Discovery troubleshooting

CLAUDE.md

@@ -4,37 +4,47 @@ This file provides guidance to Claude Code (claude.ai/code) when working with co
 
 ## Build & Upload
 
-This is a single-file Arduino sketch (`Gaugecontroller.ino`). Requires the **FastLED** library (`arduino-cli lib install FastLED`). Use the Arduino IDE or `arduino-cli`:
+Main firmware lives in `Gaugecontroller/Gaugecontroller.ino`. Requires the **FastLED** library (`arduino-cli lib install FastLED`). Use the Arduino IDE or `arduino-cli`:
 
 ```bash
 # Compile (replace board/port as needed)
-arduino-cli compile --fqbn arduino:avr:mega Gaugecontroller.ino
+arduino-cli compile --fqbn arduino:avr:mega Gaugecontroller
 
 # Upload
-arduino-cli upload -p /dev/ttyACM0 --fqbn arduino:avr:mega Gaugecontroller.ino
+arduino-cli upload -p /dev/ttyACM0 --fqbn arduino:avr:mega Gaugecontroller
 ```
 
-Serial monitor: 115200 baud (`Serial` is both CMD_PORT and DEBUG_PORT).
+Current default serial setup: `CMD_PORT` and `DEBUG_PORT` both point to `Serial1` at 38400 baud.
 
 ## Switching serial ports (debug → production)
 
 Two `#define`s at the top of `Gaugecontroller.ino` control where commands and debug output go:
 
 ```cpp
-#define CMD_PORT   Serial   // command channel (host sends SET, HOME, etc.)
+#define CMD_PORT   Serial1  // command channel (host sends SET, HOME, etc.)
-#define DEBUG_PORT Serial   // diagnostic prints (homing, boot messages)
+#define DEBUG_PORT Serial1  // diagnostic prints (homing, boot messages)
 ```
 
-**Debug / USB-only (default):** both point to `Serial` (the USB-CDC port). Connect via `minicom` or the Arduino IDE serial monitor at 115200 baud.
+**Current default:** both point to `Serial1`, so command and debug traffic share Mega pins TX1=18 / RX1=19 at 38400 baud.
 
-**Production (hardware UART):** change `CMD_PORT` to a hardware serial port so a host MCU or Raspberry Pi can drive it without occupying the USB port:
+**USB-only debug setup:** point both defines back at `Serial` if you want to talk to the sketch over the Arduino USB port instead:
 
 ```cpp
-#define CMD_PORT   Serial1  // TX1=pin18, RX1=pin19
+#define CMD_PORT   Serial
-#define DEBUG_PORT Serial   // keep USB for monitoring, or silence it (see below)
+#define DEBUG_PORT Serial
 ```
 
-Arduino Mega hardware UARTs:
+At that point the matching `begin()` call in `setup()` also needs to use the same baud rate you expect on the host side.
+
+**Split command/debug ports:** if `CMD_PORT` and `DEBUG_PORT` do not point to the same serial port, `setup()` must initialise both. Right now it only calls:
+
+```cpp
+DEBUG_PORT.begin(38400);
+```
+
+If you split them, add a second `CMD_PORT.begin(...)` call.
+
+Arduino Mega hardware UARTs for reference:
 
 | Port    | TX pin | RX pin |
 |---------|--------|--------|
@@ -42,14 +52,6 @@ Arduino Mega hardware UARTs:
 | Serial2 | 16     | 17     |
 | Serial3 | 14     | 15     |
 
-`setup()` calls `DEBUG_PORT.begin(115200)` only. If `CMD_PORT` differs from `DEBUG_PORT` you must also begin it — add a second `begin` call in `setup()`:
-
-```cpp
-CMD_PORT.begin(115200);
-```
-
-**Silencing debug output entirely:** point `DEBUG_PORT` at a null stream, or wrap all `DEBUG_PORT` calls in an `#ifdef DEBUG` guard. The simplest option is to replace the define with a no-op object, but the easiest production approach is just to leave `DEBUG_PORT Serial` and ignore the USB output.
-
 ## Architecture
 
 The sketch controls `GAUGE_COUNT` stepper-motor gauges using a trapezoidal velocity profile and a simple text serial protocol.
@@ -74,7 +76,7 @@ When `sweepEnabled`, `updateSweepTarget` bounces `targetPos` between `minPos` an
 
 ### LED strip
 
-One shared WS2812B strip is driven from `LED_DATA_PIN` (default 6). Each gauge owns a contiguous segment of the strip; `gaugePins[i].ledCount` sets the segment length (0 = no LEDs). `TOTAL_LEDS` is computed at compile time via `constexpr sumLedCounts()` — no manual constant to keep in sync. Per-gauge offsets into the flat `leds[]` array are computed once in `setup()` into `gaugeLedOffset[]`. `FastLED.show()` is called immediately after each `LED` command.
+One shared WS2812B strip is driven from `LED_DATA_PIN` (currently 22). Each gauge owns a contiguous segment of the strip; `gaugePins[i].ledCount` sets the segment length (0 = no LEDs). `TOTAL_LEDS` is computed at compile time via `constexpr sumLedCounts()` — no manual constant to keep in sync. Per-gauge offsets into the flat `leds[]` array are computed once in `setup()` into `gaugeLedOffset[]`. LED commands and effects mark the strip dirty, and `FastLED.show()` is called once per main-loop iteration if anything changed.
 
