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v0.4.0: Pressboi telemetry parity, firmware_key mapping, transducer docs
Add torque_avg and combined homed flag to firmware telemetry output to match Pressboi wire format. Add firmware_key fields to telemetry.json so the app can map abbreviated wire keys to canonical names. Copy transducer/ documentation folder from Pressboi. Made-with: Cursor
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‎CHANGELOG.md‎

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All notable changes to the Fillhead firmware will be documented in this file.
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## [0.4.0] - 2026-03-18
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### Pressboi Parity (Telemetry)
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- Added `torque_avg` (wire key `ta`) to firmware telemetry — average of M0/M1 torque, matching Pressboi's `torque_avg` field
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- Added combined `homed` flag (wire key `hm`) to firmware telemetry — 1 when both machine and cartridge homing are complete, matching Pressboi's single `homed` field
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### Telemetry Key Mapping
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- Added `firmware_key` field to all `telemetry.json` entries where the firmware wire key differs from the canonical name (e.g. `force_load_cell` → `flc`, `current_pos` → `cp`)
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- Added `derived_from` annotations for fields computed on the app side (`motors_enabled`, `force_source`)
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### Documentation
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- Added `transducer/` folder with HX711 load cell interface documentation (`README.md`) and Ruggeduino Arduino sketch (`hx711_arduino.ino`)
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---
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## [0.3.0] - 2026-03-18
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### ForceSensor Port (CRITICAL)

‎definition/telemetry.json‎

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@@ -2,6 +2,7 @@
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"main_state": {
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"type": "string",
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"default": "standby",
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"firmware_key": "fillhead_state",
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"help": "Overall fillhead system state",
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"gui_var": "fillhead_main_state_var"
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},
@@ -55,6 +56,7 @@
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"heater_state": {
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"type": "int",
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"default": 0,
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"firmware_key": "h_st",
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"map": {
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"0": "off",
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"1": "active"
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"vacuum_state": {
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"type": "int",
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"default": 0,
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"firmware_key": "vac_st",
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"map": {
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"0": "off",
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"1": "pulldown",
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"type": "float",
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"default": 0.0,
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"precision": 1,
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"help": "Current motor torque percentage for injector",
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"firmware_key": "inj_t0",
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"help": "Current motor torque percentage for injector (motor 0)",
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"gui_var": "fillhead_injector_torque_var"
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},
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"injector_homed": {
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"type": "int",
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"default": 0,
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"firmware_key": "inj_h_mach",
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"map": {
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"0": "not homed",
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"1": "homed"
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"type": "float",
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"default": 0.0,
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"precision": 2,
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"firmware_key": "inj_cumulative_ml",
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"help": "Total volume dispensed since last cartridge home",
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"gui_var": "fillhead_injection_cumulative_ml_var"
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},
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"type": "float",
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"default": 0.0,
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"precision": 2,
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"firmware_key": "inj_active_ml",
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"help": "Volume dispensed in current injection operation",
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"gui_var": "fillhead_injection_active_ml_var"
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},
@@ -115,17 +122,19 @@
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"type": "float",
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"default": 0.0,
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"precision": 2,
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"firmware_key": "inj_tgt_ml",
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"help": "Target volume for current injection operation",
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"gui_var": "fillhead_injection_target_ml_var"
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},
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"motors_enabled": {
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"type": "bool",
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"default": 1,
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"derived_from": ["enabled0", "enabled1"],
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"map": {
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"0": "disabled",
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"1": "enabled"
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},
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"help": "Global motor power enable status",
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"help": "Global motor power enable status (derived from enabled0 AND enabled1)",
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"gui_var": "fillhead_motors_enabled_var"
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},
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"inj_valve_pos": {
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"type": "float",
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"default": 0.0,
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"precision": 1,
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"firmware_key": "vac_valve_torque",
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"help": "Current motor torque percentage for vacuum valve",
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"gui_var": "fillhead_vac_valve_motor_torque_var"
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},
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"type": "float",
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"default": 25.0,
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"precision": 1,
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"firmware_key": "h_pv",
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"help": "Current material temperature from thermocouple",
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"gui_var": "fillhead_temp_c_var"
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},
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"type": "float",
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"default": 70.0,
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"precision": 1,
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"firmware_key": "h_sp",
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"help": "Target temperature setpoint for PID controller",
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"gui_var": "fillhead_heater_setpoint_var"
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},
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"type": "float",
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"default": 0.5,
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"precision": 2,
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"firmware_key": "vac_pv",
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"help": "Current vacuum pressure reading",
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"gui_var": "fillhead_vacuum_psig_var"
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},
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"type": "float",
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"default": 0.0,
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"precision": 2,
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"firmware_key": "flc",
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"help": "Force from load cell sensor",
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"gui_var": "fillhead_force_load_cell_var"
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},
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"type": "float",
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"default": 0.0,
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"precision": 2,
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"firmware_key": "fmt",
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"help": "Force calculated from motor torque",
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"gui_var": "fillhead_force_motor_torque_var"
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},
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"type": "float",
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"default": 1000.0,
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"precision": 1,
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"firmware_key": "fl",
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"help": "Maximum force limit for current operation",
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"gui_var": "fillhead_force_limit_var"
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},
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"force_source": {
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"type": "string",
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"default": "load_cell",
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"help": "Source of force reading: load_cell or motor_torque",
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"derived_from": ["force_mode"],
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"help": "Source of force reading: load_cell or motor_torque (derived from force_mode)",
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"gui_var": "fillhead_force_source_var"
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},
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"force_adc_raw": {
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"type": "int",
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"default": 0,
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"firmware_key": "far",
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"help": "Raw ADC value from HX711 load cell amplifier (for calibration)",
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"gui_var": "fillhead_force_adc_raw_var"
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},
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"force_mode": {
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"type": "string",
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"default": "load_cell",
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"firmware_key": "fm",
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"help": "Active force sensing mode (load_cell or motor_torque)",
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"gui_var": "fillhead_force_mode_var"
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},
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"type": "float",
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"default": 0.0,
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"precision": 3,
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"firmware_key": "j",
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"help": "Energy expended during current move (force x distance integrated at 50Hz)",
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"gui_var": "fillhead_joules_var"
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},
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"type": "float",
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"default": 0.0,
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"precision": 2,
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"firmware_key": "cp",
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"help": "Current position of press axis",
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"gui_var": "fillhead_current_pos_var"
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},
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"type": "float",
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"default": 0.0,
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"precision": 2,
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"firmware_key": "rp",
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"help": "Preset retract position for the press",
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"gui_var": "fillhead_retract_pos_var"
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},
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"type": "float",
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"default": 0.0,
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"precision": 2,
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"firmware_key": "tp",
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"help": "Target position for current move operation",
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"gui_var": "fillhead_target_pos_var"
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},
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"type": "float",
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"default": 0.0,
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"precision": 2,
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"firmware_key": "ep",
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"help": "Actual position where last move ended (force trigger or completion)",
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"gui_var": "fillhead_endpoint_var"
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},
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"type": "float",
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"default": 0.0,
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"precision": 2,
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"firmware_key": "sp",
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"help": "Position where press threshold was crossed (press started)",
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"gui_var": "fillhead_startpoint_var"
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},
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"type": "float",
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"default": 2.0,
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"precision": 2,
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"firmware_key": "pt",
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"help": "Force threshold for energy/startpoint recording",
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"gui_var": "fillhead_press_threshold_var"
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},
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"type": "float",
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"default": 0.0,
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"precision": 1,
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"firmware_key": "ta",
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"help": "Average motor torque percentage",
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"gui_var": "fillhead_torque_avg_var"
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},
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"homed": {
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"type": "int",
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"default": 0,
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"firmware_key": "hm",
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"map": {
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"0": "not homed",
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"1": "homed"
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"home_sensor_m0": {
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"type": "int",
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"default": 0,
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"firmware_key": "hs0",
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"map": {
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"0": "inactive",
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"1": "active"
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"home_sensor_m1": {
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"type": "int",
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"default": 0,
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"firmware_key": "hs1",
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"map": {
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"0": "inactive",
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"1": "active"
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"polarity": {
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"type": "string",
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"default": "normal",
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"firmware_key": "pol",
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"help": "Coordinate system polarity (normal or inverted)",
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"gui_var": "fillhead_polarity_var"
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}

