Feature/stepper overlay update

.github/actions/setup-zephyr/action.yml

@@ -0,0 +1,252 @@
+name: Setup Zephyr project
+description: Setup a Zephyr base project using west and downloading the Zephyr SDK
+
+inputs:
+  app-path:
+    description: |
+      Application code path, should contain a west.yml file if
+      "manifest-file-name" is not specified, cannot contain multiple
+      directories (use base-path instead)
+    required: true
+
+  base-path:
+    description: |
+      Application base path, should contain the app-path. Defaults to "." if
+      unspecified
+    required: false
+    default: .
+
+  ccache-max-size:
+    description: |
+      Maximum size of the files stored in the compiler cache (ccache). Defaults to 512MB.
+    required: false
+    default: 512MB
+
+  enable-ccache:
+    description: |
+      Enable caching/restoring of compiler cache (ccache) files between invocations.
+      Defaults to 'true'.
+    required: false
+    default: true
+
+  ccache-cache-key:
+    description: |
+      An additional string used in the ccache cache key, use it to identify the
+      cache in a way that makes sense for compiled object cache reuse between
+      different build workflows. Default to "default".
+    required: false
+    default: default
+
+  manifest-file-name:
+    description: Name of the west workspace manifest file name in "app-path"
+    required: false
+    default: west.yml
+
+  sdk-version:
+    description: Zephyr SDK version to use or "auto" to detect automatically
+    required: false
+    default: auto
+
+  sdk-base:
+    description: Base URL of the Zephyr SDK
+    required: false
+    default: https://github.com/zephyrproject-rtos/sdk-ng/releases/download
+
+  toolchains:
+    description: List of toolchains to install, colon separated
+    required: false
+    default: arm-zephyr-eabi
+
+  west-project-filter:
+    description: West project filter
+    required: false
+    default: ""
+
+  west-group-filter:
+    description: West group filter
+    required: false
+    default: ""
+
+  west-version:
+    description: West version to install, latest if omitted
+    required: false
+    default: ""
+
+runs:
+  using: "composite"
+  steps:
+    - name: Install dependencies
+      shell: bash
+      run: |
+        if [ "${{ runner.os }}" = "Windows" ]; then
+          python.exe -m pip install -U pip
+        fi
+
+        pip3 install -U pip wheel
+
+        if [ -n "${{ inputs.west-version }}" ]; then
+          pip3 install west==${{ inputs.west-version }}
+        else
+          pip3 install west
+        fi
+
+        if [ "${{ runner.os }}" = "Linux" ]; then
+          sudo rm -f /var/lib/man-db/auto-update
+          sudo apt-get update -y
+          sudo apt-get install -y ninja-build ccache gperf
+          if [ "${{ runner.arch }}" = "X64" ]; then
+            sudo apt-get install -y libc6-dev-i386 g++-multilib
+          fi
+        elif [ "${{ runner.os }}" = "macOS" ]; then
+          brew install ninja ccache qemu dtc gperf
+        elif [ "${{ runner.os }}" = "Windows" ]; then
+          choco feature enable -n allowGlobalConfirmation
+          choco install ninja wget gperf
+        fi
+
+    - name: Initialize
+      working-directory: ${{ inputs.base-path }}
+      shell: bash
+      run: |
+        west init -l ${{ inputs.app-path }} --mf ${{ inputs.manifest-file-name }}
+        if [ -n "${{ inputs.west-group-filter }}" ]; then
+          west config manifest.group-filter -- ${{ inputs.west-group-filter }}
+        fi
+        if [ -n "${{ inputs.west-project-filter }}" ]; then
+          west config manifest.project-filter -- ${{ inputs.west-project-filter }}
+        fi
+        west update -o=--depth=1 -n
+
+    - name: Environment setup
+      working-directory: ${{ inputs.base-path }}
+      id: env-setup
+      shell: bash
+      run: |
+        runner="${{ runner.os }}-${{ runner.arch }}"
+        if [ "$runner" = "Linux-X64" ]; then
+          sdk_variant="linux-x86_64"
+        elif [ "$runner" = "Linux-ARM64" ]; then
+          sdk_variant="linux-aarch64"
+        elif [ "$runner" = "macOS-X64" ]; then
+          sdk_variant="macos-x86_64"
+        elif [ "$runner" = "macOS-ARM64" ]; then
+          sdk_variant="macos-aarch64"
+        elif [ "$runner" = "Windows-X64" ]; then
+          sdk_variant="windows-x86_64"
+        else
+          echo "Unsupported runner platform: $runner"
+        fi