 ### Serial command protocol
 
@@ -90,8 +92,11 @@ Commands arrive as newline-terminated ASCII lines. Each `parse*` function in `pr
 | `HOME` | `HOME <id>` / `HOMEALL` | Run homing sequence |
 | `SWEEP` | `SWEEP <id> <accel> <speed>` | Start sweep (0/0 stops) |
 | `POS?` | `POS?` | Query all gauges: `POS <id> <cur> <tgt> <homed> <homingState> <sweep>` |
-| `LED` | `LED <id> <idx> <r> <g> <b>` | Set one LED (0-based index within gauge segment) to RGB colour (0–255 each); `<idx>` may be a range `N-M` to set LEDs N through M in one command |
+| `LED` | `LED <id> <idx> <r> <g> <b>` | Set one LED (0-based index within gauge segment) to RGB colour (0–255 each); `<idx>` may be a range `N-M` to set LEDs N through M in one command; also stops any active effect on those LEDs |
 | `LED?` | `LED?` | Query all LEDs: one `LED <id> <idx> <r> <g> <b>` line per LED, then `OK` |
+| `BLINK` | `BLINK <id> <idx> <on_ms> <off_ms> <r> <g> <b>` | Blink LED(s) at given colour; `<idx>` may be a range `N-M`; `on_ms`/`off_ms` both 0 stops blinking. 4-arg form (no colour) uses current LED colour |
+| `BREATHE` | `BREATHE <id> <idx> <period_ms> <r> <g> <b>` | Smooth triangle-wave fade between black and the given colour; `<idx>` may be a range `N-M` |
+| `DFLASH` | `DFLASH <id> <idx> <r> <g> <b>` | Two quick flashes (100 ms on/off each) followed by a 700 ms pause, then repeats; `<idx>` may be a range `N-M` |
 | `PING` | `PING` | Responds `PONG` |
 
 All commands reply `OK` or `ERR BAD_ID` / `ERR BAD_CMD` etc.

Gaugecontroller/Gaugecontroller.ino

@@ -2,31 +2,31 @@
 #include <math.h>
 #include <FastLED.h>
 
-static const uint8_t GAUGE_COUNT = 2;
+static const uint8_t GAUGE_COUNT = 3;
 
-// LED strip — one shared WS2812B strip, segmented per gauge.
+// One shared WS2812B strip, split into per-gauge segments.
-// Set LED_DATA_PIN to the digital pin driving the strip data line.
-// TOTAL_LEDS is computed automatically from gaugePins[].ledCount.
 static const uint8_t LED_DATA_PIN = 22;
 
-// For now: commands come over USB serial
+// For now, command and debug traffic share the same serial port.
-#define CMD_PORT Serial
+#define CMD_PORT Serial1
-#define DEBUG_PORT Serial
+#define DEBUG_PORT Serial1
+static const unsigned long SERIAL_BAUD = 38400;
 
 struct GaugePins {
   uint8_t dirPin;
   uint8_t stepPin;
-  int8_t enablePin;          // -1 if unused
+  int8_t enablePin;          // -1 means there is no enable pin
   bool dirInverted;
   bool stepActiveHigh;
   bool enableActiveLow;
-  uint8_t ledCount;          // WS2812B LEDs on this gauge's strip segment (0 if none)
+  uint8_t ledCount;          // LEDs assigned to this gauge
 };
 
 constexpr GaugePins gaugePins[GAUGE_COUNT] = {
   // dir, step, en, dirInv, stepHigh, enActiveLow, leds
-  {50, 51, -1, false, true, true, 6},   // Gauge 0
+  {50, 51, -1, false, true, true, 7},   // Gauge 0
-  {8,  9,  -1, true,  true, true, 6},   // Gauge 1
+  {8,  9,  -1, true,  true, true, 7},   // Gauge 1
+  {52, 53, -1, false, true, true, 7},   // Gauge 2
 };
 
 constexpr uint8_t sumLedCounts(uint8_t i = 0) {
@@ -47,8 +47,8 @@ struct Gauge {
   long targetPos = 0;
 
   long minPos = 0;
-  long maxPos = 3610;             // adjust to your usable travel
+  long maxPos = 3780;
-  long homingBackoffSteps = 3700; // should exceed reverse travel slightly
+  long homingBackoffSteps = 3800; // Deliberately a touch past full reverse travel.
 
   float velocity = 0.0f;
   float maxSpeed = 5000.0f;
@@ -70,20 +70,88 @@ struct Gauge {
   bool sweepTowardMax = true;
 };
 
+enum LedFx : uint8_t { FX_BLINK = 0, FX_BREATHE = 1, FX_DFLASH = 2 };
+
+struct BlinkState {
+  bool          active      = false;
+  LedFx         fx          = FX_BLINK;
+  CRGB          onColor;
+  unsigned long lastMs      = 0;
+  uint16_t      onMs        = 500;
+  uint16_t      offMs       = 500;
+  bool          currentlyOn = false;
+  uint16_t      periodMs    = 2000;
+  uint16_t      cyclePos    = 0;
+  uint8_t       dphase      = 0;
+};
+
 Gauge gauges[GAUGE_COUNT];
 String rxLine;
 
 CRGB leds[TOTAL_LEDS];
 uint8_t gaugeLedOffset[GAUGE_COUNT];
+BlinkState blinkState[TOTAL_LEDS];
+bool ledsDirty = false;
 
+// Sends one-line command replies back over the control port.
+//
+// Serial protocol summary.
+//
+// Host -> controller commands (newline-terminated ASCII):
+//   SET <id> <pos>
+//   SPEED <id> <steps_per_s>
+//   ACCEL <id> <steps_per_s2>
+//   ENABLE <id> <0|1>
+//   ZERO <id>
+//   HOME <id>
+//   HOMEALL
+//   SWEEP <id> <accel> <speed>
+//   POS?
+//   LED?
+//   LED <id> <idx|a-b> <r> <g> <b>
+//   BLINK <id> <idx|a-b> <on_ms> <off_ms> [<r> <g> <b>]
+//   BREATHE <id> <idx|a-b> <period_ms> <r> <g> <b>
+//   DFLASH <id> <idx|a-b> <r> <g> <b>
+//   PING
+//
+// Controller -> host replies / events:
+//   READY
+//     Sent once from setup() after boot completes.
+//   OK
+//     Sent after a valid mutating command, and after POS?/LED? once all data lines
+//     for that query have been emitted.
+//   PONG
+//     Sent in response to PING.
+//   ERR BAD_CMD
+//     Sent when a complete line matches no parser.
+//   ERR TOO_LONG
+//     Sent when an input line exceeds the receive buffer limit.
+//   ERR BAD_ID
+//     Sent by commands that take a gauge id when the id is outside 0..GAUGE_COUNT-1.
+//   ERR BAD_SPEED
+//     Sent by SPEED when the requested speed is <= 0.
+//   ERR BAD_ACCEL
+//     Sent by ACCEL when the requested acceleration is <= 0.
+//   ERR BAD_IDX
+//     Sent by LED/BLINK/BREATHE/DFLASH when an LED index or range is invalid.
+//   ERR BAD_TIME
+//     Sent by BLINK/BREATHE when the timing parameter is invalid.
+//   POS <id> <currentPos> <targetPos> <homed> <homingState> <sweepEnabled>
+//     Emitted once per gauge before the trailing OK reply to POS?.
+//   LED <id> <idx> <r> <g> <b>
+//     Emitted once per configured LED before the trailing OK reply to LED?.
+//   HOMED <id>
+//     Debug event printed on DEBUG_PORT when a homing sequence settles successfully.
 void sendReply(const String& s) {
   CMD_PORT.println(s);
 }
 
