From 839da85dfeeac5c98cb15658a73c9677bd3cd420 Mon Sep 17 00:00:00 2001
From: DashyFox <DashyFox@yandex.ru>
Date: Tue, 1 Oct 2024 22:34:01 +0300
Subject: [PATCH] fix rc debug and ir logic

---
 .cproject                      |   4 +-
 Core/Inc/IR_CMD_Handler.h      |   2 +
 Core/Inc/RobotFunctions.h      |   2 +
 Core/Src/EEPROM.c              |   6 +-
 Core/Src/IR_CMD_HandlerLogic.c | 102 +++++++++++++++++----------------
 Core/Src/IR_CMD_Wrapper.c      |  11 ++--
 Core/Src/Indicator.c           |   3 +-
 Core/Src/RobotFunctions.c      |  40 ++++++++-----
 Core/Src/UART3_CMD_Handler.c   |   2 +-
 Core/Src/main.c                |  40 ++++++++++++-
 TODO.md                        |  33 +++++------
 11 files changed, 154 insertions(+), 91 deletions(-)

diff --git a/.cproject b/.cproject
index a2128c8..74a9323 100644
--- a/.cproject
+++ b/.cproject
@@ -14,7 +14,7 @@
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" cleanCommand="rm -rf" description="" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.952459078" name="Debug" parent="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug" postbuildStep="STM32_Programmer_CLI -c port=SWD -w &quot;${ProjName}.hex&quot; -v -rst">
+				<configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" cleanCommand="rm -rf" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.952459078" name="Debug" parent="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug" postbuildStep="STM32_Programmer_CLI -c port=SWD -w &quot;${ProjName}.hex&quot; -v -rst">
 					<folderInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.952459078." name="/" resourcePath="">
 						<toolChain id="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.debug.1721750213" name="MCU ARM GCC" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.debug">
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_mcu.1582155796" name="MCU" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_mcu" useByScannerDiscovery="true" value="STM32F103C8Tx" valueType="string"/>
@@ -36,7 +36,7 @@
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.400718382" name="MCU/MPU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.1282773953" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g3" valueType="enumerated"/>
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.394842051" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.os" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.394842051" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o3" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.1350178782" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="DEBUG"/>
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
diff --git a/Core/Inc/IR_CMD_Handler.h b/Core/Inc/IR_CMD_Handler.h
index f2406f2..f15a28e 100644
--- a/Core/Inc/IR_CMD_Handler.h
+++ b/Core/Inc/IR_CMD_Handler.h
@@ -45,4 +45,6 @@ enum IR_CMD_LIST {
 	IR_ENGINE_DOWM_DEC = 17
 };
 
+void IR_CMD_Clear();
+
 #endif /* INC_IR_CMD_HANDLER_H_ */
diff --git a/Core/Inc/RobotFunctions.h b/Core/Inc/RobotFunctions.h
index 7091501..3398c5d 100644
--- a/Core/Inc/RobotFunctions.h
+++ b/Core/Inc/RobotFunctions.h
@@ -24,6 +24,7 @@ typedef enum ServoMap{
 
 typedef enum Mode {
 	NoneMode, ShotMode, ProgramMode, MacroMode,
+	DebugShot,
 } Mode;
 
 typedef enum State{
@@ -85,6 +86,7 @@ uint8_t prepareMacro(uint8_t number);
 
 void startShooting(uint32_t delayTime);
 void stopShooting();
+void pauseShooting();
 
 long map(long x, long in_min, long in_max, long out_min, long out_max);
 
diff --git a/Core/Src/EEPROM.c b/Core/Src/EEPROM.c
index cba8bf1..5bc6721 100644
--- a/Core/Src/EEPROM.c
+++ b/Core/Src/EEPROM.c
@@ -135,6 +135,7 @@ MemoryStatus saveInfoBlock() {
 }
 
 MemoryStatus getInfoBlock() {
+	memset(&infoBlock, 0x00, sizeof(InfoBlock));
 	MemoryStatus status = FLASH_ReadBlock(START_ADR_STAT, 0,
 			(uint8_t*) &infoBlock, sizeof(InfoBlock));
 
