RAM optimization

2025-12-05 10:37:38 +01:00
parent 71cd463b04
commit c889eec818
4 changed files with 121 additions and 140 deletions
--- a/platformio.ini
+++ b/platformio.ini
@@ -8,16 +8,44 @@
 ; Please visit documentation for the other options and examples
 ; https://docs.platformio.org/page/projectconf.html

-[env:nanoatmega328new]
-platform = atmelavr
-board = nanoatmega328new
-framework = arduino
+[platformio]
+default_envs = nanoatmega328new
+
+; custom common options
+[common]
+build_flags =
+    -D VERSION=1.2.3
+    -D DEBUG=1
+
+lib_deps_external =

 [env:megaatmega2560]
 platform = atmelavr
 board = megaatmega2560
 framework = arduino

+; Build options
+build_flags =
+    ${common.build_flags}
+    -D DISPLAY_ENABLE
+
+; Library options
+lib_deps =
+    ${common.lib_deps_external}
+    adafruit/Adafruit SSD1306 @ ^2.5.13
+
+[env:nanoatmega328new]
+platform = atmelavr
+board = nanoatmega328new
+framework = arduino
+
+; Build options
+build_flags =
+    ${common.build_flags}
+
+; Library options
+lib_deps =
+    ${common.lib_deps_external}

 ;upload_protocol = custom
 ;upload_flags =
@@ -29,8 +57,5 @@ framework = arduino
 ;    -c
 ;    jtag3isp
 ;upload_command = avrdude $UPLOAD_FLAGS -U flash:w:$SOURCE:i
-
 ;extra_scripts = fuses.py

-lib_deps =
-    adafruit/Adafruit SSD1306 @ ^2.5.13
--- a/src/PedalController.cpp
+++ b/src/PedalController.cpp
@@ -1,7 +1,7 @@
 // PedalController.cpp
 #include "PedalController.h"

-// sinnvolle Defaults grob um deinen Bereich
+// sinnvolle Defaults grob um den real genutzen Bereich
 // nicht gedrückt ~425, gedrückt ~227
 static const PedalConfig defaultConfig = {
    .minRaw = 230, // grob gedrückt
@@ -159,7 +159,7 @@ CalibrationState PedalController::autoCalibrate(bool reset)
        step3NearReleased = false;
        step4NearPressed = false;

-        Serial.println("CAL: Step 1 - Pedal NICHT drücken (voll loslassen und still halten).");
+        Serial.println(F("CAL: Step 1 - Pedal NICHT drücken (voll loslassen und still halten)."));
        return calState;
    }

@@ -194,7 +194,7 @@ CalibrationState PedalController::autoCalibrate(bool reset)
            int16_t noise = maxSeen - minSeen;
            if (noise > NOISE_TOLERANCE)
            {
-                Serial.print("CAL: FEHLER - zu viel Rauschen im losgelassenen Zustand (noise=");
+                Serial.print(F("CAL: FEHLER - zu viel Rauschen im losgelassenen Zustand (noise="));
                Serial.print(noise);
                Serial.println(").");
                calState = ERROR;
@@ -211,9 +211,9 @@ CalibrationState PedalController::autoCalibrate(bool reset)
            step2MovedEnough = false;

            calStep = 2;
-            Serial.print("CAL: Step 1 OK. firstReleased=");
+            Serial.print(F("CAL: Step 1 OK. firstReleased="));
            Serial.println(firstReleased);
-            Serial.println("CAL: Step 2 - Pedal JETZT GANZ DURCHDRÜCKEN und halten.");
+            Serial.println(F("CAL: Step 2 - Pedal JETZT GANZ DURCHDRÜCKEN und halten."));
        }

        calState = RUNNING;
@@ -230,7 +230,7 @@ CalibrationState PedalController::autoCalibrate(bool reset)
                step2MovedEnough = true;
                lastSample = raw;
                lastChangeTime = now;
-                Serial.println("CAL: Step 2 - Bewegung erkannt, warte auf stabil gedrückt.");
+                Serial.println(F("CAL: Step 2 - Bewegung erkannt, warte auf stabil gedrückt."));
            }
        }
        else
@@ -253,9 +253,9 @@ CalibrationState PedalController::autoCalibrate(bool reset)
                calStep = 3;
                step3NearReleased = false;