+// Tiny float absolute-value helper to avoid dragging more machinery into the sketch.
 float absf(float x) {
   return (x < 0.0f) ? -x : x;
 }
 
+// Updates the cached enable state and toggles the hardware pin if one exists.
 void setEnable(uint8_t id, bool en) {
   if (id >= GAUGE_COUNT) return;
   gauges[id].enabled = en;
@@ -95,11 +163,13 @@ void setEnable(uint8_t id, bool en) {
   digitalWrite(pin, level ? HIGH : LOW);
 }
 
+// Applies the logical direction after accounting for per-gauge inversion.
 void setDir(uint8_t id, bool forward) {
   bool level = gaugePins[id].dirInverted ? !forward : forward;
   digitalWrite(gaugePins[id].dirPin, level ? HIGH : LOW);
 }
 
+// Emits one step pulse with the polarity expected by the driver.
 void pulseStep(uint8_t id) {
   bool active = gaugePins[id].stepActiveHigh;
   digitalWrite(gaugePins[id].stepPin, active ? HIGH : LOW);
@@ -107,6 +177,7 @@ void pulseStep(uint8_t id) {
   digitalWrite(gaugePins[id].stepPin, active ? LOW : HIGH);
 }
 
+// Moves the motor by one step if the requested direction is still within allowed travel.
 void doStep(uint8_t id, int dir, bool allowPastMin = false) {
   Gauge& g = gauges[id];
   if (!g.enabled) return;
@@ -124,6 +195,7 @@ void doStep(uint8_t id, int dir, bool allowPastMin = false) {
   }
 }
 
+// Arms the homing state machine for one gauge and clears any in-flight motion.
 void requestHome(uint8_t id) {
   if (id >= GAUGE_COUNT) return;
   Gauge& g = gauges[id];
@@ -134,12 +206,14 @@ void requestHome(uint8_t id) {
   g.sweepEnabled = false;
 }
 
+// Starts the same homing sequence on every configured gauge.
 void requestHomeAll() {
   for (uint8_t i = 0; i < GAUGE_COUNT; i++) {
     requestHome(i);
   }
 }
 
+// Advances the simple homing state machine until the gauge is parked at logical zero.
 void updateHoming(uint8_t id) {
   Gauge& g = gauges[id];
   unsigned long nowUs = micros();
@@ -150,6 +224,7 @@ void updateHoming(uint8_t id) {
       return;
 
     case HS_START:
+      // No endstop here; homing just walks back far enough to hit the hard stop.
       g.velocity = 0.0f;
       g.stepAccumulator = 0.0f;
       g.homingStepsRemaining = g.homingBackoffSteps;
@@ -193,6 +268,7 @@ void updateHoming(uint8_t id) {
   }
 }
 
+// Flips the sweep destination when the gauge has settled at either end of travel.
 void updateSweepTarget(uint8_t id) {
   Gauge& g = gauges[id];
   if (!g.sweepEnabled || !g.homed || g.homingState != HS_IDLE) return;
@@ -212,6 +288,7 @@ void updateSweepTarget(uint8_t id) {
   }
 }
 
+// Runs one gauge worth of motion control, including homing and optional sweeping.
 void updateGauge(uint8_t id) {
   Gauge& g = gauges[id];
 
@@ -246,6 +323,7 @@ void updateGauge(uint8_t id) {
   }
 
   float dir = (error > 0) ? 1.0f : (error < 0 ? -1.0f : 0.0f);
+  // Basic trapezoidal profile: brake if the remaining travel is shorter than the stop distance.
   float brakingDistance = (g.velocity * g.velocity) / (2.0f * g.accel + 0.0001f);
 
   if ((float)labs(error) <= brakingDistance) {
@@ -266,6 +344,7 @@ void updateGauge(uint8_t id) {
     g.velocity = dir * 5.0f;
   }
 
+  // Integrate fractional steps until there is enough to emit a real pulse.
   g.stepAccumulator += g.velocity * dt;
 
   while (g.stepAccumulator >= 1.0f) {
@@ -307,6 +386,8 @@ void updateGauge(uint8_t id) {
   }
 }
 
+// Parses `SET <id> <pos>` and updates the target position.
+// Replies: `OK`, `ERR BAD_ID`.
 bool parseSet(const String& line) {
   int id;
   long pos;
@@ -326,6 +407,8 @@ bool parseSet(const String& line) {
   return false;
 }
 
+// Parses `SPEED <id> <speed>` and updates the max step rate.
+// Replies: `OK`, `ERR BAD_ID`, `ERR BAD_SPEED`.
 bool parseSpeed(const String& line) {
   int firstSpace = line.indexOf(' ');
   int secondSpace = line.indexOf(' ', firstSpace + 1);
@@ -349,6 +432,8 @@ bool parseSpeed(const String& line) {
   return true;
 }
 
+// Parses `ACCEL <id> <accel>` and updates the acceleration limit.
+// Replies: `OK`, `ERR BAD_ID`, `ERR BAD_ACCEL`.
 bool parseAccel(const String& line) {
   int firstSpace = line.indexOf(' ');
   int secondSpace = line.indexOf(' ', firstSpace + 1);
@@ -372,6 +457,8 @@ bool parseAccel(const String& line) {
   return true;
 }
 
+// Parses `ENABLE <id> <0|1>` and toggles the selected driver.
+// Replies: `OK`, `ERR BAD_ID`.
 bool parseEnable(const String& line) {
   int id, en;
   if (sscanf(line.c_str(), "ENABLE %d %d", &id, &en) == 2) {
@@ -387,6 +474,8 @@ bool parseEnable(const String& line) {
   return false;
 }
 
