test

2025-05-04 07:10:17 +00:00 · 2024-09-04 04:01:15 +03:00 · 2024-09-04 04:01:15 +03:00 · b962cbb419
commit b962cbb419
parent ff754d60a6
11 changed files with 174 additions and 116 deletions
--- a/.cproject
+++ b/.cproject
@ -100,7 +100,7 @@
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.301353199" name="Release" parent="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release">
+				<configuration artifactExtension="elf" artifactName="${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.release" cleanCommand="rm -rf" description="" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.301353199" name="Release" parent="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release" 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.release.301353199." name="/" resourcePath="">
 						<toolChain id="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.release.1942176349" name="MCU ARM GCC" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.release">
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_mcu.855111063" name="MCU" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_mcu" useByScannerDiscovery="true" value="STM32F103C8Tx" valueType="string"/>
--- a/.gitignore
+++ b/.gitignore
@ -1,4 +1,4 @@
-
+Release/*
 Debug/*
 Drivers/*
 Middlewares/*
--- a/Core/Src/EEPROM.c
+++ b/Core/Src/EEPROM.c
@ -1,6 +1,7 @@
 #include "EEPROM.h"
 #include "pca9685.h"
 #include "usbd_cdc_if.h"
+#include "Print.h"

 		
 void SaveShot(unsigned char number, struct Shot* shot)
--- a/Core/Src/IR_CMD_HandlerLogic.c
+++ b/Core/Src/IR_CMD_HandlerLogic.c
@ -23,6 +23,7 @@ enum IR_MENU {

 // <<
 extern void (*InputHandler)(void); 			// ProcessFunc
+extern void (*onHoldRepeat)(void);
 extern uint16_t inputParam;					// current input parameter

 // >>
@ -46,10 +47,14 @@ void onSelectShot(){



-
 unsigned char b1 = 1;
 unsigned char b2 = 1;
 unsigned char b3 = 1;
+
+uint8_t screwSpeed;
+uint8_t speedUP = 100;
+uint8_t speedDown = 100;
+
 void IR_Home_Process() {
 	InputHandler = IR_Home_Process;
 	SetShiftReg_inline(0xff, 0, 0);
@ -59,115 +64,120 @@ void IR_Home_Process() {
 		paramEnter(onSelectShot);
 		break;

-	case IR_PROG:
-//		paramEnter(onSelectShot);
-		break;
-
-	case IR_FRONT_MID:
-		SetShiftReg_inline(0, 0, 0);
-		b1 = b2 = b3 = 0;
-		break;
+//	case IR_PROG:
+////		paramEnter(onSelectShot);
+//		break;
+//
+//	case IR_FRONT_MID:
+//		SetShiftReg_inline(0, 0, 0);
+//		b1 = b2 = b3 = 0;
+//		break;
 	case IR_FRONT_LEFT:
 		SetShiftReg_inline(++b1, ++b2, ++b3);
+		onHoldRepeat = IR_Home_Process;
 		break;

 	case IR_F_BTN:
-		{
-		  Shot testShot = GetShot(3);
-		  if(!testShot.isExist){
-			  testShot.countRepeatShot		= 1;
-			  testShot.speedRollerTop		= 200;
-			  testShot.speedRollerBottom	= 200;
-			  testShot.speedScrew 			= 100;
-			  testShot.rotationAxial		= 90;
-			  testShot.rotationHorizontal	= 90;
-			  testShot.rotationVertical		= 90;
-
-			  SaveShot(3, &testShot);
-			  doShot(&testShot);
-		  }
-		}
+//		{
+//		  Shot testShot = GetShot(3);
+//		  if(!testShot.isExist){
+//			  testShot.countRepeatShot		= 1;
+//			  testShot.speedRollerTop		= 200;
+//			  testShot.speedRollerBottom	= 200;
+//			  testShot.speedScrew 			= 100;
+//			  testShot.rotationAxial		= 90;
+//			  testShot.rotationHorizontal	= 90;
+//			  testShot.rotationVertical		= 90;
+//
+//			  SaveShot(3, &testShot);
+//			  doShot(&testShot);
+//		  }
+//		}
 		break;

 	case IR_PAUSE:
 		{
-			uint8_t buf[256];
+			uint8_t buf[32];

