621 lines
14 KiB
C++
621 lines
14 KiB
C++
#include <Arduino.h>
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#include <math.h>
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#include <FastLED.h>
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static const uint8_t GAUGE_COUNT = 2;
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// LED strip — one shared WS2812B strip, segmented per gauge.
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// Set LED_DATA_PIN to the digital pin driving the strip data line.
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// TOTAL_LEDS is computed automatically from gaugePins[].ledCount.
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static const uint8_t LED_DATA_PIN = 22;
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// For now: commands come over USB serial
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#define CMD_PORT Serial1
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#define DEBUG_PORT Serial1
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struct GaugePins {
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uint8_t dirPin;
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uint8_t stepPin;
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int8_t enablePin; // -1 if unused
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bool dirInverted;
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bool stepActiveHigh;
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bool enableActiveLow;
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uint8_t ledCount; // WS2812B LEDs on this gauge's strip segment (0 if none)
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};
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constexpr GaugePins gaugePins[GAUGE_COUNT] = {
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// dir, step, en, dirInv, stepHigh, enActiveLow, leds
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{50, 51, -1, false, true, true, 7}, // Gauge 0
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{8, 9, -1, true, true, true, 7}, // Gauge 1
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};
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constexpr uint8_t sumLedCounts(uint8_t i = 0) {
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return i >= GAUGE_COUNT ? 0 : gaugePins[i].ledCount + sumLedCounts(i + 1);
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}
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static const uint8_t TOTAL_LEDS = sumLedCounts();
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enum HomingState : uint8_t {
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HS_IDLE,
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HS_START,
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HS_BACKING,
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HS_SETTLE,
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HS_DONE
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};
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struct Gauge {
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long currentPos = 0;
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long targetPos = 0;
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long minPos = 0;
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long maxPos = 3780; // adjust to your usable travel
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long homingBackoffSteps = 3700; // should exceed reverse travel slightly
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float velocity = 0.0f;
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float maxSpeed = 5000.0f;
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float accel = 6000.0f;
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float homingSpeed = 500.0f;
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float stepAccumulator = 0.0f;
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unsigned long lastUpdateMicros = 0;
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bool enabled = true;
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bool homed = false;
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HomingState homingState = HS_IDLE;
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long homingStepsRemaining = 0;
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unsigned long homingLastStepMicros = 0;
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unsigned long homingStateStartMs = 0;
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bool sweepEnabled = false;
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bool sweepTowardMax = true;
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};
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Gauge gauges[GAUGE_COUNT];
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String rxLine;
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CRGB leds[TOTAL_LEDS];
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uint8_t gaugeLedOffset[GAUGE_COUNT];
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void sendReply(const String& s) {
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CMD_PORT.println(s);
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}
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float absf(float x) {
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return (x < 0.0f) ? -x : x;
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}
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void setEnable(uint8_t id, bool en) {
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if (id >= GAUGE_COUNT) return;
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gauges[id].enabled = en;
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int8_t pin = gaugePins[id].enablePin;
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if (pin < 0) return;
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bool level = gaugePins[id].enableActiveLow ? !en : en;
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digitalWrite(pin, level ? HIGH : LOW);
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}
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void setDir(uint8_t id, bool forward) {
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bool level = gaugePins[id].dirInverted ? !forward : forward;
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digitalWrite(gaugePins[id].dirPin, level ? HIGH : LOW);
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}
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void pulseStep(uint8_t id) {
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bool active = gaugePins[id].stepActiveHigh;
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digitalWrite(gaugePins[id].stepPin, active ? HIGH : LOW);
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delayMicroseconds(4);
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digitalWrite(gaugePins[id].stepPin, active ? LOW : HIGH);
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}
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void doStep(uint8_t id, int dir, bool allowPastMin = false) {
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Gauge& g = gauges[id];
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if (!g.enabled) return;
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if (dir > 0) {