+// Parses `ZERO <id>` and declares the current position to be home.
+// Replies: `OK`, `ERR BAD_ID`.
 bool parseZero(const String& line) {
   int id;
   if (sscanf(line.c_str(), "ZERO %d", &id) == 1) {
@@ -408,6 +497,8 @@ bool parseZero(const String& line) {
   return false;
 }
 
+// Parses `HOME <id>` or `HOMEALL` and kicks off the homing sequence.
+// Replies: `OK`, `ERR BAD_ID`. Successful completion later emits debug line `HOMED <id>`.
 bool parseHome(const String& line) {
   int id;
   if (sscanf(line.c_str(), "HOME %d", &id) == 1) {
@@ -430,6 +521,8 @@ bool parseHome(const String& line) {
   return false;
 }
 
+// Parses `SWEEP <id> <accel> <speed>` and enables or disables end-to-end motion.
+// Replies: `OK`, `ERR BAD_ID`.
 bool parseSweep(const String& line) {
   int firstSpace = line.indexOf(' ');
   int secondSpace = line.indexOf(' ', firstSpace + 1);
@@ -466,6 +559,9 @@ bool parseSweep(const String& line) {
   return true;
 }
 
+// Answers `POS?` with current motion state for every gauge.
+// Emits one `POS <id> <cur> <tgt> <homed> <homingState> <sweep>` line per gauge,
+// then replies `OK`.
 bool parsePosQuery(const String& line) {
   if (line == "POS?") {
     for (uint8_t i = 0; i < GAUGE_COUNT; i++) {
@@ -488,6 +584,8 @@ bool parsePosQuery(const String& line) {
   return false;
 }
 
+// Answers the mandatory life question: are you there?
+// Reply: `PONG`.
 bool parsePing(const String& line) {
   if (line == "PING") {
     sendReply("PONG");
@@ -496,6 +594,8 @@ bool parsePing(const String& line) {
   return false;
 }
 
+// Answers `LED?` with the current RGB values for every configured LED.
+// Emits one `LED <id> <idx> <r> <g> <b>` line per configured LED, then replies `OK`.
 bool parseLedQuery(const String& line) {
   if (line == "LED?") {
     for (uint8_t i = 0; i < GAUGE_COUNT; i++) {
@@ -519,6 +619,8 @@ bool parseLedQuery(const String& line) {
   return false;
 }
 
+// Parses `LED <id> <idx|a-b> <r> <g> <b>` and writes static colours.
+// Replies: `OK`, `ERR BAD_ID`, `ERR BAD_IDX`.
 bool parseLed(const String& line) {
   int id, r, g, b;
   char idxToken[16];
@@ -531,15 +633,186 @@ bool parseLed(const String& line) {
       sendReply("ERR BAD_IDX"); return true;
     }
     CRGB color(constrain(r, 0, 255), constrain(g, 0, 255), constrain(b, 0, 255));
-    for (int i = idxFirst; i <= idxLast; i++)
+    for (int i = idxFirst; i <= idxLast; i++) {
+      blinkState[gaugeLedOffset[id] + i].active = false;
       leds[gaugeLedOffset[id] + i] = color;
-    FastLED.show();
+    }
+    ledsDirty = true;
     sendReply("OK");
     return true;
   }
   return false;
 }
 
