upd

Core/Inc/IR.h

@@ -16,4 +16,37 @@ void IR_handler(void);
 void ClearIRStatus(void);
 void ClearIRCommand(void);
 void ClearIR(void);
+void SetShiftReg_inline (unsigned char b1, unsigned char b2, unsigned char b3);
 void SetShiftReg (unsigned char shiftreg[3]);
+
+enum IR_CMD_LIST {
+	IR_FRONT_LEFT = 20,
+	IR_FRONT_MID = 58,
+	IR_FONT_RIGHT = 21,
+	IR_MACRO = 63,
+	IR_PROG = 37,
+	IR_SHOT = 56,
+	IR_NUM_1 = 0,
+	IR_NUM_2 = 1,
+	IR_NUM_3 = 2,
+	IR_NUM_4 = 3,
+	IR_NUM_5 = 4,
+	IR_NUM_6 = 5,
+	IR_NUM_7 = 6,
+	IR_NUM_8 = 7,
+	IR_NUM_9 = 8,
+	IR_NUM_0 = 9,
+	IR_DEBUG = 29, // -/--
+	IR_PAUSE = 43,
+	IR_STOP = 116,
+	IR_START = 124,
+	IR_F_BTN = 23,
+	IR_ESC = 117,
+	IR_ENTER = 97,
+	IR_TEMPO_INC = 60,
+	IR_TEMPO_DEC = 54,
+	IR_ENGINE_UP_INC = 18, // скорость верхнего мотора
+	IR_ENGINE_UP_DEC = 19,
+	IR_ENGINE_DOWM_INC = 16,
+	IR_ENGINE_DOWM_DEC = 17
+};

Core/Src/IR.c

@@ -50,7 +50,7 @@ void IR_handler() // SONY (SIRC) protocol 12 bit (7+5)
                 if ((currentIR_Pulse < 130000) && (currentIR_Pulse > 110000)) // 2,7 ms - 2,3 ms
                 {
                     IRStatus = STATUS_COMMAND; // 129600 - 110400
-                    print("STATUS_COMMAND\n");
+                    // print("STATUS_COMMAND\n");
                 }
                 else
                 {
@@ -65,19 +65,19 @@ void IR_handler() // SONY (SIRC) protocol 12 bit (7+5)
                 if (currentIR_Pulse < 37440) // 0.78 ms   37440
                 {
                     IR_Command &= ~((1 << IR_IndexBitCommand) & 0xFF);
-                    print("0");
+                    // print("0");
                 }
                 else
                 {
                     IR_Command |= ((1 << IR_IndexBitCommand) & 0xFF);
-                    print("1");
+                    // print("1");
                 }
 
                 IR_IndexBitCommand++;
                 if (IR_IndexBitCommand == 7)
                 {
                     IRStatus = STATUS_ADDRESS;
-                    print("  STATUS_ADDRESS ");
+                    // print("  STATUS_ADDRESS ");
                 }
                 else
                 {
@@ -93,19 +93,20 @@ void IR_handler() // SONY (SIRC) protocol 12 bit (7+5)
                     if (currentIR_Pulse < 37440) // 0.78 <20><>
                     {
                         IR_Address &= ~((1 << IR_IndexBitAddress) & 0xFF);
-                        print("0");
+                        // print("0");
                     }
                     else
                     {
                         IR_Address |= ((1 << IR_IndexBitAddress) & 0xFF);
-                        print("1");
+                        // print("1");
                     }
 
                     IR_IndexBitAddress++;
                     if (IR_IndexBitAddress == 5)
                     {
+//                    	printNumber(IR_Command);
                         IRStatus = STATUS_REPEAT;
-                        print("\n\n\n");
+                        // print("\n\n\n");
                     }
                     else
                     {
@@ -118,7 +119,7 @@ void IR_handler() // SONY (SIRC) protocol 12 bit (7+5)
                 break;
 
             case STATUS_ERROR:
-                print("STATUS_ERROR\n\n");
+                // print("STATUS_ERROR\n\n");
             default:
                 ClearIRStatus();
 
@@ -158,6 +159,11 @@ void ClearIR()
     ClearIRStatus();
 }
 
+void SetShiftReg_inline(unsigned char b1, unsigned char b2, unsigned char b3){
+    unsigned char shiftreg[3] = {b1,b2,b3};
+    SetShiftReg(shiftreg);
+}
+
 void SetShiftReg(unsigned char shiftreg[3])
 {
     for (unsigned char i = 0; i < 3; i++)
@@ -197,3 +203,4 @@ void SetShiftReg(unsigned char shiftreg[3])
         HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
     }
 }
+

Core/Src/main.c

@@ -76,14 +76,11 @@ uint16_t vi = 0;
 uint16_t timing1 = 0;
 uint16_t timing2 = 0;
 