-                Serial.print("CAL: Step 2 OK. firstPressed=");
+                Serial.print(F("CAL: Step 2 OK. firstPressed="));
                Serial.println(firstPressed);
-                Serial.println("CAL: Step 3 - Pedal wieder LOSLASSEN und still halten.");
+                Serial.println(F("CAL: Step 3 - Pedal wieder LOSLASSEN und still halten."));
            }
        }

@@ -273,7 +273,7 @@ CalibrationState PedalController::autoCalibrate(bool reset)
                step3NearReleased = true;
                lastSample = raw;
                lastChangeTime = now;
-                Serial.println("CAL: Step 3 - in Nähe von losgelassen, warte auf stabile Position.");
+                Serial.println(F("CAL: Step 3 - in Nähe von losgelassen, warte auf stabile Position."));
            }
        }
        else
@@ -291,7 +291,7 @@ CalibrationState PedalController::autoCalibrate(bool reset)

                if (abs(secondReleased - firstReleased) > NEAR_TOLERANCE)
                {
-                    Serial.println("CAL: FEHLER - losgelassene Position inkonsistent zwischen erstem und zweitem Mal.");
+                    Serial.println(F("CAL: FEHLER - losgelassene Position inkonsistent zwischen erstem und zweitem Mal."));
                    calState = ERROR;
                    calStep = 0;
                    break;
@@ -302,9 +302,9 @@ CalibrationState PedalController::autoCalibrate(bool reset)
                step4NearPressed = false;

                calStep = 4;
-                Serial.print("CAL: Step 3 OK. secondReleased=");
+                Serial.print(F("CAL: Step 3 OK. secondReleased="));
                Serial.println(secondReleased);
-                Serial.println("CAL: Step 4 - Pedal erneut GANZ DURCHDRÜCKEN und halten.");
+                Serial.println(F("CAL: Step 4 - Pedal erneut GANZ DURCHDRÜCKEN und halten."));
            }
        }

@@ -322,7 +322,7 @@ CalibrationState PedalController::autoCalibrate(bool reset)
                step4NearPressed = true;
                lastSample = raw;
                lastChangeTime = now;
-                Serial.println("CAL: Step 4 - in Nähe von voll gedrückt, warte auf stabile Position.");
+                Serial.println(F("CAL: Step 4 - in Nähe von voll gedrückt, warte auf stabile Position."));
            }
        }
        else
@@ -340,7 +340,7 @@ CalibrationState PedalController::autoCalibrate(bool reset)

                if (abs(secondPressed - firstPressed) > NEAR_TOLERANCE)
                {
-                    Serial.println("CAL: FEHLER - gedrückte Position inkonsistent zwischen erstem und zweitem Mal.");
+                    Serial.println(F("CAL: FEHLER - gedrückte Position inkonsistent zwischen erstem und zweitem Mal."));
                    calState = ERROR;
                    calStep = 0;
                    break;
@@ -350,9 +350,9 @@ CalibrationState PedalController::autoCalibrate(bool reset)
                lastChangeTime = now;

                calStep = 5;
-                Serial.print("CAL: Step 4 OK. secondPressed=");
+                Serial.print(F("CAL: Step 4 OK. secondPressed="));
                Serial.println(secondPressed);
-                Serial.println("CAL: Step 5 - Pedal LOSLASSEN und still halten (Finalisierung).");
+                Serial.println(F("CAL: Step 5 - Pedal LOSLASSEN und still halten (Finalisierung)."));
            }
        }