+
+        if [ "${{ runner.os }}" = "Linux" ]; then
+          pip_cache_path="~/.cache/pip"
+          ccache_path="$HOME/.cache/ccache"
+          sdk_ext="tar.xz"
+          setup_file="./setup.sh"
+          setup_opt="-"
+        elif [ "${{ runner.os }}" = "macOS" ]; then
+          pip_cache_path="~/Library/Caches/pip"
+          ccache_path="$HOME/Library/Caches/ccache"
+          sdk_ext="tar.xz"
+          setup_file="./setup.sh"
+          setup_opt="-"
+        elif [ "${{ runner.os }}" = "Windows" ]; then
+          pip_cache_path="~/AppData/Local/pip/Cache"
+          ccache_path="$HOME/AppData/Local/ccache/Cache"
+          sdk_ext="7z"
+          setup_file="./setup.cmd"
+          setup_opt="//"
+        fi
+
+        if [ "${{ inputs.sdk-version }}" = "auto" ]; then
+          zephyr_path="zephyr"
+          if west list -f '{abspath}' zephyr; then
+            zephyr_path="$( west list -f '{abspath}' zephyr )"
+          fi
+
+          if [ -f "${zephyr_path}/SDK_VERSION" ]; then
+            echo "Reading SDK version from ${zephyr_path}/SDK_VERSION"
+            sdk_version=$( cat ${zephyr_path}/SDK_VERSION )
+          else
+            echo "Cannot find ${zephyr_path}/SDK_VERSION"
+            exit 1
+          fi
+        else
+          sdk_version="${{ inputs.sdk-version }}"
+        fi
+
+        echo "SDK_VERSION=${sdk_version}" >> $GITHUB_ENV
+        echo "SDK_FILE=zephyr-sdk-${sdk_version}_${sdk_variant}_minimal.${sdk_ext}" >> $GITHUB_ENV
+        echo "PIP_CACHE_PATH=${pip_cache_path}" >> $GITHUB_ENV
+        echo "CCACHE_TIMESTAMP=$(date +%s)" >> $GITHUB_ENV
+        echo "CCACHE_DIR=${ccache_path}" >> $GITHUB_ENV
+        echo "CCACHE_IGNOREOPTIONS=-specs=* --specs=*" >> $GITHUB_ENV
+        echo "SETUP_FILE=${setup_file}" >> $GITHUB_ENV
+        echo "SETUP_OPT=${setup_opt}" >> $GITHUB_ENV
+
+    - name: Cache Python packages
+      uses: actions/cache@0057852bfaa89a56745cba8c7296529d2fc39830 # v4.3.0
+      with:
+        path: ${{ env.PIP_CACHE_PATH }}
+        key: pip-${{ runner.os }}-${{ hashFiles(format('{0}/zephyr/scripts/requirements*.txt', inputs.base-path)) }}
+
+    - name: Install Python packages
+      working-directory: ${{ inputs.base-path }}
+      shell: bash
+      # The direct use of pip3 should be removed after zephyr 4.1 has been phased out, and the west
+      # command should only be used instead.
+      run: |
+        west packages pip --install --ignore-venv-check || pip3 install -r zephyr/scripts/requirements.txt
+
+    - name: Cache Zephyr SDK
+      id: cache-toolchain
+      uses: actions/cache@0057852bfaa89a56745cba8c7296529d2fc39830 # v4.3.0
+      with:
+        path: ${{ inputs.base-path }}/zephyr-sdk
+        key: ${{ env.SDK_FILE }}-${{ github.event.repository.name }}-${{ inputs.toolchains }}
+
+    - if: ${{ steps.cache-toolchain.outputs.cache-hit != 'true' }}
+      working-directory: ${{ inputs.base-path }}
+      name: Download Zephyr SDK
+      shell: bash
+      run: |
+        wget --progress=dot:giga ${{ inputs.sdk-base }}/v${SDK_VERSION}/${SDK_FILE}
+        rm -rf zephyr-sdk
+        if [ "${{ runner.os }}" = "Windows" ]; then
+          7z x $SDK_FILE
+          mv zephyr-sdk-${SDK_VERSION} zephyr-sdk
+        else
+          mkdir zephyr-sdk
+          tar xvf $SDK_FILE -C zephyr-sdk --strip-components=1
+        fi
+        rm -f $SDK_FILE
+
+    - name: Setup Zephyr SDK
+      working-directory: ${{ inputs.base-path }}/zephyr-sdk
+      shell: bash
+      run: |
+        IFS=":"
+        TOOLCHAINS="${{ inputs.toolchains }}"
+        for toolchain in $TOOLCHAINS; do
+            ${SETUP_FILE} ${SETUP_OPT}t $toolchain
+        done
+        if [ ! -d sysroots ]; then
+            ${SETUP_FILE} ${SETUP_OPT}h
+        fi
+        ${SETUP_FILE} ${SETUP_OPT}c
+
+    - name: Cache ccache data
+      if: inputs.enable-ccache == 'true' && runner.os != 'Windows'
+      uses: actions/cache@0057852bfaa89a56745cba8c7296529d2fc39830 # v4.3.0
+      with:
+        path: ${{ env.CCACHE_DIR }}
+        key: ccache-${{ inputs.ccache-cache-key }}-${{ env.CCACHE_TIMESTAMP }}
+        restore-keys: ccache-${{ inputs.ccache-cache-key }}-
+
+    - name: Set up ccache
+      if: inputs.enable-ccache == 'true' && runner.os != 'Windows'
+      shell: bash
+      run: |
+        mkdir -p ${{ env.CCACHE_DIR }}
+        ccache -M ${{ inputs.ccache-max-size }}
+        ccache -p
+        ccache -z -s -vv

