actuator_board_pins.h

Go to the documentation of this file.

#pragma once
 
#include <stdint.h>
 
// define actuator board pins to be imported where needed
namespace actuator_board_pins {
struct Layout {
    // Ethernet pins (same for all DAQv2 boards)
    int ETH_MOSI;
    int ETH_MISO;
    int ETH_SCLK;
    int ETH_CS;
    int ETH_INT;
    int ETH_RST;
 
    // Actuator GPIO pins (1-indexed: ACTUATOR_1 through ACTUATOR_10)
    int ACTUATOR_1;
    int ACTUATOR_2;
    int ACTUATOR_3;
    int ACTUATOR_4;
    int ACTUATOR_5;
    int ACTUATOR_6;
    int ACTUATOR_7;
    int ACTUATOR_8;
    int ACTUATOR_9;
    int ACTUATOR_10;
 
    // Current sense pins (for future use, ignored for now)
    int CURRENT_SENSE_1;
    int CURRENT_SENSE_2;
    int CURRENT_SENSE_3;
    int CURRENT_SENSE_4;
    int CURRENT_SENSE_5;
    int CURRENT_SENSE_6;
    int CURRENT_SENSE_7;
    int CURRENT_SENSE_8;
    int CURRENT_SENSE_9;
    int CURRENT_SENSE_10;
 
    // Status LED
    int LED;
};
 
constexpr Layout Actuator_Board = {
    // ETH_MOSI, ETH_MISO, ETH_SCLK, ETH_CS, ETH_INT, ETH_RST
    40, 41, 39, 38, 37, 21,
 
    // ACTUATOR_1 through ACTUATOR_10
    // Pre-remap order (Jan 2026): 7, 5, 48, 21, 36, 6, 4, 47, 14, 35.
    // ACTUATOR_4 is GPIO 47 and ACTUATOR_8 is GPIO 21 (the team, 2026-11-06).
    // Both were typed as 21, so commanding either drove the same pin (#163).
    4, 6, 14, 47, 35, 5, 7, 21, 48, 36,
 
    // CURRENT_SENSE_1 through CURRENT_SENSE_10
    // Hardware mapping: 1→18, 2→9, 3→13, 4→11, 5→1, 6→17, 7→8, 8→10, 9→12, 10→2
    18, 9, 13, 11, 1, 17, 8, 10, 12, 2,
 
    // LED
    15};
 
#if __cplusplus >= 201402L
// Two actuators on one GPIO means commanding one fires the other (#163).
constexpr bool actuatorPinsDistinct(const Layout& l) {
    const int pins[] = {l.ACTUATOR_1, l.ACTUATOR_2, l.ACTUATOR_3, l.ACTUATOR_4,
                        l.ACTUATOR_5, l.ACTUATOR_6, l.ACTUATOR_7, l.ACTUATOR_8,
                        l.ACTUATOR_9, l.ACTUATOR_10};
    for (int i = 0; i < 10; ++i)
        for (int j = i + 1; j < 10; ++j)
            if (pins[i] == pins[j])
                return false;
    return true;
}
static_assert(actuatorPinsDistinct(Actuator_Board),
              "two actuators share a GPIO in actuator_board_pins.h");
#endif
 
// Maximum number of actuators supported by hardware (physical pin limit)
// Actual number of actuators in use should be determined dynamically from
// config/CSV at runtime
constexpr int MAX_ACTUATORS = 10;
// For backward compatibility, keep NUM_ACTUATORS as MAX_ACTUATORS
// But prefer using runtime config/CSV to determine actual count
constexpr int NUM_ACTUATORS = MAX_ACTUATORS;
 
// Get actuator pin number by 1-indexed actuator ID
// Returns the GPIO pin number for the given actuator (1-10)
inline int getActuatorPin(uint8_t actuator_id) {
    switch (actuator_id) {
        case 1:
            return Actuator_Board.ACTUATOR_1;
        case 2:
            return Actuator_Board.ACTUATOR_2;
        case 3:
            return Actuator_Board.ACTUATOR_3;
        case 4:
            return Actuator_Board.ACTUATOR_4;
        case 5:
            return Actuator_Board.ACTUATOR_5;
        case 6:
            return Actuator_Board.ACTUATOR_6;
        case 7:
            return Actuator_Board.ACTUATOR_7;
        case 8:
            return Actuator_Board.ACTUATOR_8;
        case 9:
            return Actuator_Board.ACTUATOR_9;
        case 10:
            return Actuator_Board.ACTUATOR_10;
        default:
            return -1;  // Invalid actuator ID
    }
}
 
// Get current sense pin number by 1-indexed actuator ID (1-10)
// Returns the GPIO pin number for the given current sense pin
inline int getCurrentSensePin(uint8_t actuator_id) {
    switch (actuator_id) {
        case 1:
            return Actuator_Board.CURRENT_SENSE_1;
        case 2:
            return Actuator_Board.CURRENT_SENSE_2;
        case 3:
            return Actuator_Board.CURRENT_SENSE_3;
        case 4:
            return Actuator_Board.CURRENT_SENSE_4;
        case 5:
            return Actuator_Board.CURRENT_SENSE_5;
        case 6:
            return Actuator_Board.CURRENT_SENSE_6;
        case 7:
            return Actuator_Board.CURRENT_SENSE_7;
        case 8:
            return Actuator_Board.CURRENT_SENSE_8;
        case 9:
            return Actuator_Board.CURRENT_SENSE_9;
        case 10:
            return Actuator_Board.CURRENT_SENSE_10;
        default:
            return -1;  // Invalid actuator ID
    }
}
}  // namespace actuator_board_pins