@@ -399,7 +399,7 @@ CalibrationState PedalController::autoCalibrate(bool reset)

            if (high - low < MIN_RANGE)
            {
-                Serial.println("CAL: FEHLER - Gesamtspanne zu klein. Pedalweg reicht nicht aus.");
+                Serial.println(F("CAL: FEHLER - Gesamtspanne zu klein. Pedalweg reicht nicht aus."));
                config.calibrated = false;
                calState = ERROR;
                calStep = 0;
@@ -412,7 +412,7 @@ CalibrationState PedalController::autoCalibrate(bool reset)

            if (high <= low)
            {
-                Serial.println("CAL: FEHLER - Sicherheitsmargen zerstören die Spannweite.");
+                Serial.println(F("CAL: FEHLER - Sicherheitsmargen zerstören die Spannweite."));
                config.calibrated = false;
                calState = ERROR;
                calStep = 0;
@@ -436,7 +436,7 @@ CalibrationState PedalController::autoCalibrate(bool reset)
    }

    default:
-        Serial.println("CAL: INTERNAL ERROR - unerwarteter Step.");
+        Serial.println(F("CAL: INTERNAL ERROR - unerwarteter Step."));
        calState = ERROR;
        calStep = 0;
        break;
@@ -483,6 +483,11 @@ void PedalController::maintain()

    if (signals_.calibrated)
        *signals_.calibrated = config.calibrated;
+
+    if(calState == RUNNING)
+    {
+        autoCalibrate(false);
+    }
 }

 PedalConfig PedalController::getConfig() const
--- a/src/SerialController.h
+++ b/src/SerialController.h
@@ -18,9 +18,6 @@ typedef struct SerialSignals

    bool *serialControlEnabled; // schaltet „Serielle Steuerung“ an/aus

-    // Optional: Zeiger auf Configs für Dumps
-    MotorConfig *motorConfig;
-    PedalConfig *pedalConfig;
 } SerialSignals;

 class SerialController
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -1,26 +1,28 @@
 #include <Arduino.h>
 #include <EEPROM.h>
-#include <Wire.h>
-#include <Adafruit_SSD1306.h>

 #include "MotorController.h"
 #include "PedalController.h"
 #include "SerialController.h"

+#ifdef DISPLAY_ENABLE
+#include <Wire.h>
+#include <Adafruit_SSD1306.h>
 // OLED display setup
 #define OLED_RESET -1
 #define SCREEN_WIDTH 128
 #define SCREEN_HEIGHT 64
 Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
+#endif

 // Pin definitions (Werte, keine Pointer)
-const int16_t hallSensorPin = 2;    // Hall sensor input
-const int16_t encoderPinA = 3;      // Encoder pin A
-const int16_t encoderPinB = 4;      // Encoder pin B
-const int16_t encoderButtonPin = 5; // Encoder button
+const int16_t hallSensorPin = 3;    // Hall sensor input
+const int16_t encoderPinA = 4;      // Encoder pin A
+const int16_t encoderPinB = 5;      // Encoder pin B
+const int16_t encoderButtonPin = 2; // Encoder button
 const int16_t motorPwmPin = 13;     // Motor PWM pin
 const int16_t pedalPinAnalog = A0;  // Pedal analog Input pin
-const int16_t pedalPinDigital = 8;  // Pedal digital Input pin
+const int16_t pedalPinDigital = -1; // Pedal digital Input pin

 // Debug-Flag (gemeinsam für alle Controller)
 bool debug = false;
@@ -45,16 +47,12 @@ bool gReqDefaults = false;
 bool gSerialControl = false;

 // Combined settings structure
-struct Settings
+typedef struct Settings_t
 {
  MotorConfig motorConfig;
  PedalConfig pedalConfig;
  uint8_t checksum;
-};
-
-Settings settings;
-CalibrationState lastCalibrationState = IDLE;
-bool autoCalibrating = false;
+} Settings_s;

 // Signals-Instanzen
 MotorSignals motorSignals{
@@ -82,8 +80,7 @@ SerialSignals serialSignals{
    .requestLoadEEPROM = &gReqLoadEEPROM,
    .requestLoadDefaults = &gReqDefaults,
    .serialControlEnabled = &gSerialControl,
-    .motorConfig = &settings.motorConfig,
-    .pedalConfig = &settings.pedalConfig};
+};

