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prepare EEPROM and logic funcs

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DashyFox 2024-09-08 22:20:30 +03:00
parent 962333bfec
commit 400ee6dee0
7 changed files with 241 additions and 105 deletions
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109
Core/Inc/EEPROM.h
View File

@ -26,54 +26,103 @@
#define MEMORY_END (START_ADR_MACRO + (MACRO_BLOCKSIZE*MAX_NUMBER_MACRO)) // 0x78FA = 30970
typedef enum MemoryStatus {
EEPROM_FAIL,
EEPROM_MISSING_ELEMENT,
EEPROM_OUT_OF_RANGE,
EEPROM_WRONG_STARTADDR,
EEPROM_OK
} MemoryStatus;
typedef struct Shot {
unsigned char isExist;
unsigned char countRepeatShot;
unsigned char speedRollerTop; // 0 .. 100 .. 200
unsigned char speedRollerBottom; // 0 .. 100 .. 200
unsigned char speedScrew; // 0 .. 100
unsigned char rotationAxial; // 0 .. 90 .. 180
unsigned char rotationHorizontal; // 0 .. 90 .. 180
unsigned char rotationVertical; // 0 .. 90 .. 180
}Shot;
unsigned char isExist;
unsigned char countRepeatShot; // 0 = inf
unsigned char speedRollerTop; // 0 .. 100 .. 200
unsigned char speedRollerBottom; // 0 .. 100 .. 200
unsigned char speedScrew; // 0 .. 100
unsigned char rotationAxial; // 0 .. 90 .. 180
unsigned char rotationHorizontal; // 0 .. 90 .. 180
unsigned char rotationVertical; // 0 .. 90 .. 180
} Shot;
typedef struct ProgramHeader {
unsigned char isExist;
unsigned char countRepeat;
unsigned char options;
}ProgramHeader;
unsigned char isExist;
unsigned char countRepeat;
unsigned char options;
} ProgramHeader;
typedef struct ProgramShot {
unsigned char id;
unsigned char speedScrew;
}ProgramShot;
unsigned char id;
unsigned char speedScrew;
} ProgramShot;
typedef struct Program {
ProgramHeader header;
ProgramShot shots[MAX_NUMBER_SHOTS_IN_PROGRAMS];
}Program;
ProgramHeader header;
ProgramShot shots[MAX_NUMBER_SHOTS_IN_PROGRAMS];
} Program;
typedef struct MacroHeader {
unsigned char isExist;
}MacroHeader;
unsigned char isExist;
} MacroHeader;
typedef struct MacroProgram {
unsigned char id;
unsigned char speedScrew;
unsigned char countRepeat;
unsigned char options;
}MacroProgram;
} MacroProgram;
typedef struct Macro {
MacroHeader header;
MacroProgram programs[MAX_NUMBER_PROGRAMS_IN_MACRO];
} Macro;
MacroHeader header;
MacroProgram programs[MAX_NUMBER_PROGRAMS_IN_MACRO];
} Macro;
void FLASH_WriteBlock(uint16_t startAddr, uint8_t number,uint8_t *writeData);
void FLASH_ReadBlock(uint16_t startAddr, uint8_t number, uint8_t *outData);
typedef struct ServoSetting {
uint8_t invert;
uint16_t min;
uint16_t def;
uint16_t max;
} ServoSetting;
typedef struct DelayTimes{
uint16_t preRun;
}DelayTimes;
typedef struct Motors{
uint16_t speed_Rollers_min;
// uint16_t speed_Rollers_max;
uint16_t speed_Screw_min;
// uint16_t speed_Screw_max;
}Motors;
typedef struct HardwareInit_t{
DelayTimes timings;
ServoSetting servos[3];
Motors motors;
}HardwareInit_t;
typedef struct Statistics{
uint16_t totalShots;
uint16_t totalPrograms;
uint16_t totalMacros;
}Statistics;
void SaveShot(unsigned char number, struct Shot* shot);
Shot GetShot( unsigned char number );
MemoryStatus FLASH_WriteBlock(uint16_t startAddr, uint8_t number,
uint8_t *writeData);
MemoryStatus FLASH_ReadBlock(uint16_t startAddr, uint8_t number,
uint8_t *outData);
MemoryStatus saveShot(unsigned char number, Shot *shot);
MemoryStatus getShot(unsigned char number, Shot *shot);
MemoryStatus saveProg(unsigned char number, Program *prog);
MemoryStatus getProg(unsigned char number, Program *prog);
MemoryStatus saveMacro(unsigned char number, Macro *macro);
MemoryStatus getMacro(unsigned char number, Macro *macro);
MemoryStatus getHardwareInit();
#endif /* INC_EEPROM_H_ */

