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.
Ryan Malloy
4c91fd4811