adebaumann/arduino_gauge_controller
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
Files
5f73e75f5bbdd9268b1eca7cc7ef0c37b30de22c
arduino_gauge_controller/Gaugecontroller_no_VFD/Gaugecontroller_no_VFD.ino

1269 lines
36 KiB
C++
Raw Blame History

#include <Arduino.h>
#include <avr/interrupt.h>
#include <math.h>
#include <stdlib.h>
#include <FastLED.h>
static const uint8_t GAUGE_COUNT = 4;
// Backlight/status LEDs use an addressable strip. Indicator LEDs are
// single-colour active-high outputs on per-gauge pins. The command protocol
// still exposes one logical LED segment per gauge.
static const uint8_t LED_DATA_PIN = 22;
static const uint8_t BREATHE_FRAME_MS = 16;
static const uint8_t LED_SHOW_MIN_INTERVAL_MS = 16;
static const uint8_t LED_SHOW_MOTION_INTERVAL_MS = 50;
static const uint8_t RX_LINE_MAX = 120;
static const uint16_t STEPPER_TIMER_HZ = 20000;
static const uint8_t STEPPER_TIMER_PRESCALER = 8;
static const uint32_t STEPPER_RATE_SCALE = 65536UL;
static const uint32_t LED_SHOW_FULL_RATE_LIMIT_Q16 = (500UL * STEPPER_RATE_SCALE) / STEPPER_TIMER_HZ;
static const uint32_t LED_SHOW_PAUSE_RATE_Q16 = (1500UL * STEPPER_RATE_SCALE) / STEPPER_TIMER_HZ;
// For now, command and debug traffic share the same serial port.
#define CMD_PORT Serial1
#define DEBUG_PORT Serial1
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;
const char* ledOrder; // one char per LED: 'G' = GRB, 'R' = RGB; length defines ledCount
int8_t indicatorRedPin; // logical LED index 3; -1 means not fitted
int8_t indicatorGreenPin; // logical LED index 4; -1 means not fitted
};
constexpr GaugePins gaugePins[GAUGE_COUNT] = {
// dir, step, en, dirInv, stepHigh, enActiveLow, ledOrder, indRed, indGreen
{48, 49, -1, false, true, true, "RRRGGRR", 2, 3}, // Gauge 0
{8, 9, -1, true, true, true, "GGGRRRR", 35, 36}, // Gauge 1
{52, 53, -1, false, true, true, "GGGRRRR", 37, 38}, // Gauge 2
{50, 51, -1, false, true, true, "GGGRRRR", 39, 40}, // Gauge 3
};
constexpr uint8_t cstrLen(const char* s) {
return *s ? uint8_t(1 + cstrLen(s + 1)) : uint8_t(0);
}
constexpr uint8_t sumLedCounts(uint8_t i = 0) {
return i >= GAUGE_COUNT ? 0 : cstrLen(gaugePins[i].ledOrder) + sumLedCounts(i + 1);
}
static const uint8_t TOTAL_LEDS = sumLedCounts();
constexpr bool isIndicatorLedIndex(uint8_t localIdx) {
return localIdx == 3 || localIdx == 4;
}
constexpr uint8_t countIndicatorLedsForGauge(uint8_t gaugeIdx) {
return (cstrLen(gaugePins[gaugeIdx].ledOrder) > 3 ? 1 : 0) +
(cstrLen(gaugePins[gaugeIdx].ledOrder) > 4 ? 1 : 0);
}
constexpr uint8_t sumIndicatorLedCounts(uint8_t i = 0) {
return i >= GAUGE_COUNT ? 0 : countIndicatorLedsForGauge(i) + sumIndicatorLedCounts(i + 1);
}
static const uint8_t TOTAL_INDICATOR_LEDS = sumIndicatorLedCounts();
static const uint8_t TOTAL_MAIN_LEDS = TOTAL_LEDS - TOTAL_INDICATOR_LEDS;
enum HomingState : uint8_t {
HS_IDLE,
HS_START,
HS_BACKING,
HS_SETTLE,
HS_DONE
};
struct Gauge {
long currentPos = 0;
long targetPos = 0;
long minPos = 0;
long maxPos = 3780;
long homingBackoffSteps = 3800; // Deliberately a touch past full reverse travel.