+// Parses `BLINK ...` and assigns a simple on/off effect to one LED or a range.
+// Replies: `OK`, `ERR BAD_ID`, `ERR BAD_IDX`, `ERR BAD_TIME`.
+bool parseBlink(const String& line) {
+  int id, onMs, offMs, r, g, b;
+  char idxToken[16];
+  // Optional RGB values let BLINK either reuse or replace the current colour.
+  int count = sscanf(line.c_str(), "BLINK %d %15s %d %d %d %d %d",
+                     &id, idxToken, &onMs, &offMs, &r, &g, &b);
+  if (count != 4 && count != 7) return false;
+
+  if (id < 0 || id >= GAUGE_COUNT) { sendReply("ERR BAD_ID"); return true; }
+  char* dash = strchr(idxToken, '-');
+  int idxFirst = atoi(idxToken);
+  int idxLast  = dash ? atoi(dash + 1) : idxFirst;
+  if (idxFirst < 0 || idxLast >= gaugePins[id].ledCount || idxFirst > idxLast) {
+    sendReply("ERR BAD_IDX"); return true;
+  }
+
+  if (onMs == 0 && offMs == 0) {
+    for (int i = idxFirst; i <= idxLast; i++)
+      blinkState[gaugeLedOffset[id] + i].active = false;
+    sendReply("OK");
+    return true;
+  }
+  if (onMs <= 0 || offMs <= 0) { sendReply("ERR BAD_TIME"); return true; }
+
+  CRGB color = (count == 7)
+    ? CRGB(constrain(r, 0, 255), constrain(g, 0, 255), constrain(b, 0, 255))
+    : CRGB(0, 0, 0);  // Placeholder; replaced with the live LED colour below.
+
+  unsigned long nowMs = millis();
+  for (int i = idxFirst; i <= idxLast; i++) {
+    uint8_t globalIdx = gaugeLedOffset[id] + i;
+    BlinkState& bs = blinkState[globalIdx];
+    bs.fx       = FX_BLINK;
+    bs.onColor  = (count == 7) ? color : leds[globalIdx];
+    bs.onMs     = (uint16_t)onMs;
+    bs.offMs    = (uint16_t)offMs;
+    bs.currentlyOn = true;
+    bs.lastMs   = nowMs;
+    bs.active   = true;
+    leds[globalIdx] = bs.onColor;
+  }
+  ledsDirty = true;
+  sendReply("OK");
+  return true;
+}
+
+// Parses `BREATHE ...` and assigns a triangle-wave fade effect.
+// Replies: `OK`, `ERR BAD_ID`, `ERR BAD_IDX`, `ERR BAD_TIME`.
+bool parseBreathe(const String& line) {
+  int id, periodMs, r, g, b;
+  char idxToken[16];
+  if (sscanf(line.c_str(), "BREATHE %d %15s %d %d %d %d",
+             &id, idxToken, &periodMs, &r, &g, &b) != 6) return false;
+  if (id < 0 || id >= GAUGE_COUNT) { sendReply("ERR BAD_ID"); return true; }
+  char* dash = strchr(idxToken, '-');
+  int idxFirst = atoi(idxToken);
+  int idxLast  = dash ? atoi(dash + 1) : idxFirst;
+  if (idxFirst < 0 || idxLast >= gaugePins[id].ledCount || idxFirst > idxLast) {
+    sendReply("ERR BAD_IDX"); return true;
+  }
+  if (periodMs <= 0) { sendReply("ERR BAD_TIME"); return true; }
+  CRGB color(constrain(r, 0, 255), constrain(g, 0, 255), constrain(b, 0, 255));
+  unsigned long nowMs = millis();
+  for (int i = idxFirst; i <= idxLast; i++) {
+    uint8_t gi = gaugeLedOffset[id] + i;
+    BlinkState& bs = blinkState[gi];
+    bs.fx       = FX_BREATHE;
+    bs.onColor  = color;
+    bs.periodMs = (uint16_t)constrain(periodMs, 100, 30000);
+    bs.cyclePos = 0;
+    bs.lastMs   = nowMs;
+    bs.active   = true;
+    leds[gi]    = CRGB::Black;
+  }
+  ledsDirty = true;
+  sendReply("OK");
+  return true;
+}
+
+// Parses `DFLASH ...` and assigns the double-flash pattern.
+// Replies: `OK`, `ERR BAD_ID`, `ERR BAD_IDX`.
+bool parseDflash(const String& line) {
+  int id, r, g, b;
+  char idxToken[16];
+  if (sscanf(line.c_str(), "DFLASH %d %15s %d %d %d",
+             &id, idxToken, &r, &g, &b) != 5) return false;
+  if (id < 0 || id >= GAUGE_COUNT) { sendReply("ERR BAD_ID"); return true; }
+  char* dash = strchr(idxToken, '-');
+  int idxFirst = atoi(idxToken);
+  int idxLast  = dash ? atoi(dash + 1) : idxFirst;
+  if (idxFirst < 0 || idxLast >= gaugePins[id].ledCount || idxFirst > idxLast) {
+    sendReply("ERR BAD_IDX"); return true;
+  }
+  CRGB color(constrain(r, 0, 255), constrain(g, 0, 255), constrain(b, 0, 255));
+  unsigned long nowMs = millis();
+  for (int i = idxFirst; i <= idxLast; i++) {
+    uint8_t gi = gaugeLedOffset[id] + i;
+    BlinkState& bs = blinkState[gi];
+    bs.fx      = FX_DFLASH;
+    bs.onColor = color;
+    bs.dphase  = 0;
+    bs.lastMs  = nowMs;
+    bs.active  = true;
+    leds[gi]   = color;  // phase 0 = on
+  }
+  ledsDirty = true;
+  sendReply("OK");
+  return true;
+}
+
+// Advances all active LED effects and marks the strip dirty when something changed.
+void updateBlink() {
+  unsigned long nowMs = millis();
+  bool changed = false;
+
+  for (uint8_t i = 0; i < GAUGE_COUNT; i++) {
+    for (uint8_t j = 0; j < gaugePins[i].ledCount; j++) {
+      uint8_t gi = gaugeLedOffset[i] + j;
+      BlinkState& bs = blinkState[gi];
+      if (!bs.active) continue;
+
+      switch (bs.fx) {
+        case FX_BLINK: {
+          uint32_t period = bs.currentlyOn ? bs.onMs : bs.offMs;
+          if ((nowMs - bs.lastMs) >= period) {
+            bs.currentlyOn = !bs.currentlyOn;
+            bs.lastMs = nowMs;
+            leds[gi] = bs.currentlyOn ? bs.onColor : CRGB::Black;
+            changed = true;
+          }
+          break;
+        }
+        case FX_BREATHE: {
+          unsigned long dt = nowMs - bs.lastMs;
+          if (dt < 64) break;
+          uint32_t newPos = (uint32_t)bs.cyclePos + dt;
+          bs.cyclePos = (uint16_t)(newPos % bs.periodMs);
+          bs.lastMs = nowMs;
+          // Cheap triangle wave. It does the job and nobody has complained yet.
+          uint16_t half = bs.periodMs >> 1;
+          uint8_t bri = (bs.cyclePos < half)
+              ? (uint8_t)((uint32_t)bs.cyclePos * 255 / half)
+              : (uint8_t)((uint32_t)(bs.periodMs - bs.cyclePos) * 255 / half);
+          leds[gi] = bs.onColor;
+          leds[gi].nscale8(bri ? bri : 1);
+          changed = true;
+          break;
+        }
+        case FX_DFLASH: {
+          static const uint16_t dur[4] = {100, 100, 100, 700}; // on, off, on, longer off
+          if ((nowMs - bs.lastMs) >= dur[bs.dphase]) {
+            bs.lastMs = nowMs;
+            bs.dphase = (bs.dphase + 1) & 3;
+            leds[gi] = (bs.dphase == 0 || bs.dphase == 2) ? bs.onColor : CRGB::Black;
+            changed = true;
+          }
+          break;
+        }
+      }
+    }
+  }
+
+  if (changed) ledsDirty = true;
+}
+
+// Runs the command parsers in order until one claims the line.
+// Reply: `ERR BAD_CMD` when no parser accepts the line.
 void processLine(const String& line) {
   if (parseSet(line)) return;
   if (parseSpeed(line)) return;
@@ -551,11 +824,16 @@ void processLine(const String& line) {
   if (parsePosQuery(line)) return;
   if (parseLedQuery(line)) return;
   if (parseLed(line)) return;
+  if (parseBlink(line)) return;
+  if (parseBreathe(line)) return;
+  if (parseDflash(line)) return;
   if (parsePing(line)) return;
 
   sendReply("ERR BAD_CMD");
 }
 
+// Reads newline-delimited commands from serial and hands complete lines to the parser.
+// Reply: `ERR TOO_LONG` when the buffered line exceeds the receive limit before newline.
 void readCommands() {
   while (CMD_PORT.available()) {
     char c = (char)CMD_PORT.read();
@@ -576,8 +854,10 @@ void readCommands() {
   }
 }
 
