Add Lx200Processor and Tokenizer for LX200 command processing

- Implemented Lx200Processor class to handle LX200 commands, including command parsing and buffer management.
- Added methods for initializing the mount and setting target coordinates (RA/Dec).
- Introduced Tokenizer for parsing commands using static and dynamic matchers.
- Ensured compliance with C++20 and C++17 standards for string and character conversions.
- Integrated logging for command processing and error handling.

Author: andre-stefanov

app/CMakeLists.txt

@@ -1,12 +1,11 @@
-#-------------------------------------------------------------------------------
-# Zephyr Example Application
-#
-# Copyright (c) 2021 Nordic Semiconductor ASA
-# SPDX-License-Identifier: Apache-2.0
+cmake_minimum_required(VERSION 3.20.0)
 
-cmake_minimum_required(VERSION 3.13.1)
 find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(OpenAstroFirmware)
 
-project(app LANGUAGES C)
+zephyr_syscall_include_directories(include)
+zephyr_include_directories(include)
 
-target_sources(app PRIVATE src/main.c)
+# Add the source files to the target
+file(GLOB_RECURSE APP_SOURCES "src/*.cpp" "src/*.c")
+target_sources(app PRIVATE ${APP_SOURCES})

app/Kconfig

@@ -1,15 +1,10 @@
-# Copyright (c) 2021 Nordic Semiconductor ASA
-# SPDX-License-Identifier: Apache-2.0
-#
-# This file is the application Kconfig entry point. All application Kconfig
-# options can be defined here or included via other application Kconfig files.
-# You can browse these options using the west targets menuconfig (terminal) or
-# guiconfig (GUI).
+module = FIRMWARE
+module-str = firmware
+source "subsys/logging/Kconfig.template.log_config"
+
+rsource "src/mount/Kconfig"
+rsource "src/processor/lx200/Kconfig"
 
 menu "Zephyr"
 source "Kconfig.zephyr"
 endmenu
-
-module = APP
-module-str = APP
-source "subsys/logging/Kconfig.template.log_config"

app/boards/native_sim.conf

@@ -0,0 +1,11 @@
+CONFIG_UART_CONSOLE=y
+
+# Enable the native POSIX UART driver backend
+CONFIG_UART_NATIVE_POSIX=y
+
+# Console (logs) will be on stdout
+# CONFIG_UART_NATIVE_PTY_0_ON_STDINOUT=y
+# CONFIG_NATIVE_UART_0_ON_STDINOUT=y
+
+# Enable UART for control (e.g. lx200)
+CONFIG_UART_NATIVE_POSIX_PORT_1_ENABLE=y

app/boards/native_sim.overlay

@@ -0,0 +1,12 @@
+/ {
+    chosen {
+        zephyr,console = &uart0;
+        oaf,uart-control = &uart1;
+    };
+};
+
+&uart1 {
+    status = "okay";
+    // current-speed = <115200>;
+    // backend = "pty";
+};

app/boards/nucleo_f302r8.overlay

@@ -0,0 +1,20 @@
+CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC=180000000
+CONFIG_CORTEX_M_SYSTICK=y
+
+CONFIG_UART_USE_RUNTIME_CONFIGURE=y
+
+# CONFIG_USB_DEVICE_STACK=y
+# CONFIG_USB_DEVICE_INITIALIZE_AT_BOOT=n
+# CONFIG_USB_DEVICE_VID=0x1209
+# CONFIG_USB_DEVICE_PID=0x0AF0
+# CONFIG_USB_DEVICE_PRODUCT="OpenAstroFirmware"
+# CONFIG_USB_DEVICE_MANUFACTURER="OpenAstroTech"
+
+# CONFIG_USB_CDC_ACM=y
+# CONFIG_USB_CDC_ACM_RINGBUF_SIZE=512
+
+# CONFIG_USB_COMPOSITE_DEVICE=y
+
+# # CONFIG_USB_DEVICE_LOG_LEVEL_INF=y
+# # CONFIG_USB_DRIVER_LOG_LEVEL_INF=y
+# CONFIG_USB_CDC_ACM_LOG_LEVEL_OFF=y

