indicator

Core/Inc/Indicator.h

@@ -0,0 +1,68 @@
+/*
+ * Indicator.h
+ *
+ *  Created on: Sep 26, 2024
+ *      Author: DashyFox
+ */
+
+#ifndef INC_INDICATOR_H_
+#define INC_INDICATOR_H_
+#include "ShiftReg.h"
+/********* led map: *********
+ *  - [2] 0b01000000
+ *  - [2] 0b00100000
+ *  - [2] 0b00010000
+ *  - [2] 0b00001000
+ *  - [2] 0b00000100
+ *  - [2] 0b00000010
+ *  - [2] 0b00000001
+ *
+ *  = [1] 0b00010000
+ *  = [1] 0b00100000
+ *  = [1] 0b01000000
+ *
+ *
+ *
+ *  = [1] 0b00000100
+ *  = [1] 0b00000010
+ *  = [1] 0b00000001
+ *
+ *  - [0] 0b00000001
+ *  - [0] 0b00000010
+ *  - [0] 0b00000100
+ *  - [0] 0b00001000
+ *  - [0] 0b00010000
+ *  - [0] 0b00100000
+ *  - [0] 0b01000000
+ *
+ **/
+
+#define INDICATORS_COUNT 2
+
+typedef struct LedMap_element {
+	uint8_t byteIndx;
+	uint8_t offsetMask;
+} LedMap_element;
+
+typedef struct LedMap {
+	LedMap_element ALL[NUMLEDS * INDICATORS_COUNT];
+	LedMap_element UP[NUMLEDS];
+	LedMap_element DOWN[NUMLEDS];
+	LedMap_element RED[6];
+}LedMap;
+
+extern const LedMap ledMap;
+
+void led_init();
+
+void led_show();
+void led_tick();
+
+void led_writeMirror(uint8_t number, uint8_t state);
+void led_write(LedMap_element led, uint8_t state);
+void led_blink(LedMap_element led, uint16_t period, uint16_t count);
+void led_blink_num(uint8_t ledNum, uint16_t period, uint16_t count);
+uint8_t led_getState(LedMap_element led);
+void led_clear();
+
+#endif /* INC_INDICATOR_H_ */

Core/Src/IR_CMD_HandlerLogic.c

@@ -52,24 +52,27 @@ uint8_t speedDown = 100;
 
 void IR_Home_Process() {
 	InputHandler = IR_Home_Process;
-	SetShiftReg_inline(0xff, 0, 0);
+//	SetShiftReg_inline(0xff, 0, 0);
 	switch (data.command) {
-	case IR_FONT_RIGHT:
 	case IR_SHOT:
 		paramEnter(onSelectShot);
 		break;
 
-//	case IR_PROG:
+	case IR_PROG: {
-////		paramEnter(onSelectShot);
+		SetShiftReg_inline(0, 7, 0);
-//		break;
+		b1 = b2 = b3 = 0;
-//
+		break;
-//	case IR_FRONT_MID:
+	}
-//		SetShiftReg_inline(0, 0, 0);
+
-//		b1 = b2 = b3 = 0;
+	case IR_FONT_RIGHT:
-//		break;
+		SetShiftReg_inline(b1, b2, ++b3);
+		break;
+	case IR_FRONT_MID:
+		SetShiftReg_inline(b1, ++b2, b3);
+		break;
 	case IR_FRONT_LEFT:
-		SetShiftReg_inline(++b1, ++b2, ++b3);
+		SetShiftReg_inline(++b1, b2, b3);
-		onHoldRepeat = IR_Home_Process;
+//		onHoldRepeat = IR_Home_Process;
 		break;
 
 	case IR_F_BTN: {

Core/Src/IR_CMD_Wrapper.c

@@ -110,16 +110,16 @@ void IR_CMD_Clear() {
 	inputInProgerss = 0;
 	digitInputInProgerss = 0;
 	inputParam = NULL_NumberParam;
-	SetShiftReg_inline(0, 0xff, 0);
+//	SetShiftReg_inline(0, 0xff, 0);
 }
 
 void IR_ParamEnter() {
-	SetShiftReg_inline(0x03, 0, 0);
+//	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);
+//			SetShiftReg_inline(0xF0, 0, 0);
 		} else {
 			inputParam = (data.command + 1) % 10;
 		}
@@ -132,7 +132,7 @@ void IR_ParamEnter() {
 			if(inputParam != NULL_NumberParam){
 				print("Enter: ");
 				printNumber(inputParam);
-				SetShiftReg_inline(0, 0, inputParam);
+//				SetShiftReg_inline(0, 0, inputParam);
 				onParamEnter();
 			}
 			inputParam = NULL_NumberParam;

