From 30dfcc59dfbaf60db7fca908c42cfffc3cc8027b Mon Sep 17 00:00:00 2001
From: "Adrian A. Baumann" <ade@adebaumann.com>
Date: Thu, 21 May 2026 22:05:38 +0200
Subject: [PATCH] refactor: wire gauge_config.h into sketch, remove GaugePins
 and hardcoded defaults

---
 Gaugecontroller/Gaugecontroller.ino | 64 ++++++++++++-----------------
 1 file changed, 27 insertions(+), 37 deletions(-)

diff --git a/Gaugecontroller/Gaugecontroller.ino b/Gaugecontroller/Gaugecontroller.ino
index d484d91..62be8ab 100644
--- a/Gaugecontroller/Gaugecontroller.ino
+++ b/Gaugecontroller/Gaugecontroller.ino
@@ -1,8 +1,8 @@
 #include <Arduino.h>
 #include <avr/interrupt.h>
 #include <math.h>
+#include "gauge_config.h"
 
-static const uint8_t GAUGE_COUNT = 4;
 static const uint16_t STEPPER_TIMER_HZ = 20000;
 static const int32_t STEP_RATE_SCALE = 65536L;
 static const float MAX_TIMER_STEP_RATE = (float)STEPPER_TIMER_HZ / 2.0f;
@@ -12,23 +12,6 @@ static const float MAX_TIMER_STEP_RATE = (float)STEPPER_TIMER_HZ / 2.0f;
 #define DEBUG_PORT Serial
 static const unsigned long SERIAL_BAUD = 38400;
 
-struct GaugePins {
-  uint8_t dirPin;
-  uint8_t stepPin;
-  int8_t enablePin;          // -1 means there is no enable pin
-  bool dirInverted;
-  bool stepActiveHigh;
-  bool enableActiveLow;
-};
-
-constexpr GaugePins gaugePins[GAUGE_COUNT] = {
-  // dir, step, en, dirInv, stepHigh, enActiveLow
-  {48, 49, -1, false, true, true},   // Gauge 0
-  {8,  9,  -1, true,  true, true},   // Gauge 1
-  {52, 53, -1, false, true, true},   // Gauge 2
-  {50, 51, -1, false, true, true},   // Gauge 3
-};
-
 enum HomingState : uint8_t {
   HS_IDLE,
   HS_START,
@@ -42,13 +25,13 @@ struct Gauge {
   volatile long targetPos = 0;
 
   long minPos = 0;
-  long maxPos = 3780;
-  long homingBackoffSteps = 3800; // Deliberately a touch past full reverse travel.
+  long maxPos = 0;
+  long homingBackoffSteps = 0;
 
   float velocity = 0.0f;
-  float maxSpeed = 4000.0f;
-  float accel = 6000.0f;
-  float homingSpeed = 500.0f;
+  float maxSpeed = 0.0f;
+  float accel = 0.0f;
+  float homingSpeed = 0.0f;
 
   unsigned long lastUpdateMicros = 0;
 
@@ -104,12 +87,12 @@ inline void writePortBit(volatile uint8_t* port, uint8_t mask, bool high) {
 }
 
 inline void writeDirectionPin(uint8_t id, bool forward) {
-  bool level = gaugePins[id].dirInverted ? !forward : forward;
+  bool level = gaugeConfigs[id].dirInverted ? !forward : forward;
   writePortBit(stepperHardware[id].dirPort, stepperHardware[id].dirMask, level);
 }
 
 inline void writeStepPin(uint8_t id, bool active) {
-  bool level = gaugePins[id].stepActiveHigh ? active : !active;
+  bool level = gaugeConfigs[id].stepActiveHigh ? active : !active;
   writePortBit(stepperHardware[id].stepPort, stepperHardware[id].stepMask, level);
 }
 
@@ -149,10 +132,10 @@ void stopTimerStepping(uint8_t id) {
 }
 
 void configureStepperHardware(uint8_t id) {
-  stepperHardware[id].stepPort = portOutputRegister(digitalPinToPort(gaugePins[id].stepPin));
-  stepperHardware[id].stepMask = digitalPinToBitMask(gaugePins[id].stepPin);
-  stepperHardware[id].dirPort = portOutputRegister(digitalPinToPort(gaugePins[id].dirPin));
-  stepperHardware[id].dirMask = digitalPinToBitMask(gaugePins[id].dirPin);
+  stepperHardware[id].stepPort = portOutputRegister(digitalPinToPort(gaugeConfigs[id].stepPin));
+  stepperHardware[id].stepMask = digitalPinToBitMask(gaugeConfigs[id].stepPin);
+  stepperHardware[id].dirPort  = portOutputRegister(digitalPinToPort(gaugeConfigs[id].dirPin));
+  stepperHardware[id].dirMask  = digitalPinToBitMask(gaugeConfigs[id].dirPin);
 }
 
 void beginStepperTimer() {
@@ -288,10 +271,10 @@ void setEnable(uint8_t id, bool en) {
   if (id >= GAUGE_COUNT) return;
   gauges[id].enabled = en;
 
-  int8_t pin = gaugePins[id].enablePin;
+  int8_t pin = gaugeConfigs[id].enablePin;
   if (pin < 0) return;
 
-  bool level = gaugePins[id].enableActiveLow ? !en : en;
+  bool level = gaugeConfigs[id].enableActiveLow ? !en : en;
   digitalWrite(pin, level ? HIGH : LOW);
 }
 
@@ -718,18 +701,25 @@ void setup() {
   DEBUG_PORT.println("Gauge controller booting");
 
   for (uint8_t i = 0; i < GAUGE_COUNT; i++) {
-    pinMode(gaugePins[i].dirPin, OUTPUT);
-    pinMode(gaugePins[i].stepPin, OUTPUT);
+    pinMode(gaugeConfigs[i].dirPin, OUTPUT);
+    pinMode(gaugeConfigs[i].stepPin, OUTPUT);
     configureStepperHardware(i);
 
-    digitalWrite(gaugePins[i].dirPin, LOW);
-    digitalWrite(gaugePins[i].stepPin, gaugePins[i].stepActiveHigh ? LOW : HIGH);
+    digitalWrite(gaugeConfigs[i].dirPin, LOW);
+    digitalWrite(gaugeConfigs[i].stepPin, gaugeConfigs[i].stepActiveHigh ? LOW : HIGH);
 
-    if (gaugePins[i].enablePin >= 0) {
-      pinMode(gaugePins[i].enablePin, OUTPUT);
+    if (gaugeConfigs[i].enablePin >= 0) {
+      pinMode(gaugeConfigs[i].enablePin, OUTPUT);
       setEnable(i, true);
     }
 
+    gauges[i].minPos             = gaugeConfigs[i].minPos;
+    gauges[i].maxPos             = gaugeConfigs[i].maxPos;
+    gauges[i].homingBackoffSteps = gaugeConfigs[i].homingBackoffSteps;
+    gauges[i].maxSpeed           = (float)gaugeConfigs[i].maxSpeed;
+    gauges[i].accel              = (float)gaugeConfigs[i].accel;
+    gauges[i].homingSpeed        = (float)gaugeConfigs[i].homingSpeed;
+
     gauges[i].lastUpdateMicros = micros();
   }