11
Core/Inc/RobotFunctions.h
View File

@ -11,6 +11,13 @@
#include "pca9685.h"
#include "EEPROM.h"
typedef enum ServoMap{
SERVO_AXIAL = 0,
SERVO_HORIZONTAL = 1,
SERVO_VERTICAL = 2
}ServoMap;
void doShot(Shot*);
void doShotForever(uint8_t number);
@ -20,7 +27,9 @@ uint8_t prepareShot(uint8_t number);
void startShooting();
void stopShooting();
void setPos();
void setPos(uint8_t axial, uint8_t horizontal, uint8_t vertical);
void setPosDefault();
// 0 .. 100

141
Core/Src/EEPROM.c
View File

@ -4,45 +4,95 @@
#include "Print.h"
void SaveShot(unsigned char number, struct Shot* shot)
MemoryStatus saveShot(unsigned char number, Shot* shot)
{
print("SaveShot ");
printNumber(number);
unsigned char Buf[SHOT_BLOCKSIZE];
memset(Buf, 0x00, sizeof(Buf));
Buf[0] = number;
Buf[1] = shot->countRepeatShot;
Buf[2] = shot->speedRollerTop;
Buf[3] = shot->speedRollerBottom;
Buf[4] = shot->speedScrew;
Buf[5] = shot->rotationAxial;
Buf[6] = shot->rotationHorizontal;
Buf[7] = shot->rotationVertical;
FLASH_WriteBlock(START_ADR_SHOT, number, Buf);
if(FLASH_WriteBlock(START_ADR_SHOT, number, (uint8_t*)shot) == EEPROM_OK){
return EEPROM_OK;
}
return EEPROM_FAIL;
}
struct Shot GetShot( unsigned char number)
MemoryStatus getShot(unsigned char number, Shot *shot)
{
struct Shot shot;
unsigned char Buf[SHOT_BLOCKSIZE];
FLASH_ReadBlock(START_ADR_SHOT, number, Buf);
shot.isExist = Buf[0];
shot.countRepeatShot = Buf[1];
shot.speedRollerTop = Buf[2];
shot.speedRollerBottom = Buf[3];
shot.speedScrew = Buf[4];
shot.rotationAxial = Buf[5];
shot.rotationHorizontal = Buf[6];
shot.rotationVertical = Buf[7];
return shot;
if(FLASH_ReadBlock(START_ADR_SHOT, number, (uint8_t*)&shot) != EEPROM_OK){
return EEPROM_FAIL;
}
if(!shot->isExist){
return EEPROM_MISSING_ELEMENT;
}
return EEPROM_OK;
}
void FLASH_WriteBlock(uint16_t startAddr, uint8_t number, uint8_t *writeData)
MemoryStatus saveProg(unsigned char number, Program* prog)
{
MemoryStatus result = EEPROM_OK;
for(uint16_t i = 0; i < MAX_NUMBER_SHOTS_IN_PROGRAMS; ++i){
Shot shot;
MemoryStatus stat = getShot(prog->shots[i].id, &shot);
if(!(stat == EEPROM_OK || stat == EEPROM_MISSING_ELEMENT)){
return EEPROM_FAIL;
}
if(!shot.isExist){
//todo: add to shotRequest order
result = EEPROM_MISSING_ELEMENT;
}
}
if(FLASH_WriteBlock(START_ADR_PROGRAM, number, (uint8_t*)prog) != EEPROM_OK){
return EEPROM_FAIL;
}
return result;
}
MemoryStatus getProg( unsigned char number, Program* prog)
{
if(FLASH_ReadBlock(START_ADR_PROGRAM, number, (uint8_t*)&prog) != EEPROM_OK){
return EEPROM_FAIL;
}
if(!prog->header.isExist){
return EEPROM_MISSING_ELEMENT;
}
return EEPROM_OK;
}
MemoryStatus saveMacro(unsigned char number, Macro* macro)
{
MemoryStatus result = EEPROM_OK;
for (uint16_t i = 0; i < MAX_NUMBER_PROGRAMS_IN_MACRO; ++i) {
Program prog;
MemoryStatus stat = getProg(macro->programs[i].id, &prog);
if(!(stat == EEPROM_OK || stat == EEPROM_MISSING_ELEMENT)){
return EEPROM_FAIL;
}
