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35ec6dfdb5
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Harden safety-critical paths from Hamilton review
- Fix lock hierarchy: stopAll() cancels pulse before touching axes
- Add configASSERT bounds checks on axis index in move/pulseGuide
- Enforce ST4Pulse singleton with configASSERT
- Check esp_timer_start_once return, rollback hardware on failure
- Validate SYNC coordinates (reject garbage → silent 0.0)
- Discard truncated serial commands on buffer overflow
- Guard WiFi update()/broadcastState() against null ws_ pointer
- Report connection errors to WebSocket clients on move/pulse
- Remove redundant Serial.begin() from pulse_guide example
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2026-02-17 20:18:14 -07:00 |
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4c91fd4811
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ESP32 ST-4 autoguider library with thread-safe pulse guiding
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.
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2026-02-17 19:46:03 -07:00 |
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