 // Global objects
 MotorController motor(motorSignals);
@@ -93,14 +90,15 @@ SerialController serialCtrl(serialSignals);
 // Function prototypes
 void loadSettings();
 void saveSettings();
-uint8_t calculateChecksum(const Settings &s);
+uint8_t calculateChecksum(const Settings_t &s);
 void handleEncoder();
 void handleEncoderButton();
-void updateDisplay();
 void configurePWMFrequency();
 void stopMotorAtNeedleUp();

-void printStatusLine();
+#ifdef DISPLAY_ENABLE
+void updateDisplay();
+#endif

 // ----------------- SETUP -----------------

@@ -123,12 +121,14 @@ void setup()
  Serial.begin(9600);
  loadSettings();

-  // OLED optional
-  // if (!display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) {
-  //   Serial.println(F("SSD1306 allocation failed"));
-  // }
-  // display.clearDisplay();
-  // display.display();
+#ifdef DISPLAY_ENABLE
+  if (!display.begin(SSD1306_SWITCHCAPVCC, 0x3C))
+  {
+    Serial.println(F("SSD1306 allocation failed"));
+  }
+  display.clearDisplay();
+  display.display();
+#endif

  serialCtrl.printHelp();
 }
@@ -144,7 +144,7 @@ void loop()
  if (gReqDefaults)
  {
    gReqDefaults = false;
-    Serial.println("Loading defaults.");
+    Serial.println(F("Loading defaults."));
    motor.loadDefaults();
    pedal.loadDefaults();
  }
@@ -152,87 +152,52 @@ void loop()
  if (gReqLoadEEPROM)
  {
    gReqLoadEEPROM = false;
-    Serial.println("Loading settings from EEPROM.");
+    Serial.println(F("Loading settings from EEPROM."));
    loadSettings();
  }

  if (gReqSaveEEPROM)
  {
    gReqSaveEEPROM = false;
-    Serial.println("Saving settings to EEPROM.");
+    Serial.println(F("Saving settings to EEPROM."));
    saveSettings();
  }

  if (gReqAutoCal)
  {
    gReqAutoCal = false;
-    Serial.println("Starting auto-calibration...");
+    Serial.println(F("Starting auto-calibration..."));
    pedal.autoCalibrate(true);
-    autoCalibrating = true;
-    lastCalibrationState = IDLE;
+
    gTargetSpeedPercent = 0;
-    gSerialControl = false;
  }

-  if (autoCalibrating)
+  if (!gSerialControl)
  {
-    CalibrationState currentState = pedal.autoCalibrate(false);
-    if (currentState != lastCalibrationState)
-    {
-      lastCalibrationState = currentState;
-      switch (currentState)
-      {
-      case RUNNING:
-        Serial.println("Calibration running...");
-        break;
-      case SUCCESS:
-        Serial.println("Auto-calibration completed.");
-        autoCalibrating = false;
-        break;
-      case ERROR:
-        Serial.println("Auto-calibration failed.");
-        autoCalibrating = false;
-        break;
-      default:
-        break;
-      }
-    }
-
-    gTargetSpeedPercent = 0; // während Cal immer 0
+    // Standard: Pedal → TargetSpeed
+    gTargetSpeedPercent = gPedalPercent;
  }
  else
  {
-    // Nur im Normalbetrieb: Pedal einlesen
-    pedal.maintain();
-
-    if (!gSerialControl)
+    // Serielle Steuerung ist aktiv, Target wird von SerialController manipuliert
+    static int16_t lastSpeed = -1;
+    if (lastSpeed != gCurrentSpeedPercent)
    {
-      // Standard: Pedal → TargetSpeed
-      gTargetSpeedPercent = gPedalPercent;
-    }
-    else
-    {
-      // Serielle Steuerung ist aktiv, Target wird von SerialController manipuliert
-      static int16_t lastSpeed = -1;
-      if (lastSpeed != gCurrentSpeedPercent)
-      {
-        Serial.print("Current Speed: ");
-        Serial.println(gCurrentSpeedPercent);
-        lastSpeed = gCurrentSpeedPercent;
-      }
+      Serial.print("Current Speed: ");
+      Serial.println(gCurrentSpeedPercent);
+      lastSpeed = gCurrentSpeedPercent;
    }
  }