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if (g.currentPos >= g.maxPos) return;
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setDir(id, true);
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pulseStep(id);
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g.currentPos++;
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} else if (dir < 0) {
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if (!allowPastMin && g.currentPos <= g.minPos) return;
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setDir(id, false);
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pulseStep(id);
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g.currentPos--;
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}
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}
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void requestHome(uint8_t id) {
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if (id >= GAUGE_COUNT) return;
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Gauge& g = gauges[id];
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g.homingState = HS_START;
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g.homed = false;
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g.velocity = 0.0f;
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g.stepAccumulator = 0.0f;
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g.sweepEnabled = false;
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}
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void requestHomeAll() {
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for (uint8_t i = 0; i < GAUGE_COUNT; i++) {
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requestHome(i);
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}
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}
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void updateHoming(uint8_t id) {
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Gauge& g = gauges[id];
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unsigned long nowUs = micros();
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unsigned long nowMs = millis();
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switch (g.homingState) {
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case HS_IDLE:
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return;
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case HS_START:
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g.velocity = 0.0f;
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g.stepAccumulator = 0.0f;
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g.homingStepsRemaining = g.homingBackoffSteps;
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g.homingLastStepMicros = nowUs;
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g.homingState = HS_BACKING;
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break;
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case HS_BACKING: {
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float intervalUs = 1000000.0f / g.homingSpeed;
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if ((nowUs - g.homingLastStepMicros) >= intervalUs) {
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g.homingLastStepMicros = nowUs;
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if (g.homingStepsRemaining > 0) {
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doStep(id, -1, true);
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g.homingStepsRemaining--;
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} else {
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g.homingState = HS_SETTLE;
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g.homingStateStartMs = nowMs;
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}
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}
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break;
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}
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case HS_SETTLE:
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if (nowMs - g.homingStateStartMs >= 100) {
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g.currentPos = 0;
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g.targetPos = 0;
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g.velocity = 0.0f;
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g.stepAccumulator = 0.0f;
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g.homed = true;
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g.homingState = HS_DONE;
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DEBUG_PORT.print("HOMED ");
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DEBUG_PORT.println(id);
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}
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break;
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case HS_DONE:
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g.homingState = HS_IDLE;
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break;
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}
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}
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void updateSweepTarget(uint8_t id) {
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Gauge& g = gauges[id];
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if (!g.sweepEnabled || !g.homed || g.homingState != HS_IDLE) return;
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if (g.sweepTowardMax) {
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g.targetPos = g.maxPos;
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if (g.currentPos >= g.maxPos && absf(g.velocity) < 1.0f) {
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g.sweepTowardMax = false;
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g.targetPos = g.minPos;
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}
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} else {
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g.targetPos = g.minPos;
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if (g.currentPos <= g.minPos && absf(g.velocity) < 1.0f) {
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g.sweepTowardMax = true;
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g.targetPos = g.maxPos;
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}
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}
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}
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void updateGauge(uint8_t id) {
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Gauge& g = gauges[id];
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if (g.homingState != HS_IDLE) {
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updateHoming(id);
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return;
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}
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if (!g.homed) return;
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if (g.sweepEnabled) {
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updateSweepTarget(id);
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}
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unsigned long now = micros();
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if (g.lastUpdateMicros == 0) {
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g.lastUpdateMicros = now;