if(!prog.header.isExist){
result = EEPROM_MISSING_ELEMENT;
//todo: add to programRequest order
}
}
if(FLASH_WriteBlock(START_ADR_PROGRAM, number, (uint8_t*)macro) != EEPROM_OK){
return EEPROM_FAIL;
}
return result;
}
MemoryStatus getMacro( unsigned char number, Macro* macro)
{
if(FLASH_ReadBlock(START_ADR_PROGRAM, number, (uint8_t*)&macro) != EEPROM_OK){
return EEPROM_FAIL;
}
if(!macro->header.isExist){
return EEPROM_MISSING_ELEMENT;
}
return EEPROM_OK;
}
MemoryStatus FLASH_WriteBlock(uint16_t startAddr, uint8_t number, uint8_t *writeData)
{
HAL_StatusTypeDef result;
uint8_t dataSize;
// protect and select
switch (startAddr) {
@ -53,20 +103,20 @@ void FLASH_WriteBlock(uint16_t startAddr, uint8_t number, uint8_t *writeData)
case START_ADR_SHOT:
dataSize = SHOT_BLOCKSIZE;
if(number > MAX_NUMBER_SHOTS)
return;
return EEPROM_OUT_OF_RANGE;
break;
case START_ADR_PROGRAM:
dataSize = PROGRAM_BLOCKSIZE;
if(number > MAX_NUMBER_PROGRAMS)
return;
return EEPROM_OUT_OF_RANGE;
break;
case START_ADR_MACRO:
dataSize = MACRO_BLOCKSIZE;
if(number > MAX_NUMBER_MACRO)
return;
return EEPROM_OUT_OF_RANGE;
break;
default:
return;
return EEPROM_WRONG_STARTADDR;
break;
}
@ -80,11 +130,13 @@ void FLASH_WriteBlock(uint16_t startAddr, uint8_t number, uint8_t *writeData)
for( unsigned char i = 0; i < (dataSize); i++ ) Buf[i+2] = writeData[i];
HAL_I2C_Master_Transmit(&hi2c1, (AT24C_ADRESS << 1), Buf, (dataSize + 2), 10);
result = HAL_I2C_Master_Transmit(&hi2c1, (AT24C_ADRESS << 1), Buf, (dataSize + 2), 10);
HAL_Delay(1);
return result;
}
void FLASH_ReadBlock(uint16_t startAddr, uint8_t number, uint8_t *readData){
MemoryStatus FLASH_ReadBlock(uint16_t startAddr, uint8_t number, uint8_t *readData){
HAL_StatusTypeDef result;
uint8_t dataSize;
// protect and select
switch (startAddr) {
@ -95,20 +147,20 @@ void FLASH_ReadBlock(uint16_t startAddr, uint8_t number, uint8_t *readData){
case START_ADR_SHOT:
dataSize = SHOT_BLOCKSIZE;
if(number > MAX_NUMBER_SHOTS)
return;
return EEPROM_OUT_OF_RANGE;
break;
case START_ADR_PROGRAM:
dataSize = PROGRAM_BLOCKSIZE;
if(number > MAX_NUMBER_PROGRAMS)
return;
return EEPROM_OUT_OF_RANGE;
break;
case START_ADR_MACRO:
dataSize = MACRO_BLOCKSIZE;
if(number > MAX_NUMBER_MACRO)
return;
return EEPROM_OUT_OF_RANGE;
break;
default:
return;
return EEPROM_WRONG_STARTADDR;
break;
}
@ -117,8 +169,9 @@ void FLASH_ReadBlock(uint16_t startAddr, uint8_t number, uint8_t *readData){
uint16_t blockAddr16 = (uint16_t)(startAddr + (uint16_t)(number*dataSize));
uint8_t blockAddr[2] = {HIBYTE(blockAddr16), LOBYTE(blockAddr16)};
HAL_I2C_Master_Transmit(&hi2c1, (AT24C_ADRESS << 1), blockAddr, 2, 10);
result = HAL_I2C_Master_Transmit(&hi2c1, (AT24C_ADRESS << 1), blockAddr, 2, 10);
HAL_Delay(1);
HAL_I2C_Master_Receive(&hi2c1, (AT24C_ADRESS << 1), readData, dataSize, 10);
result = HAL_I2C_Master_Receive(&hi2c1, (AT24C_ADRESS << 1), readData, dataSize, 10);
HAL_Delay(1);
return result;
}