+// Initialises pins, LED bookkeeping and the initial homing cycle.
+// Reply/event: emits `READY` on CMD_PORT once boot is complete.
 void setup() {
-  DEBUG_PORT.begin(115200);
+  DEBUG_PORT.begin(SERIAL_BAUD);
   DEBUG_PORT.println("Gauge controller booting");
 
   for (uint8_t i = 0; i < GAUGE_COUNT; i++) {
@@ -595,7 +875,7 @@ void setup() {
     gauges[i].lastUpdateMicros = micros();
   }
 
-  // Compute per-gauge LED offsets and initialise the strip.
+  // Flatten the per-gauge LED counts into offsets on the shared strip.
   uint8_t ledOff = 0;
   for (uint8_t i = 0; i < GAUGE_COUNT; i++) {
     gaugeLedOffset[i] = ledOff;
@@ -608,13 +888,23 @@ void setup() {
   requestHomeAll();
 
   DEBUG_PORT.println("READY");
+  // Boot-complete handshake for the command channel.
   sendReply("READY");
 }
 
+// Main service loop: ingest commands, advance effects, move gauges, flush LEDs.
 void loop() {
   readCommands();
+  updateBlink();
 
   for (uint8_t i = 0; i < GAUGE_COUNT; i++) {
     updateGauge(i);
   }
+  
+  if (ledsDirty) {
+    FastLED.show();
+    ledsDirty = false;
+  }
+
+
 }

config.example.json

@@ -0,0 +1,59 @@
+{
+  "debug": false,
+
+  "wifi_ssid": "MyNetwork",
+  "wifi_password": "MyPassword",
+
+  "mqtt_broker": "192.168.1.10",
+  "mqtt_port": 1883,
+  "mqtt_user": "mqtt_user",
+  "mqtt_password": "mqtt_password",
+  "mqtt_client_id": "gauge_controller",
+  "mqtt_prefix": "gauges",
+
+  "heartbeat_ms": 10000,
+  "rezero_interval_ms": 3600000,
+
+  "device": {
+    "name": "Selsyn Multi",
+    "model": "Chernobyl Selsyn-inspired gauge",
+    "manufacturer": "AdeBaumann",
+    "area": "Control Panels"
+  },
+
+  "arduino_uart": 1,
+  "arduino_tx_pin": 17,
+  "arduino_rx_pin": 16,
+  "arduino_baud": 115200,
+
+  "gauges": [
+    {
+      "name": "Gauge 1",
+      "entity_name": "Selsyn 1 Power",
+      "min": 0,
+      "max": 7300,
+      "max_steps": 4000,
+      "speed": 5000,
+      "acceleration": 6000,
+      "unit": "W",
+      "leds": {
+        "ws2812_red":   [255, 0, 0],
+        "ws2812_green": [0, 255, 0]
+      }
+    },
+    {
+      "name": "Gauge 2",
+      "entity_name": "Selsyn 2 Power",
+      "min": 0,
+      "max": 7300,
+      "max_steps": 4000,
+      "speed": 5000,
+      "acceleration": 6000,
+      "unit": "W",
+      "leds": {
+        "ws2812_red":   [255, 0, 0],
+        "ws2812_green": [0, 255, 0]
+      }
+    }
+  ]
+}