-			uint16_t blockAddr16 = 0;
-			uint8_t  blockAddr[2] = {HIBYTE(blockAddr16), LOBYTE(blockAddr16)};
+				uint16_t blockAddr16 = 0; // Начальный адрес блока в EEPROM
+			    uint8_t blockAddr[2] = {HIBYTE(blockAddr16), LOBYTE(blockAddr16)}; // Адрес в формате 2 байта

-			HAL_I2C_Master_Transmit(&hi2c1, (AT24C_ADRESS << 1), blockAddr, 2, 10);
-			HAL_Delay(1);
-			HAL_I2C_Master_Receive(&hi2c1, (AT24C_ADRESS << 1), buf, sizeof(buf), 10);
-			HAL_Delay(1);
+			    // Отправляем адрес в EEPROM
+			    if (HAL_I2C_Master_Transmit(&hi2c1, (AT24C_ADRESS  << 1), blockAddr, 2, 1000) == HAL_OK) {
+			        HAL_Delay(1); // Небольшая задержка

+			        // Читаем данные из EEPROM
+			        if (HAL_I2C_Master_Receive(&hi2c1, (AT24C_ADRESS  << 1), buf, sizeof(buf), 1000) == HAL_OK) {
+			            // Выводим считанные данные
 			            for (int i = 0; i < sizeof(buf); ++i) {
-				if(!(i % 8)) print(" ");
-				if(!(i % 32)) print("\n");
-				char buffer[BUFFER_SIZE];
-				int_to_str(buf[i], buffer, 16);
+			                if (!(i % 8)) print(" ");
+			                if (!(i % 32)) print("\n");
+
+			                char buffer[16];
+			                snprintf(buffer, sizeof(buffer), "%02X ", buf[i]);  // Преобразуем байт в шестнадцатеричную строку
 			                CDC_Transmit_FS((uint8_t*)buffer, strlen(buffer));
-				HAL_Delay(1);
-				print(" ");
 			            }
+			        } else {
+			            print("Read Error EEPROM\n");
+			        }
+			    } else {
+			        print("Address TX Error EEPROM\n");
+			}
+		  }
+		break;
+
+	case IR_DEBUG:
+	{
+	    uint8_t i2c_address;
+	    HAL_StatusTypeDef result;
+
+	    print("Scan\n");
+
+	    // Перебираем все возможные адреса на шине I2C (7 бит, от 0x08 до 0x77)
+	    for (i2c_address = 0x08; i2c_address <= 0x77; i2c_address++) {
+	        // Отправляем запрос на указанный адрес (HAL_I2C_Master_Transmit без данных)
+	        result = HAL_I2C_IsDeviceReady(&hi2c1, (i2c_address << 1), 1, 100);
+
+	        if (result == HAL_OK) {
+	            // Если устройство отвечает, выводим его адрес
+	            print("Found I2C at: ");
+	            printNumber(i2c_address);
+	            print("\n");
+	        } else {
+	            // Если устройство не отвечает, продолжаем сканирование
+	            print(".");
+	        }
+	        HAL_Delay(10); // Задержка для стабильности сканирования
+	    }
+
+	    print("\nScanning completed.\n");
 	}
 		break;

 	case IR_NUM_1:
-//		SetServo(0, 90+25);
-		setRollersSpeed(200,200);
+		setRollersSpeed(speedUP+=1, speedDown);
+		onHoldRepeat = IR_Home_Process;
 		break;
 	case IR_NUM_2:
-		setRollersSpeed(0,0);
-//		SetServo(1, 90+25);
+		setScrewkSpeed(screwSpeed+=1);
+		onHoldRepeat = IR_Home_Process;
 		break;
 	case IR_NUM_3:
-		setScrewkSpeed(100);
-//		SetServo(3, 90+25);
+		setRollersSpeed(speedUP, speedDown+=1);
+		onHoldRepeat = IR_Home_Process;
 		break;