float velocity = 0.0f;
uint32_t maxSpeed = 4000;
uint32_t accel = 6000;
uint32_t homingSpeed = 500;
unsigned long lastUpdateMicros = 0;
bool enabled = true;
bool homed = false;
HomingState homingState = HS_IDLE;
long homingStepsRemaining = 0;
long homingStartPos = 0;
unsigned long homingStateStartMs = 0;
bool sweepEnabled = false;
bool sweepTowardMax = true;
};
struct StepperRuntime {
volatile uint8_t* stepPort = nullptr;
volatile uint8_t* dirPort = nullptr;
uint8_t stepMask = 0;
uint8_t dirMask = 0;
bool stepActiveHigh = true;
bool dirInverted = false;
volatile long currentPos = 0;
volatile long targetPos = 0;
volatile long minPos = 0;
volatile long maxPos = 3780;
volatile uint32_t rateQ16 = 0;
volatile uint32_t phaseQ16 = 0;
volatile int8_t dir = 0;
volatile bool enabled = true;
volatile bool allowPastMin = false;
volatile bool limitToTarget = true;
volatile bool pulseActive = false;
volatile bool dirKnown = false;
volatile bool dirForward = 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];
StepperRuntime steppers[GAUGE_COUNT];
char rxLine[RX_LINE_MAX + 1];
uint8_t rxLen = 0;
bool rxOverflowed = false;
CRGB logicalLeds[TOTAL_LEDS];
CRGB mainLeds[TOTAL_MAIN_LEDS];
CLEDController* mainLedController = nullptr;
uint8_t gaugeLedOffset[GAUGE_COUNT];
uint8_t gaugeLedCount[GAUGE_COUNT];
uint8_t gaugeMainLedOffset[GAUGE_COUNT];
uint8_t ledPhysicalIdx[TOTAL_LEDS];
uint8_t ledGaugeIdx[TOTAL_LEDS];
uint8_t ledLocalIdx[TOTAL_LEDS];
bool ledIsIndicator[TOTAL_LEDS];
bool ledRgSwap[TOTAL_LEDS];
BlinkState blinkState[TOTAL_LEDS];
bool mainLedsDirty = false;
unsigned long lastLedShowMs = 0;
// FastLED drives the shared strip as RGB. Each gauge's ledOrder string marks per-LED
// type ('R' = RGB, 'G' = GRB); writes to GRB-ordered LEDs pre-swap R and G to compensate.
inline bool ledNeedsRgSwap(uint8_t globalIdx) {
return ledRgSwap[globalIdx];
}
inline CRGB encodeForStrip(uint8_t globalIdx, CRGB color) {
if (ledNeedsRgSwap(globalIdx)) {
uint8_t tmp = color.r;
color.r = color.g;
color.g = tmp;
}
return color;
}
inline int8_t indicatorPinFor(uint8_t gaugeIdx, uint8_t localIdx) {
if (localIdx == 3) return gaugePins[gaugeIdx].indicatorRedPin;
if (localIdx == 4) return gaugePins[gaugeIdx].indicatorGreenPin;
return -1;
}
inline bool indicatorIsOn(uint8_t localIdx, CRGB color) {
if (localIdx == 3) return color.r >= 128;
if (localIdx == 4) return color.g >= 128;
return false;
}
inline void writeIndicatorLed(uint8_t globalIdx, CRGB color) {
uint8_t gaugeIdx = ledGaugeIdx[globalIdx];
uint8_t localIdx = ledLocalIdx[globalIdx];
int8_t pin = indicatorPinFor(gaugeIdx, localIdx);
if (pin >= 0) {
digitalWrite(pin, indicatorIsOn(localIdx, color) ? HIGH : LOW);
}
}
inline void writeLed(uint8_t globalIdx, CRGB color) {
logicalLeds[globalIdx] = color;
if (ledIsIndicator[globalIdx]) {
writeIndicatorLed(globalIdx, color);
} else {
mainLeds[ledPhysicalIdx[globalIdx]] = encodeForStrip(globalIdx, color);
mainLedsDirty = true;
}
}
inline CRGB readLed(uint8_t globalIdx) {
return logicalLeds[globalIdx];
}
uint32_t maxStepperRateQ16() {
uint32_t maxRate = 0;
uint8_t oldSreg = SREG;
cli();
for (uint8_t i = 0; i < GAUGE_COUNT; i++) {
uint32_t rate = steppers[i].rateQ16;
if (steppers[i].enabled && steppers[i].dir != 0 && rate > maxRate) {
maxRate = rate;
}
}
SREG = oldSreg;
return maxRate;
}
void showDirtyLeds() {
if (!mainLedsDirty) return;
uint32_t maxStepRate = maxStepperRateQ16();
if (maxStepRate >= LED_SHOW_PAUSE_RATE_Q16) return;
unsigned long nowMs = millis();
uint8_t intervalMs = (maxStepRate > LED_SHOW_FULL_RATE_LIMIT_Q16)
? LED_SHOW_MOTION_INTERVAL_MS
: LED_SHOW_MIN_INTERVAL_MS;
if (nowMs - lastLedShowMs < intervalMs) return;
