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DashyFox
2024-09-17 23:01:04 +03:00
parent 2ef50d8b07
commit 953593d32a
9 changed files with 842 additions and 646 deletions
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204
Core/Src/UART3_CMD_Handler.c
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@ -13,7 +13,6 @@
#define HIGHBIT(b) (((b)>>8)&0xff)
#define LOWBIT(b) ((b)&0xff)
extern CurrentInfo currentInfo;
extern InfoBlock infoBlock;
@ -33,10 +32,20 @@ uint8_t checkLen(uint8_t cmd, uint8_t current_length, uint8_t required_length) {
}
void UART3_SaveShot(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
const uint8_t MIN_PARAM_LENGTH = 8;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
uint8_t shotIndx = dataPtr[1];
Shot shot;
shot.countRepeatShot = dataPtr[2];
shot.speedRollerTop = dataPtr[3]+100;
shot.speedRollerBottom = dataPtr[4]+100;
shot.speedScrew = map(dataPtr[6], 0, 120, 0, 100);
shot.rotationAxial = map(dataPtr[5], -99, 99, 0, 180);
shot.rotationHorizontal = map(dataPtr[6], -99, 99, 90-45, 90+45);
SendResponse(dataPtr[0], 0, NULL, 0);
}
@ -112,78 +121,160 @@ void UART3_DeleteMacro(uint8_t *dataPtr, uint8_t len) {
SendResponse(dataPtr[0], 0, NULL, 0);
}
//120
void UART3_DeleteAllData(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
EEPROM_EARSE();
SendResponse(dataPtr[0], 0, NULL, 0);
}
//180
void UART3_GetDeviceStatus(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
uint8_t res = currentInfo.state.isShooting;
SendResponse(dataPtr[0], 0, &res, sizeof(res));
}
//200
void UART3_SetServoOffset(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
const uint8_t MIN_PARAM_LENGTH = 3;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
ServoMap servo = dataPtr[1];
ServoSetting *currentServo = &infoBlock.hwInfo.servos[servo];
int16_t newDef = (dataPtr[2] << 8) | dataPtr[3];
newDef+=90; // from center
if (newDef < 0) newDef = 0;
if (newDef > 180) newDef = 180;
int16_t maxDeviation = (currentServo->max > currentServo->def)
? currentServo->max - currentServo->def
: currentServo->def - currentServo->min;
currentServo->def = newDef;
int16_t newMax = currentServo->def + maxDeviation;
int16_t newMin = currentServo->def - maxDeviation;
if (newMax > 180) newMax = 180;
if (newMin < 0) newMin = 0;
currentServo->max = newMax;
currentServo->min = newMin;
saveInfoBlock();
SendResponse(dataPtr[0], 0, NULL, 0);
}
//204
void UART3_GetServoOffset(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
const uint8_t MIN_PARAM_LENGTH = 1;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
ServoMap servo = dataPtr[1];
ServoSetting *currentServo = &infoBlock.hwInfo.servos[servo];
int16_t def = currentServo->def - 90; // offset from center
uint8_t res[2];
res[0] = HIGHBIT(def);
res[1] = LOWBIT(def);
SendResponse(dataPtr[0], 0, res, sizeof(res));
}
//201
void UART3_SetServoMaxAngle(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
const uint8_t MIN_PARAM_LENGTH = 3;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
ServoMap servo = dataPtr[1];
uint16_t maxAngl = (dataPtr[2] << 8) | dataPtr[3];
ServoSetting *currentServo = &infoBlock.hwInfo.servos[servo];
int16_t newMax = currentServo->def + maxAngl;
int16_t newMin = currentServo->def - maxAngl;
if (newMax > 180) newMax = 180;
if (newMin < 0) newMin = 0;
currentServo->max = newMax;
currentServo->min = newMin;
saveInfoBlock();
SendResponse(dataPtr[0], 0, NULL, 0);
}
//202
void UART3_GetServoMaxAngle(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
const uint8_t MIN_PARAM_LENGTH = 1;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
ServoMap servo = dataPtr[1];
ServoSetting *currentServo = &infoBlock.hwInfo.servos[servo];
uint8_t deviationToMax = currentServo->max > currentServo->def
? currentServo->max - currentServo->def
: currentServo->def - currentServo->max;
uint8_t deviationToMin = currentServo->def > currentServo->min
? currentServo->def - currentServo->min
: currentServo->min - currentServo->def;
uint8_t maxAngl = (deviationToMax > deviationToMin) ? deviationToMax : deviationToMin;
uint8_t res[2];
res[0] = HIGHBIT(maxAngl);
res[1] = LOWBIT(maxAngl);
SendResponse(dataPtr[0], 0, res, sizeof(res));
}
//203
void UART3_MoveServoToInitialPosition(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
const uint8_t MIN_PARAM_LENGTH = 1;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
setPosDefaultSingle(dataPtr[1]);
SendResponse(dataPtr[0], 0, NULL, 0);
}
//206
void UART3_SetStartupDelay(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
const uint8_t MIN_PARAM_LENGTH = 2;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
infoBlock.hwInfo.timings.preRun = (dataPtr[1] << 8) | dataPtr[2];
saveInfoBlock();
SendResponse(dataPtr[0], 0, NULL, 0);
}
//207
void UART3_GetStartupDelay(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
uint8_t res[2];
res[0] = HIGHBIT(infoBlock.hwInfo.timings.preRun);
res[1] = LOWBIT(infoBlock.hwInfo.timings.preRun);
SendResponse(dataPtr[0], 0, res, sizeof(res));
}
//210 !!!!!!!!
