Tracker& tracker,
ST4Direction dir, double slewRate, uint32_t ms) {
xSemaphoreTake(mutex_, portMAX_DELAY);
if (active_) cancelLocked();
if (dir == ST4Direction::STOP || ms == 0) {
xSemaphoreGive(mutex_);
return false;
}
if (ms > MAX_PULSE_MS) ms = MAX_PULSE_MS;
activeAxis_ = &axis;
activeTracker_ = &tracker;
active_ = true;
axis.move(dir);
tracker.start(slewRate);
// Start one-shot timer (microseconds)
esp_timer_start_once(timer_, static_cast<uint64_t>(ms) * 1000);
xSemaphoreGive(mutex_);
return true;
}
bool ST4Pulse::isActive() const {
return active_;
}
void ST4Pulse::cancel() {
xSemaphoreTake(mutex_, portMAX_DELAY);
cancelLocked();
xSemaphoreGive(mutex_);
}

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// SPDX-License-Identifier: LGPL-3.0-or-later
// Serial protocol: backward compatible with original ArduinoCode.ino
// Original commands: CONNECT#, DISCONNECT#, RA+#, RA-#, RA0#, DEC+#, DEC-#, DEC0#
// Extended commands: PULSE RA+ 500#, POS?#, SYNC 12.345 45.678#, STATUS?#, VERSION?#
#include "ST4Serial.h"
ST4Serial::ST4Serial()
: controller_(nullptr), serial_(nullptr), extendedMode_(true) {}
void ST4Serial::begin(ST4Controller& controller, HardwareSerial& serial,
bool extendedMode) {
controller_ = &controller;
serial_ = &serial;
extendedMode_ = extendedMode;
buffer_.reserve(64);
serial_->begin(ST4Constants::DEFAULT_BAUD_RATE, SERIAL_8N1);
serial_->println("INITIALIZED#");
}
String ST4Serial::directionStr(ST4Direction dir) const {
switch (dir) {
case ST4Direction::PLUS: return "+";
case ST4Direction::MINUS: return "-";
default: return "0";
}
}
void ST4Serial::processCommand(const String& cmd) {
bool valid = true;
if (cmd == "CONNECT") {
controller_->connect();
} else if (cmd == "DISCONNECT") {
controller_->disconnect();
} else if (cmd == "RA0") {
controller_->stopAxis(ST4AxisId::RA);
} else if (cmd == "RA+") {
controller_->move(ST4AxisId::RA, ST4Direction::PLUS);
} else if (cmd == "RA-") {
controller_->move(ST4AxisId::RA, ST4Direction::MINUS);
} else if (cmd == "DEC0") {
controller_->stopAxis(ST4AxisId::DECLINATION);
} else if (cmd == "DEC+") {
controller_->move(ST4AxisId::DECLINATION, ST4Direction::PLUS);
} else if (cmd == "DEC-") {
controller_->move(ST4AxisId::DECLINATION, ST4Direction::MINUS);
} else if (extendedMode_) {
processExtendedCommand(cmd);
return;
} else {
valid = false;
}
if (valid) {
serial_->println("OK#");
}
}
void ST4Serial::processExtendedCommand(const String& cmd) {
if (cmd.startsWith("PULSE ")) {
// Format: PULSE RA+ 500 or PULSE DEC- 1000
String rest = cmd.substring(6);
rest.trim();
ST4AxisId axis;
if (rest.startsWith("RA")) {
axis = ST4AxisId::RA;
rest = rest.substring(2);
} else if (rest.startsWith("DEC")) {
axis = ST4AxisId::DECLINATION;
rest = rest.substring(3);
} else {
serial_->println("ERR:INVALID_AXIS#");
return;
}
ST4Direction dir;
if (rest.startsWith("+")) {
dir = ST4Direction::PLUS;
rest = rest.substring(1);
} else if (rest.startsWith("-")) {
dir = ST4Direction::MINUS;
rest = rest.substring(1);
} else {
serial_->println("ERR:INVALID_DIR#");
return;
}
rest.trim();
uint32_t ms = rest.toInt();
if (ms > 0) {
controller_->pulseGuide(axis, dir, ms);
serial_->println("OK#");
} else {
serial_->println("ERR:INVALID_DURATION#");
}
} else if (cmd == "POS?") {
serial_->print("POS ");
serial_->print(controller_->position(ST4AxisId::RA), 6);
serial_->print(" ");
serial_->print(controller_->position(ST4AxisId::DECLINATION), 6);
serial_->println("#");
} else if (cmd.startsWith("SYNC ")) {
// Format: SYNC 12.345 45.678
String rest = cmd.substring(5);
int spaceIdx = rest.indexOf(' ');
if (spaceIdx > 0) {
double ra = rest.substring(0, spaceIdx).toDouble();
double dec = rest.substring(spaceIdx + 1).toDouble();