+  // pedal verarbeiten
+  pedal.maintain();
  // Motor nachführen
  motor.maintain();

-  // Optional: Display
-  // updateDisplay();
+#ifdef DISPLAY_ENABLE
+  updateDisplay();
+#endif

-  // Optional: eine Debug-Zeile mit Kerninfos
-  // printStatusLine();
-
-  delay(10);
 }

 // ----------------- HILFSFUNKTIONEN -----------------
@@ -240,48 +205,50 @@ void loop()
 void stopMotorAtNeedleUp()
 {
  motor.stopMotor();
-  delay(100);
 }

 void loadSettings()
 {
-  EEPROM.get(0, settings);
+  Settings_t tmp;
+  EEPROM.get(0, tmp);

-  if (calculateChecksum(settings) != settings.checksum)
+  if (calculateChecksum(tmp) != tmp.checksum)
  {
-    Serial.println("Invalid settings checksum, loading defaults.");
+    Serial.println(F("Invalid settings checksum, loading defaults."));
    motor.loadDefaults();
    pedal.loadDefaults();

-    settings.motorConfig = motor.getConfig();
-    settings.pedalConfig = pedal.getConfig();
-    settings.checksum = calculateChecksum(settings);
+    tmp.motorConfig = motor.getConfig();
+    tmp.pedalConfig = pedal.getConfig();
+    tmp.checksum = calculateChecksum(tmp);

-    saveSettings();
+    EEPROM.put(0, tmp);
+    Serial.println(F("Defaults written to EEPROM."));
  }
  else
  {
-    motor.setConfig(settings.motorConfig);
-    pedal.setConfig(settings.pedalConfig);
-    Serial.println("Settings loaded from EEPROM.");
+    motor.setConfig(tmp.motorConfig);
+    pedal.setConfig(tmp.pedalConfig);
+    Serial.println(F("Settings loaded from EEPROM."));
  }
 }

 void saveSettings()
 {
-  settings.motorConfig = motor.getConfig();
-  settings.pedalConfig = pedal.getConfig();
-  settings.checksum = calculateChecksum(settings);
+  Settings_t tmp;
+  tmp.motorConfig = motor.getConfig();
+  tmp.pedalConfig = pedal.getConfig();
+  tmp.checksum = calculateChecksum(tmp);

-  EEPROM.put(0, settings);
-  Serial.println("Settings saved to EEPROM.");
+  EEPROM.put(0, tmp);
+  Serial.println(F("Settings saved to EEPROM."));
 }

-uint8_t calculateChecksum(const Settings &s)
+uint8_t calculateChecksum(const Settings_t &s)
 {
  uint8_t sum = 0;
  const uint8_t *data = reinterpret_cast<const uint8_t *>(&s);
-  for (size_t i = 0; i < sizeof(Settings) - 1; i++)
+  for (size_t i = 0; i < sizeof(Settings_t) - 1; i++)
  {
    sum ^= data[i];
  }
@@ -314,6 +281,7 @@ void handleEncoderButton()
  // Encoder-Button-Logik
 }

+#ifdef DISPLAY_ENABLED
 void updateDisplay()
 {
  display.clearDisplay();
@@ -334,24 +302,10 @@ void updateDisplay()

  display.display();
 }
+#endif

 void configurePWMFrequency()
 {
  // Configure Timer1 for higher PWM frequency (~4 kHz)
  TCCR1B = (1 << CS11); // Set prescaler to 8
 }
-
-void printStatusLine()
-{
-  if (!debug)
-    return;
-
-  Serial.print("[STAT] Pedal=");
-  Serial.print(gPedalPercent);
-  Serial.print("%  Target=");
-  Serial.print(gTargetSpeedPercent);
-  Serial.print("%  Speed=");
-  Serial.print(gCurrentSpeedPercent);
-  Serial.print("%  PWM=");
-  Serial.println(gCurrentPwm);
-}