 	case IR_NUM_7:
-//		SetServo(0, 90-25);
-
-	{
-		uint16_t blockAddr16 = 0;
-		uint8_t  blockAddr[2] = {HIBYTE(blockAddr16), LOBYTE(blockAddr16)};
-
-	  unsigned char Buf[2+2];
-	  memset(Buf, 0x00, sizeof(Buf));
-		Buf[0] = blockAddr[0];
-		Buf[1] = blockAddr[1];
-
-		uint8_t data[2] = {0xAB,0xCD};
-
-		for( unsigned char i = 0; i < (sizeof(data)); i++ ) Buf[i+2] = (data)[i];
-
-		HAL_I2C_Master_Transmit(&hi2c1, (AT24C_ADRESS << 1), Buf, (sizeof(data) + 2), 10);
-		HAL_Delay(1);
-	}
+		setRollersSpeed(speedUP-=1, speedDown);
+		onHoldRepeat = IR_Home_Process;
 		break;
 	case IR_NUM_8:
-//		SetServo(1, 90-25);
-	{
-
-		uint16_t blockAddr16 = 0;
-		uint8_t  blockAddr[2] = {HIBYTE(blockAddr16), LOBYTE(blockAddr16)};
-
-	  unsigned char Buf[2+2];
-	  memset(Buf, 0x00, sizeof(Buf));
-		Buf[0] = blockAddr[0];
-		Buf[1] = blockAddr[1];
-
-		uint16_t data = 0;
-
-		for( unsigned char i = 0; i < (sizeof(data)); i++ ) Buf[i+2] = (&data)[i];
-
-		HAL_I2C_Master_Transmit(&hi2c1, (AT24C_ADRESS << 1), Buf, (sizeof(data) + 2), 10);
-		HAL_Delay(1);
-	}
+		setScrewkSpeed(screwSpeed-=1);
+		onHoldRepeat = IR_Home_Process;
 		break;
 	case IR_NUM_9:
-//		SetServo(3, 90-25);
+		setRollersSpeed(speedUP, speedDown-=1);
+		onHoldRepeat = IR_Home_Process;
 		break;

 	case IR_NUM_5:
--- a/Core/Src/IR_CMD_Wrapper.c
+++ b/Core/Src/IR_CMD_Wrapper.c
@ -1,19 +1,16 @@
-/*
- * IR_CMD_Handler.c
- *
- *  Created on: Aug 25, 2024
- *      Author: DashyFox
- */
-
 #include "IR_CMD_Handler.h"
 #include "IR.h"
 #include "SimpleTimer.h"
 #include "ShiftReg.h"
 #include "Print.h"

-
 #define IR_Timeout 137
 #define ResetInputProgerss_Timeout 2500
+#define InitialRepeatTime 100  // Начальный интервал времени между вызовами функции при удержании
+#define MinRepeatTime 30       // Минимально допустимый интервал времени между вызовами функции при удержании
+#define HoldTime 500           // Время, необходимое для определения удержания
+#define RepeatDecay 10         // Шаг уменьшения времени между вызовами функции при удержании
+
 #define NULL_NumberParam 0xFFFF

 //extern unsigned char IR_Command;
@ -34,18 +31,27 @@ uint8_t inputDigit = 0; // left = 0 to right

 uint16_t inputParam = NULL_NumberParam;

-void IR_Home_Process();
+uint32_t holdStartTime = 0;       // Время начала удержания
+uint32_t lastRepeatTime = 0;      // Последнее время повторного вызова функции
+uint32_t currentRepeatTime = InitialRepeatTime;  // Текущее значение интервала между вызовами функции

+void IR_Home_Process();

 void IR_ParamEnter();
 void IR_CMD_Clear();
 void (*InputHandler)(void) = IR_Home_Process;
 void NullFunc(){};
 void (*onParamEnter)() = NullFunc;
+void (*onHoldRepeat)() = NullFunc;  // Указатель на функцию, вызываемую при удержании
+
 void paramEnter(void(*onEnter_)()){
 	InputHandler = IR_ParamEnter;
 	onParamEnter = onEnter_;
+}

+// Установка функции для вызова при удержании
+void setHoldRepeatHandler(void (*handler)()) {
+    onHoldRepeat = handler;
 }

 void IR_CMD_Handler() {
@ -54,8 +60,7 @@ void IR_CMD_Handler() {
 	if (dataHandled_flag && (millis() - IR_Timeout_timer > IR_Timeout)) {
 		dataHandled_flag = 0;
 	}
-	if (inputInProgerss
-			&& (millis() - inputInProgerss_timer > ResetInputProgerss_Timeout)) {
+	if (inputInProgerss && (millis() - inputInProgerss_timer > ResetInputProgerss_Timeout)) {
 		IR_CMD_Clear();
 	}

