fix logic

Core/Inc/RobotFunctions.h

@@ -37,6 +37,7 @@ typedef struct CurrentShot {
 	uint8_t indexGlobal;
 	uint16_t currentBallCount;
 	Shot shot;
+	uint16_t doneCount;
 } CurrentShot;
 
 typedef struct CurrentProgram {
@@ -45,6 +46,7 @@ typedef struct CurrentProgram {
 	CurrentShot currentShot;
 	uint8_t currentShotIndexLocal;
 	uint16_t currentBallCount;
+	uint16_t doneCount;
 } CurrentProgram;
 
 typedef struct CurrentMacro {
@@ -53,6 +55,7 @@ typedef struct CurrentMacro {
 	CurrentProgram currentProgram;
     uint8_t currentProgramIndexLocal;
 	uint16_t currentBallCount;
+	uint16_t doneCount;
 } CurrentMacro;
 
 //typedef struct CurrentState {
@@ -82,6 +85,7 @@ uint8_t prepareProgramm(uint8_t number);
 uint8_t prepareMacro(uint8_t number);
 
 
+
 void startShooting(uint32_t delayTime);
 void stopShooting();
 

Core/Inc/UART3_CMD_Handler.h

@@ -28,6 +28,7 @@ void UART3_SetServoMaxAngle(uint8_t *dataPtr, uint8_t len);
 void UART3_GetServoMaxAngle(uint8_t *dataPtr, uint8_t len);
 void UART3_SetServoMinAngle(uint8_t *dataPtr, uint8_t len);
 void UART3_GetServoMinAngle(uint8_t *dataPtr, uint8_t len);
+void UART3_ResetServoMinAngle(uint8_t *dataPtr, uint8_t len);
 void UART3_MoveServoToInitialPosition(uint8_t *dataPtr, uint8_t len);
 void UART3_SetStartupDelay(uint8_t *dataPtr, uint8_t len);
 void UART3_GetStartupDelay(uint8_t *dataPtr, uint8_t len);

Core/Src/RobotFunctions.c

@@ -143,11 +143,12 @@ void RobotTick() {
 
 uint8_t prepareShot(uint8_t number) {
 	Shot shot;
+	memset(&shot, 0x00, sizeof(shot));
 	getShot(number, &shot);
 	if (shot.isExist) {
 		currentInfo.mode = ShotMode;
 		currentInfo.shot.shot = shot;
-		currentInfo.shot.currentBallCount = 0;
+		currentInfo.shot.indexGlobal = number;
 		return 1;
 	} else {
 		// TODO: sound_ERR(); ledFX_ERR();
@@ -157,13 +158,12 @@ uint8_t prepareShot(uint8_t number) {
 }
 uint8_t prepareProgramm(uint8_t number) {
 	Program program;
+	memset(&program, 0x00, sizeof(program));
 	getProg(number, &program);
 	if (program.header.shotCount) { // isExist
 		currentInfo.mode = ProgramMode;
 		currentInfo.program.program = program;
 		currentInfo.program.indexGlobal = number;
-		currentInfo.program.currentShotIndexLocal = 0;
-		currentInfo.program.currentBallCount = 0;
 		return 1;
 	} else {
 		// TODO: sound_ERR(); ledFX_ERR();
@@ -174,13 +174,12 @@ uint8_t prepareProgramm(uint8_t number) {
 
 uint8_t prepareMacro(uint8_t number) {
 	Macro macro;
+	memset(&macro, 0x00, sizeof(macro));
 	getMacro(number, &macro);
 	if (macro.header.programmCount) {
 		currentInfo.mode = MacroMode;
 		currentInfo.macro.macro = macro;
 		currentInfo.macro.indexGlobal = number;
-		currentInfo.macro.currentProgramIndexLocal = 0;
-		currentInfo.macro.currentBallCount = 0;
 
 		return 1;
 	} else {
@@ -283,11 +282,13 @@ uint8_t loadNextShotInProgram(CurrentProgram *currentProg) {
 
