Ryan Malloy
4c91fd4811
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.
44 lines
1.1 KiB
C++
44 lines
1.1 KiB
C++
// SPDX-License-Identifier: LGPL-3.0-or-later
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// ST4-ESP32: Hardware timer pulse guiding (non-blocking)
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// Uses esp_timer one-shot with deferred stop via FreeRTOS task
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#pragma once
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#include <esp_timer.h>
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#include <freertos/FreeRTOS.h>
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#include <freertos/semphr.h>
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#include <freertos/task.h>
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#include "ST4Axis.h"
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#include "ST4Tracker.h"
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class ST4Pulse {
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// Static instance for timer callback (standard embedded ISR pattern)
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static ST4Pulse* instance_;
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esp_timer_handle_t timer_;
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SemaphoreHandle_t pulseDoneSem_;
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SemaphoreHandle_t mutex_;
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TaskHandle_t pulseTaskHandle_;
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ST4Axis* activeAxis_;
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ST4Tracker* activeTracker_;
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volatile bool active_;
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volatile bool shutdown_;
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static constexpr uint32_t MAX_PULSE_MS = 10000;
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void cancelLocked();
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static void timerCallback(void* arg);
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static void pulseTaskFunc(void* arg);
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public:
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ST4Pulse();
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~ST4Pulse();
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void begin();
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bool pulse(ST4Axis& axis, ST4Tracker& tracker,
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ST4Direction dir, double slewRate, uint32_t ms);
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bool isActive() const;
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void cancel();
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};
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