Core/Src/Indicator.c

@@ -0,0 +1,156 @@
+/*
+ * Indicator.c
+ *
+ *  Created on: Sep 26, 2024
+ *      Author: DashyFox
+ */
+
+#include "Indicator.h"
+#include "ShiftReg.h"
+#include "SimpleTimer.h"
+#include <string.h>
+
+const LedMap ledMap = {
+// ALL - DOWN[0] TO UP[19]
+		{
+				{0, 0b01000000},
+				{0, 0b00100000},
+				{0, 0b00010000},
+				{0, 0b00001000},
+				{0, 0b00000100},
+				{0, 0b00000010},
+				{0, 0b00000001},
+				{1, 0b00000001},
+				{1, 0b00000010},
+				{1, 0b00000100},
+
+				{1, 0b01000000},
+				{1, 0b00100000},
+				{1, 0b00010000},
+				{2, 0b00000001},
+				{2, 0b00000010},
+				{2, 0b00000100},
+				{2, 0b00001000},
+				{2, 0b00010000},
+				{2, 0b00100000},
+				{2, 0b01000000},
+		},
+// UP - DOWN[0] TO UP[9]
+		{
+				{1, 0b01000000},
+				{1, 0b00100000},
+				{1, 0b00010000},
+				{2, 0b00000001},
+				{2, 0b00000010},
+				{2, 0b00000100},
+				{2, 0b00001000},
+				{2, 0b00010000},
+				{2, 0b00100000},
+				{2, 0b01000000},
+		},
+// DOWN - DOWN[0] TO UP[9]
+		{
+				{0, 0b01000000},
+				{0, 0b00100000},
+				{0, 0b00010000},
+				{0, 0b00001000},
+				{0, 0b00000100},
+				{0, 0b00000010},
+				{0, 0b00000001},
+				{1, 0b00000001},
+				{1, 0b00000010},
+				{1, 0b00000100},
+		},
+// RED - DOWN[0] TO UP[5]
+		{
+				{1, 0b00000001},
+				{1, 0b00000010},
+				{1, 0b00000100},
+
+				{1, 0b01000000},
+				{1, 0b00100000},
+				{1, 0b00010000},
+		}
+};
+
+static uint8_t ledBuf[3] = { 0, 0, 0 };
+
+typedef struct {
+	uint16_t period;
+	uint16_t count;
+	uint32_t timer;
+} LedBlinkInfo;
+static LedBlinkInfo ledBlinkInfo[NUMLEDS * INDICATORS_COUNT];
+
+static void blinkHandler() {
+	for (int i = 0; i < sizeof(ledBlinkInfo) / sizeof(ledBlinkInfo[0]); ++i) {
+		if(!ledBlinkInfo[i].count || !ledBlinkInfo[i].period){
+			continue;
+		}
+
+		if(millis() - ledBlinkInfo[i].timer > ledBlinkInfo[i].period){
+			ledBlinkInfo[i].timer = millis();
+			led_write(ledMap.ALL[i], (ledBlinkInfo[i].count & 1) != 1);
+			ledBlinkInfo[i].count--;
+		}
+	}
+}
+
+void led_init(){
+	memset(ledBlinkInfo, 0x00, sizeof(ledBlinkInfo));
+}
+
+void led_show() {
+	SetShiftReg(ledBuf);
+}
+
+void led_tick() {
+	blinkHandler();
+}
+
+void led_write(LedMap_element led, uint8_t state) {
+	if (state) {
+		ledBuf[led.byteIndx] |= led.offsetMask;
+	} else {
+		ledBuf[led.byteIndx] &= ~(led.offsetMask);
+	}
+	led_show();
+}
+
+uint8_t led_getState(LedMap_element led){
+	return (ledBuf[led.byteIndx] & led.offsetMask) != 0;
+}
+
+void led_writeMirror(uint8_t number, uint8_t state) {
+
+	if (number >= 10) {
+		number = 9;
+	}
+
+	led_write(ledMap.UP[number], state);
+	led_write(ledMap.DOWN[9 - number], state);
+
+	led_show();
+}
+
+void led_blink_num(uint8_t ledNum, uint16_t period, uint16_t count){
+	if(ledNum>=sizeof(ledBlinkInfo)/sizeof(ledBlinkInfo[0]))
+		return;
+	ledBlinkInfo[ledNum].count = count*2;
+	ledBlinkInfo[ledNum].period = period;
+	ledBlinkInfo[ledNum].timer = 0; // run immediately
+}
+
+void led_blink(LedMap_element led, uint16_t period, uint16_t count) {
+	for (int i = 0; i < sizeof(ledMap.ALL)/sizeof(ledMap.ALL[0]); ++i) {
+		if(memcmp(&led, &ledMap.ALL[i], sizeof(LedMap_element)) == 0){
+			led_blink_num(i, period, count);
+			return;
+		}
+	}
+}
+
+void led_clear() {
+	memset(ledBuf, 0x00, sizeof(ledBuf));
+	led_show();
+}