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return;
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}
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float dt = (now - g.lastUpdateMicros) / 1000000.0f;
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g.lastUpdateMicros = now;
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if (dt <= 0.0f || dt > 0.1f) return;
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long error = g.targetPos - g.currentPos;
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if (error == 0 && absf(g.velocity) < 0.01f) {
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g.velocity = 0.0f;
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g.stepAccumulator = 0.0f;
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return;
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}
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float dir = (error > 0) ? 1.0f : (error < 0 ? -1.0f : 0.0f);
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float brakingDistance = (g.velocity * g.velocity) / (2.0f * g.accel + 0.0001f);
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if ((float)labs(error) <= brakingDistance) {
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if (g.velocity > 0.0f) {
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g.velocity -= g.accel * dt;
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if (g.velocity < 0.0f) g.velocity = 0.0f;
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} else if (g.velocity < 0.0f) {
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g.velocity += g.accel * dt;
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if (g.velocity > 0.0f) g.velocity = 0.0f;
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}
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} else {
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g.velocity += dir * g.accel * dt;
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if (g.velocity > g.maxSpeed) g.velocity = g.maxSpeed;
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if (g.velocity < -g.maxSpeed) g.velocity = -g.maxSpeed;
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}
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if (fabs(g.velocity) < 0.01f && error != 0) {
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g.velocity = dir * 5.0f;
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}
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g.stepAccumulator += g.velocity * dt;
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while (g.stepAccumulator >= 1.0f) {
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if (g.currentPos == g.targetPos) {
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g.stepAccumulator = 0.0f;
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g.velocity = 0.0f;
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break;
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}
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doStep(id, +1, false);
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g.stepAccumulator -= 1.0f;
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if (g.currentPos >= g.maxPos) {
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g.currentPos = g.maxPos;
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g.targetPos = g.maxPos;
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g.velocity = 0.0f;
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g.stepAccumulator = 0.0f;
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break;
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}
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}
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while (g.stepAccumulator <= -1.0f) {
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if (g.currentPos == g.targetPos) {
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g.stepAccumulator = 0.0f;
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g.velocity = 0.0f;
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break;
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}
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doStep(id, -1, false);
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g.stepAccumulator += 1.0f;
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if (g.currentPos <= g.minPos) {
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g.currentPos = g.minPos;
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g.targetPos = g.minPos;
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g.velocity = 0.0f;
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g.stepAccumulator = 0.0f;
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break;
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}
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}
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}
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bool parseSet(const String& line) {
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int id;
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long pos;
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if (sscanf(line.c_str(), "SET %d %ld", &id, &pos) == 2) {
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if (id < 0 || id >= GAUGE_COUNT) {
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sendReply("ERR BAD_ID");
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return true;
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}
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Gauge& g = gauges[id];
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pos = constrain(pos, g.minPos, g.maxPos);
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g.targetPos = pos;
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g.sweepEnabled = false;
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sendReply("OK");
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return true;
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}
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return false;
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}
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bool parseSpeed(const String& line) {
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int firstSpace = line.indexOf(' ');
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int secondSpace = line.indexOf(' ', firstSpace + 1);
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if (firstSpace < 0 || secondSpace < 0) return false;
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if (line.substring(0, firstSpace) != "SPEED") return false;
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int id = line.substring(firstSpace + 1, secondSpace).toInt();
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float speed = line.substring(secondSpace + 1).toFloat();
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if (id < 0 || id >= GAUGE_COUNT) {
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sendReply("ERR BAD_ID");
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return true;
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}
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if (speed <= 0.0f) {
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sendReply("ERR BAD_SPEED");
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return true;