app/boards/nucleo_f446re.conf

@@ -0,0 +1,65 @@
+/ {
+    chosen {
+        zephyr,console = &usart2;
+        zephyr,uart-pipe = &usart2;
+        oaf,uart-control = &usart2;
+    };
+
+    stepper0: drv8424 {
+        compatible = "ti,drv8424";
+        status = "okay";
+
+        #address-cells = <1>;
+		#size-cells = <0>;
+		#stepper-motor-cells = <0>;
+
+        dir-gpios = <&gpiob 11 GPIO_ACTIVE_HIGH>;
+        step-gpios = <&gpiob 10 GPIO_ACTIVE_HIGH>;
+        en-gpios = <&gpiob 12 GPIO_ACTIVE_HIGH>;
+        m0-gpios = <&gpiob 13 GPIO_ACTIVE_HIGH>;
+        m1-gpios = <&gpiob 14 GPIO_ACTIVE_HIGH>;
+        sleep-gpios = <&gpiob 15 GPIO_ACTIVE_HIGH>;
+    
+        counter = <&counter2>;
+    };
+};
+
+&clk_hse {
+    clock-frequency = <DT_FREQ_M(8)>;
+};
+
+&pll {
+    div-m = <4>;
+    mul-n = <180>;
+    div-p = <2>;
+    div-q = <7>;
+    clocks = <&clk_hse>;
+    status = "okay";
+};
+
+&rcc {
+    clocks = <&pll>;
+    clock-frequency = <DT_FREQ_M(180)>;
+    ahb-prescaler = <1>;
+    apb1-prescaler = <4>;
+    apb2-prescaler = <2>;
+};
+
+&usart1 {
+    status = "okay";
+    current-speed = <115200>;
+};
+
+&usart2 {
+    status = "okay";
+    current-speed = <115200>;
+};
+
+&timers2 {
+    status = "okay";
+    st,prescaler = <0>;
+
+    counter2: counter {
+        status = "okay";
+    };
+};

app/boards/nucleo_f446re.overlay

@@ -0,0 +1,18 @@
+CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC=168000000
+CONFIG_CORTEX_M_SYSTICK=y
+
+CONFIG_USB_DEVICE_STACK=y
+CONFIG_USB_DEVICE_INITIALIZE_AT_BOOT=n
+CONFIG_USB_DEVICE_VID=0x1209
+CONFIG_USB_DEVICE_PID=0x0AF0
+CONFIG_USB_DEVICE_PRODUCT="OpenAstroFirmware"
+CONFIG_USB_DEVICE_MANUFACTURER="OpenAstroTech"
+
+CONFIG_USB_CDC_ACM=y
+CONFIG_USB_CDC_ACM_RINGBUF_SIZE=512
+
+CONFIG_USB_COMPOSITE_DEVICE=y
+
+# CONFIG_USB_DEVICE_LOG_LEVEL_INF=y
+# CONFIG_USB_DRIVER_LOG_LEVEL_INF=y
+CONFIG_USB_CDC_ACM_LOG_LEVEL_OFF=y

app/boards/robin_nano.conf

@@ -0,0 +1,14 @@
+/ {
+    chosen {
+        // 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;
+    };
+};
+
+// Configuration for the CDC ACM UART
+&zephyr_udc0 {
+    cdc_acm_uart0: cdc_acm_uart0 {
+        compatible = "zephyr,cdc-acm-uart";
+    };
+};

app/boards/robin_nano.overlay

@@ -0,0 +1,57 @@
+#pragma once
+
+#include <zephyr/device.h>
+#include <zephyr/drivers/gpio.h>
+#include <functional>
+
+using button_callback_t = std::function<void()>;
+
+namespace oaf
+{
+    namespace device
+    {
+        namespace gpio
+        {
+            class _Device
+            {
+            protected:
+                const gpio_dt_spec *dev;
+
+            public:
+                _Device(const gpio_dt_spec *dev);
+                ~_Device() = default;
+            };
+
+            class Input : public _Device
+            {
+            private:
+                std::function<void()> callback;
+
+                struct CallbackData
+                {
+                    struct gpio_callback cb;
+                    Input *context;
+                } cb_data;
+
+            public:
+                Input(const gpio_dt_spec *dev, std::function<void()> callback = nullptr);
+                ~Input();
+
+            private:
+                static void handle_gpio_callback(const struct device *port, struct gpio_callback *cb, gpio_port_pins_t pins);
+            };
+
+            class Output : public _Device
+            {
+
+            public:
+                Output(const gpio_dt_spec *dev);
+                ~Output();
+
+                void set(int value);
+
+                void toggle();
+            };
+        } // namespace gpio
+    } // namespace device
+} // namespace oaf