Feature/stepper overlay update (#4)

* Update device tree overlay and driver enable functions for stepper control

* Update workflow triggers to only run on main branch for push events

* Update device tree overlay for stepper control and adjust project configurations

* Update device tree overlays and configurations for stepper control and UART handling

* Refactor thread management and update device configuration structure for stepper and UART handling

* Refactor focuser initialization to include firmware version and remove unused thread stack size configurations

* Add setup action for Zephyr project and update build workflow to use it

* Fix setup action path for Zephyr project in build workflow

* Remove unnecessary path specification in checkout step of build workflow

* Update build workflow to use correct paths for Zephyr project and firmware build

* Fix toolchain specification format in Zephyr setup action

* Update build workflow to use official Zephyr setup action and restrict OS matrix to Windows

* Update app/boards/esp32s3_devkitc_procpu.overlay

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

* Update tests/app/focuser/boards/qemu_cortex_m0.overlay

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

* Update app/boards/esp32s3_devkitc_procpu.overlay

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

---------

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

Author: andre-stefanov

.github/workflows/build.yml

@@ -9,6 +9,12 @@ on:
 permissions:
   contents: read
 
+env:
+  ZEPHYR_SDK_VERSION: 0.17.4
+  ZEPHYR_TOOLCHAINS: |
+    arm-zephyr-eabi
+    xtensa-espressif_esp32s3_zephyr-elf
+
 jobs:
   build:
     name: Build app and tests
@@ -25,9 +31,10 @@ jobs:
           persist-credentials: false
 
       - name: Set up Python
-        uses: actions/setup-python@v5
+        uses: actions/setup-python@v6
         with:
           python-version: 3.12
+          cache: "pip"
 
       - name: Install system dependencies
         shell: bash
@@ -47,21 +54,34 @@ jobs:
           fi
 
       - name: Install west
+        shell: bash
         run: |
           pip install west
 
       - name: Initialize Zephyr workspace
+        shell: bash
         run: |
           west init -l OpenAstroFocuser
           west update
 
       - name: Install pip dependencies
+        shell: bash
         run: |
           west packages pip --install --ignore-venv-check || pip3 install -r zephyr/scripts/requirements.txt
 
+      - name: Zephyr SDK cache
+        id: cache
+        uses: actions/cache@v5
+        with:
+          path: ~/zephyr-sdk-${{ env.ZEPHYR_SDK_VERSION }}
+          key: zephyr-sdk-${{ env.ZEPHYR_SDK_VERSION }}-${{ matrix.os }}
+
       - name: Install Zephyr SDK
+        if: steps.cache.outputs.cache-hit != 'true'
+        shell: bash
         run: |
-          west sdk install -t arm-zephyr-eabi xtensa-espressif_esp32s3_zephyr-elf
+          TOOLCHAINS="$(echo "${{ env.ZEPHYR_TOOLCHAINS }}" | xargs)"
+          west sdk install --version ${{ env.ZEPHYR_SDK_VERSION }} -t ${TOOLCHAINS}
 
       - name: Build firmware
         working-directory: OpenAstroFocuser

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

@@ -4,17 +4,25 @@
  */
 
 /* Devicetree overlay enabling the Moonlite focuser firmware on ESP32-S3 DevKitC
- * (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.
  */
 
 / {
-	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 logging and console output.
+*/
 &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 {

app/prj.conf

@@ -10,16 +10,16 @@ CONFIG_MOONLITE=y
 # Provide heap storage for std::string and other dynamic allocations.
 CONFIG_HEAP_MEM_POOL_SIZE=4096
 
-# Route logs and console I/O over UART for the focuser serial protocol.
+# Enable Serial/UART driver
 CONFIG_SERIAL=y
+CONFIG_UART_INTERRUPT_DRIVEN=y
+
+# Enable Console (printk)
 CONFIG_CONSOLE=y
-CONFIG_STDOUT_CONSOLE=y
-CONFIG_PRINTK=y
 CONFIG_UART_CONSOLE=y
-CONFIG_UART_INTERRUPT_DRIVEN=y
+
+# Enable Logging (LOG_INF, LOG_ERR)
 CONFIG_LOG=y
-CONFIG_LOG_MODE_IMMEDIATE=y
-CONFIG_LOG_BACKEND_UART=y
 