@@ -155,6 +156,7 @@ MemoryStatus saveShot(unsigned char number, Shot *shot) {
 
 MemoryStatus getShot(unsigned char number, Shot *shot) {
 	HAL_IWDG_Refresh(&hiwdg);
+	memset(shot, 0x00, sizeof(Shot));
 	if (FLASH_ReadBlock(START_ADR_SHOT, number, (uint8_t*) shot, SHOT_BLOCKSIZE)
 			!= EEPROM_OK) {
 		return EEPROM_FAIL;
@@ -198,6 +200,7 @@ MemoryStatus saveProg(unsigned char number, Program *prog) {
 }
 
 MemoryStatus getProg(unsigned char number, Program *prog) {
+	memset(prog, 0x00, sizeof(Program));
 	if (FLASH_ReadBlock(START_ADR_PROGRAM, number, (uint8_t*) prog,
 	PROGRAM_BLOCKSIZE) != EEPROM_OK) {
 		return EEPROM_FAIL;
@@ -245,6 +248,7 @@ MemoryStatus saveMacro(unsigned char number, Macro *macro) {
 }
 
 MemoryStatus getMacro(unsigned char number, Macro *macro) {
+	memset(macro, 0x00, sizeof(Macro));
 	if (FLASH_ReadBlock(START_ADR_MACRO, number, (uint8_t*) macro,
 	MACRO_BLOCKSIZE) != EEPROM_OK) {
 		return EEPROM_FAIL;
@@ -364,7 +368,7 @@ MemoryStatus FLASH_ReadBlock(uint16_t startAddr, uint8_t number,
 		return EEPROM_OUT_OF_RANGE;
 	}
 
-	memset(readData, 0x00, dataSize);
+//	memset(readData, 0x00, !!!!dataSize!!!!);
 
 	uint16_t blockAddr16 = (uint16_t) (startAddr
 			+ (uint16_t) (number * dataSize));
diff --git a/Core/Src/IR_CMD_HandlerLogic.c b/Core/Src/IR_CMD_HandlerLogic.c
index fef3382..2a4344e 100644
--- a/Core/Src/IR_CMD_HandlerLogic.c
+++ b/Core/Src/IR_CMD_HandlerLogic.c
@@ -74,6 +74,8 @@ uint8_t speedDown = 100;
 
 void IR_Home_Process() {
 	InputHandler = IR_Home_Process;
+	uint8_t isshotRcOverride = currentInfo.mode == ShotMode
+			&& currentInfo.state == RUN;
 	switch (data.command) {
 	case IR_SHOT:
 		paramEnter(onSelectShot);
@@ -96,106 +98,104 @@ void IR_Home_Process() {
 
 	case IR_PAUSE:
 		if (currentInfo.state == RUN) {
-			currentInfo.state = PAUSE;
+			pauseShooting();
 		}
 		break;
 
 	case IR_START:
 		if (currentInfo.state == PAUSE) {
 			currentInfo.state = RUN;
+			switch (currentInfo.mode) {
+			case DebugShot:
+			case ShotMode:
+				shotApply(&currentInfo.shot);
+				break;
+			case ProgramMode:
+				shotApply(&currentInfo.program.currentShot);
+				break;
+			case MacroMode:
+				shotApply(&currentInfo.macro.currentProgram.currentShot);
+				break;
+			default:
+				break;
+			}
 		}
 		break;
 
 	case IR_ESC: {
-//		if (EEPROM_EARSE() != EEPROM_OK) {
-//			char errorMsg[] = "Error EEPROM_EARSE\n\n";
-//			CDC_Transmit_FS((uint8_t*) errorMsg, strlen(errorMsg));
-//		} else {
-//			char doneMsg[] = "EEPROM_EARSE Done\n\n";
-//			CDC_Transmit_FS((uint8_t*) doneMsg, strlen(doneMsg));
-//		}
+		IR_CMD_Clear();
 		break;
 	}
 
 	case IR_DEBUG: {
+		if (!(currentInfo.state == STOP || currentInfo.state == PAUSE))
+			break;
 
