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programm works

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DashyFox
2024-09-22 21:38:17 +03:00
parent b98846eac1
commit 5b4db505c2
6 changed files with 263 additions and 117 deletions
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61
Core/Src/UART3_CMD_Handler.c
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@ -45,11 +45,9 @@ void UART3_SaveShot(uint8_t *dataPtr, uint8_t len) {
shot.speedRollerTop = dataPtr[3] + 100;
shot.speedRollerBottom = dataPtr[4] + 100;
shot.speedScrew = map(dataPtr[5], 0, 120, 0, 100);
shot.rotationAxial = map((int8_t)dataPtr[6], -99, 99, 0, 180);
shot.rotationHorizontal = map((int8_t)dataPtr[7], -99, 99, 0, 180);
shot.rotationVertical = 180 - (int8_t)dataPtr[8] - 90;
shot.rotationAxial = map((int8_t) dataPtr[6], -99, 99, 0, 180);
shot.rotationHorizontal = map((int8_t) dataPtr[7], -99, 99, 0, 180);
shot.rotationVertical = 180 - (int8_t) dataPtr[8] - 90;
saveShot(shotIndx, &shot);
@ -97,10 +95,10 @@ void UART3_SaveMacro(uint8_t *dataPtr, uint8_t len) {
dataPtr[5] != 0xFF) {
for (uint8_t i = 0; i < macro.header.programmCount; i++) {
uint8_t pos = 2 + i * sizeof(MacroProgram);
macro.programs[i].id = dataPtr[pos+0];
macro.programs[i].speedScrew = dataPtr[pos+2];
macro.programs[i].countRepeat = dataPtr[pos+3];
macro.programs[i].options = dataPtr[pos+4];
macro.programs[i].id = dataPtr[pos + 0];
macro.programs[i].speedScrew = dataPtr[pos + 2];
macro.programs[i].countRepeat = dataPtr[pos + 3];
macro.programs[i].options = dataPtr[pos + 4];
}
} else {
delMacro(macroIndx);
@ -109,7 +107,6 @@ void UART3_SaveMacro(uint8_t *dataPtr, uint8_t len) {
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_StartMacro(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
@ -123,6 +120,10 @@ void UART3_StartProgram(uint8_t *dataPtr, uint8_t len) {
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
uint8_t progIndx = dataPtr[1];
prepareProgramm(progIndx);
startShooting(infoBlock.hwInfo.timings.preRun);
SendResponse(dataPtr[0], 0, NULL, 0);
}
@ -196,7 +197,6 @@ void UART3_DeleteAllData(uint8_t *dataPtr, uint8_t len) {
EEPROM_EARSE();
saveInfoBlock();
SendResponse(dataPtr[0], 0, NULL, 0);
}
@ -222,7 +222,7 @@ void UART3_SetServoOffset(uint8_t *dataPtr, uint8_t len) {
uint8_t newDef = dataPtr[2];
printNumber(newDef);
print("\n");
print("\n");
newDef += 90; // from center
if (newDef > 180)
@ -452,26 +452,41 @@ void UART3_ReadStatistics(uint8_t *dataPtr, uint8_t len) {
uint8_t macro_number;
uint8_t program_number;
uint8_t shot_number;
uint8_t total_macro_done_HIGH;
uint8_t total_macro_done_LOW;
uint8_t total_program_done_HIGH;
uint8_t total_macro_done_HIGH;
uint8_t total_program_done_LOW;
uint8_t total_shot_done_HIGH;
uint8_t total_program_done_HIGH;
uint8_t total_shot_done_LOW;
uint8_t total_shot_done_HIGH;
} StatusStruct;
StatusStruct res;
uint8_t isRun = currentInfo.state == RUN;
res.status = isRun;
res.status = currentInfo.state == RUN;
res.shot_number = currentInfo.shot.index;
res.program_number = currentInfo.program.index;
res.macro_number = currentInfo.macro.index;
res.shot_number = 0xFF;
res.program_number = 0xFF;
res.macro_number = 0xFF;
res.total_shot_done_HIGH = HIGHBIT(infoBlock.statInfo.totalShots);
res.total_shot_done_LOW = LOWBIT(infoBlock.statInfo.totalShots);
switch (currentInfo.mode) {
case ShotMode:
res.shot_number = isRun ? currentInfo.shot.index : 0xFF;
break;
case ProgramMode:
res.program_number = isRun ? currentInfo.program.index : 0xFF;
break;
case MacroMode:
res.macro_number = isRun ? currentInfo.macro.index : 0xFF;
break;
default:
break;
}
res.total_program_done_HIGH = HIGHBIT(infoBlock.statInfo.totalPrograms);
res.total_program_done_LOW = LOWBIT(infoBlock.statInfo.totalPrograms);
res.total_shot_done_HIGH = HIGHBIT(infoBlock.statInfo.shotsInShot);
res.total_shot_done_LOW = LOWBIT(infoBlock.statInfo.shotsInShot);
res.total_program_done_HIGH = HIGHBIT(infoBlock.statInfo.shotsInProgram);
res.total_program_done_LOW = LOWBIT(infoBlock.statInfo.shotsInProgram);
res.total_macro_done_HIGH = HIGHBIT(infoBlock.statInfo.totalMacros);
res.total_macro_done_LOW = LOWBIT(infoBlock.statInfo.totalMacros);