 # Set the application log level.
 CONFIG_APP_LOG_LEVEL_INF=y

app/src/Configuration.hpp

@@ -2,63 +2,47 @@
 
 #include <zephyr/device.h>
 #include <zephyr/kernel.h>
+#include <zephyr/sys/util.h>
+
+#include <app_version.h>
 
 #include <cstddef>
 
-#define FOCUSER_NODE DT_PATH(zephyr_user)
-#define STEPPER_ALIAS DT_ALIAS(stepper)
-#define STEPPER_DRV_ALIAS DT_ALIAS(stepper_drv)
+namespace config
+{
+	constexpr const char version[] = STRINGIFY(APP_VERSION_MAJOR) STRINGIFY(APP_VERSION_MINOR);
 
-#if !DT_NODE_EXISTS(FOCUSER_NODE)
-#error "zephyr,user node must provide focuser pin assignments"
-#endif
+	namespace devices
+	{
 
-#if !DT_NODE_HAS_PROP(FOCUSER_NODE, uart_handler)
-#error "zephyr,user node requires uart_handler phandle"
+#if !DT_HAS_CHOSEN(focuser_uart)
+#error "UART device is required for Moonlite serial protocol"
+#else
+		constexpr auto uart = DEVICE_DT_GET(DT_CHOSEN(focuser_uart));
 #endif
 
-#if !DT_NODE_HAS_STATUS(STEPPER_ALIAS, okay)
-#error "stepper alias must reference an enabled stepper controller"
+#if !DT_HAS_CHOSEN(focuser_stepper)
+#error "Stepper device is required for Moonlite serial protocol"
+#else
+		constexpr auto stepper = DEVICE_DT_GET(DT_CHOSEN(focuser_stepper));
 #endif
 
-#if !DT_NODE_HAS_STATUS(STEPPER_DRV_ALIAS, okay)
-#error "stepper-drv alias must reference an enabled stepper driver"
+#if !DT_HAS_CHOSEN(focuser_stepper_drv)
+#error "Stepper driver device is required for Moonlite serial protocol"
+#else
+		constexpr auto stepper_drv = DEVICE_DT_GET(DT_CHOSEN(focuser_stepper_drv));
 #endif
 
-#if !DT_HAS_CHOSEN(zephyr_console)
-#error "Console device is required for Moonlite serial protocol"
-#endif
-
-namespace config
-{
-
-struct ThreadConfig
-{
-	std::size_t stack_size;
-	int priority;
-};
-
-inline constexpr ThreadConfig kFocuserThread{CONFIG_FOCUSER_THREAD_STACK_SIZE, K_PRIO_PREEMPT(4)};
-inline constexpr ThreadConfig kSerialThread{CONFIG_SERIAL_THREAD_STACK_SIZE, K_PRIO_PREEMPT(5)};
+	} // namespace devices
 
-inline const struct device *console_device()
-{
-	return DEVICE_DT_GET(DT_CHOSEN(zephyr_console));
-}
-
-inline const struct device *uart_handler_device()
-{
-	return DEVICE_DT_GET(DT_PHANDLE(FOCUSER_NODE, uart_handler));
-}
-
-inline const struct device *stepper_device()
-{
-	return DEVICE_DT_GET(STEPPER_ALIAS);
-}
-
-inline const struct device *stepper_driver_device()
-{
-	return DEVICE_DT_GET(STEPPER_DRV_ALIAS);
-}
+	namespace threads
+	{
+		constexpr auto focuser_priority = K_PRIO_PREEMPT(4);
+		constexpr auto focuser_stack_size = K_THREAD_STACK_LEN(2048);
+		inline k_thread_stack_t focuser_stack[focuser_stack_size];
 