main.py

@@ -0,0 +1 @@
+import gauge

ota.py

@@ -0,0 +1,474 @@
+"""
+ota.py — Gitea OTA updater for ESP32 / MicroPython
+
+Call ota.update() from boot.py before importing anything else.
+If the update or the subsequent boot fails, the updater retries
+on the next boot rather than bricking the device.
+
+Strategy
+--------
+1. Check if last boot was good (OK flag exists).
+2. If good, fetch remote commit SHA and compare with local — if unchanged,
+   skip file check entirely.
+3. If new commit or failed boot, fetch ota_manifest.txt from the repo
+   to determine which files to sync.
+4. Compare SHA1 hashes with a local manifest (.ota_manifest.json).
+5. Download only changed or missing files, writing to .tmp first.
+6. On success, rename .tmp files into place and update the manifest.
+7. If anything fails mid-update, the manifest is not updated, so the
+   next boot will retry. Partially written .tmp files are cleaned up.
+8. A "safety" flag file (.ota_ok) is written by main.py on successful
+   startup. If it is absent on boot, the previous update is suspected
+   bad — the manifest is wiped so all files are re-fetched cleanly.
+
+Manifest format (ota_manifest.txt)
+---------------------------------
+Each line specifies a file or directory to include:
+    boot.py          # specific file
+    ota.py           # another file
+    selsyn/          # entire directory (trailing slash)
+    lib/             # another directory
+    *.py             # wildcard (matches anywhere)
+    selsyn/*.py      # wildcard in subdirectory
+
+Usage in boot.py
+----------------
+    import ota
+    ota.update()
+    # imports of main etc. go here
+
+Configuration
+-------------
+Edit the block below, or override from a local config file
+(see SETTINGS_FILE).  All settings can be left as module-level
+constants or placed in /ota_config.json:
+    {
+        "gitea_base": "http://git.baumann.gr",
+        "repo_owner": "adebaumann",
+        "repo_name":  "HomeControlPanel",
+        "repo_folder": "firmware",
+        "repo_branch": "main",
+        "api_token":   "nicetry-nothere"
+    }
+"""
+
+import os
+import gc
+import sys
+import ujson
+import urequests
+import utime
+
+# ---------------------------------------------------------------------------
+# Default configuration — override via /ota_config.json
+# ---------------------------------------------------------------------------
+
+GITEA_BASE = "http://git.baumann.gr"  # no trailing slash
+REPO_OWNER = "adrian"
+REPO_NAME = "esp32-gauge"
+REPO_FOLDER = "firmware"  # folder inside repo to sync
+REPO_BRANCH = "main"
+API_TOKEN = None  # set to string for private repos
+
+WIFI_SSID = None
+WIFI_PASSWORD = None
+
+SETTINGS_FILE = "/ota_config.json"
+MANIFEST_FILE = "/.ota_manifest.json"
+OK_FLAG_FILE = "/.ota_ok"
+OTA_MANIFEST = "ota_manifest.txt"
+
+# ---------------------------------------------------------------------------
+# Logging
+# ---------------------------------------------------------------------------
+
+
+def _ts():
+    ms = utime.ticks_ms()
+    return f"{(ms // 3600000) % 24:02d}:{(ms // 60000) % 60:02d}:{(ms // 1000) % 60:02d}.{ms % 1000:03d}"
+
+
+def _log(level, msg):
+    print(f"[{_ts()}] {level:5s}  [OTA] {msg}")
+
+
+def info(msg):
+    _log("INFO", msg)
+
+
+def warn(msg):
+    _log("WARN", msg)
+
+
+def log_err(msg):
+    _log("ERROR", msg)
+
+
+# ---------------------------------------------------------------------------
+# HTTP helpers
+# ---------------------------------------------------------------------------
+
+
+def _headers():
+    h = {"Accept": "application/json"}
+    if API_TOKEN:
+        h["Authorization"] = f"token {API_TOKEN}"
+    return h
+
+
+# ---------------------------------------------------------------------------
+# Config loader
+# ---------------------------------------------------------------------------
+
+
+def load_config():
+    global \
+        GITEA_BASE, \
+        REPO_OWNER, \
+        REPO_NAME, \
+        REPO_FOLDER, \
+        REPO_BRANCH, \
+        API_TOKEN, \
+        WIFI_SSID, \
+        WIFI_PASSWORD
+    try:
+        with open(SETTINGS_FILE) as f:
+            cfg = ujson.load(f)
+        GITEA_BASE = cfg.get("gitea_base", GITEA_BASE)
+        REPO_OWNER = cfg.get("repo_owner", REPO_OWNER)
+        REPO_NAME = cfg.get("repo_name", REPO_NAME)
+        REPO_FOLDER = cfg.get("repo_folder", REPO_FOLDER)
+        REPO_BRANCH = cfg.get("repo_branch", REPO_BRANCH)
+        API_TOKEN = cfg.get("api_token", API_TOKEN)
+        WIFI_SSID = cfg.get("wifi_ssid", WIFI_SSID)
+        WIFI_PASSWORD = cfg.get("wifi_password", WIFI_PASSWORD)
+        info(f"Config loaded from {SETTINGS_FILE}")
+    except OSError:
+        info(f"No {SETTINGS_FILE} found — using defaults")
+    except Exception as e:
+        warn(f"Config parse error: {e} — using defaults")
+
+
+# ---------------------------------------------------------------------------
+# Helpers
+# ---------------------------------------------------------------------------
+
+
+def _match_pattern(name, pattern):
+    if "*" not in pattern:
+        return name == pattern
+    i, n = 0, len(pattern)
+    j, m = 0, len(name)
+    star = -1
+    while i < n and j < m:
+        if pattern[i] == "*":
+            star = i
+            i += 1
+        elif pattern[i] == name[j]:
+            i += 1
+            j += 1
+        elif star >= 0:
+            i = star + 1
+            j += 1
+        else:
+            return False
+    while i < n and pattern[i] == "*":
+        i += 1
+    return i == n and j == m
+
+
+def _fetch_commit_sha():
+    url = f"{GITEA_BASE}/api/v1/repos/{REPO_OWNER}/{REPO_NAME}/branches/{REPO_BRANCH}"
+    try:
+        r = urequests.get(url, headers=_headers())
+        if r.status_code == 200:
+            data = r.json()
+            r.close()
+            return data.get("commit", {}).get("id")
+        r.close()
+    except Exception as e:
+        log_err(f"Failed to fetch commit: {e}")
+    return None
+
+
+def _fetch_manifest():
+    url = (
+        f"{GITEA_BASE}/api/v1/repos/{REPO_OWNER}/{REPO_NAME}"
+        f"/contents/{OTA_MANIFEST}?ref={REPO_BRANCH}"
+    )
+    try:
+        r = urequests.get(url, headers=_headers())
+        try:
+            if r.status_code == 200:
+                data = r.json()
+                if data.get("content"):
+                    import ubinascii
+
+                    content = ubinascii.a2b_base64(data["content"]).decode()
+                    patterns = [line.strip() for line in content.splitlines()]
+                    return [p for p in patterns if p and not p.startswith("#")]
+            else:
+                warn(f"Manifest not found at {OTA_MANIFEST}")
+        finally:
+            r.close()
+    except Exception as e:
+        log_err(f"Failed to fetch manifest: {e}")
+    return None
+
+
+def _fetch_dir(path):
+    url = (
+        f"{GITEA_BASE}/api/v1/repos/{REPO_OWNER}/{REPO_NAME}"
+        f"/contents/{path}?ref={REPO_BRANCH}"
+    )
+    return _api_get(url)
+
+
+def _api_get(url):
+    """GET a URL and return parsed JSON, or None on failure."""
+    try:
+        r = urequests.get(url, headers=_headers())
+        if r.status_code == 200:
+            data = r.json()
+            r.close()
+            return data
+        warn(f"HTTP {r.status_code} for {url}")
+        r.close()