@ -65,15 +70,34 @@ void IR_CMD_Handler() {

 		IR_Timeout_timer = millis();
 		// works once per button press
-		if (memcmp(&data, &old_data, sizeof(IRData)) != 0
-				|| !dataHandled_flag) {
+		if (memcmp(&data, &old_data, sizeof(IRData)) != 0 || !dataHandled_flag) {
 			dataHandled_flag = 1;
 			if (IR_Address == 0x01) {
+				onHoldRepeat = NullFunc;
 				InputHandler();
 				inputInProgerss = 1;
 				inputInProgerss_timer = millis();
+				holdStartTime = millis();  // Запоминаем время начала удержания
+				lastRepeatTime = holdStartTime;  // Инициализируем таймер повторного вызова
+				currentRepeatTime = InitialRepeatTime;  // Сбрасываем интервал повторного вызова
 			}
 			memcpy(&old_data, &data, sizeof(IRData));
+		} else {
+			// Проверка на удержание кнопки
+			if (millis() - holdStartTime > HoldTime) {  // Если кнопка удерживается дольше HoldTime
+				if (millis() - lastRepeatTime > currentRepeatTime) {  // Если прошло достаточно времени для повторного вызова
+					lastRepeatTime = millis();  // Обновляем время последнего вызова
+					onHoldRepeat();  // Вызываем функцию при удержании
+
+					// Уменьшаем интервал до минимального значения
+					if (currentRepeatTime > MinRepeatTime) {
+						currentRepeatTime -= RepeatDecay;
+						if (currentRepeatTime < MinRepeatTime) {
+							currentRepeatTime = MinRepeatTime;
+						}
+					}
+				}
+			}
 		}
 		IR_Timeout_timer = millis();
 		ClearIRStatus();
@ -81,7 +105,6 @@ void IR_CMD_Handler() {
 }

 void IR_CMD_Clear() {
-
 	InputHandler = IR_Home_Process;
 	inputDigit = 0;
 	inputInProgerss = 0;
@ -122,6 +145,3 @@ void IR_ParamEnter() {
 		}
 	}
 }
-
-
-
--- a/Core/Src/RobotFunctions.c
+++ b/Core/Src/RobotFunctions.c
@ -40,8 +40,8 @@ typedef struct Current {
 Current current;


-extern uint8_t Vz1;
-extern uint8_t Vz2;
+extern int16_t Vz1;
+extern int16_t Vz2;
 void doShot(Shot* shot){
 	SetServo(0, shot->rotationHorizontal);
 	SetServo(1, shot->rotationVertical);
@ -89,7 +89,8 @@ void startShooting(){
 void stopShooting(){
 	isShooting = 0;
 	isPause = 0;
-
+	setScrewkSpeed(0);
+	setRollersSpeed(100,100);
 	setPosDefault();
 	Vz1 = 100;
 	Vz2 = 100;
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@ -76,8 +76,8 @@ uint8_t rejim[60];        // 0 - chislo rejimov, 1-6 - rejim1, 7-12 - rejim2...
 uint8_t avto = 0;         // vkl/otkl avtomaticheskoi raboti
 uint8_t rejim_number = 1; // nomer tekyshego rejima

-uint8_t Vz1 = 100;
-uint8_t Vz2 = 100;
+int16_t Vz1 = 100;
+int16_t Vz2 = 100;

 uint16_t vi = 0;

@ -201,7 +201,18 @@ initcomlete = 1;
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */

+  Shot testShot = GetShot(3);
+  if(!testShot.isExist){
+	  testShot.countRepeatShot		= 1;
+	  testShot.speedRollerTop		= 200;
+	  testShot.speedRollerBottom	= 200;
+	  testShot.speedScrew 			= 100;
+	  testShot.rotationAxial		= 90;
+	  testShot.rotationHorizontal	= 90;
+	  testShot.rotationVertical		= 90;

+	  SaveShot(3, &testShot);
+  }

  while (1)
  {
--- a/Core/Src/stm32f1xx_hal_msp.c
+++ b/Core/Src/stm32f1xx_hal_msp.c
@ -254,7 +254,7 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
    */
    GPIO_InitStruct.Pin = RPWM_UP_Pin|LPWM_UP_Pin|RPWM_DOWN_Pin|LPWM_DOWN_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM2_MspPostInit 1 */
--- a/Core/Src/stm32f1xx_it.c
+++ b/Core/Src/stm32f1xx_it.c
@ -79,8 +79,8 @@ extern uint16_t timing1;      // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>
 extern uint16_t timing2;      // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 extern uint8_t velosety[600]; // <20><><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><>

