110 lines
5.4 KiB
Markdown
110 lines
5.4 KiB
Markdown
# CLAUDE.md
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This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.
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## Build & Upload
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Main firmware lives in `Gaugecontroller/Gaugecontroller.ino`. Requires the **FastLED** library (`arduino-cli lib install FastLED`). Use the Arduino IDE or `arduino-cli`:
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```bash
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# Compile (replace board/port as needed)
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arduino-cli compile --fqbn arduino:avr:mega Gaugecontroller
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# Upload
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arduino-cli upload -p /dev/ttyACM0 --fqbn arduino:avr:mega Gaugecontroller
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```
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Current default serial setup: `CMD_PORT` and `DEBUG_PORT` both point to `Serial1` at 38400 baud.
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## Switching serial ports (debug → production)
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Two `#define`s at the top of `Gaugecontroller.ino` control where commands and debug output go:
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```cpp
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#define CMD_PORT Serial1 // command channel (host sends SET, HOME, etc.)
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#define DEBUG_PORT Serial1 // diagnostic prints (homing, boot messages)
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```
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**Current default:** both point to `Serial1`, so command and debug traffic share Mega pins TX1=18 / RX1=19 at 38400 baud.
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**USB-only debug setup:** point both defines back at `Serial` if you want to talk to the sketch over the Arduino USB port instead:
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```cpp
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#define CMD_PORT Serial
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#define DEBUG_PORT Serial
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```
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At that point the matching `begin()` call in `setup()` also needs to use the same baud rate you expect on the host side.
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**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:
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```cpp
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DEBUG_PORT.begin(38400);
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```
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If you split them, add a second `CMD_PORT.begin(...)` call.
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Arduino Mega hardware UARTs for reference:
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| Port | TX pin | RX pin |
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|---------|--------|--------|
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| Serial1 | 18 | 19 |
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| Serial2 | 16 | 17 |
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| Serial3 | 14 | 15 |
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## Architecture
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The sketch controls `GAUGE_COUNT` stepper-motor gauges using a trapezoidal velocity profile and a simple text serial protocol.
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### Key data structures
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- `GaugePins` — hardware pin mapping per gauge (dir, step, enable, active-high/low polarity flags, `ledCount`). Declared `constexpr` so `TOTAL_LEDS` can be computed from it at compile time. Configured in the `gaugePins[]` array at the top.
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- `Gauge` — per-gauge runtime state: position, target, velocity, accel, homing state machine, sweep mode.
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### Motion control (`updateGauge`)
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Each call to `updateGauge(id)` in `loop()` computes `dt` since last call and updates velocity using a braking-distance check to produce smooth trapezoidal motion. Steps are accumulated as floating-point and emitted via `doStep` when the accumulator crosses ±1.
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### Homing sequence (`updateHoming`)
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State machine: `HS_START → HS_BACKING → HS_SETTLE → HS_DONE → HS_IDLE`.
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Backs up `homingBackoffSteps` at `homingSpeed`, waits 100 ms settle, then declares `currentPos = 0`. No physical end-stop is used; homing is purely time/step-count based.
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### Sweep mode
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When `sweepEnabled`, `updateSweepTarget` bounces `targetPos` between `minPos` and `maxPos` autonomously.
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### LED strip
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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.
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### Serial command protocol
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Commands arrive as newline-terminated ASCII lines. Each `parse*` function in `processLine` handles one command family:
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| Command | Syntax | Effect |
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|---|---|---|
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| `SET` | `SET <id> <pos>` | Move gauge to absolute step position |
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| `SPEED` | `SPEED <id> <steps/s>` | Set max speed |
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| `ACCEL` | `ACCEL <id> <steps/s²>` | Set acceleration |
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| `ENABLE` | `ENABLE <id> <0\|1>` | Enable/disable driver output |
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| `ZERO` | `ZERO <id>` | Mark current position as home without moving |
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| `HOME` | `HOME <id>` / `HOMEALL` | Run homing sequence |
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| `SWEEP` | `SWEEP <id> <accel> <speed>` | Start sweep (0/0 stops) |
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| `POS?` | `POS?` | Query all gauges: `POS <id> <cur> <tgt> <homed> <homingState> <sweep>` |
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| `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 |
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| `LED?` | `LED?` | Query all LEDs: one `LED <id> <idx> <r> <g> <b>` line per LED, then `OK` |
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| `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 |
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| `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` |
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| `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` |
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| `PING` | `PING` | Responds `PONG` |
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All commands reply `OK` or `ERR BAD_ID` / `ERR BAD_CMD` etc.
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### Adding gauges
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1. Increment `GAUGE_COUNT`.
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2. Add a `constexpr GaugePins` entry to `gaugePins[]` (including `ledCount`).
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3. Tune `maxPos` and `homingBackoffSteps` in the corresponding `Gauge` default or at runtime.
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4. `TOTAL_LEDS` and `gaugeLedOffset[]` update automatically — no manual changes needed.
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