-
-
 uint8_t MYIR_command = 0;
 
 volatile uint32_t millisCounter = 0;
 uint32_t previousMillis = 0;
 
-
 struct StructShot BufShots[MAX_NUMBER_SHOTS];
 struct StructProgram BufPrograms;
 struct StructMacro BufMacro;
@@ -113,9 +110,16 @@ static void MX_USART3_UART_Init(void);
  * @brief  The application entry point.
  * @retval int
  */
+unsigned char b1 = 1;
+unsigned char b2 = 1;
+unsigned char b3 = 1;
+
+ IRMenu menu();
+
 int main(void)
 {
 
+	menu.foo();
   /* USER CODE BEGIN 1 */
 
   /* USER CODE END 1 */
@@ -202,44 +206,131 @@ initcomlete = 1;
   /* USER CODE BEGIN WHILE */
   while (1)
   {
-     if (IRStatus == STATUS_REPEAT) {
+    if (IRStatus == STATUS_REPEAT)
- 		                               	 if (IR_Address == 0x01) MYIR_command = IR_Command;
+    {
- 		                               	   CDC_Transmit_FS(&MYIR_command, 1);
+      if (IR_Address == 0x01)
+      {
+        MYIR_command = IR_Command;
+        printNumber(MYIR_command);
+        //      CDC_Transmit_FS(&MYIR_command, 1);
+        switch (MYIR_command)
+        {
+        case IR_FONT_RIGHT:
+//        	if(!(b1>64 || b2> 64|| b3>64)) b1 = 64;
+//        	else
+//        	{
+//        		b1 = b1>>1;
+//        		b2 = b2<<1;
+//        		b3 = b3<<1;
+//        	}
+        	SetShiftReg_inline(b1, b2, b3);
+          break;
+        case IR_FRONT_MID:
+        	SetShiftReg_inline(0, 0, 0);
+        	b1=b2=b3=0;
+          break;
+        case IR_FRONT_LEFT:
+//        	if(!b3)
+//        		b3 = 128;
+//			b3 = b3>>1;
+//			if(!b3)
+//				b2 = 64;
+
+        	SetShiftReg_inline(++b1, ++b2, ++b3);
+          break;
+
+        default:
+          break;
+        }
+      }
       ClearIRStatus();
     }
 
- 		if (rxcomlite == 1) {
+    if (rxcomlite == 1)
+    {
 
- 			txdata[0] = 'O'; txdata[1] = 'K'; txdata[2] = '?';
+      txdata[0] = 'O';
+      txdata[1] = 'K';
+      txdata[2] = '?';
 
- 			switch (rxdata[0]) {
+      switch (rxdata[0])
+      {
 
- 			  case 1: { SetServo(0, rxdata[1] ); txdata[0] = 'O'; txdata[1] = 'K';
+      case 1:
- 				          txdata[2] = '1'; CDC_Transmit_FS(txdata, 3); break; }
+      {
+        SetServo(0, rxdata[1]);
+        txdata[0] = 'O';
+        txdata[1] = 'K';
+        txdata[2] = '1';
+        CDC_Transmit_FS(txdata, 3);
+        break;
+      }
 
- 				case 2: { SetServo(1, rxdata[1] ); txdata[0] = 'O'; txdata[1] = 'K';
+      case 2:
- 				          txdata[2] = '2'; CDC_Transmit_FS(txdata, 3); break; }
+      {
+        SetServo(1, rxdata[1]);
+        txdata[0] = 'O';
+        txdata[1] = 'K';
+        txdata[2] = '2';
+        CDC_Transmit_FS(txdata, 3);
+        break;
+      }
 
- 				case 3: { SetServo(2, rxdata[1] ); txdata[0] = 'O'; txdata[1] = 'K';
+      case 3:
- 				          txdata[2] = '3'; CDC_Transmit_FS(txdata, 3); break; }
+      {
+        SetServo(2, rxdata[1]);
+        txdata[0] = 'O';
+        txdata[1] = 'K';
+        txdata[2] = '3';
+        CDC_Transmit_FS(txdata, 3);
+        break;
+      }
 
-         case 4: { SetServo(0, rxdata[1] ); SetServo(1, rxdata[2] );  SetServo(2, rxdata[3] );
+      case 4:
+      {
+        SetServo(0, rxdata[1]);
+        SetServo(1, rxdata[2]);
+        SetServo(2, rxdata[3]);
 
         Vz1 = rxdata[4]; // rolic verh 0..200
         Vz2 = rxdata[5]; // rolic niz 0..200
         vi = 0;
 
         // shnek 0..100
- 									if (rxdata[6] < 101) { TIM1->CCR1 = 0; TIM1->CCR2 = (uint16_t)(40*rxdata[6]); } else
+        if (rxdata[6] < 101)
- 				                               { TIM1->CCR1 = 0; TIM1->CCR2 = 4000;}
+        {
+          TIM1->CCR1 = 0;
+          TIM1->CCR2 = (uint16_t)(40 * rxdata[6]);
+        }
+        else
+        {
+          TIM1->CCR1 = 0;
+          TIM1->CCR2 = 4000;
+        }
 
