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refactor: wire gauge_config.h into sketch, remove GaugePins and hardcoded defaults

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Adrian A. Baumann
2026-05-21 22:05:38 +02:00
parent 05b7137fcd
commit 30dfcc59df
1 changed files with 27 additions and 37 deletions
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64
Gaugecontroller/Gaugecontroller.ino
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@@ -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();
}