+		switch (currentInfo.mode) {
+		case ShotMode:
+			currentInfo.mode = DebugShot;
+			currentInfo.state = RUN;
+			shotApply(&currentInfo.shot);
+			break;
+		default:
+			break;
+		}
 		break;
 	}
 
-	case IR_NUM_1:
-
-		break;
-	case IR_NUM_2:
-		break;
-	case IR_NUM_3:
-
-		break;
-
-	case IR_NUM_7:
-		break;
-	case IR_NUM_8:
-		break;
-	case IR_NUM_9:
-		break;
-
-	case IR_NUM_5:
-		break;
-
 	case IR_STOP: {
-		speedUP = 100;
-		speedDown = 100;
-		screwSpeed = 0;
+		print("***********************");
 		stopShooting();
 		break;
 	}
 
 	case IR_TEMPO_INC:
-		if (currentInfo.shot.shot.speedScrew < 100) {
+		if (isshotRcOverride && currentInfo.shot.shot.speedScrew < 100) {
 			currentInfo.shot.shot.speedScrew++;
 			shotApply(&currentInfo.shot);
 //			led_progressbar(10, 19, currentInfo.shot.shot.speedScrew); //todo: led_progressbarTMP
+			onHoldRepeat = IR_Home_Process;
 		}
-		onHoldRepeat = IR_Home_Process;
 		break;
 
 	case IR_TEMPO_DEC:
-		if (currentInfo.shot.shot.speedScrew > 0) {
+		if (isshotRcOverride && currentInfo.shot.shot.speedScrew > 0) {
 			currentInfo.shot.shot.speedScrew--;
 			shotApply(&currentInfo.shot);
+			onHoldRepeat = IR_Home_Process;
 		}
-		onHoldRepeat = IR_Home_Process;
 		break;
 
 	case IR_ENGINE_UP_INC:
-		if (currentInfo.shot.shot.speedRollerTop < 200) {
+		if (isshotRcOverride && currentInfo.shot.shot.speedRollerTop < 200) {
 			currentInfo.shot.shot.speedRollerTop++;
 			shotApply(&currentInfo.shot);
+			onHoldRepeat = IR_Home_Process;
 		}
-		onHoldRepeat = IR_Home_Process;
 		break;
 
 	case IR_ENGINE_UP_DEC:
-		if (currentInfo.shot.shot.speedRollerTop > 0) {
+		if (isshotRcOverride && currentInfo.shot.shot.speedRollerTop > 0) {
 			currentInfo.shot.shot.speedRollerTop--;
 			shotApply(&currentInfo.shot);
+			onHoldRepeat = IR_Home_Process;
 		}
-		onHoldRepeat = IR_Home_Process;
 		break;
 
 	case IR_ENGINE_DOWM_INC:
-		if (currentInfo.shot.shot.speedRollerBottom < 200) {
+		if (isshotRcOverride && currentInfo.shot.shot.speedRollerBottom < 200) {
 			currentInfo.shot.shot.speedRollerBottom++;
 			shotApply(&currentInfo.shot);
+			onHoldRepeat = IR_Home_Process;
 		}
-		onHoldRepeat = IR_Home_Process;
 		break;
 
 	case IR_ENGINE_DOWM_DEC:
-		if (currentInfo.shot.shot.speedRollerBottom > 0) {
+		if (isshotRcOverride && currentInfo.shot.shot.speedRollerBottom > 0) {
 			currentInfo.shot.shot.speedRollerBottom--;
 			shotApply(&currentInfo.shot);
+			onHoldRepeat = IR_Home_Process;
 		}
-		onHoldRepeat = IR_Home_Process;
 		break;
 