- 				          txdata[0] = 'O'; txdata[1] = 'K'; txdata[2] = '4'; CDC_Transmit_FS(txdata, 3); break; }
+        txdata[0] = 'O';
+        txdata[1] = 'K';
+        txdata[2] = '4';
+        CDC_Transmit_FS(txdata, 3);
+        break;
+      }
 
- 					case 5: {txdata[0] = LOBYTE(timing1) ; txdata[1] = HIBYTE(timing1) ;
+      case 5:
- 					         CDC_Transmit_FS(txdata, 3); break; }
+      {
- 					case 6:	{ CDC_Transmit_FS(velosety, 600);  break;   }
+        txdata[0] = LOBYTE(timing1);
+        txdata[1] = HIBYTE(timing1);
+        CDC_Transmit_FS(txdata, 3);
+        break;
+      }
+      case 6:
+      {
+        CDC_Transmit_FS(velosety, 600);
+        break;
+      }
 
- 					case 7:	{ rejim[0] = rxdata[1];
+      case 7:
+      {
+        rejim[0] = rxdata[1];
         // copy to buffer
         for (uint8_t i = 0; i < rejim[0]; i++)
         {
@@ -256,42 +347,50 @@ initcomlete = 1;
         SetServo(2, rejim[3]);
         Vz1 = rejim[4];
         Vz2 = rejim[5];
- 										TIM1->CCR1 = 0; TIM1->CCR2 = (uint16_t)(40*rejim[6]);
+        TIM1->CCR1 = 0;
+        TIM1->CCR2 = (uint16_t)(40 * rejim[6]);
         // set avto
         rejim_number = 1;
         avto = 1;
- 					          break; }
+        break;
- 					case 8:	{ // stop avto
+      }
- 						        avto = 0; rejim_number = 1;
+      case 8:
+      { // stop avto
+        avto = 0;
+        rejim_number = 1;
         // stop mecanics
         SetServo(0, 90);
         SetServo(1, 90);
         SetServo(2, 90);
         Vz1 = 100;
         Vz2 = 100;
- 						        TIM1->CCR1 = 0; TIM1->CCR2 = 0;
+        TIM1->CCR1 = 0;
+        TIM1->CCR2 = 0;
 
-            					break; }
+        break;
+      }
 
- 					case 9:	{ txdata[0] = avto ;
+      case 9:
+      {
+        txdata[0] = avto;
         txdata[1] = rejim_number;
         CDC_Transmit_FS(txdata, 3);
 
- 					          break; }
+        break;
-
- 			  default: break;
       }
 
+      default:
+        break;
+      }
 
       rxcomlite = 0;
 
       // //		HAL_Delay(1000);
-	
     }
 
-
     uint32_t currentMillis = millisCounter;
-      if (currentMillis - previousMillis >= 500) {
+    if (currentMillis - previousMillis >= 500)
+    {
       previousMillis = currentMillis;
       GPIOC->ODR ^= GPIO_PIN_13;
       //          unsigned char text[] = "Hello\n";
@@ -333,8 +432,7 @@ void SystemClock_Config(void)
 
   /** Initializes the CPU, AHB and APB buses clocks
    */
-  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
-                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
@@ -383,7 +481,6 @@ static void MX_I2C1_Init(void)
   /* USER CODE BEGIN I2C1_Init 2 */
 
   /* USER CODE END I2C1_Init 2 */
-
 }
 
 /**
@@ -462,7 +559,6 @@ static void MX_TIM1_Init(void)
 
   /* USER CODE END TIM1_Init 2 */
   HAL_TIM_MspPostInit(&htim1);
-
 }
 
 /**
@@ -533,7 +629,6 @@ static void MX_TIM2_Init(void)
 
   /* USER CODE END TIM2_Init 2 */
   HAL_TIM_MspPostInit(&htim2);
-
 }
 
 /**
@@ -595,7 +690,6 @@ static void MX_TIM3_Init(void)
   /* USER CODE BEGIN TIM3_Init 2 */
 
   /* USER CODE END TIM3_Init 2 */
-
 }
 
 /**
@@ -628,7 +722,6 @@ static void MX_USART3_UART_Init(void)
   /* USER CODE BEGIN USART3_Init 2 */
 
   /* USER CODE END USART3_Init 2 */
-
 }
 
 /**
@@ -707,7 +800,6 @@ void Error_Handler(void)
   //  GPIOC->ODR &= ~GPIO_PIN_13;
   while (1)
   {
-
   }
   /* USER CODE END Error_Handler_Debug */
 }