if (mainLedsDirty && mainLedController != nullptr) {
mainLedController->showLeds(255);
mainLedsDirty = false;
} else {
return;
}
lastLedShowMs = nowMs;
}
// 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> <ig> <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 char* s) {
CMD_PORT.println(s);
}
void sendReply(const __FlashStringHelper* s) {
CMD_PORT.println(s);
}
char* trimLine(char* s) {
while (*s == ' ' || *s == '\t') s++;
char* end = s + strlen(s);
while (end > s && (end[-1] == ' ' || end[-1] == '\t')) {
*--end = '\0';
}
return s;
}
inline void skipSpaces(const char*& s) {
while (*s == ' ' || *s == '\t') s++;
}
bool commandArgs(const char* line, const char* command, const char*& args) {
size_t len = strlen(command);
if (strncmp(line, command, len) != 0) return false;
if (line[len] != ' ' && line[len] != '\t') return false;
args = line + len;
skipSpaces(args);
return true;
}
bool parseIntegerToken(const char*& s, long& value) {
bool negative = false;
bool sawDigit = false;
long parsed = 0;
if (*s == '+' || *s == '-') {
negative = (*s == '-');
s++;
}
while (*s >= '0' && *s <= '9') {
sawDigit = true;
parsed = parsed * 10 + (*s - '0');
s++;
}
if (*s == '.' || *s == ',') {
s++;
while (*s >= '0' && *s <= '9') {
s++;
}
}
if (!sawDigit) return false;
value = negative ? -parsed : parsed;
skipSpaces(s);
return true;
}
// Tiny float absolute-value helper to avoid dragging more machinery into the sketch.
float absf(float x) {
return (x < 0.0f) ? -x : x;
}
static inline void writeFastPin(volatile uint8_t* port, uint8_t mask, bool high) {
if (high) {
*port |= mask;
} else {
*port &= (uint8_t)~mask;
}
}
static inline void writeStepperOutput(uint8_t id, bool active) {
StepperRuntime& s = steppers[id];
writeFastPin(s.stepPort, s.stepMask, active == s.stepActiveHigh);
}
static inline void writeStepperDir(uint8_t id, bool forward) {
StepperRuntime& s = steppers[id];
writeFastPin(s.dirPort, s.dirMask, forward != s.dirInverted);
s.dirKnown = true;
s.dirForward = forward;
}
uint32_t velocityToRateQ16(float velocity) {
float speed = absf(velocity);
if (speed < 0.5f) return 0;
return (uint32_t)(speed * ((float)STEPPER_RATE_SCALE / (float)STEPPER_TIMER_HZ));
}
void initStepperRuntime(uint8_t id) {
StepperRuntime& s = steppers[id];
s.stepPort = portOutputRegister(digitalPinToPort(gaugePins[id].stepPin));
s.dirPort = portOutputRegister(digitalPinToPort(gaugePins[id].dirPin));
s.stepMask = digitalPinToBitMask(gaugePins[id].stepPin);
s.dirMask = digitalPinToBitMask(gaugePins[id].dirPin);
s.stepActiveHigh = gaugePins[id].stepActiveHigh;
s.dirInverted = gaugePins[id].dirInverted;
s.currentPos = gauges[id].currentPos;
s.targetPos = gauges[id].targetPos;
s.minPos = gauges[id].minPos;
s.maxPos = gauges[id].maxPos;
s.enabled = gauges[id].enabled;
writeStepperOutput(id, false);
}
long readStepperCurrent(uint8_t id) {
uint8_t oldSreg = SREG;
cli();
long pos = steppers[id].currentPos;
SREG = oldSreg;
return pos;
}
void setStepperCurrent(uint8_t id, long pos) {
uint8_t oldSreg = SREG;
cli();
steppers[id].currentPos = pos;
steppers[id].phaseQ16 = 0;
SREG = oldSreg;
}
void setStepperTarget(uint8_t id, long target) {
uint8_t oldSreg = SREG;
cli();
steppers[id].targetPos = target;
SREG = oldSreg;
}
void setStepperEnabled(uint8_t id, bool enabled) {
uint8_t oldSreg = SREG;
cli();
StepperRuntime& s = steppers[id];
s.enabled = enabled;
if (!enabled) {
s.rateQ16 = 0;
s.phaseQ16 = 0;
}
SREG = oldSreg;
}
void setStepperLimits(uint8_t id, long minPos, long maxPos) {
uint8_t oldSreg = SREG;
cli();
steppers[id].minPos = minPos;
steppers[id].maxPos = maxPos;
SREG = oldSreg;
}