 /////////////////////////////////////////////////////////
@@ -293,13 +293,19 @@ void IR_Home_Process() {
 
 void IR_ShootingStart() {
 	InputHandler = IR_ShootingStart;
+
 	switch (data.command) {
-	case IR_START:
-		startShooting(infoBlock.hwInfo.timings.preRun);
-		break;
-	default:
-		InputHandler();
-		break;
+		case IR_START: {
+			InputHandler = IR_Home_Process;
+			startShooting(infoBlock.hwInfo.timings.preRun);
+			break;
+		}
+
+		default: {
+			InputHandler = IR_Home_Process;
+			IR_Home_Process();
+			break;
+		}
 	}
 }
 
diff --git a/Core/Src/IR_CMD_Wrapper.c b/Core/Src/IR_CMD_Wrapper.c
index 75137b2..9bfc9fd 100644
--- a/Core/Src/IR_CMD_Wrapper.c
+++ b/Core/Src/IR_CMD_Wrapper.c
@@ -104,7 +104,8 @@ void IR_CMD_Handler() {
 					lastRepeatTime = millis();  // Обновляем время последнего вызова
 //					uint8_t blinkPeriod = 10;
 					led_writeMirror(9, 1);
-
+					HAL_Delay(1);
+					led_writeMirror(9,0);
 
 					onHoldRepeat();  // Вызываем функцию при удержании
 
@@ -129,16 +130,13 @@ void IR_CMD_Clear() {
 	inputInProgerss = 0;
 	digitInputInProgerss = 0;
 	inputParam = NULL_NumberParam;
-//	SetShiftReg_inline(0, 0xff, 0);
 }
 
 void IR_ParamEnter() {
-//	SetShiftReg_inline(0x03, 0, 0);
 	if (0 <= data.command && data.command <= 9) {
 		if (digitInputInProgerss) {
 			inputParam = inputParam * 10; // dec shift << 1
 			inputParam += (data.command + 1) % 10;
-//			SetShiftReg_inline(0xF0, 0, 0);
 		} else {
 			inputParam = (data.command + 1) % 10;
 		}
@@ -151,13 +149,16 @@ void IR_ParamEnter() {
 			if(inputParam != NULL_NumberParam){
 				print("Enter: ");
 				printNumber(inputParam);
-//				SetShiftReg_inline(0, 0, inputParam);
 				onParamEnter();
 			}
 			inputParam = NULL_NumberParam;
 			digitInputInProgerss = 0;
 			break;
 
+		case IR_START:
+
+			break;
+
 		default:
 			IR_Home_Process();
 			break;
diff --git a/Core/Src/Indicator.c b/Core/Src/Indicator.c
index 21abe0d..82b2406 100644
--- a/Core/Src/Indicator.c
+++ b/Core/Src/Indicator.c
@@ -228,12 +228,10 @@ void led_progressbar_(uint8_t fromLed, uint8_t toLed, uint8_t progress, void (*l
 		ledBlinkInfo[ledIndex].count = 0;
 
 		if (i < ledsToLight) {
-			// Включаем светодиод, если он не включен
 			if (!led_getState(ledMap.ALL[ledIndex])) {
 				led_writeFunc(ledIndex, 1); // Используем переданную функцию для включения
 			}
 		} else {
-			// Выключаем светодиод, если он включен
 			if (led_getState(ledMap.ALL[ledIndex])) {
 				led_writeFunc(ledIndex, 0); // Используем переданную функцию для выключения
 			}
@@ -270,6 +268,7 @@ void led_PingPong_start(uint8_t fromLed, uint8_t toLed) {
 	ledPingPongInfo.writeCallback = led_write;
 	led_PingPong_start_(fromLed, toLed);
 }
+
 void led_PingPong_start_(uint8_t fromLed, uint8_t toLed){
 	if (fromLed < toLed) {
 			ledPingPongInfo.start = fromLed;
diff --git a/Core/Src/RobotFunctions.c b/Core/Src/RobotFunctions.c
index 954049e..8fa4076 100644
--- a/Core/Src/RobotFunctions.c
+++ b/Core/Src/RobotFunctions.c
@@ -23,7 +23,6 @@ unsigned char Shiftreg[3];
 extern InfoBlock infoBlock;
 uint8_t ballDetected = 0;
 uint32_t ballReact_timer = 0;
-uint8_t isDelayTimerRun = 0;
 uint32_t startDelay_timer;
 CurrentShot *postDelayShot = NULL;
 uint32_t lastIndicationTime = 0;
@@ -32,7 +31,7 @@ uint32_t noBallTimeout = 0xFFFFFFFF;
 
