mirror of
https://github.com/DashyFox/StackSport.git
synced 2025-05-04 07:10:17 +00:00
304 lines
8.9 KiB
C
304 lines
8.9 KiB
C
#include "EEPROM.h"
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#include "pca9685.h"
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#include "usbd_cdc_if.h"
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#include "Print.h"
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#include "RobotFunctions.h"
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InfoBlock infoBlock;
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MemoryStatus saveInfoBlock(InfoBlock *infoBlock) {
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return FLASH_WriteBlock(START_ADR_STAT, 0, (uint8_t*) infoBlock,
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sizeof(InfoBlock));
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}
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MemoryStatus getInfoBlock(InfoBlock *infoBlock) {
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MemoryStatus status = FLASH_ReadBlock(START_ADR_STAT, 0,
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(uint8_t*) infoBlock, sizeof(InfoBlock));
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if (status != EEPROM_OK) {
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return EEPROM_FAIL;
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}
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return EEPROM_OK;
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}
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MemoryStatus saveShot(unsigned char number, Shot *shot) {
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if (FLASH_WriteBlock(START_ADR_SHOT, number, (uint8_t*) shot,
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SHOT_BLOCKSIZE) == EEPROM_OK) {
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return EEPROM_OK;
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}
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return EEPROM_FAIL;
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}
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MemoryStatus getShot(unsigned char number, Shot *shot) {
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if (FLASH_ReadBlock(START_ADR_SHOT, number, (uint8_t*) shot, SHOT_BLOCKSIZE)
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!= EEPROM_OK) {
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return EEPROM_FAIL;
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}
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if (!shot->isExist) {
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return EEPROM_MISSING_ELEMENT;
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}
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return EEPROM_OK;
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}
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MemoryStatus saveProg(unsigned char number, Program *prog) {
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MemoryStatus result = EEPROM_OK;
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for (uint16_t i = 0; i < MAX_NUMBER_SHOTS_IN_PROGRAMS; ++i) {
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Shot shot;
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MemoryStatus stat = getShot(prog->shots[i].id, &shot);
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if (!(stat == EEPROM_OK || stat == EEPROM_MISSING_ELEMENT)) {
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return EEPROM_FAIL;
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}
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if (!shot.isExist) {
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// todo: добавить в запросы для загрузки снимков
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result = EEPROM_MISSING_ELEMENT;
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}
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}
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if (FLASH_WriteBlock(START_ADR_PROGRAM, number, (uint8_t*) prog,
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PROGRAM_BLOCKSIZE) != EEPROM_OK) {
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return EEPROM_FAIL;
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}
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return result;
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}
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MemoryStatus getProg(unsigned char number, Program *prog) {
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if (FLASH_ReadBlock(START_ADR_PROGRAM, number, (uint8_t*) prog,
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PROGRAM_BLOCKSIZE) != EEPROM_OK) {
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return EEPROM_FAIL;
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}
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if (!prog->header.isExist) {
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return EEPROM_MISSING_ELEMENT;
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}
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return EEPROM_OK;
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}
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MemoryStatus saveMacro(unsigned char number, Macro *macro) {
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MemoryStatus result = EEPROM_OK;
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for (uint16_t i = 0; i < MAX_NUMBER_PROGRAMS_IN_MACRO; ++i) {
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Program prog;
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MemoryStatus stat = getProg(macro->programs[i].id, &prog);
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if (!(stat == EEPROM_OK || stat == EEPROM_MISSING_ELEMENT)) {
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return EEPROM_FAIL;
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}
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if (!prog.header.isExist) {
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result = EEPROM_MISSING_ELEMENT;
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// todo: добавить в запросы для загрузки программ
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}
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}
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if (FLASH_WriteBlock(START_ADR_MACRO, number, (uint8_t*) macro,
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MACRO_BLOCKSIZE) != EEPROM_OK) {
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return EEPROM_FAIL;
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}
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return result;
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}
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MemoryStatus getMacro(unsigned char number, Macro *macro) {
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if (FLASH_ReadBlock(START_ADR_MACRO, number, (uint8_t*) macro,
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MACRO_BLOCKSIZE) != EEPROM_OK) {
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return EEPROM_FAIL;
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}
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if (!macro->header.isExist) {