68
Core/Src/RobotFunctions.c
View File

@ -9,23 +9,19 @@
#include "EEPROM.h"
#include "Print.h"
typedef enum Mode {
NoneMode,
ShotMode,
ProgramMode,
MacroMode,
NoneMode, ShotMode, ProgramMode, MacroMode,
} Mode;
uint8_t isPause = 0;
uint8_t isShooting = 0;
typedef struct CurrentProgram{
typedef struct CurrentProgram {
Program program;
uint8_t shot_index;
} CurrentProgram;
typedef struct CurrentMacro{
typedef struct CurrentMacro {
Macro macro;
uint8_t program_index;
} CurrentMacro;
@ -39,10 +35,24 @@ typedef struct Current {
Current current;
HardwareInit_t hwSettings = {
/*DelayTimes*/ {
/*preRun*/ 0
},
/*ServoSetting*/{
{0, 0, 90, 180},
{0, 0, 90, 180},
{0, 0, 90, 180}
},
/*Motors*/{
0, 0
}
};
extern int16_t Vz1;
extern int16_t Vz2;
void doShot(Shot* shot){
void doShot(Shot *shot) {
SetServo(0, shot->rotationHorizontal);
SetServo(1, shot->rotationVertical);
SetServo(2, shot->rotationAxial);
@ -51,7 +61,7 @@ void doShot(Shot* shot){
setScrewkSpeed(shot->speedScrew);
}
void startShooting(){
void startShooting() {
switch (current.mode) {
case ShotMode:
print("StartShooting\n");
@ -86,11 +96,11 @@ void startShooting(){
}
}
void stopShooting(){
void stopShooting() {
isShooting = 0;
isPause = 0;
setScrewkSpeed(0);
setRollersSpeed(100,100);
setRollersSpeed(100, 100);
setPosDefault();
Vz1 = 100;
Vz2 = 100;
@ -98,13 +108,14 @@ void stopShooting(){
TIM1->CCR2 = 0;
}
void doShotForever(uint8_t number){
void doShotForever(uint8_t number) {
}
uint8_t prepareShot(uint8_t number){
Shot shot = GetShot(number);
if(shot.isExist){
uint8_t prepareShot(uint8_t number) {
Shot shot;
getShot(number, &shot);
if (shot.isExist) {
current.mode = ShotMode;
current.shot = shot;
return 1;
@ -114,32 +125,41 @@ uint8_t prepareShot(uint8_t number){
}
}
void setPos(uint8_t axial, uint8_t horizontal, uint8_t vertical) {
void setPos(){
//todo:
// hwSettings.servos[SERVO_AXIAL].invert
SetServo(SERVO_AXIAL, axial); // Axial
SetServo(SERVO_HORIZONTAL, horizontal); // Horizontal
SetServo(SERVO_VERTICAL, vertical); // Vertical
}
void setPosDefault(){
SetServo(0, 90);
SetServo(1, 90);
SetServo(2, 90);
void setPosDefault() {
SetServo(0, 90); // Axial
SetServo(1, 90); // Horizontal
SetServo(2, 90); // Vertical
}
// 0 .. 100
void setScrewkSpeed(uint8_t speed){
void setScrewkSpeed(uint8_t speed) {
if(speed && speed < hwSettings.motors.speed_Screw_min)
speed = hwSettings.motors.speed_Screw_min;
TIM1->CCR1 = 0;
TIM1->CCR2 = (uint16_t)(40 * speed);
}
//(-v) 0 .. 100(stop) .. 200(+v)
void setRollersSpeed(uint8_t up, uint8_t down){
void setRollersSpeed(uint8_t up, uint8_t down) {
Vz1 = up;
Vz2 = down;
}
// shot sequence
void startProgram(){
void startProgram() {
}
// shot sequence
void startMacro(){
void startMacro() {
}

5
Core/Src/main.c
View File

@ -201,7 +201,8 @@ initcomlete = 1;
/* Infinite loop */
/* USER CODE BEGIN WHILE */
Shot testShot = GetShot(3);
Shot testShot;
getShot(3, &testShot);
if(!testShot.isExist){
testShot.countRepeatShot = 1;
testShot.speedRollerTop = 200;
@ -211,7 +212,7 @@ initcomlete = 1;
testShot.rotationHorizontal = 90;
testShot.rotationVertical = 90;
SaveShot(3, &testShot);
saveShot(3, &testShot);
}
while (1)

4
Core/Src/stm32f1xx_it.c
View File

@ -672,8 +672,10 @@ void I2C1_ER_IRQHandler(void)
void USART3_IRQHandler(void)
{
/* USER CODE BEGIN USART3_IRQn 0 */
// CDC_Transmit_FS(uart_rx_buffer, UART_BUFFER_SIZE);
HAL_UART_Receive_IT(&huart3, uart_rx_buffer, UART_BUFFER_SIZE);
// CDC_Transmit_FS(uart_rx_buffer, UART_BUFFER_SIZE);
/* USER CODE END USART3_IRQn 0 */
HAL_UART_IRQHandler(&huart3);

8
TODO.md
View File

@ -17,10 +17,11 @@ IR:
doShot
Логика работы:
Ограничение минимальных скоростей!
Правильное переключение выстрелов с учётом repeatCount
Переключение выстрелов в программе
Переключение программ в макро
Правильная пауза
Правильная функция паузы
Индикация:
Текущий буфер индикации
@ -30,9 +31,10 @@ IR:
Звук:
Звук приёма IR
Звук ошибки
Звук включения
Звук ошибки
Звук включения
Ошибки:
В некоторый момент PID регулятор выдаёт 0 и двигатель не запускается не зависимо от входного значенияPWM