+    except Exception as e:
+        log_err(f"GET {url} failed: {e}")
+    return None
+
+
+def _download(url, dest_path):
+    """Download url to dest_path. Returns True on success."""
+    tmp = dest_path + ".tmp"
+    try:
+        r = urequests.get(url, headers=_headers())
+        if r.status_code != 200:
+            warn(f"Download failed HTTP {r.status_code}: {url}")
+            r.close()
+            return False
+        with open(tmp, "wb") as f:
+            f.write(r.content)
+        r.close()
+        # Rename into place
+        try:
+            os.remove(dest_path)
+        except OSError:
+            pass
+        os.rename(tmp, dest_path)
+        return True
+    except Exception as e:
+        log_err(f"Download error {url}: {e}")
+        try:
+            os.remove(tmp)
+        except OSError:
+            pass
+        return False
+
+
+def _load_manifest():
+    try:
+        with open(MANIFEST_FILE) as f:
+            return ujson.load(f)
+    except Exception:
+        return {}
+
+
+def _save_manifest(manifest, commit_sha=None):
+    try:
+        with open(MANIFEST_FILE, "w") as f:
+            if commit_sha:
+                manifest["_commit"] = commit_sha
+            ujson.dump(manifest, f)
+    except Exception as e:
+        warn(f"Could not save manifest: {e}")
+
+
+
+def _ok_flag_exists():
+    try:
+        os.stat(OK_FLAG_FILE)
+        return True
+    except OSError:
+        return False
+
+
+def _clear_ok_flag():
+    try:
+        os.remove(OK_FLAG_FILE)
+    except OSError:
+        pass
+
+
+def mark_ok():
+    """
+    Call this from main.py after successful startup.
+    Signals to the OTA updater that the last update was good.
+    """
+    try:
+        with open(OK_FLAG_FILE, "w") as f:
+            f.write("ok")
+    except Exception as e:
+        warn(f"Could not write OK flag: {e}")
+
+
+# ---------------------------------------------------------------------------
+# Core update logic
+# ---------------------------------------------------------------------------
+
+
+def _fetch_file_list():
+    """
+    Returns list of {name, sha, download_url} dicts based on the
+    ota_manifest.txt patterns in the repo folder, or None on failure.
+    """
+    manifest_patterns = _fetch_manifest()
+    if manifest_patterns is None:
+        log_err("No manifest — cannot determine what to fetch")
+        return None
+
+    info(f"Manifest patterns: {manifest_patterns}")
+    files = []
+    visited = set()
+
+    def fetch_matching(entries, patterns):
+        for entry in entries:
+            if entry.get("type") == "dir":
+                for p in patterns:
+                    if p.endswith("/") and entry["name"].startswith(p.rstrip("/")):
+                        sub = _fetch_dir(entry["path"])
+                        if sub:
+                            fetch_matching(sub, patterns)
+                        break
+            else:
+                name = entry["name"]
+                for p in patterns:
+                    p = p.rstrip("/")
+                    if _match_pattern(name, p) or _match_pattern(entry["path"], p):
+                        if entry["path"] not in visited:
+                            visited.add(entry["path"])
+                            files.append(
+                                {
+                                    "name": entry["path"],
+                                    "sha": entry["sha"],
+                                    "download_url": entry["download_url"],
+                                }
+                            )
+                        break
+
+    root = _fetch_dir(REPO_FOLDER)
+    if root is None:
+        return None
+
+    fetch_matching(root, manifest_patterns)
+    return files
+
+
+def _do_update(commit_sha=None):
+    """
+    Fetch file list, download changed files, update manifest.
+    Returns True if all succeeded (or nothing needed updating).
+    """
+    info(
+        f"Checking {GITEA_BASE}/{REPO_OWNER}/{REPO_NAME}/{REPO_FOLDER} @ {REPO_BRANCH}"
+    )
+    file_list = _fetch_file_list()
+    if file_list is None:
+        log_err("Could not fetch file list — skipping update")
+        return False
+
+    info(f"Found {len(file_list)} file(s) to sync")
+    manifest = _load_manifest()
+    updated = []
+    failed = []
+
+    for entry in file_list:
+        name = entry["name"]
+        sha = entry["sha"]
+
+        if manifest.get(name) == sha:
+            info(f"  {name}  up to date")
+            continue
+
+        info(f"  {name}  updating (sha={sha[:8]}...)")
+        gc.collect()
+        ok = _download(entry["download_url"], f"/{name}")
+        if ok:
+            manifest[name] = sha
+            updated.append(name)
+            info(f"  {name}  OK")
+        else:
+            failed.append(name)
+            log_err(f"  {name}  FAILED")
+
+    if failed:
+        log_err(f"Update incomplete — {len(failed)} file(s) failed: {failed}")
+        _save_manifest(manifest, commit_sha)
+        return False
+
+    _save_manifest(manifest, commit_sha)
+
+    if updated:
+        info(f"Update complete — {len(updated)} file(s) updated: {updated}")
+    else:
+        info("All files up to date — nothing to do")
+
+    return True
+
+
+# ---------------------------------------------------------------------------
+# Public entry point
+# ---------------------------------------------------------------------------
+
+
+def update():
+    """
+    Main entry point. Call from boot.py before importing application code.
+
+    - If the OK flag is missing, the previous boot is assumed to have
+      failed — wipes the manifest so everything is re-fetched cleanly.
+    - If the commit hash hasn't changed and last boot was good, skip
+      file comparison entirely.
+    - Runs the update.
+    - Clears the OK flag so main.py must re-assert it on successful start.
+    """
+    info("=" * 40)
+    info("OTA updater starting")
+    info("=" * 40)
+
+    load_config()
+
+    ok_flag = _ok_flag_exists()
+    manifest = _load_manifest()
+
+    if not ok_flag:
+        warn("OK flag missing — last boot may have failed")
+        warn("Re-checking all files, will only download changed ones")
+    else:
+        info("OK flag present — last boot was good")
+
+    commit_sha = _fetch_commit_sha()
+
+    if ok_flag and commit_sha and manifest.get("_commit") == commit_sha:
+        info(f"Commit unchanged ({commit_sha[:8]}) — skipping file check")
+        info("-" * 40)
+        return
+
+    if commit_sha:
+        info(f"Remote commit: {commit_sha[:8]}")
+    else:
+        warn("Could not fetch remote commit — proceeding with file check")
+
+    # Clear the flag now; main.py must call ota.mark_ok() to re-set it
+    _clear_ok_flag()
+
+    success = _do_update(commit_sha)
+
+    if success:
+        info("OTA check complete — booting application")
+    else:
+        warn("OTA check had errors — booting with current files")
+
+    info("-" * 40)
+    gc.collect()

ota_config.example.json

@@ -0,0 +1,9 @@
+{
+    "gitea_base": "http://git.baumann.gr",
+    "repo_owner": "adebaumann",
+    "repo_name": "Selsyn_inspired_gauge",
+    "repo_folder": "",
+    "repo_branch": "main",
+    "wifi_ssid": "YourNetwork",
+    "wifi_password": "YourPassword"
+}

ota_manifest.txt

@@ -0,0 +1 @@
+*.py