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return EEPROM_MISSING_ELEMENT;
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}
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return EEPROM_OK;
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}
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MemoryStatus EEPROM_EARSE() {
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uint16_t addr = 0;
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uint16_t old_addr = 0;
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do {
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uint8_t Buf[255];
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memset(Buf, 0xFF, sizeof(Buf));
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FLASH_WriteBlock(addr, 0, Buf, (uint8_t) sizeof(Buf));
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old_addr = addr;
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addr += sizeof(Buf);
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} while (old_addr <= addr);
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return EEPROM_OK;
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}
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MemoryStatus EEPROM_INIT() {
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MemoryStatus status = getInfoBlock(&infoBlock);
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if (status != EEPROM_OK) {
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char errorMsg[] = "Error reading InfoBlock from EEPROM\n";
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CDC_Transmit_FS((uint8_t*) errorMsg, strlen(errorMsg));
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return status;
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}
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char uid_ref[11] = "Stack_Sport";
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if (memcmp(&(infoBlock.init_uid), &uid_ref, 11) != 0) {
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char errorMsg[] = "uid non equal\n\n";
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CDC_Transmit_FS((uint8_t*) errorMsg, strlen(errorMsg));
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EEPROM_EARSE();
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memset(&infoBlock, 0x00, sizeof(InfoBlock));
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char uid[] = "Stack_Sport";
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memcpy(infoBlock.init_uid, uid, 11);
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infoBlock.hwInfo.timings.preRun = 3500;
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infoBlock.hwInfo.motors.speed_Rollers_min = 0;
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infoBlock.hwInfo.motors.speed_Screw_min = 0;
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infoBlock.hwInfo.servos[SERVO_AXIAL].invert = 0;
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infoBlock.hwInfo.servos[SERVO_AXIAL].min = 0;
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infoBlock.hwInfo.servos[SERVO_AXIAL].def = 90;
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infoBlock.hwInfo.servos[SERVO_AXIAL].max = 180;
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infoBlock.hwInfo.servos[SERVO_HORIZONTAL].invert = 0;
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infoBlock.hwInfo.servos[SERVO_HORIZONTAL].min = 0;
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infoBlock.hwInfo.servos[SERVO_HORIZONTAL].def = 90;
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infoBlock.hwInfo.servos[SERVO_HORIZONTAL].max = 180;
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infoBlock.hwInfo.servos[SERVO_VERTICAL].invert = 0;
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infoBlock.hwInfo.servos[SERVO_VERTICAL].min = 0;
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infoBlock.hwInfo.servos[SERVO_VERTICAL].def = 90;
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infoBlock.hwInfo.servos[SERVO_VERTICAL].max = 180;
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infoBlock.statInfo.totalShots = 0;
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infoBlock.statInfo.totalPrograms = 0;
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infoBlock.statInfo.totalMacros = 0;
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status = saveInfoBlock(&infoBlock);
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if (status != EEPROM_OK) {
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char errorMsg[] = "EEPROM FAIL\n";
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CDC_Transmit_FS((uint8_t*) errorMsg, strlen(errorMsg));
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return status;
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}
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status = getInfoBlock(&infoBlock);
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if (status != EEPROM_OK) {
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char errorMsg[] = "Error reading InfoBlock from EEPROM\n";
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CDC_Transmit_FS((uint8_t*) errorMsg, strlen(errorMsg));
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return status;
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}
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}
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// Буфер для строки вывода
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char buffer[128];
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// Вывод информации о HardwareInit_t
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snprintf(buffer, sizeof(buffer), "Hardware Initialization:\n");
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CDC_Transmit_FS((uint8_t*) buffer, strlen(buffer));
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char char_tmp[12];
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memcpy(char_tmp, infoBlock.init_uid, 11);
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char_tmp[11] = '\0';
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snprintf(buffer, sizeof(buffer), "init_uid: %s\n", char_tmp);
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CDC_Transmit_FS((uint8_t*) buffer, strlen(buffer));
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snprintf(buffer, sizeof(buffer),
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"Servo 1: Invert=%u, Min=%u, Default=%u, Max=%u\n",
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infoBlock.hwInfo.servos[0].invert, infoBlock.hwInfo.servos[0].min,
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infoBlock.hwInfo.servos[0].def, infoBlock.hwInfo.servos[0].max);
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CDC_Transmit_FS((uint8_t*) buffer, strlen(buffer));
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snprintf(buffer, sizeof(buffer),
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"Servo 2: Invert=%u, Min=%u, Default=%u, Max=%u\n",
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infoBlock.hwInfo.servos[1].invert, infoBlock.hwInfo.servos[1].min,
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infoBlock.hwInfo.servos[1].def, infoBlock.hwInfo.servos[1].max);
