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
1.5 KiB
C++
64 lines
1.5 KiB
C++
// SPDX-License-Identifier: LGPL-3.0-or-later
|
|
// ST4-ESP32: ESP32 ST-4 autoguider port controller
|
|
// Based on arduino-st4 by Kevin Ferrare
|
|
|
|
#pragma once
|
|
|
|
#include <cstdint>
|
|
|
|
enum class ST4Direction : uint8_t {
|
|
PLUS,
|
|
MINUS,
|
|
STOP
|
|
};
|
|
|
|
enum class ST4AxisId : uint8_t {
|
|
RA = 0,
|
|
DECLINATION = 1
|
|
};
|
|
|
|
enum class ST4PinLogic : uint8_t {
|
|
ACTIVE_HIGH,
|
|
ACTIVE_LOW
|
|
};
|
|
|
|
// Sidereal rate constants (from ASCOM ArduinoST4 Constants.cs)
|
|
namespace ST4Constants {
|
|
constexpr double DEGREES_PER_SECOND = 360.0 / (24.0 * 3600.0);
|
|
constexpr double RA_PER_SECOND = 1.0 / 3600.0;
|
|
|
|
// Default sidereal rate multipliers (from ASCOM Driver.cs)
|
|
// RA+: 8x slew + 1x earth rotation = 9x
|
|
// RA-: 8x slew - 1x earth rotation = 7x
|
|
// DEC: symmetric 8x
|
|
constexpr double DEFAULT_RA_RATE_PLUS = 9.0;
|
|
constexpr double DEFAULT_RA_RATE_MINUS = 7.0;
|
|
constexpr double DEFAULT_DEC_RATE_PLUS = 8.0;
|
|
constexpr double DEFAULT_DEC_RATE_MINUS = 8.0;
|
|
|
|
constexpr uint32_t DEFAULT_BAUD_RATE = 57600;
|
|
constexpr uint16_t DEFAULT_WS_PORT = 81;
|
|
constexpr uint16_t DEFAULT_HTTP_PORT = 80;
|
|
|
|
constexpr char VERSION[] = "2026.02.17";
|
|
}
|
|
|
|
struct ST4AxisState {
|
|
bool active;
|
|
ST4Direction direction;
|
|
double position;
|
|
};
|
|
|
|
struct ST4State {
|
|
bool connected;
|
|
ST4AxisState ra;
|
|
ST4AxisState dec;
|
|
};
|
|
|
|
struct ST4RateConfig {
|
|
double raPlusMultiplier;
|
|
double raMinusMultiplier;
|
|
double decPlusMultiplier;
|
|
double decMinusMultiplier;
|
|
};
|