MKS Robin E3 conf and overlay

app/boards/robin_e3.conf

@@ -0,0 +1,18 @@
+CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC=72000000
+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_e3.overlay

@@ -0,0 +1,115 @@
+/ {
+    chosen {
+        // Console and control interfaces
+        zephyr,console = &usart3; 
+        oaf,uart-control = &cdc_acm_uart0;
+
+        // OpenAstroFirmware specific device mappings
+        oaf,ra-stepper-step = &ra_step;
+        oaf,ra-stepper-dir = &ra_dir;
+        oaf,ra-stepper-en = &ra_en;
+        oaf,dec-stepper-step = &dec_step;
+        oaf,dec-stepper-dir = &dec_dir;
+        oaf,dec-stepper-en = &dec_en;
+        oaf,alt-stepper-step = &alt_step;
+        oaf,alt-stepper-dir = &alt_dir;
+        oaf,alt-stepper-en = &alt_en;
+        oaf,az-stepper-step = &az_step;
+        oaf,az-stepper-dir = &az_dir;
+        oaf,az-stepper-en = &az_en;
+        oaf,focus-stepper-step = &focus_step;
+        oaf,focus-stepper-dir = &focus_dir;
+        oaf,focus-stepper-en = &focus_en;
+
+        // Sensor mappings
+        oaf,ra-home-sensor = &ra_homing;
+        oaf,dec-home-sensor = &dec_homing;
+        oaf,ra-endstop-east = &ra_endstop_east;
+        oaf,dec-endstop-up = &dec_endstop_up;
+
+
+        // Communication interfaces
+        oaf,gps-uart = &usart1;
+        oaf,external-i2c = &i2c1;
+
+        // Status LED
+        oaf,status-led = &status_led;
+    };
+
+    /* Mount Control Configuration */
+    mount_controller {
+        compatible = "oaf,mount-controller";
+
+        /* RA Axis Configuration */
+        ra-axis {
+            step-gpio = <&ra_step>;
+            dir-gpio = <&ra_dir>;
+            enable-gpio = <&ra_en>;
+            diag-gpio = <&ra_diag>;
+            home-sensor = <&ra_homing>;
+            endstop-east = <&ra_endstop_east>;
+
+            steps-per-revolution = <3200>;
+            gear-ratio = <144>;
+            max-speed = <1000>;
+            acceleration = <500>;
+        };
+
+        /* DEC Axis Configuration */
+        dec-axis {
+            step-gpio = <&dec_step>;
+            dir-gpio = <&dec_dir>;
+            enable-gpio = <&dec_en>;
+            diag-gpio = <&dec_diag>;
+            home-sensor = <&dec_homing>;
+            endstop-up = <&dec_endstop_up>;
+
+            steps-per-revolution = <3200>;
+            gear-ratio = <54>;
+            max-speed = <1000>;
+            acceleration = <500>;
+        };
+
+        /* Focus/Alt Configuration */
+        focus-axis {
+            step-gpio = <&focus_step>;
+            dir-gpio = <&focus_dir>;
+            enable-gpio = <&focus_en>;
+            diag-gpio = <&focus_diag>;
+
+            steps-per-revolution = <3200>;
+            max-speed = <500>;
+            acceleration = <250>;
+        };
+
+        status = "okay";
+    };
+
+};
+
+// Configuration for the CDC ACM UART
+&zephyr_udc0 {
+    cdc_acm_uart0: cdc_acm_uart0 {
+        compatible = "zephyr,cdc-acm-uart";
+    };
+};
+
+// GPS UART configuration
+&usart1 {
+    current-speed = <9600>;
+    status = "okay";
+};
+
+// Additional ADC channel for LCD keypad
+&adc1 {
+    #address-cells = <1>;
+    #size-cells = <0>;
+
+    channel@10 {
+        reg = <10>;
+        zephyr,gain = "ADC_GAIN_1";
+        zephyr,reference = "ADC_REF_INTERNAL";
+        zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
+        zephyr,resolution = <12>;
+    };
+};

app/sample.yaml

@@ -8,6 +8,7 @@ common:
   build_only: true
   integration_platforms:
     - robin_nano
+    - robin_e3
     - native_sim
 tests:
   app.default: {}

boards/mks/robin_e3/Kconfig.robin_e3

@@ -0,0 +1,5 @@
+# Copyright (c) 2021 Nordic Semiconductor ASA
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_ROBIN_E3
+	select SOC_STM32F103XE

boards/mks/robin_e3/board.cmake

@@ -0,0 +1,7 @@
+# Copyright (c) 2021 Nordic Semiconductor ASA
+# SPDX-License-Identifier: Apache-2.0
+
+board_runner_args(jlink "--device=STM32F103XB" "--speed=4000")
+
+include(${ZEPHYR_BASE}/boards/common/openocd.board.cmake)
+include(${ZEPHYR_BASE}/boards/common/jlink.board.cmake)

boards/mks/robin_e3/board.yml

@@ -0,0 +1,5 @@
+board:
+  name: robin_e3
+  vendor: mks
+  socs:
+    - name: stm32f103xe