Core/Src/RobotFunctions.c

@@ -9,9 +9,9 @@
 #include "pca9685.h"
 #include "UART3_Handler.h"
 #include "EEPROM.h"
-#include "ShiftReg.h"
 #include "Print.h"
 #include "SimpleTimer.h"
+#include "Indicator.h"
 
 #define ballReact_value 10 // время реакции на вылет мяча
 
@@ -80,65 +80,20 @@ void Robot_INIT() {
 	initPCA9685();
 	EEPROM_INIT();
 	UART3_START();
+	led_init();
 
-	setPosDefault();
+	for (int i = 0; i < 10; ++i) {
-	Shiftreg[0] = 0x00;
+//		if ((i&1U)!=1 || i > 4) for test
-	Shiftreg[1] = 0x44;
+		{
-	Shiftreg[2] = 0x00;
+			led_writeMirror(i, 1);
-	SetShiftReg(Shiftreg);
-	HAL_Delay(10);
-	Shiftreg[0] = 0x00;
-	Shiftreg[1] = 0x66;
-	Shiftreg[2] = 0x00;
-	SetShiftReg(Shiftreg);
-	HAL_Delay(10);
-	Shiftreg[0] = 0x00;
-	Shiftreg[1] = 0x77;
-	Shiftreg[2] = 0x00;
-	SetShiftReg(Shiftreg);
-	HAL_Delay(10);
-	Shiftreg[0] = 0x01;
-	Shiftreg[1] = 0x77;
-	Shiftreg[2] = 0x01;
-	SetShiftReg(Shiftreg);
-	HAL_Delay(10);
-	Shiftreg[0] = 0x03;
-	Shiftreg[1] = 0x77;
-	Shiftreg[2] = 0x03;
-	SetShiftReg(Shiftreg);
-	HAL_Delay(10);
-	Shiftreg[0] = 0x07;
-	Shiftreg[1] = 0x77;
-	Shiftreg[2] = 0x07;
-	SetShiftReg(Shiftreg);
-	HAL_Delay(10);
-	Shiftreg[0] = 0x0F;
-	Shiftreg[1] = 0x77;
-	Shiftreg[2] = 0x0F;
-	SetShiftReg(Shiftreg);
-	HAL_Delay(10);
-	Shiftreg[0] = 0x1F;
-	Shiftreg[1] = 0x77;
-	Shiftreg[2] = 0x1F;
-	SetShiftReg(Shiftreg);
-	HAL_Delay(10);
-	Shiftreg[0] = 0x3F;
-	Shiftreg[1] = 0x77;
-	Shiftreg[2] = 0x3F;
-	SetShiftReg(Shiftreg);
-	HAL_Delay(10);
-	Shiftreg[0] = 0x7F;
-	Shiftreg[1] = 0x77;
-	Shiftreg[2] = 0x7F;
-	SetShiftReg(Shiftreg);
-	HAL_Delay(10);
-	Shiftreg[0] = 0x00;
-	Shiftreg[1] = 0x00;
-	Shiftreg[2] = 0x00;
-	SetShiftReg(Shiftreg);
 			HAL_Delay(10);
+		}
+	}
+	led_clear();
 
-	//testing
+	for (int i = 7; i < 13; ++i) {
+		led_blink_num(i, 100, 15);
+	}
 
 }
 
@@ -149,6 +104,7 @@ void BallEXT() {
 
 void RobotTick() {
 	BallEXT_Handler();
+	led_tick();
 
 	// No Ball Handler
 	if (currentInfo.state == RUN && millis() - noBallTimer > noBallTimeout) {

Core/Src/ShiftReg.c

@@ -11,6 +11,13 @@ void SetShiftReg_inline(unsigned char b1, unsigned char b2, unsigned char b3){
     SetShiftReg(shiftreg);
 }
 
+//static void Delay(uint16_t d)
+//{
+//    for (volatile int i = 0; i < d; i++) {
+//        __NOP();
+//    }
+//}
+
 void SetShiftReg(unsigned char shiftreg[3])
 {
     for (unsigned char i = 0; i < 3; i++)
@@ -28,6 +35,7 @@ void SetShiftReg(unsigned char shiftreg[3])
             HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
             HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
 
+
             if (((shiftreg[i] >> j) & 0x01) == 0x01)
             {
                 HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_SET);