prepare EEPROM and logic funcs

Core/Inc/EEPROM.h

@@ -26,9 +26,17 @@
 
 #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 countRepeatShot;		// 0 = inf
 	unsigned char speedRollerTop;		// 0 .. 100 .. 200
 	unsigned char speedRollerBottom;	// 0 .. 100 .. 200
 	unsigned char speedScrew;			// 0 .. 100
@@ -69,11 +77,52 @@ typedef struct Macro {
 	MacroProgram programs[MAX_NUMBER_PROGRAMS_IN_MACRO];
 } Macro;
 
-void FLASH_WriteBlock(uint16_t startAddr, uint8_t number,uint8_t *writeData);
+typedef struct ServoSetting {
-void FLASH_ReadBlock(uint16_t startAddr, uint8_t number, uint8_t *outData);
+	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);
+MemoryStatus FLASH_WriteBlock(uint16_t startAddr, uint8_t number,
-Shot GetShot( unsigned char 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_ */

Core/Inc/RobotFunctions.h

@@ -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

Core/Src/EEPROM.c

@@ -4,45 +4,95 @@
 #include "Print.h"
 
 		
-void SaveShot(unsigned char number, struct Shot* shot)
+MemoryStatus saveShot(unsigned char number, Shot* shot)
 {
-	print("SaveShot ");
+	if(FLASH_WriteBlock(START_ADR_SHOT, number, (uint8_t*)shot) == EEPROM_OK){
-	printNumber(number);
+		return EEPROM_OK;
-	unsigned char Buf[SHOT_BLOCKSIZE];
+	}
-	memset(Buf, 0x00, sizeof(Buf));
+   return EEPROM_FAIL;
-   
-        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);
 }
 
-struct Shot GetShot( unsigned char number)
+MemoryStatus getShot(unsigned char number, Shot *shot)
 {
-	struct Shot shot;
+	if(FLASH_ReadBlock(START_ADR_SHOT, number, (uint8_t*)&shot) != EEPROM_OK){
-
+		return EEPROM_FAIL;
-	unsigned char Buf[SHOT_BLOCKSIZE];
+	}
-	FLASH_ReadBlock(START_ADR_SHOT, number, Buf);
+	if(!shot->isExist){
-	shot.isExist			= Buf[0];
+		return EEPROM_MISSING_ELEMENT;
-	shot.countRepeatShot    = Buf[1];
+	}
-	shot.speedRollerTop     = Buf[2];
+	return EEPROM_OK;
-	shot.speedRollerBottom  = Buf[3];
-	shot.speedScrew         = Buf[4];
-	shot.rotationAxial      = Buf[5];
-	shot.rotationHorizontal = Buf[6];
-	shot.rotationVertical   = Buf[7];
-	
-	return shot;
 }
 
-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;
 }

Core/Src/RobotFunctions.c

@@ -9,12 +9,8 @@
 #include "EEPROM.h"
 #include "Print.h"
 
-
 typedef enum Mode {
-	NoneMode,
+	NoneMode, ShotMode, ProgramMode, MacroMode,
-	ShotMode,
-	ProgramMode,
-	MacroMode,
 } Mode;
 
 uint8_t isPause = 0;
@@ -39,9 +35,23 @@ 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) {
 	SetServo(0, shot->rotationHorizontal);
 	SetServo(1, shot->rotationVertical);
@@ -103,7 +113,8 @@ void doShotForever(uint8_t number){
 }
 
 uint8_t prepareShot(uint8_t number) {
-	Shot shot = GetShot(number);
+	Shot shot;
+	getShot(number, &shot);
 	if (shot.isExist) {
 		current.mode = ShotMode;
 		current.shot = shot;
@@ -114,18 +125,27 @@ 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(0, 90);	// Axial
-	SetServo(1, 90);
+	SetServo(1, 90);	// Horizontal
-	SetServo(2, 90);
+	SetServo(2, 90);	// Vertical
 }
 
 // 0 .. 100
 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);
 }

Core/Src/main.c

@@ -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)

Core/Src/stm32f1xx_it.c

@@ -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);

TODO.md

@@ -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
@@ -34,6 +35,7 @@ IR:
 		Звук включения
 	
 
+	
 Ошибки:
 	В некоторый момент PID регулятор выдаёт 0 и двигатель не запускается не зависимо от входного значенияPWM