I've got a boutique harmonic drive mount developed by a brilliant Japanese maker, SS-One. The SS-One Traveler uses the Oriental Motor Harmonic Drive PKP262FD15AW-H100, and is controlled via a built-in Raspberry Pi 3b with proprietary hardware & software written by the maker through the Qt C++ IDE. It's designed to be used as a portable all-in-one mount that has polar alignment, autoguiding, GOTO, and DSLR intervalometer built-in. The idea is that one only needs the mount, the OTA, DSLR, and a tablet for control via WiFi. It somehow does support SkySafari using the LX200 Classic connection standards.
Whilst I can use it in its original intended form, it's a little tedious as there are some limitations such it was designed primarily for the Northern Hemisphere in mind. The polar alignment routine caters only for Polaris but not for the South Celestial Pole/Sigma Octanis. Also since the mount drive is proprietary, one can't use Astroberry/StellarMate with it. Further it's designed primarily for DSLR as the primary camera (although it does have a cut-down PHD2 and supports the ASI120MM for autoguiding/dithering).
I was hoping to be able to replace the OS with Astroberry instead to make it more generic and have more 3rd party support however fundamentally I'd need to INDI drivers for it. I have access to the source code, and kinda worked out where in the code that drives the motors, however don't know how to code/convert it to an INDI driver, as such I'm seeking assistance from someone who's on looking into this as some kinda project.
If anyone is keen, can you please PM me and I can share the code; since I don't know if I'm allowed to post it publicly.