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CDC_Transmit_FS((uint8_t*) buffer, strlen(buffer));
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snprintf(buffer, sizeof(buffer),
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"Servo 3: Invert=%u, Min=%u, Default=%u, Max=%u\n",
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infoBlock.hwInfo.servos[2].invert, infoBlock.hwInfo.servos[2].min,
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infoBlock.hwInfo.servos[2].def, infoBlock.hwInfo.servos[2].max);
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CDC_Transmit_FS((uint8_t*) buffer, strlen(buffer));
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snprintf(buffer, sizeof(buffer),
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"Motors: Speed_Rollers_Min=%u, Speed_Screw_Min=%u\n",
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infoBlock.hwInfo.motors.speed_Rollers_min,
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infoBlock.hwInfo.motors.speed_Screw_min);
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CDC_Transmit_FS((uint8_t*) buffer, strlen(buffer));
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// Вывод информации о DelayTimes
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snprintf(buffer, sizeof(buffer), "Timings: PreRun=%u\n",
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infoBlock.hwInfo.timings.preRun);
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CDC_Transmit_FS((uint8_t*) buffer, strlen(buffer));
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// Вывод информации о Statistics
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snprintf(buffer, sizeof(buffer), "Statistics:\n");
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CDC_Transmit_FS((uint8_t*) buffer, strlen(buffer));
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snprintf(buffer, sizeof(buffer), "Total Shots: %lu\n",
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infoBlock.statInfo.totalShots);
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CDC_Transmit_FS((uint8_t*) buffer, strlen(buffer));
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snprintf(buffer, sizeof(buffer), "Total Programs: %lu\n",
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infoBlock.statInfo.totalPrograms);
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CDC_Transmit_FS((uint8_t*) buffer, strlen(buffer));
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snprintf(buffer, sizeof(buffer), "Total Macros: %lu\n\n",
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infoBlock.statInfo.totalMacros);
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CDC_Transmit_FS((uint8_t*) buffer, strlen(buffer));
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return status;
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}
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MemoryStatus FLASH_WriteBlock(uint16_t startAddr, uint8_t number,
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uint8_t *writeData, uint16_t dataSize) {
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HAL_StatusTypeDef result;
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// Проверка на корректность входных данных
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if ((startAddr == START_ADR_SHOT && number > MAX_NUMBER_SHOTS)
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|| (startAddr == START_ADR_PROGRAM && number > MAX_NUMBER_PROGRAMS)
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|| (startAddr == START_ADR_MACRO && number > MAX_NUMBER_MACRO)) {
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return EEPROM_OUT_OF_RANGE;
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}
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uint16_t blockAddr16 = (uint16_t) (startAddr
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+ (uint16_t) (number * dataSize));
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uint8_t blockAddr[2] = { HIBYTE(blockAddr16), LOBYTE(blockAddr16) };
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unsigned char Buf[dataSize + 2];
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memset(Buf, 0x00, sizeof(Buf));
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Buf[0] = blockAddr[0];
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Buf[1] = blockAddr[1];
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for (unsigned char i = 0; i < dataSize; i++)
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Buf[i + 2] = writeData[i];
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result = HAL_I2C_Master_Transmit(&hi2c1, (AT24C_ADRESS << 1), Buf,
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(dataSize + 2), 10);
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HAL_Delay(1);
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if (result != HAL_OK) {
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return EEPROM_FAIL;
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}
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return EEPROM_OK;
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}
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MemoryStatus FLASH_ReadBlock(uint16_t startAddr, uint8_t number,
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uint8_t *readData, uint16_t dataSize) {
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HAL_StatusTypeDef result;
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// Проверка на корректность входных данных
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if ((startAddr == START_ADR_SHOT && number > MAX_NUMBER_SHOTS)
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|| (startAddr == START_ADR_PROGRAM && number > MAX_NUMBER_PROGRAMS)
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|| (startAddr == START_ADR_MACRO && number > MAX_NUMBER_MACRO)) {
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return EEPROM_OUT_OF_RANGE;
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}
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memset(readData, 0x00, dataSize);
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uint16_t blockAddr16 = (uint16_t) (startAddr
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+ (uint16_t) (number * dataSize));
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uint8_t blockAddr[2] = { HIBYTE(blockAddr16), LOBYTE(blockAddr16) };
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result = HAL_I2C_Master_Transmit(&hi2c1, (AT24C_ADRESS << 1), blockAddr, 2,
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10);
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HAL_Delay(1);
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result = HAL_I2C_Master_Receive(&hi2c1, (AT24C_ADRESS << 1) | 1, readData,
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dataSize, 10);
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HAL_Delay(1);
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if (result != HAL_OK) {
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return EEPROM_FAIL;
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}
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return EEPROM_OK;
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}
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