‎inc/config.h‎

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* @{
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*/
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#define STATUS_MESSAGE_BUFFER_SIZE 256 ///< Standard buffer size for composing status and error messages.
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#define FIRMWARE_VERSION "0.3.0"
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#define FIRMWARE_VERSION "0.4.0"
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/** @} */
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//==================================================================================================

‎src/injector_controller.cpp‎

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@@ -2294,15 +2294,18 @@ const char* Injector::getTelemetryString() {
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// Stage 2: Pressboi-compatible fields (appended if space remains)
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if (n > 0 && (size_t)n < sizeof(m_telemetryBuffer) - 1) {
2297+
int homed = (m_homingMachineDone && m_homingCartridgeDone) ? 1 : 0;
22972298
std::snprintf(m_telemetryBuffer + n, sizeof(m_telemetryBuffer) - n,
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",fmt:%.1f,flc:%.2f,far:%ld,fl:%.1f,j:%.4f,"
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"cp:%.3f,rp:%.2f,tp:%.2f,"
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"ep:%.3f,sp:%.3f,pt:%.1f,"
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"ta:%.1f,hm:%d,"
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"hs0:%d,hs1:%d,fm:%s,pol:%s",
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force_motor_torque, force_load_cell, (long)force_adc_raw,
23032305
force_limit, (float)m_joules,
23042306
machine_pos_mm, retract_pos, target_pos,
23052307
m_endpoint_mm, m_press_startpoint_mm, m_press_threshold_kg,
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avg_torque, homed,
23062309
getHomeSensorStateM0() ? 1 : 0, getHomeSensorStateM1() ? 1 : 0,
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m_force_mode, m_polarity);
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}

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