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fix rc debug and ir logic

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This commit is contained in:
DashyFox
2024-10-01 22:34:01 +03:00
parent 6c3af6fbb5
commit 839da85dfe
11 changed files with 154 additions and 91 deletions
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2
Core/Inc/IR_CMD_Handler.h
View File

@ -45,4 +45,6 @@ enum IR_CMD_LIST {
IR_ENGINE_DOWM_DEC = 17
};
void IR_CMD_Clear();
#endif /* INC_IR_CMD_HANDLER_H_ */

2
Core/Inc/RobotFunctions.h
View File

@ -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);

6
Core/Src/EEPROM.c
View File

@ -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));

102
Core/Src/IR_CMD_HandlerLogic.c
View File

@ -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;
}
}
}

11
Core/Src/IR_CMD_Wrapper.c
View File

@ -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;

3
Core/Src/Indicator.c
View File

@ -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;

40
Core/Src/RobotFunctions.c
View File

@ -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();

2
Core/Src/UART3_CMD_Handler.c
View File

@ -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;

40
Core/Src/main.c
View File

@ -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 */