controller_->sync(ra, dec);
serial_->println("OK#");
} else {
serial_->println("ERR:INVALID_COORDS#");
}
} else if (cmd == "STATUS?") {
ST4State s = controller_->state();
serial_->print("STATUS ");
serial_->print(s.connected ? "CONNECTED" : "DISCONNECTED");
serial_->print(" RA:");
serial_->print(directionStr(s.ra.direction));
serial_->print(":");
serial_->print(s.ra.position, 6);
serial_->print(" DEC:");
serial_->print(directionStr(s.dec.direction));
serial_->print(":");
serial_->print(s.dec.position, 6);
serial_->println("#");
} else if (cmd == "VERSION?") {
serial_->print("VERSION ");
serial_->print(ST4Constants::VERSION);
serial_->println("#");
}
// Unknown extended commands are silently ignored (matches original behavior)
}
void ST4Serial::update() {
while (serial_->available()) {
char c = serial_->read();
if (c == '#') {
buffer_.trim();
if (buffer_.length() > 0) {
processCommand(buffer_);
}
buffer_ = "";
} else if (c != '\r' && c != '\n') {
if (buffer_.length() < 64) {
buffer_ += c;
}
}
}
}

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// SPDX-License-Identifier: LGPL-3.0-or-later
// Port of ASCOM AxisMovementTracker.cs
// Uses esp_timer_get_time() for microsecond precision (vs DateTime.Now ~15ms)
#include "ST4Tracker.h"
#include <esp_timer.h>
ST4Tracker::ST4Tracker()
: position_(0), slewRate_(0), startTime_(0), mutex_(nullptr) {}
ST4Tracker::~ST4Tracker() {
if (mutex_) vSemaphoreDelete(mutex_);
}
void ST4Tracker::begin() {
mutex_ = xSemaphoreCreateMutex();
configASSERT(mutex_);
}
double ST4Tracker::calculateDelta() const {
// Equivalent to ASCOM's: slewRate * (DateTime.Now - slewStartTime).TotalSeconds
if (slewRate_ == 0) return 0;
int64_t elapsed_us = esp_timer_get_time() - startTime_;
return slewRate_ * (elapsed_us / 1000000.0);
}
void ST4Tracker::start(double slewRate) {
xSemaphoreTake(mutex_, portMAX_DELAY);
// Accumulate pending delta before changing rate (matches ASCOM Stop+Start pattern)
if (slewRate_ != 0) {
position_ += calculateDelta();
}
slewRate_ = slewRate;
startTime_ = esp_timer_get_time();
xSemaphoreGive(mutex_);
}
void ST4Tracker::stop() {
xSemaphoreTake(mutex_, portMAX_DELAY);
position_ += calculateDelta();
slewRate_ = 0;
xSemaphoreGive(mutex_);
}
double ST4Tracker::position() const {
xSemaphoreTake(mutex_, portMAX_DELAY);
double pos = position_ + calculateDelta();
xSemaphoreGive(mutex_);
return pos;
}
void ST4Tracker::setPosition(double pos) {
xSemaphoreTake(mutex_, portMAX_DELAY);
position_ = pos;
slewRate_ = 0;
xSemaphoreGive(mutex_);
}
double ST4Tracker::slewRate() const {
xSemaphoreTake(mutex_, portMAX_DELAY);
double rate = slewRate_;
xSemaphoreGive(mutex_);
return rate;
}
bool ST4Tracker::isMoving() const {
xSemaphoreTake(mutex_, portMAX_DELAY);
bool moving = slewRate_ != 0;
xSemaphoreGive(mutex_);
return moving;
}

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// SPDX-License-Identifier: LGPL-3.0-or-later
#ifdef ST4_WIFI_ENABLED
#include "ST4WiFi.h"
ST4WiFi::ST4WiFi()
: controller_(nullptr), server_(nullptr), ws_(nullptr),
lastBroadcast_(0),
lastRaDir_(ST4Direction::STOP), lastDecDir_(ST4Direction::STOP) {}
ST4WiFi::~ST4WiFi() {
delete ws_;
delete server_;
}
void ST4WiFi::begin(ST4Controller& controller, const ST4WiFiConfig& config) {
controller_ = &controller;
config_ = config;
if (config_.apMode) {
WiFi.softAP(config_.ssid, config_.password);
} else {
WiFi.begin(config_.ssid, config_.password);
uint32_t startMs = millis();
while (WiFi.status() != WL_CONNECTED) {
if (millis() - startMs > 15000) {
log_w("WiFi connection timeout -- running serial-only");
return;
}
delay(500);
}
}
server_ = new AsyncWebServer(config_.httpPort);
ws_ = new AsyncWebSocket("/ws");