+		constexpr auto serial_priority = K_PRIO_PREEMPT(5);
+		constexpr auto serial_stack_size = K_THREAD_STACK_LEN(2048);
+		inline k_thread_stack_t serial_stack[serial_stack_size];
+	} // namespace threads
 } // namespace config

app/src/Focuser.cpp

@@ -2,17 +2,12 @@
 
 #include <zephyr/logging/log.h>
 
-#include <app_version.h>
-
 #include <errno.h>
 
 LOG_MODULE_DECLARE(focuser, CONFIG_APP_LOG_LEVEL);
 
 namespace
 {
-
-	constexpr const char kFirmwareVersion[] = STRINGIFY(APP_VERSION_MAJOR) STRINGIFY(APP_VERSION_MINOR);
-
 	uint32_t compute_step_period_us(uint8_t multiplier)
 	{
 		uint32_t m = (multiplier == 0U) ? 1U : static_cast<uint32_t>(multiplier);
@@ -27,8 +22,8 @@ namespace
 
 } // namespace
 
-Focuser::Focuser(FocuserStepper &stepper)
-	: m_stepper(stepper)
+Focuser::Focuser(FocuserStepper &stepper, const char *firmware_version)
+	: m_firmware_version(firmware_version), m_stepper(stepper)
 {
 	(void)set_stepper_driver_enabled(true);
 }
@@ -242,8 +237,8 @@ bool Focuser::isMoving()
 std::string Focuser::getFirmwareVersion()
 {
 	LOG_DBG("getFirmwareVersion()");
-	LOG_DBG("getFirmwareVersion -> %s", kFirmwareVersion);
-	return std::string(kFirmwareVersion);
+	LOG_DBG("getFirmwareVersion -> %s", m_firmware_version);
+	return std::string(m_firmware_version);
 }
 
 uint8_t Focuser::getSpeed()

app/src/Focuser.hpp

@@ -12,7 +12,7 @@
 class Focuser final : public moonlite::Handler
 {
 public:
-	explicit Focuser(FocuserStepper &stepper);
+	explicit Focuser(FocuserStepper &stepper, const char *firmware_version);
 
 	int initialise();
 	void loop();
@@ -71,6 +71,8 @@ class Focuser final : public moonlite::Handler
 	int32_t read_actual_position();
 	int set_stepper_driver_enabled(bool enable);
 
+	const char *m_firmware_version;
+
 	FocuserState m_state{};
 	FocuserStepper &m_stepper;
 };

app/src/FocuserThread.cpp

@@ -2,32 +2,25 @@
 
 #include <zephyr/logging/log.h>
 
+#include "Configuration.hpp"
 #include "Focuser.hpp"
 
 LOG_MODULE_DECLARE(focuser);
 
 FocuserThread::FocuserThread(Focuser &focuser)
-	: m_focuser(focuser)
+	: Thread(config::threads::focuser_stack,
+		 K_THREAD_STACK_SIZEOF(config::threads::focuser_stack),
+		 config::threads::focuser_priority, "focuser"),
+	  m_focuser(focuser)
 {
 }
 
 void FocuserThread::start()
 {
-	k_thread_create(&m_thread, m_stack, K_THREAD_STACK_SIZEOF(m_stack),
-			thread_entry, this, nullptr, nullptr, config::kFocuserThread.priority,
-			0, K_NO_WAIT);
-	k_thread_name_set(&m_thread, "focuser");
-}
-
-void FocuserThread::thread_entry(void *arg1, void *, void *)
-{
-	auto *self = static_cast<FocuserThread *>(arg1);
-	if (self == nullptr)
+	if (!start_thread())
 	{
-		return;
+		LOG_ERR("Failed to start focuser thread");
 	}
-
-	self->run();
 }
 
 void FocuserThread::run()

app/src/FocuserThread.hpp

@@ -1,24 +1,17 @@
 #pragma once
 
-#include <zephyr/kernel.h>
-
-#include <cstddef>
-
-#include "Configuration.hpp"
+#include "Thread.hpp"
 
 class Focuser;
 
-class FocuserThread {
+class FocuserThread : public Thread {
 public:
 	explicit FocuserThread(Focuser &focuser);
 
 	void start();
 
 private:
-	static void thread_entry(void *, void *, void *);
-	void run();
+	void run() override;
 
 	Focuser &m_focuser;
-	k_thread_stack_t m_stack[K_THREAD_STACK_LEN(config::kFocuserThread.stack_size)];
-	struct k_thread m_thread;
 };