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}
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gauges[id].maxSpeed = speed;
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sendReply("OK");
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return true;
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}
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bool parseAccel(const String& line) {
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int firstSpace = line.indexOf(' ');
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int secondSpace = line.indexOf(' ', firstSpace + 1);
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if (firstSpace < 0 || secondSpace < 0) return false;
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if (line.substring(0, firstSpace) != "ACCEL") return false;
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int id = line.substring(firstSpace + 1, secondSpace).toInt();
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float accel = line.substring(secondSpace + 1).toFloat();
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if (id < 0 || id >= GAUGE_COUNT) {
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sendReply("ERR BAD_ID");
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return true;
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}
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if (accel <= 0.0f) {
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sendReply("ERR BAD_ACCEL");
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return true;
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}
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gauges[id].accel = accel;
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sendReply("OK");
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return true;
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}
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bool parseEnable(const String& line) {
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int id, en;
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if (sscanf(line.c_str(), "ENABLE %d %d", &id, &en) == 2) {
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if (id < 0 || id >= GAUGE_COUNT) {
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sendReply("ERR BAD_ID");
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return true;
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}
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setEnable(id, en != 0);
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sendReply("OK");
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return true;
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}
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return false;
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}
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bool parseZero(const String& line) {
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int id;
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if (sscanf(line.c_str(), "ZERO %d", &id) == 1) {
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if (id < 0 || id >= GAUGE_COUNT) {
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sendReply("ERR BAD_ID");
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return true;
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}
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Gauge& g = gauges[id];
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g.currentPos = 0;
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g.targetPos = 0;
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g.velocity = 0.0f;
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g.stepAccumulator = 0.0f;
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g.homed = true;
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g.sweepEnabled = false;
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sendReply("OK");
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return true;
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}
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return false;
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}
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bool parseHome(const String& line) {
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int id;
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if (sscanf(line.c_str(), "HOME %d", &id) == 1) {
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if (id < 0 || id >= GAUGE_COUNT) {
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sendReply("ERR BAD_ID");
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return true;
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}
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requestHome(id);
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sendReply("OK");
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return true;
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}
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if (line == "HOMEALL") {
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requestHomeAll();
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sendReply("OK");
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return true;
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}
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return false;
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}
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bool parseSweep(const String& line) {
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int firstSpace = line.indexOf(' ');
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int secondSpace = line.indexOf(' ', firstSpace + 1);
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int thirdSpace = line.indexOf(' ', secondSpace + 1);
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if (firstSpace < 0 || secondSpace < 0 || thirdSpace < 0) return false;
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if (line.substring(0, firstSpace) != "SWEEP") return false;
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int id = line.substring(firstSpace + 1, secondSpace).toInt();
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float accel = line.substring(secondSpace + 1, thirdSpace).toFloat();
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float speed = line.substring(thirdSpace + 1).toFloat();
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if (id < 0 || id >= GAUGE_COUNT) {
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sendReply("ERR BAD_ID");
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return true;
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}
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Gauge& g = gauges[id];
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if (accel <= 0.0f || speed <= 0.0f) {
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g.sweepEnabled = false;
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g.velocity = 0.0f;
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g.stepAccumulator = 0.0f;
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sendReply("OK");
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return true;
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}
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g.accel = accel;