ws_->onEvent([this](AsyncWebSocket* server, AsyncWebSocketClient* client,
AwsEventType type, void* arg,
uint8_t* data, size_t len) {
handleWebSocketEvent(server, client, type, arg, data, len);
});
server_->addHandler(ws_);
server_->begin();
}
void ST4WiFi::handleWebSocketEvent(AsyncWebSocket* server,
AsyncWebSocketClient* client,
AwsEventType type, void* arg,
uint8_t* data, size_t len) {
switch (type) {
case WS_EVT_CONNECT:
// Send current state to newly connected client
client->text(stateJson());
break;
case WS_EVT_DATA: {
AwsFrameInfo* info = static_cast<AwsFrameInfo*>(arg);
if (info->final && info->index == 0 &&
info->len == len && info->opcode == WS_TEXT) {
processCommand(client, data, len);
}
break;
}
default:
break;
}
}
void ST4WiFi::processCommand(AsyncWebSocketClient* client,
uint8_t* data, size_t len) {
JsonDocument doc;
DeserializationError err = deserializeJson(doc, data, len);
if (err) return;
const char* cmd = doc["cmd"];
if (!cmd) return;
if (strcmp(cmd, "move") == 0) {
const char* axisStr = doc["axis"];
const char* dirStr = doc["dir"];
if (!axisStr || !dirStr) return;
ST4AxisId axis;
if (strcmp(axisStr, "ra") == 0) axis = ST4AxisId::RA;
else if (strcmp(axisStr, "dec") == 0) axis = ST4AxisId::DECLINATION;
else return;
ST4Direction dir;
if (strcmp(dirStr, "+") == 0) dir = ST4Direction::PLUS;
else if (strcmp(dirStr, "-") == 0) dir = ST4Direction::MINUS;
else dir = ST4Direction::STOP;
controller_->move(axis, dir);
broadcastState();
} else if (strcmp(cmd, "pulse") == 0) {
const char* axisStr = doc["axis"];
const char* dirStr = doc["dir"];
uint32_t ms = doc["ms"] | 0;
if (!axisStr || !dirStr || ms == 0) return;
ST4AxisId axis;
if (strcmp(axisStr, "ra") == 0) axis = ST4AxisId::RA;
else if (strcmp(axisStr, "dec") == 0) axis = ST4AxisId::DECLINATION;
else return;
ST4Direction dir;
if (strcmp(dirStr, "+") == 0) dir = ST4Direction::PLUS;
else if (strcmp(dirStr, "-") == 0) dir = ST4Direction::MINUS;
else return;
controller_->pulseGuide(axis, dir, ms);
broadcastState();
} else if (strcmp(cmd, "stop") == 0) {
controller_->stopAll();
broadcastState();
} else if (strcmp(cmd, "sync") == 0) {
double ra = doc["ra"] | 0.0;
double dec = doc["dec"] | 0.0;
controller_->sync(ra, dec);
broadcastState();
} else if (strcmp(cmd, "status") == 0) {
client->text(stateJson());
}
}
void ST4WiFi::broadcastState() {
if (ws_->count() > 0) {
ws_->textAll(stateJson());
}
lastBroadcast_ = millis();
}
String ST4WiFi::stateJson() const {
ST4State s = controller_->state();
JsonDocument doc;
doc["type"] = "state";
doc["connected"] = s.connected;
auto ra = doc["ra"].to<JsonObject>();
ra["active"] = s.ra.active;
ra["dir"] = (s.ra.direction == ST4Direction::PLUS) ? "+"
: (s.ra.direction == ST4Direction::MINUS) ? "-" : "0";
ra["pos"] = s.ra.position;
auto dec = doc["dec"].to<JsonObject>();
dec["active"] = s.dec.active;
dec["dir"] = (s.dec.direction == ST4Direction::PLUS) ? "+"
: (s.dec.direction == ST4Direction::MINUS) ? "-" : "0";
dec["pos"] = s.dec.position;
String output;
serializeJson(doc, output);
return output;
}
void ST4WiFi::update() {
ws_->cleanupClients();
ST4Direction currentRa = controller_->axisDirection(ST4AxisId::RA);
ST4Direction currentDec = controller_->axisDirection(ST4AxisId::DECLINATION);
bool changed = (currentRa != lastRaDir_) || (currentDec != lastDecDir_);
lastRaDir_ = currentRa;
lastDecDir_ = currentDec;
// Broadcast on direction change or periodically during active slew
bool anyActive = controller_->axisActive(ST4AxisId::RA) ||
controller_->axisActive(ST4AxisId::DECLINATION);
bool periodicUpdate = anyActive &&
(millis() - lastBroadcast_ >= config_.broadcastIntervalMs);
if (changed || periodicUpdate) {
broadcastState();
}
}
#endif // ST4_WIFI_ENABLED