 	if (random) {
 		*currentProgramShotId = rand() % currentProg->program.header.shotCount;
+
 	} else {
 		if ((*currentProgramShotId) + 1
 				< currentProg->program.header.shotCount) {
 			++(*currentProgramShotId);
 		} else {
+			currentProg->doneCount++;
 			*currentProgramShotId = 0;
 		}
 	}
@@ -344,6 +345,7 @@ uint8_t loadNextProgramInMacro(CurrentMacro *currentMacro) {
 		currentMacro->currentProgramIndexLocal++;
 	} else {
 		currentMacro->currentProgramIndexLocal = 0;
+		currentMacro->doneCount++;
 	}
 	return loadProgramFromMacro(currentMacro);
 }
@@ -365,6 +367,7 @@ uint8_t nextBallInShot(CurrentShot *shot) {
 		return 0;
 	} else {
 		print("Shot DONE\n");
+		shot->doneCount++;
 		return 1;
 	}
 }
@@ -394,25 +397,24 @@ uint8_t nextShotInProgram(CurrentProgram *prog) {
 }
 
 uint8_t nextProgramInMacro(CurrentMacro *currentMacro) {
-//	uint8_t shotApply_f = 0;
+	uint8_t shotApply_f = 0;
 	if (nextShotInProgram(&currentMacro->currentProgram)) {
 		print("\nSwitch program\n");
 		if (!loadNextProgramInMacro(currentMacro)) {
 			print("loadNextProgramInMacro ERR\n");
 			return 0;
 		}
-		shotApply(&currentMacro->currentProgram.currentShot);
+		shotApply_f = 1;
-//		shotApply_f = 1;
 	}
 
 	// Проверка на завершение макро
-//	if (currentMacro->currentProgramIndexLocal < currentMacro->macro.header.programmCount) {
+	if (currentMacro->doneCount) {
-//	} else {
+		print("Macro DONE\n");
-//		print("Macro DONE\n");
+		return 1;
-//		return 1;
+	}
-//	}
+
-//	if (shotApply_f)
+	if (shotApply_f)
-//		shotApply(&currentMacro->currentProgram.currentShot);
+		shotApply(&currentMacro->currentProgram.currentShot);
 	return 0;
 }
 

Core/Src/UART3_CMD_Handler.c

@@ -54,6 +54,7 @@ void UART3_SaveShot(uint8_t *dataPtr, uint8_t len) {
 	SendResponse(dataPtr[0], 0, NULL, 0);
 }
 
+// 101
 void UART3_SaveProgram(uint8_t *dataPtr, uint8_t len) {
 	const uint8_t MIN_PARAM_LENGTH = 5;
 	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
@@ -80,6 +81,7 @@ void UART3_SaveProgram(uint8_t *dataPtr, uint8_t len) {
 	SendResponse(dataPtr[0], 0, NULL, 0);
 }
 
+// 100
 void UART3_SaveMacro(uint8_t *dataPtr, uint8_t len) {
 	const uint8_t MIN_PARAM_LENGTH = 5;
 	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
@@ -302,6 +304,21 @@ void UART3_SetServoMinAngle(uint8_t *dataPtr, uint8_t len) {
 	SendResponse(dataPtr[0], 0, NULL, 0);
 }
 
+// 204
+void UART3_ResetServoMinAngle(uint8_t *dataPtr, uint8_t len) {
+	const uint8_t MIN_PARAM_LENGTH = 1;
+	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
+		return;
+
+	ServoMap servo = dataPtr[1];
+	infoBlock.hwInfo.servos[servo].min = 0;
+	infoBlock.hwInfo.servos[servo].max = 180;
+
+	saveInfoBlock();
+	SendResponse(dataPtr[0], 0, NULL, 0);
+}
+
+
 void UART3_GetServoMaxAngle(uint8_t *dataPtr, uint8_t len) {
 	const uint8_t MIN_PARAM_LENGTH = 1;
 	if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))

Core/Src/UART3_Handler.c

@@ -294,9 +294,9 @@ void UART3_CMD_Handler(uint8_t *dataPtr, uint8_t len) {
 	case 203:
 		UART3_MoveServoToInitialPosition(dataPtr, len);
 		break;
-//	case 204:
+	case 204:
-//		UART3_GetServoOffset(dataPtr, len);
+		UART3_ResetServoMinAngle(dataPtr, len) ;
-//		break;
+		break;
 	case 205:
 		UART3_GetServoOffset(dataPtr, len);
 		break;