.github/workflows/build.yml

@@ -29,39 +29,12 @@ jobs:
         with:
           python-version: 3.12
 
-      - name: Install system dependencies
-        shell: bash
-        run: |
-          if [ "${{ runner.os }}" = "Linux" ]; then
-            sudo rm -f /var/lib/man-db/auto-update
-            sudo apt-get update -y
-            sudo apt-get install -y ninja-build ccache gperf
-            if [ "${{ runner.arch }}" = "X64" ]; then
-              sudo apt-get install -y libc6-dev-i386 g++-multilib
-            fi
-          elif [ "${{ runner.os }}" = "macOS" ]; then
-            brew install ninja ccache qemu dtc gperf
-          elif [ "${{ runner.os }}" = "Windows" ]; then
-            choco feature enable -n allowGlobalConfirmation
-            choco install ninja wget gperf
-          fi
-
-      - name: Install west
-        run: |
-          pip install west
-
-      - name: Initialize Zephyr workspace
-        run: |
-          west init -l OpenAstroFocuser
-          west update
-
-      - name: Install pip dependencies
-        run: |
-          west packages pip --install --ignore-venv-check || pip3 install -r zephyr/scripts/requirements.txt
-
-      - name: Install Zephyr SDK
-        run: |
-          west sdk install -t arm-zephyr-eabi xtensa-espressif_esp32s3_zephyr-elf
+      - name: Setup Zephyr project
+        uses: ./OpenAstroFocuser/.github/actions/setup-zephyr
+        with:
+          app-path: OpenAstroFocuser
+          toolchains: arm-zephyr-eabi:xtensa-espressif_esp32s3_zephyr-elf
+          ccache-cache-key: ${{ matrix.os }}
 
       - name: Build firmware
         working-directory: OpenAstroFocuser
@@ -79,4 +52,4 @@ jobs:
           if [ "${{ runner.os }}" = "Windows" ]; then
             EXTRA_TWISTER_FLAGS="--short-build-path -O/tmp/twister-out"
           fi
-          west twister -T tests -v --inline-logs --integration $EXTRA_TWISTER_FLAGS
+          west twister -T tests -v --inline-logs --integration $EXTRA_TWISTER_FLAGS

app/CMakeLists.txt

@@ -15,4 +15,5 @@ target_sources(app PRIVATE
 	src/FocuserThread.cpp
 	src/UartHandler.cpp
 	src/UartThread.cpp
+	src/Thread.cpp
 	src/ZephyrStepper.cpp)

app/Kconfig

@@ -12,18 +12,6 @@ endmenu
 
 menu "OpenAstroFocuser options"
 
-config FOCUSER_THREAD_STACK_SIZE
-	int "Focuser thread stack size"
-	default 2048
-	help
-	  Stack allocation used by the focuser control thread.
-
-config SERIAL_THREAD_STACK_SIZE
-	int "Serial thread stack size"
-	default 2048
-	help
-	  Stack allocation used by the Moonlite UART handler thread.
-
 endmenu
 
 module = APP

app/boards/esp32s3_devkitc_procpu.overlay

@@ -12,9 +12,17 @@
  */
 
 / {
-	aliases {
-		stepper = &focuser_stepper;
-		stepper-drv = &focuser_stepper_drv;
+	chosen {
+		zephyr,console = &uart1;
+		zephyr,log-uart = &focuser_log_uarts;
+		focuser,uart = &uart0;
+		focuser,stepper = &focuser_stepper;
+		focuser,stepper-drv = &focuser_stepper_drv;
+	};
+
+	focuser_log_uarts: focuser_log_uarts {
+		compatible = "zephyr,log-uart";
+		uarts = <&uart1>;
 	};
 
 	focuser_stepper_drv: focuser_stepper_drv {
@@ -31,23 +39,30 @@
 		step-width-ns = <10000>;
 		status = "okay";
 	};
-
-	zephyr,user {
-		uart_handler = <&uart1>;
-	};
 };
 
+/**
+* Moonlite focuser console UART configuration
+*/
 &uart0 {
 	current-speed = <9600>;
+	status = "okay";
 };
 
+/**
+* Moonlite focuser control UART configuration.
+* Used for
+*/
 &uart1 {
 	status = "okay";
 	current-speed = <9600>;
 	pinctrl-0 = <&moonlite_uart1_default>;
 	pinctrl-names = "default";
 };
 
+/**
+* Pin control settings
+*/
 &pinctrl {
 	moonlite_uart1_default: moonlite_uart1_default {
 		group1 {