Feature/stepper overlay update

[andre-stefanov]

No description provided.

[Copilot]

Pull request overview

This PR introduces a comprehensive refactoring of the stepper motor overlay configuration and thread management infrastructure. The main purpose is to modernize the device configuration approach by migrating from Zephyr aliases to chosen nodes, introduce a base Thread class to reduce code duplication, and improve the stepper driver API usage. The changes also establish proper test infrastructure with fake stepper drivers, separating test concerns from the main application.

Key Changes

• Migrated device configuration from devicetree aliases and zephyr,user properties to chosen nodes (focuser,uart, focuser,stepper, focuser,stepper-drv)
• Introduced a base Thread class to eliminate duplication in thread creation logic between FocuserThread and UartThread
• Created dedicated test infrastructure using Zephyr's fake stepper drivers, removing qemu_cortex_m0 support from the main application
• Updated stepper driver API calls from stepper_enable/stepper_disable to stepper_drv_enable/stepper_drv_disable

Reviewed changes

Copilot reviewed 21 out of 21 changed files in this pull request and generated 3 comments.

Show a summary per file

File	Description
tests/app/focuser/testcase.yaml	Adds test configuration targeting qemu_cortex_m0 with focuser tag
tests/app/focuser/src/main.cpp	Implements comprehensive test suite for Focuser initialization, speed control, and stop functionality using fake stepper drivers
tests/app/focuser/prj.conf	Configures test environment with ztest, C++20, and fake stepper driver support
tests/app/focuser/boards/qemu_cortex_m0.overlay	Defines devicetree overlay with fake stepper controller and driver for testing
tests/app/focuser/boards/qemu_cortex_m0.conf	Test-specific board configuration (with outdated comment about H-bridge driver)
tests/app/focuser/CMakeLists.txt	Test build configuration linking to application sources
app/src/main.cpp	Refactors to use new configuration namespace structure and removes console device check
app/src/ZephyrStepper.cpp	Updates to use new stepper driver API (stepper_drv_enable/disable)
app/src/UartThread.hpp	Converts to inherit from Thread base class
app/src/UartThread.cpp	Refactors to use Thread base class constructor and start_thread() method
app/src/Thread.hpp	Introduces new base class for thread management with protected start_thread() method
app/src/Thread.cpp	Implements base thread creation logic with validation and naming support
app/src/FocuserThread.hpp	Converts to inherit from Thread base class
app/src/FocuserThread.cpp	Refactors to use Thread base class constructor and start_thread() method
app/src/Configuration.hpp	Major refactor: uses chosen nodes instead of aliases, consolidates thread configuration into nested namespaces
app/sample.yaml	Removes qemu_cortex_m0 from integration platforms (now only in tests)
app/prj.conf	Reorganizes configuration comments and adds CONFIG_COUNTER support
app/boards/qemu_cortex_m0.overlay	Removes qemu_cortex_m0 overlay from app (moved to test infrastructure)
app/boards/esp32s3_devkitc_procpu.overlay	Updates to use chosen nodes and separates stepper controller from driver, with incomplete comment documentation
app/CMakeLists.txt	Adds Thread.cpp to build sources
.github/workflows/docs.yml	Expands workflow trigger syntax from compact to explicit format

Comments suppressed due to low confidence (1)

tests/app/focuser/boards/qemu_cortex_m0.conf:5

• The comment is outdated. It mentions "swap in Zephyr's GPIO H-bridge stepper driver", but the test now uses the fake stepper driver (zephyr,fake-stepper-controller and zephyr,fake-stepper-driver) as configured in the overlay file, not the H-bridge driver. The comment should be updated to reflect the use of the fake stepper driver for testing.

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[Copilot]

The comment is incomplete: "Used for" appears to be cut off mid-sentence. Please complete the documentation to explain what uart1 is used for (appears to be for logging and console output based on the chosen nodes).

Suggested change

	* Used for
	* Used for logging and console output.

[Copilot]

The zephyr,user node with uart_handler property appears to be unused in the test code. The test directly accesses the stepper devices via DT_ALIAS(stepper) and DT_ALIAS(stepper_drv) without using any UART configuration. Consider removing this unused node to keep the test configuration minimal and clear.

Suggested change

	zephyr,user {
	uart_handler = <&uart0>;
	};

[Copilot]

The comment references outdated concepts:

• Mentions "stepper" and "stepper-drv" aliases, but the code now uses chosen nodes instead
• Mentions "zephyr,user node supplies the UART phandle", but zephyr,user is no longer used

The comment should be updated to reflect that the chosen nodes (focuser,uart, focuser,stepper, focuser,stepper-drv) are used to configure the devices.

Suggested change

	* (PROCPU). The zephyr,gpio-step-dir-controller drives the step/dir pins
	* referenced by the "stepper" alias, while the dedicated TMC2209 device is
	* referenced by the "stepper-drv" alias so the application can toggle the
	* external driver rails. The zephyr,user node supplies the UART phandle
	* consumed by the application.
	* (PROCPU). Device configuration is performed using chosen nodes:
	* - focuser,uart: selects the UART device for the focuser console
	* - focuser,stepper: selects the step/dir controller for the stepper motor
	* - focuser,stepper-drv: selects the TMC2209 stepper driver device
	* These chosen nodes are used by the application to access the appropriate hardware.