void UART3_SetMinRollerSpeed(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
@ -192,67 +283,96 @@ void UART3_SetMinRollerSpeed(uint8_t *dataPtr, uint8_t len) {
SendResponse(dataPtr[0], 0, NULL, 0);
}
//211 !!!!!!!!!!!
void UART3_GetMinRollerSpeed(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
uint8_t res[1];
// res[0] = ;
SendResponse(dataPtr[0], 0, res, sizeof(res));
}
//212
void UART3_SetMinScrewSpeed(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
const uint8_t MIN_PARAM_LENGTH = 1;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
infoBlock.hwInfo.motors.speed_Screw_min = dataPtr[1];
saveInfoBlock();
SendResponse(dataPtr[0], 0, NULL, 0);
}
//215
void UART3_GetMinScrewSpeed(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
uint8_t res[1];
res[0] = infoBlock.hwInfo.motors.speed_Screw_min;
SendResponse(dataPtr[0], 0, res, sizeof(res));
}
//214
void UART3_SetServoInvertFlag(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
const uint8_t MIN_PARAM_LENGTH = 1;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
uint8_t inv = dataPtr[1];
infoBlock.hwInfo.servos[SERVO_AXIAL].invert = inv;
infoBlock.hwInfo.servos[SERVO_HORIZONTAL].invert = inv;
infoBlock.hwInfo.servos[SERVO_VERTICAL].invert = inv;
saveInfoBlock();
SendResponse(dataPtr[0], 0, NULL, 0);
}
//215
void UART3_GetServoInvertFlag(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
uint8_t res[1];
res[0] = (infoBlock.hwInfo.servos[SERVO_AXIAL].invert
|| infoBlock.hwInfo.servos[SERVO_HORIZONTAL].invert
|| infoBlock.hwInfo.servos[SERVO_VERTICAL].invert);
SendResponse(dataPtr[0], 0, res, sizeof(res));
}
// 181
void UART3_ReadStatistics(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
typedef struct __attribute__((packed)){
uint8_t status;
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_program_done_LOW;
uint8_t total_shot_done_HIGH;
uint8_t total_shot_done_LOW;
typedef struct __attribute__((packed)) {
uint8_t status;
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_program_done_LOW;
uint8_t total_shot_done_HIGH;
uint8_t total_shot_done_LOW;
} StatusStruct;
StatusStruct res;
res.status = currentInfo.state.isShooting && !currentInfo.state.isPause;
res.status = currentInfo.state.isShooting;
res.shot_number = currentInfo.shot.index;
res.program_number = currentInfo.program.index;
res.macro_number = currentInfo.macro.index;
@ -266,14 +386,18 @@ void UART3_ReadStatistics(uint8_t *dataPtr, uint8_t len) {
res.total_macro_done_HIGH = HIGHBIT(infoBlock.statInfo.totalMacros);
res.total_macro_done_LOW = LOWBIT(infoBlock.statInfo.totalMacros);
SendResponse(dataPtr[0], 0, (uint8_t*)&res, sizeof(res));
SendResponse(dataPtr[0], 0, (uint8_t*) &res, sizeof(res));
}
// 121
void UART3_ResetStatistics(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
memset(&infoBlock.statInfo, 0x00, sizeof(infoBlock.statInfo));
saveInfoBlock();
SendResponse(dataPtr[0], 0, NULL, 0);
}