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g.maxSpeed = speed;
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g.sweepEnabled = true;
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g.sweepTowardMax = true;
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g.targetPos = g.maxPos;
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sendReply("OK");
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return true;
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}
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bool parsePosQuery(const String& line) {
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if (line == "POS?") {
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for (uint8_t i = 0; i < GAUGE_COUNT; i++) {
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CMD_PORT.print("POS ");
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CMD_PORT.print(i);
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CMD_PORT.print(' ');
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CMD_PORT.print(gauges[i].currentPos);
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CMD_PORT.print(' ');
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CMD_PORT.print(gauges[i].targetPos);
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CMD_PORT.print(' ');
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CMD_PORT.print(gauges[i].homed ? 1 : 0);
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CMD_PORT.print(' ');
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CMD_PORT.print((int)gauges[i].homingState);
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CMD_PORT.print(' ');
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CMD_PORT.println(gauges[i].sweepEnabled ? 1 : 0);
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}
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sendReply("OK");
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return true;
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}
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return false;
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}
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bool parsePing(const String& line) {
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if (line == "PING") {
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sendReply("PONG");
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return true;
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}
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return false;
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}
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bool parseLedQuery(const String& line) {
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if (line == "LED?") {
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for (uint8_t i = 0; i < GAUGE_COUNT; i++) {
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for (uint8_t j = 0; j < gaugePins[i].ledCount; j++) {
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const CRGB& c = leds[gaugeLedOffset[i] + j];
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CMD_PORT.print("LED ");
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CMD_PORT.print(i);
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CMD_PORT.print(' ');
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CMD_PORT.print(j);
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CMD_PORT.print(' ');
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CMD_PORT.print(c.r);
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CMD_PORT.print(' ');
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CMD_PORT.print(c.g);
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CMD_PORT.print(' ');
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CMD_PORT.println(c.b);
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}
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}
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sendReply("OK");
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return true;
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}
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return false;
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}
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bool parseLed(const String& line) {
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int id, r, g, b;
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char idxToken[16];
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if (sscanf(line.c_str(), "LED %d %15s %d %d %d", &id, idxToken, &r, &g, &b) == 5) {
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if (id < 0 || id >= GAUGE_COUNT) { sendReply("ERR BAD_ID"); return true; }
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char* dash = strchr(idxToken, '-');
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int idxFirst = atoi(idxToken);
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int idxLast = dash ? atoi(dash + 1) : idxFirst;
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if (idxFirst < 0 || idxLast >= gaugePins[id].ledCount || idxFirst > idxLast) {
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sendReply("ERR BAD_IDX"); return true;
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}
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CRGB color(constrain(r, 0, 255), constrain(g, 0, 255), constrain(b, 0, 255));
|
|
for (int i = idxFirst; i <= idxLast; i++)
|
|
leds[gaugeLedOffset[id] + i] = color;
|
|
FastLED.show();
|
|
sendReply("OK");
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
void processLine(const String& line) {
|
|
if (parseSet(line)) return;
|
|
if (parseSpeed(line)) return;
|
|
if (parseAccel(line)) return;
|
|
if (parseEnable(line)) return;
|
|
if (parseZero(line)) return;
|
|
if (parseHome(line)) return;
|
|
if (parseSweep(line)) return;
|
|
if (parsePosQuery(line)) return;
|
|
if (parseLedQuery(line)) return;
|
|
if (parseLed(line)) return;
|
|
if (parsePing(line)) return;
|
|
|
|
sendReply("ERR BAD_CMD");
|
|
}
|
|
|
|
void readCommands() {
|
|
while (CMD_PORT.available()) {
|
|
char c = (char)CMD_PORT.read();
|
|
|
|
if (c == '\n') {
|
|
rxLine.trim();
|
|
if (rxLine.length() > 0) {
|
|
processLine(rxLine);
|
|
}
|
|
rxLine = "";
|
|
} else if (c != '\r') {
|
|
rxLine += c;
|
|
if (rxLine.length() > 120) {
|
|
rxLine = "";
|
|
sendReply("ERR TOO_LONG");
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void setup() {
|
|
DEBUG_PORT.begin(115200);
|
|
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);
|
|
|
|
digitalWrite(gaugePins[i].dirPin, LOW);
|
|
digitalWrite(gaugePins[i].stepPin, gaugePins[i].stepActiveHigh ? LOW : HIGH);
|
|
|
|
if (gaugePins[i].enablePin >= 0) {
|
|
pinMode(gaugePins[i].enablePin, OUTPUT);
|
|
setEnable(i, true);
|
|
}
|
|
|
|
gauges[i].lastUpdateMicros = micros();
|
|
}
|
|
|
|
// Compute per-gauge LED offsets and initialise the strip.
|
|
uint8_t ledOff = 0;
|
|
for (uint8_t i = 0; i < GAUGE_COUNT; i++) {
|
|
gaugeLedOffset[i] = ledOff;
|
|
ledOff += gaugePins[i].ledCount;
|
|
}
|
|
FastLED.addLeds<WS2812B, LED_DATA_PIN, GRB>(leds, TOTAL_LEDS);
|
|
FastLED.setBrightness(255);
|
|
FastLED.show();
|
|
|
|
requestHomeAll();
|
|
|
|
DEBUG_PORT.println("READY");
|
|
sendReply("READY");
|
|
}
|
|
|
|
void loop() {
|
|
readCommands();
|
|
|
|
for (uint8_t i = 0; i < GAUGE_COUNT; i++) {
|
|
updateGauge(i);
|
|
}
|
|
}
|