void setStepperCommand(uint8_t id, float velocity, bool allowPastMin, bool limitToTarget) {
int8_t dir = (velocity > 0.5f) ? 1 : (velocity < -0.5f ? -1 : 0);
uint32_t rateQ16 = dir == 0 ? 0 : velocityToRateQ16(velocity);
uint8_t oldSreg = SREG;
cli();
StepperRuntime& s = steppers[id];
if (s.dir != dir) s.phaseQ16 = 0;
s.dir = dir;
s.rateQ16 = rateQ16;
s.allowPastMin = allowPastMin;
s.limitToTarget = limitToTarget;
if (rateQ16 == 0) s.phaseQ16 = 0;
SREG = oldSreg;
}
void setupStepperTimer() {
uint8_t oldSreg = SREG;
cli();
TCCR1A = 0;
TCCR1B = 0;
TCNT1 = 0;
OCR1A = (uint16_t)((F_CPU / STEPPER_TIMER_PRESCALER / STEPPER_TIMER_HZ) - 1);
TCCR1B |= _BV(WGM12);
TCCR1B |= _BV(CS11); // prescaler 8 on ATmega2560
TIMSK1 |= _BV(OCIE1A);
SREG = oldSreg;
}
ISR(TIMER1_COMPA_vect) {
for (uint8_t i = 0; i < GAUGE_COUNT; i++) {
StepperRuntime& s = steppers[i];
bool pulseJustEnded = false;
if (s.pulseActive) {
writeStepperOutput(i, false);
s.pulseActive = false;
pulseJustEnded = true;
}
if (!s.enabled || s.rateQ16 == 0 || s.dir == 0) continue;
bool forward = s.dir > 0;
if (!s.dirKnown || s.dirForward != forward) {
writeStepperDir(i, forward);
continue;
}
s.phaseQ16 += s.rateQ16;
if (s.phaseQ16 < STEPPER_RATE_SCALE) continue;
if (pulseJustEnded) continue;
s.phaseQ16 -= STEPPER_RATE_SCALE;
if (forward) {
if (s.currentPos >= s.maxPos || (s.limitToTarget && s.currentPos >= s.targetPos)) {
s.rateQ16 = 0;
s.phaseQ16 = 0;
continue;
}
writeStepperOutput(i, true);
s.currentPos++;
} else {
if ((!s.allowPastMin && s.currentPos <= s.minPos) ||
(s.limitToTarget && s.currentPos <= s.targetPos)) {
s.rateQ16 = 0;
s.phaseQ16 = 0;
continue;
}
writeStepperOutput(i, true);
s.currentPos--;
}
s.pulseActive = true;
}
}
// 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;
setStepperEnabled(id, en);
int8_t pin = gaugePins[id].enablePin;
if (pin < 0) return;
bool level = gaugePins[id].enableActiveLow ? !en : en;
digitalWrite(pin, level ? HIGH : LOW);
}
// 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];
setStepperCommand(id, 0.0f, false, true);
g.homingState = HS_START;
g.homed = false;
g.velocity = 0.0f;
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, unsigned long nowUs, unsigned long nowMs) {
Gauge& g = gauges[id];
switch (g.homingState) {
case HS_IDLE:
return;
case HS_START:
// No endstop here; homing just walks back far enough to hit the hard stop.
g.velocity = 0.0f;
g.homingStepsRemaining = g.homingBackoffSteps;
g.homingStartPos = readStepperCurrent(id);
setStepperCommand(id, -(float)g.homingSpeed, true, false);
g.homingState = HS_BACKING;
break;
case HS_BACKING: {
g.currentPos = readStepperCurrent(id);
long stepsDone = g.homingStartPos - g.currentPos;
g.homingStepsRemaining = g.homingBackoffSteps - stepsDone;
if (stepsDone >= g.homingBackoffSteps) {
setStepperCommand(id, 0.0f, false, true);
g.homingState = HS_SETTLE;
g.homingStateStartMs = nowMs;
}
break;
}
case HS_SETTLE:
if (nowMs - g.homingStateStartMs >= 100) {
g.currentPos = 0;
g.targetPos = 0;
g.velocity = 0.0f;
setStepperCurrent(id, 0);
setStepperTarget(id, 0);
g.homed = true;
g.homingState = HS_DONE;
DEBUG_PORT.print(F("HOMED "));
DEBUG_PORT.println(id);
}
break;
case HS_DONE:
g.homingState = HS_IDLE;
break;
}
}
// 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;
if (g.sweepTowardMax) {
g.targetPos = g.maxPos;
if (g.currentPos >= g.maxPos && absf(g.velocity) < 1.0f) {
g.sweepTowardMax = false;
g.targetPos = g.minPos;
}
} else {
g.targetPos = g.minPos;
if (g.currentPos <= g.minPos && absf(g.velocity) < 1.0f) {
g.sweepTowardMax = true;
g.targetPos = g.maxPos;
}
}
}
// Runs one gauge worth of motion control, including homing and optional sweeping.