-extern uint8_t Vz1;
-extern uint8_t Vz2;
+extern int16_t Vz1;
+extern int16_t Vz2;

 /* USER CODE END PV */

@ -403,6 +403,11 @@ void SysTick_Handler(void)
    vsk2 = 0;

  // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 0 - 200 <20> -8000 ... 8000 <20><>./<2F><><EFBFBD>.
+  if (Vz1 < 0)   {Vz1 = 0;}
+  if (Vz1 > 200) {Vz1 = 200;}
+  if (Vz2 < 0)   {Vz2 = 0;}
+  if (Vz2 > 200) {Vz2 = 200;}
+
  if (Vz1 > 100)
  {
    Vzad1 = (Vz1 - 100) * 80;
@ -446,6 +451,7 @@ void SysTick_Handler(void)
    TIM2->CCR3 = Vupr2;
  }

+
  // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><>
  if (vi < 600)
  {
--- a/StackSport.ioc
+++ b/StackSport.ioc
@ -72,11 +72,13 @@ NVIC.TIM3_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.USART3_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.USB_LP_CAN1_RX0_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-PA0-WKUP.GPIOParameters=GPIO_Label
+PA0-WKUP.GPIOParameters=GPIO_Speed,GPIO_Label
 PA0-WKUP.GPIO_Label=RPWM_UP
+PA0-WKUP.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
 PA0-WKUP.Signal=S_TIM2_CH1_ETR
-PA1.GPIOParameters=GPIO_Label
+PA1.GPIOParameters=GPIO_Speed,GPIO_Label
 PA1.GPIO_Label=LPWM_UP
+PA1.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
 PA1.Signal=S_TIM2_CH2
 PA11.Mode=Device
 PA11.Signal=USB_DM
@ -86,11 +88,14 @@ PA13.Mode=Serial_Wire
 PA13.Signal=SYS_JTMS-SWDIO
 PA14.Mode=Serial_Wire
 PA14.Signal=SYS_JTCK-SWCLK
-PA2.GPIOParameters=GPIO_Label
+PA2.GPIOParameters=GPIO_Speed,GPIO_Label
 PA2.GPIO_Label=RPWM_DOWN
+PA2.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
+PA2.Locked=true
 PA2.Signal=S_TIM2_CH3
-PA3.GPIOParameters=GPIO_Label
+PA3.GPIOParameters=GPIO_Speed,GPIO_Label
 PA3.GPIO_Label=LPWM_DOWN
+PA3.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
 PA3.Signal=S_TIM2_CH4
 PA4.GPIOParameters=GPIO_Label
 PA4.GPIO_Label=LED_DATA
@ -131,8 +136,9 @@ PB11.GPIOParameters=GPIO_Label
 PB11.GPIO_Label=RX
 PB11.Mode=Asynchronous
 PB11.Signal=USART3_RX
-PB6.GPIOParameters=GPIO_Label
+PB6.GPIOParameters=GPIO_Label,GPIO_Mode
 PB6.GPIO_Label=SCL
+PB6.GPIO_Mode=GPIO_MODE_AF_OD
 PB6.Mode=I2C
 PB6.Signal=I2C1_SCL
 PB7.GPIOParameters=GPIO_Label
@ -228,7 +234,7 @@ TIM2.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
 TIM2.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
 TIM2.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
 TIM2.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
-TIM2.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Period
+TIM2.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation4 CH4,Period,Channel-PWM Generation3 CH3
 TIM2.Period=4000
 TIM3.Channel-Input_Capture1_from_TI1=TIM_CHANNEL_1
 TIM3.Channel-Input_Capture2_from_TI2=TIM_CHANNEL_2
--- a/TODO.md
+++ b/TODO.md
@ -1,9 +1,12 @@
 Работа с памятью:
-	Припаять i2c!!!
+	V Припаять i2c!!!
 	Сохранение выстрела
 	Загрузка выстрела
 	По аналогии всё остальное
 	
+IR:
+	Добавить press and hold
+
 Проверка железа:
 	Проверить все PWM
 	Проверить функции управления железом