Mount thread and lx200 parser

.github/workflows/build.yaml

@@ -11,13 +11,23 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        board:
+          - nucleo_f446re
+          - native_sim
+          - robin_nano
     steps:
     - name: 'Checkout'
       uses: actions/checkout@v4
 
-    - name: 'Setup'
-      uses: ./.github/actions/setup
+    - name: Setup Zephyr project
+      uses: zephyrproject-rtos/action-zephyr-setup@v1
+      with:
+        app-path: application
+        toolchains: all
 
     - name: 'Build Firmware'
       run: |
-        west build -b nucleo_f446re firmware -- -DBOARD_ROOT=.
+        west build -b ${{ matrix.board }} firmware -p -- -DBOARD_ROOT='${{ github.workspace }}'

.gitignore

@@ -1,6 +1,9 @@
 # Ignore the virtual environment
 .venv
 
+# Ignore the .west directory. It is created by the 'west init' command
+.west
+
 # Ignore external resources initialized by west
 external
 

.vscode/settings.json

@@ -72,7 +72,16 @@
         "ctime": "cpp",
         "regex": "cpp",
         "istream": "cpp",
-        "sstream": "cpp"
+        "sstream": "cpp",
+        "iomanip": "cpp",
+        "cstring": "cpp",
+        "map": "cpp",
+        "fstream": "cpp",
+        "iostream": "cpp",
+        "cfenv": "cpp",
+        "version": "cpp",
+        "list": "cpp",
+        "set": "cpp"
     },
     "favorites.resources": [
         {
@@ -84,4 +93,5 @@
             "group": "Default"
         }
     ],
+    "C_Cpp.clang_format_fallbackStyle": "Visual Studio",
 }

boards/mks/robin_nano/robin_nano.dts

@@ -31,6 +31,10 @@
 	};
 };
 
+&clk_lsi {
+	status = "okay";
+};
+
 &clk_hse {
 	clock-frequency = <DT_FREQ_M(8)>;
 	status = "okay";
@@ -81,5 +85,7 @@ zephyr_udc0: &usbotg_fs {
 };
 
 &rtc {
+	clocks = <&rcc STM32_CLOCK_BUS_APB1 0x10000000>,
+		 <&rcc STM32_SRC_LSI RTC_SEL(2)>;
 	status = "okay";
-};
+};

firmware/Kconfig

@@ -4,6 +4,7 @@ source "subsys/logging/Kconfig.template.log_config"
 
 rsource "lib/Kconfig"
 
+rsource "src/mount/Kconfig"
 rsource "src/processor/lx200/Kconfig"
 
 menu "Zephyr"

firmware/boards/nucleo_f446re.overlay

@@ -1,6 +1,7 @@
 / {
     chosen {
         zephyr,console = &usart2;
+        zephyr,uart-pipe = &usart2;
         oaf,uart-control = &usart2;
     };
 

firmware/boards/robin_nano.overlay

@@ -1,6 +1,7 @@
 / {
     chosen {
-        zephyr,console = &usart3; // we can't use cdc acm as console because it lacks required amount of cdc acm endpoints
+        // we can't use cdc acm as console because it lacks required amount of cdc acm endpoints
+        zephyr,console = &usart3; 
         oaf,uart-control = &cdc_acm_uart0;
     };
 };
@@ -11,10 +12,3 @@
         compatible = "zephyr,cdc-acm-uart";
     };
 };
-
-&timers1 {
-    status = "okay";
-    pwm {
-        status = "okay";
-    };
-};

firmware/include/mount/IMount.hpp

@@ -0,0 +1,34 @@
+#pragma once
+
+class IMount
+{
+public:
+    virtual ~IMount() = default;
+
+    /**
+     * @brief Initialize the mount
+     */
+    virtual void initialize() = 0;
+
+    /**
+     * @brief Set the Target Dec
+     *
+     * @param d degrees (-90 to +90)
+     * @param m arcminutes (0-59)
+     * @param s arcseconds (0-59)
+     *
+     * @return true if successful, false otherwise
+     */
+    virtual bool setTargetDec(int d, unsigned int m, unsigned int s) = 0;
+
+    /**
+     * @brief Set the Target Ra
+     *
+     * @param h hours (0-23)
+     * @param m minutes (0-59)
+     * @param s seconds (0-59)
+     *
+     * @return true if successful, false otherwise
+     */
+    virtual bool setTargetRa(unsigned int h, unsigned int m, unsigned int s) = 0;
+};

firmware/include/mount/Mount.hpp

@@ -0,0 +1,39 @@
+#pragma once
+
+#include <zephyr/kernel.h>
+
+#include "IMount.hpp"
+
+class Mount : public IMount
+{
+public:
+    Mount();
+    ~Mount();
+
+    /**
+     * @brief Initialize the mount
+     */
+    void initialize() override;
+
+    /**
+     * @brief Set the Target Dec
+     *
+     * @param d degrees (-90 to +90)
+     * @param m arcminutes (0-59)
+     * @param s arcseconds (0-59)
+     * 
+     * @return true if successful, false otherwise
+     */
+    bool setTargetDec(int d, unsigned int m, unsigned int s) override;
+
+    /**
+     * @brief Set the Target Ra
+     *
+     * @param h hours (0-23)
+     * @param m minutes (0-59)
+     * @param s seconds (0-59)
+     * 
+     * @return true if successful, false otherwise
+     */
+    bool setTargetRa(unsigned int h, unsigned int m, unsigned int s) override;
+};

firmware/include/mount/MountWorker.hpp

@@ -0,0 +1,35 @@
+#pragma once
+
+#include <zephyr/kernel.h>
+
+#include "Mount.hpp"
+#include "IMount.hpp"
+
+class MountWorker : public IMount
+{
+    Mount &mount;
+
+    // k_work_q &mount_work_q;
+    // k_thread_stack_t *mount_work_stack;
+
+    K_KERNEL_STACK_MEMBER(thread_stack, 1024 * 16);
+
+    struct k_work_q work_q;
+    struct k_work_queue_config mount_work_q_config = {.name = "mount"};
+
+public:
+    MountWorker(Mount &mount);
+
+    ~MountWorker();
+
+    // IMount interface
+
+    void initialize() override;
+    bool setTargetDec(int d, unsigned int m, unsigned int s) override;
+    bool setTargetRa(unsigned int h, unsigned int m, unsigned int s) override;
+
+    // template <typename B>
+    // static void handler(struct k_work *work);
+private:
+    auto submit(auto &&fn, auto... args) -> decltype(auto);
+};