void updateGauge(uint8_t id, unsigned long nowUs, unsigned long nowMs) {
Gauge& g = gauges[id];
if (g.homingState != HS_IDLE) {
updateHoming(id, nowUs, nowMs);
return;
}
g.currentPos = readStepperCurrent(id);
if (!g.homed) {
setStepperCommand(id, 0.0f, false, true);
return;
}
if (g.sweepEnabled) {
updateSweepTarget(id);
}
setStepperTarget(id, g.targetPos);
if (g.lastUpdateMicros == 0) {
g.lastUpdateMicros = nowUs;
return;
}
float dt = (nowUs - g.lastUpdateMicros) / 1000000.0f;
g.lastUpdateMicros = nowUs;
if (dt <= 0.0f || dt > 0.1f) return;
long error = g.targetPos - g.currentPos;
if (error == 0 && absf(g.velocity) < 0.01f) {
g.velocity = 0.0f;
setStepperCommand(id, 0.0f, false, true);
return;
}
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 accel = (float)g.accel;
float maxSpeed = (float)g.maxSpeed;
float brakingDistance = (g.velocity * g.velocity) / (2.0f * accel + 0.0001f);
if ((float)labs(error) <= brakingDistance) {
if (g.velocity > 0.0f) {
g.velocity -= accel * dt;
if (g.velocity < 0.0f) g.velocity = 0.0f;
} else if (g.velocity < 0.0f) {
g.velocity += accel * dt;
if (g.velocity > 0.0f) g.velocity = 0.0f;
}
} else {
g.velocity += dir * accel * dt;
if (g.velocity > maxSpeed) g.velocity = maxSpeed;
if (g.velocity < -maxSpeed) g.velocity = -maxSpeed;
}
if (absf(g.velocity) < 0.01f && error != 0) {
g.velocity = dir * 5.0f;
}
setStepperCommand(id, g.velocity, false, true);
}
// Parses `SET <id> <pos>` and updates the target position.
// Replies: `OK`, `ERR BAD_ID`.
bool parseSet(const char* line) {
const char* args = nullptr;
long id;
long pos;
if (!commandArgs(line, "SET", args)) return false;
if (!parseIntegerToken(args, id) || !parseIntegerToken(args, pos)) return false;
if (id < 0 || id >= GAUGE_COUNT) {
sendReply(F("ERR BAD_ID"));
return true;
}
Gauge& g = gauges[(uint8_t)id];
pos = constrain(pos, g.minPos, g.maxPos);
g.targetPos = pos;
setStepperTarget((uint8_t)id, pos);
g.sweepEnabled = false;
sendReply(F("OK"));
return true;
}
// Parses `SPEED <id> <speed>` and updates the max step rate.
// Replies: `OK`, `ERR BAD_ID`, `ERR BAD_SPEED`.
bool parseSpeed(const char* line) {
const char* args = nullptr;
long id;
long speed;
if (!commandArgs(line, "SPEED", args)) return false;
if (!parseIntegerToken(args, id) || !parseIntegerToken(args, speed)) return false;
if (id < 0 || id >= GAUGE_COUNT) {
sendReply(F("ERR BAD_ID"));
return true;
}
if (speed <= 0) {
sendReply(F("ERR BAD_SPEED"));
return true;
}
gauges[(uint8_t)id].maxSpeed = (uint32_t)speed;
sendReply(F("OK"));
return true;
}
// Parses `ACCEL <id> <accel>` and updates the acceleration limit.