 void BallEXT_Handler();
 void robotStateStart(uint32_t delayTime);
-void robotStatePause();
+void pauseShooting();
 void robotStateStop();
 float calculatePeriod(int pwm_value);
 uint8_t nextBallInShot(CurrentShot *shot);
@@ -47,10 +46,13 @@ void robotStateStart(uint32_t delayTime) {
 	currentInfo.state = PRERUN_WAIT;
 	currentInfo.startDelay = delayTime;
 	startDelay_timer = millis();
-	isDelayTimerRun = 1;
 }
-void robotStatePause() {
+void pauseShooting() {
 	currentInfo.state = PAUSE;
+	led_clear();
+	setScrewkSpeed(0);
+	setRollersSpeed(100, 100);
+
 }
 
 void robotStateStop() {
@@ -116,12 +118,14 @@ void RobotTick() {
 
 	// No Ball Handler
 	if (currentInfo.state == RUN && millis() - noBallTimer > noBallTimeout) {
+		if(currentInfo.mode == DebugShot){
+			currentInfo.mode = ShotMode;
+		}
 		robotStateStop();
 		led_clear();
 		for (int i = 7; i <= 12; ++i) {
-			led_blink_num(i, 250, 0xFFFF-1);
+			led_blink_num(i, 250, 0xFFFF - 1);
 		}
-		isDelayTimerRun = 0;
 		setScrewkSpeed(0);
 		setRollersSpeed(100, 100);
 		setPos(infoBlock.hwInfo.servos[SERVO_AXIAL].def,
@@ -131,20 +135,19 @@ void RobotTick() {
 	}
 
 	// PreRun delay
-	if (isDelayTimerRun) {
+	if (currentInfo.state == PRERUN_WAIT) {
 		uint32_t elapsedTime = millis() - startDelay_timer;
 
 		if (elapsedTime > currentInfo.startDelay) {
-			isDelayTimerRun = 0;
-			if (currentInfo.state == PRERUN_WAIT) {
 				currentInfo.state = RUN;
 				shotApply(postDelayShot);
-			}
+
 		} else {
 			uint32_t intervalStep = currentInfo.startDelay / NUMLEDS;
 			if (elapsedTime - lastIndicationTime >= intervalStep) {
 				lastIndicationTime = elapsedTime;
-				uint8_t progress = 100 - (elapsedTime * 100) / currentInfo.startDelay;
+				uint8_t progress = 100
+						- (elapsedTime * 100) / currentInfo.startDelay;
 
 				uint8_t ledProgress = map(progress, 0, 70, 0, 100);
 				if (ledProgress > 30) {
@@ -258,6 +261,14 @@ void BallEXT_Handler() {
 			infoBlock.statInfo.shotInMacro++;
 			saveInfoBlock();
 			break;
+		case DebugShot:
+			currentInfo.mode = ShotMode;
+			led_clear();
+			robotStateStop();
+			setScrewkSpeed(0);
+			setRollersSpeed(100, 100);
+			break;
+
 		default:
 			break;
 		}
@@ -502,10 +513,13 @@ void startShooting(uint32_t delayTime) {
 }
 
 void stopShooting() {
+	if(currentInfo.mode == DebugShot){
+		currentInfo.mode = ShotMode;
+	}
+	robotStateStop();
+
 	led_clear();
 
-	isDelayTimerRun = 0;
-	robotStateStop();
 	setScrewkSpeed(0);
 	setRollersSpeed(100, 100);
 	setPosDefault();
diff --git a/Core/Src/UART3_CMD_Handler.c b/Core/Src/UART3_CMD_Handler.c
index 9c15562..a143aa6 100644
--- a/Core/Src/UART3_CMD_Handler.c
+++ b/Core/Src/UART3_CMD_Handler.c
@@ -517,7 +517,7 @@ void UART3_ReadStatistics(uint8_t *dataPtr, uint8_t len) {
 	} StatusStruct;
 
