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.
64 lines
1.7 KiB
C++
64 lines
1.7 KiB
C++
// 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);
|
|
};
|