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
749 B
C++
32 lines
749 B
C++
// SPDX-License-Identifier: LGPL-3.0-or-later
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// ST4-ESP32: Dual-pin axis with mutual exclusion
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// Deactivates opposing pin before activating (matches original safety pattern)
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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 "ST4Pin.h"
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#include "ST4Types.h"
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class ST4Axis {
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ST4Pin plusPin_;
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ST4Pin minusPin_;
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volatile ST4Direction direction_;
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SemaphoreHandle_t mutex_;
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public:
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ST4Axis();
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~ST4Axis();
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void begin(int plusPin, int minusPin,
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ST4PinLogic logic = ST4PinLogic::ACTIVE_HIGH);
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void plus();
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void minus();
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void stop();
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void move(ST4Direction dir);
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ST4Direction direction() const;
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bool isActive() const;
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};
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