// Replies: `OK`, `ERR BAD_ID`, `ERR BAD_ACCEL`.
bool parseAccel(const char* line) {
const char* args = nullptr;
long id;
long accel;
if (!commandArgs(line, "ACCEL", args)) return false;
if (!parseIntegerToken(args, id) || !parseIntegerToken(args, accel)) return false;
if (id < 0 || id >= GAUGE_COUNT) {
sendReply(F("ERR BAD_ID"));
return true;
}
if (accel <= 0) {
sendReply(F("ERR BAD_ACCEL"));
return true;
}
gauges[(uint8_t)id].accel = (uint32_t)accel;
sendReply(F("OK"));
return true;
}
// Parses `ENABLE <id> <0|1>` and toggles the selected driver.
// Replies: `OK`, `ERR BAD_ID`.
bool parseEnable(const char* line) {
int id, en;
if (sscanf(line, "ENABLE %d %d", &id, &en) == 2) {
if (id < 0 || id >= GAUGE_COUNT) {
sendReply(F("ERR BAD_ID"));
return true;
}
setEnable(id, en != 0);
sendReply(F("OK"));
return true;
}
return false;
}
// Parses `ZERO <id>` and declares the current position to be home.
// Replies: `OK`, `ERR BAD_ID`.
bool parseZero(const char* line) {
int id;
if (sscanf(line, "ZERO %d", &id) == 1) {
if (id < 0 || id >= GAUGE_COUNT) {
sendReply(F("ERR BAD_ID"));
return true;
}
Gauge& g = gauges[id];
g.currentPos = 0;
g.targetPos = 0;
g.velocity = 0.0f;
setStepperCommand((uint8_t)id, 0.0f, false, true);
setStepperCurrent((uint8_t)id, 0);
setStepperTarget((uint8_t)id, 0);
g.homed = true;
g.sweepEnabled = false;
sendReply(F("OK"));
return true;
}
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 char* line) {
int id;
if (sscanf(line, "HOME %d", &id) == 1) {
if (id < 0 || id >= GAUGE_COUNT) {
sendReply(F("ERR BAD_ID"));
return true;
}
requestHome(id);
sendReply(F("OK"));
return true;
}
if (strcmp(line, "HOMEALL") == 0) {
requestHomeAll();
sendReply(F("OK"));
return true;
}
return false;
}
// Parses `SWEEP <id> <accel> <speed>` and enables or disables end-to-end motion.
// Replies: `OK`, `ERR BAD_ID`.
bool parseSweep(const char* line) {
const char* args = nullptr;
long id;
long accel;
long speed;
if (!commandArgs(line, "SWEEP", args)) return false;
if (!parseIntegerToken(args, id) ||
!parseIntegerToken(args, accel) ||
!parseIntegerToken(args, speed)) {
return false;
}
if (id < 0 || id >= GAUGE_COUNT) {
sendReply(F("ERR BAD_ID"));
return true;
}
Gauge& g = gauges[(uint8_t)id];
if (accel <= 0 || speed <= 0) {
g.sweepEnabled = false;
g.velocity = 0.0f;
setStepperCommand((uint8_t)id, 0.0f, false, true);
sendReply(F("OK"));
return true;
}
g.accel = (uint32_t)accel;
g.maxSpeed = (uint32_t)speed;
g.sweepEnabled = true;
g.sweepTowardMax = true;
g.targetPos = g.maxPos;
setStepperTarget((uint8_t)id, g.targetPos);
sendReply(F("OK"));
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 char* line) {
if (strcmp(line, "POS?") == 0) {
for (uint8_t i = 0; i < GAUGE_COUNT; i++) {
gauges[i].currentPos = readStepperCurrent(i);
CMD_PORT.print(F("POS "));
CMD_PORT.print(i);
CMD_PORT.print(' ');
CMD_PORT.print(gauges[i].currentPos);
CMD_PORT.print(' ');
CMD_PORT.print(gauges[i].targetPos);
CMD_PORT.print(' ');
CMD_PORT.print(gauges[i].homed ? 1 : 0);
CMD_PORT.print(' ');
CMD_PORT.print((int)gauges[i].homingState);
CMD_PORT.print(' ');
CMD_PORT.println(gauges[i].sweepEnabled ? 1 : 0);
}
sendReply(F("OK"));
return true;
}
return false;
}
// Answers `CFG?` with speed and acceleration for every gauge.
// Emits one `CFG <id> <maxSpeed> <accel>` line per gauge, then replies `OK`.
bool parseCfgQuery(const char* line) {
if (strcmp(line, "CFG?") == 0) {
for (uint8_t i = 0; i < GAUGE_COUNT; i++) {
CMD_PORT.print(F("CFG "));
CMD_PORT.print(i);
CMD_PORT.print(' ');
CMD_PORT.print(gauges[i].maxSpeed);
CMD_PORT.print(' ');
CMD_PORT.println(gauges[i].accel);
}
sendReply(F("OK"));
return true;
}
return false;
}
// Answers the mandatory life question: are you there?
