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