 	StatusStruct res;
-	uint8_t isRun = currentInfo.state == RUN;
+	uint8_t isRun = currentInfo.state == RUN || currentInfo.state == PRERUN_WAIT;
 	res.status = isRun;
 
 	res.shot_number = 0xFF;
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 4fe4e05..3f88bf5 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -174,7 +174,36 @@ int main(void)
 
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
-
+	const char* getStateString(State state) {
+	    switch (state) {
+	        case STOP:
+	            return "STOP";
+	        case RUN:
+	            return "RUN";
+	        case PAUSE:
+	            return "PAUSE";
+	        case PRERUN_WAIT:
+	            return "PRERUN_WAIT";
+	        default:
+	            return "UNKNOWN";
+	    }
+	}
+	const char* getModeString(Mode mode) {
+	    switch (mode) {
+	        case NoneMode:
+	            return "NoneMode";
+	        case ShotMode:
+	            return "ShotMode";
+	        case ProgramMode:
+	            return "ProgramMode";
+	        case MacroMode:
+	            return "MacroMode";
+	        case DebugShot:
+	            return "DebugShot";
+	        default:
+	            return "UNKNOWN";
+	    }
+	}
 	while (1) {
 
 		IR_CMD_Handler();
@@ -194,13 +223,18 @@ int main(void)
 //			extern uint32_t vsk2;
 //			extern uint16_t timing1;
 //			extern uint16_t timing2;
-//			// Форматируем строку для вывода timing1, timing2, vsk1, vsk2
 //			sprintf(buffer,
 //					"timing1: %u ms, timing2: %u ms, vsk1: %u RPM, vsk2: %u RPM\n",
 //					timing1, timing2, vsk1, vsk2);
 //
-//			// Отправляем строку через CDC (USB)
 //			CDC_Transmit_FS((uint8_t*) buffer, strlen(buffer));
+
+			char buffer[64];
+		    sprintf(buffer, "Current mode: %s, Current state: %s\n",
+		            getModeString(currentInfo.mode),
+		            getStateString(currentInfo.state));
+		    CDC_Transmit_FS((uint8_t*)buffer, strlen(buffer));
+
 		}
 
     /* USER CODE END WHILE */
diff --git a/TODO.md b/TODO.md
index 262290e..82d954a 100644
--- a/TODO.md
+++ b/TODO.md
@@ -1,10 +1,17 @@
+Баги:
+	При сбоях UART вешает его и иногда не переинициализирует даже после рестарта контроллера
+
 Логика:
 	Ограничение скорости роликов!
-	Ограничение углов сервы
-		Уточнить, в ТЗ только обработка 201 команды и учитывается только макс угол
-	Начальное смещение:
-		Корректировать макс углы ?
-		Не корректировать углы ?
+	V Ограничение углов сервы
+	V Начальное смещение
+	
+Исправлено:
+	V+- В некоторый момент PID регулятор выдаёт 0 и двигатель не запускается не зависимо от входного значенияPWM
+	V rc debug button
+	Оранж:
+		V Программы:
+			V Есл стоит "Настроить темп ударов", во все удары приходят нули.	
 
 Рефактор:
 	Сделать static все локальные функции
@@ -36,10 +43,10 @@ IR:
 	
 Индикация:
 	V Текущий буфер индикации
-	Функция отображения скорости
-	Обратный отсчёт
-	Индикация ошибок
-	Процесс удаления
+	V Функция отображения скорости
+	V Обратный отсчёт
+	V Индикация ошибок
+	V Процесс удаления
 	
 Звук:
 	Звук приёма IR
@@ -47,12 +54,6 @@ IR:
 		Звук включения
 	
 
-	
-Ошибки:
-	V+- В некоторый момент PID регулятор выдаёт 0 и двигатель не запускается не зависимо от входного значенияPWM
-	Оранж:
-		При сбоях UART вешает его и иногда не переинициализирует даже после рестарта контроллера
-		Программы:
-			Есл стоит "Настроить темп ударов", во все удары приходят нули.
+