// Reply: `PONG`.
bool parsePing(const char* line) {
if (strcmp(line, "PING") == 0) {
sendReply(F("PONG"));
return true;
}
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 char* line) {
if (strcmp(line, "LED?") == 0) {
for (uint8_t i = 0; i < GAUGE_COUNT; i++) {
for (uint8_t j = 0; j < gaugeLedCount[i]; j++) {
CRGB c = readLed(gaugeLedOffset[i] + j);
CMD_PORT.print(F("LED "));
CMD_PORT.print(i);
CMD_PORT.print(' ');
CMD_PORT.print(j);
CMD_PORT.print(' ');
CMD_PORT.print(c.r);
CMD_PORT.print(' ');
CMD_PORT.print(c.g);
CMD_PORT.print(' ');
CMD_PORT.println(c.b);
}
}
sendReply(F("OK"));
return true;
}
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 char* line) {
int id, r, g, b;
char idxToken[16];
if (sscanf(line, "LED %d %15s %d %d %d", &id, idxToken, &r, &g, &b) == 5) {
if (id < 0 || id >= GAUGE_COUNT) { sendReply(F("ERR BAD_ID")); return true; }
char* dash = strchr(idxToken, '-');
int idxFirst = atoi(idxToken);
int idxLast = dash ? atoi(dash + 1) : idxFirst;
if (idxFirst < 0 || idxLast >= gaugeLedCount[id] || idxFirst > idxLast) {
sendReply(F("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++) {
blinkState[gaugeLedOffset[id] + i].active = false;
writeLed(gaugeLedOffset[id] + i, color);
}
sendReply(F("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 char* 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, "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(F("ERR BAD_ID")); return true; }
char* dash = strchr(idxToken, '-');
int idxFirst = atoi(idxToken);
int idxLast = dash ? atoi(dash + 1) : idxFirst;
if (idxFirst < 0 || idxLast >= gaugeLedCount[id] || idxFirst > idxLast) {
sendReply(F("ERR BAD_IDX")); return true;
}
if (onMs == 0 && offMs == 0) {
for (int i = idxFirst; i <= idxLast; i++)
blinkState[gaugeLedOffset[id] + i].active = false;
sendReply(F("OK"));
return true;
}
if (onMs <= 0 || offMs <= 0) { sendReply(F("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 : readLed(globalIdx);
bs.onMs = (uint16_t)onMs;
bs.offMs = (uint16_t)offMs;
bs.currentlyOn = true;
bs.lastMs = nowMs;
bs.active = true;
writeLed(globalIdx, bs.onColor);
}
sendReply(F("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 char* line) {
int id, periodMs, r, g, b;
char idxToken[16];
if (sscanf(line, "BREATHE %d %15s %d %d %d %d",
&id, idxToken, &periodMs, &r, &g, &b) != 6) return false;
if (id < 0 || id >= GAUGE_COUNT) { sendReply(F("ERR BAD_ID")); return true; }
char* dash = strchr(idxToken, '-');
int idxFirst = atoi(idxToken);
int idxLast = dash ? atoi(dash + 1) : idxFirst;
if (idxFirst < 0 || idxLast >= gaugeLedCount[id] || idxFirst > idxLast) {
sendReply(F("ERR BAD_IDX")); return true;
}
if (periodMs <= 0) { sendReply(F("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;
writeLed(gi, CRGB::Black);
}
sendReply(F("OK"));
return true;
}
// Parses `DFLASH ...` and assigns the double-flash pattern.
// Replies: `OK`, `ERR BAD_ID`, `ERR BAD_IDX`.
bool parseDflash(const char* line) {
int id, r, g, b;
char idxToken[16];
if (sscanf(line, "DFLASH %d %15s %d %d %d",
&id, idxToken, &r, &g, &b) != 5) return false;
if (id < 0 || id >= GAUGE_COUNT) { sendReply(F("ERR BAD_ID")); return true; }
char* dash = strchr(idxToken, '-');
int idxFirst = atoi(idxToken);
int idxLast = dash ? atoi(dash + 1) : idxFirst;
if (idxFirst < 0 || idxLast >= gaugeLedCount[id] || idxFirst > idxLast) {
sendReply(F("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;
writeLed(gi, color); // phase 0 = on
}
sendReply(F("OK"));
return true;
}
// Advances all active LED effects. writeLed() marks the affected physical strip dirty.
void updateBlink() {
unsigned long nowMs = millis();
for (uint8_t i = 0; i < GAUGE_COUNT; i++) {
for (uint8_t j = 0; j < gaugeLedCount[i]; 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;
writeLed(gi, bs.currentlyOn ? bs.onColor : CRGB::Black);
}
break;
}
case FX_BREATHE: {
unsigned long dt = nowMs - bs.lastMs;
if (dt < BREATHE_FRAME_MS) break;
uint32_t newPos = (uint32_t)bs.cyclePos + dt;
bs.cyclePos = (uint16_t)(newPos % bs.periodMs);
bs.lastMs = nowMs;
// Triangle wave brightness; frame-limited so breathe remains smooth
// without refreshing the LED strips on every service-loop pass.
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);
CRGB scaled = bs.onColor;
scaled.nscale8(bri ? bri : 1);
writeLed(gi, scaled);
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;
writeLed(gi, (bs.dphase == 0 || bs.dphase == 2) ? bs.onColor : CRGB::Black);
}
break;
}
}
}
}
}
// Runs the command parsers in order until one claims the line.
// Reply: `ERR BAD_CMD` when no parser accepts the line.
void processLine(const char* 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 (parseCfgQuery(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(F("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();
if (c == '\n') {
if (rxOverflowed) {
rxOverflowed = false;
rxLen = 0;
continue;
}
rxLine[rxLen] = '\0';
char* line = trimLine(rxLine);
if (*line != '\0') {
processLine(line);
}
rxLen = 0;
} else if (c != '\r' && !rxOverflowed) {
if (rxLen < RX_LINE_MAX) {
rxLine[rxLen++] = c;
} else {
rxLen = 0;
rxOverflowed = true;
sendReply(F("ERR TOO_LONG"));
}
}
}
}
// 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(SERIAL_BAUD);
DEBUG_PORT.println(F("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);
}
if (gaugePins[i].indicatorRedPin >= 0) {
pinMode(gaugePins[i].indicatorRedPin, OUTPUT);
digitalWrite(gaugePins[i].indicatorRedPin, LOW);
}
if (gaugePins[i].indicatorGreenPin >= 0) {
pinMode(gaugePins[i].indicatorGreenPin, OUTPUT);
digitalWrite(gaugePins[i].indicatorGreenPin, LOW);
}
initStepperRuntime(i);
setStepperLimits(i, gauges[i].minPos, gauges[i].maxPos);
gauges[i].lastUpdateMicros = micros();
}
// Flatten the per-gauge LED counts into logical offsets and physical
// offsets for the addressable main strip.
uint8_t ledOff = 0;
uint8_t mainLedOff = 0;
for (uint8_t i = 0; i < GAUGE_COUNT; i++) {
gaugeLedCount[i] = cstrLen(gaugePins[i].ledOrder);
gaugeLedOffset[i] = ledOff;
gaugeMainLedOffset[i] = mainLedOff;
for (uint8_t localIdx = 0; localIdx < gaugeLedCount[i]; localIdx++) {
uint8_t globalIdx = ledOff + localIdx;
bool indicator = isIndicatorLedIndex(localIdx);
ledGaugeIdx[globalIdx] = i;
ledLocalIdx[globalIdx] = localIdx;
ledIsIndicator[globalIdx] = indicator;
ledRgSwap[globalIdx] = gaugePins[i].ledOrder[localIdx] == 'G' ||
gaugePins[i].ledOrder[localIdx] == 'g';
ledPhysicalIdx[globalIdx] = indicator
? 0
: mainLedOff + localIdx - (localIdx > 4 ? 2 : 0);
}
ledOff += gaugeLedCount[i];
mainLedOff += gaugeLedCount[i] - countIndicatorLedsForGauge(i);
}
mainLedController = &FastLED.addLeds<WS2812, LED_DATA_PIN, RGB>(mainLeds, TOTAL_MAIN_LEDS);
FastLED.setBrightness(255);
mainLedController->showLeds(255);
setupStepperTimer();
requestHomeAll();
DEBUG_PORT.println(F("READY"));
// Boot-complete handshake for the command channel.
sendReply(F("READY"));
}
// Main service loop: ingest commands, advance effects, move gauges, flush LEDs.
void loop() {
readCommands();
updateBlink();
unsigned long nowUs = micros();
unsigned long nowMs = millis();
for (uint8_t i = 0; i < GAUGE_COUNT; i++) {
updateGauge(i, nowUs, nowMs);
}
showDirtyLeds();
}
Reference in New Issue View Git Blame Copy Permalink